A Two Phases Multiobjective Trajectory Optimization Scheme for Multi-UGVs in the Sight of the First Aid Scenario.

Timely delivery of first aid supplies is significant to saving lives when an accident happens. Among the promising solutions provided for such scenarios, the application of unmanned vehicles has attracted ever more attention. However, such scenarios are often very complex, while the existing studies have not fully addressed the trajectory optimization problem of multiple unmanned ground vehicles (multi-UGVs) against the scenario. This study focuses on multi-UGVs trajectory optimization in the sight of first aid supply delivery tasks in mass accidents. A two-stage completely decoupling fuzzy multiobjective optimization strategy is designed. On the first stage, with the proposed timescale involved tridimensional tunneled collision-free trajectory (TITTCT) algorithm, collision-free coarse tunnels are build within a tridimensional coordinate system, respectively, for the UGVs as the corresponding configuration space for a further multiobjective optimization. On the second stage, a fuzzy multiobjective transcription method is designed to solve the decoupled optimal control problem (OCP) within the configuration space with the consideration of priority constrains. Following the two-stage design, the computational time is significantly reduced when achieving an optimal solution of the multi-UGV trajectory planning, which is crucial in a first aid task. In addition, other objectives are optimized with the aspiration level reflected. Simulation studies and experiments have been curried out to testify the effectiveness and the improved computational performance of the proposed design.

Switching Anti-Windup Synthesis for Linear Systems With Asymmetric Actuator Saturation.

This article proposes a switching anti-windup strategy for linear, time-invariant (LTI) systems subject to asymmetric actuator saturation and L2 -disturbances, the core idea behind which is to make full use of the available range of control input space by switching among multiple anti-windup gains. The asymmetrically saturated LTI system is converted to a switched system with symmetrically saturated subsystems, and a dwell time switching rule is presented to govern the switching between different antiwindup gains. Based on multiple Lyapunov functions, we derive sufficient conditions for guaranteeing the regional stability and weighted L2 performance of the closed-loop system. The switching anti-windup synthesis that designs a separate anti-windup gain for each subsystem is cast as a convex optimization problem. In comparison with the design of a single anti-windup gain, our method can induce less conservative results since the asymmetric character of the saturation constraint is fully utilized in the switching anti-windup design. Two numerical examples, and an application to aeroengine control (the experiments are conducted on a semiphysical test bench), demonstrate the superiority and practicality of the proposed scheme.

Modeling and controller design of a micro gas turbine for power generation.

This paper investigates the modeling and controller design of a micro gas turbine in power generation scenario. From the perspective of the controller design, it is well recognized that an accurate model in possession of the complex dynamic characteristics of a micro gas turbine is paramount. Thus, a nominal nonlinear model originated from integrating the start-up model and the component characteristic map model together is established to depict the main operating modes of the full operation envelope, containing the start-up mode, loading mode and unloading mode. The start-up model is got by the combination of polynomial fitting method with identification method. The component characteristic map model is achieved by combining inter-component volume method with experiment data. The proposed nominal nonlinear model is realized in MATLAB/Simulink environment. Furthermore, nonlinear and linear active disturbance rejection controllers and a PID controller are designed respectively. Such controllers not only realize the speed tracking control from the idle speed to the nominal speed, but also achieve the load tracking control at the nominal speed by numerical simulations and hardware-in-the-loop tests. In addition, the nonlinear active disturbance rejection controller has the best control performance, which is validated through the simulation results and hardware-in-the-loop tests.

Active fault tolerant tracking control of turbofan engine based on virtual actuator.

In this paper, an active fault-tolerant tracking control scheme for the turbofan engine under dynamic and simultaneous actuator faults and sensor faults under disturbances is proposed. First, based on the linear parameter-varying model of the turbofan engine, an H∞ state feedback nominal controller is designed so as to achieve rotor speed tracking control with adaptive gain scheduling characteristics at different working conditions for the turbofan engine. Next, for the control system with simultaneous multiplicative actuator faults and additive sensor faults, a virtual actuator based active fault-tolerant tracking control strategy is developed to reconfigure the system such that it can obtain the similar behavior to the fault-free system without modifying the nominal controller. Specifically, in addition to handle the actuator fault by the virtual actuator, the reconfigured controller adopts a feedforward control signal to compensate for the sensor fault. Besides, in order to guarantee the reconfigured system, a sufficiency criterion is proposed. Finally, simulations have been conducted on a twin-spool turbofan engine to verify the effectiveness of the strategy.

R-loops and regulatory changes in chronologically ageing fission yeast cells drive non-random patterns of genome rearrangements.

Aberrant repair of DNA double-strand breaks can recombine distant chromosomal breakpoints. Chromosomal rearrangements compromise genome function and are a hallmark of ageing. Rearrangements are challenging to detect in non-dividing cell populations, because they reflect individually rare, heterogeneous events. The genomic distribution of de novo rearrangements in non-dividing cells, and their dynamics during ageing, remain therefore poorly characterized. Studies of genomic instability during ageing have focussed on mitochondrial DNA, small genetic variants, or proliferating cells. To characterize genome rearrangements during cellular ageing in non-dividing cells, we interrogated a single diagnostic measure, DNA breakpoint junctions, using Schizosaccharomyces pombe as a model system. Aberrant DNA junctions that accumulated with age were associated with microhomology sequences and R-loops. Global hotspots for age-associated breakpoint formation were evident near telomeric genes and linked to remote breakpoints elsewhere in the genome, including the mitochondrial chromosome. Formation of breakpoint junctions at global hotspots was inhibited by the Sir2 histone deacetylase and might be triggered by an age-dependent de-repression of chromatin silencing. An unexpected mechanism of genomic instability may cause more local hotspots: age-associated reduction in an RNA-binding protein triggering R-loops at target loci. This result suggests that biological processes other than transcription or replication can drive genome rearrangements. Notably, we detected similar signatures of genome rearrangements that accumulated in old brain cells of humans. These findings provide insights into the unique patterns and possible mechanisms of genome rearrangements in non-dividing cells, which can be promoted by ageing-related changes in gene-regulatory proteins.

Size-Dependent Increase in RNA Polymerase II Initiation Rates Mediates Gene Expression Scaling with Cell Size.

Cell size varies during the cell cycle and in response to external stimuli. This requires the tight coordination, or "scaling," of mRNA and protein quantities with the cell volume in order to maintain biomolecule concentrations and cell density. Evidence in cell populations and single cells indicates that scaling relies on the coordination of mRNA transcription rates with cell size. Here, we use a combination of single-molecule fluorescence in situ hybridization (smFISH), time-lapse microscopy, and mathematical modeling in single fission yeast cells to uncover the precise molecular mechanisms that control transcription rates scaling with cell size. Linear scaling of mRNA quantities is apparent in single fission yeast cells during a normal cell cycle. Transcription of both constitutive and periodic genes is a Poisson process with transcription rates scaling with cell size and without evidence for transcriptional off states. Modeling and experimental data indicate that scaling relies on the coordination of RNA polymerase II (RNAPII) transcription initiation rates with cell size and that RNAPII is a limiting factor. We show using real-time quantitative imaging that size increase is accompanied by a rapid concentration-independent recruitment of RNAPII onto chromatin. Finally, we find that, in multinucleated cells, scaling is set at the level of single nuclei and not the entire cell, making the nucleus a determinant of scaling. Integrating our observations in a mechanistic model of RNAPII-mediated transcription, we propose that scaling of gene expression with cell size is the consequence of competition between genes for limiting RNAPII.

Author Correction: WWP2 regulates pathological cardiac fibrosis by modulating SMAD2 signaling.

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

WWP2 regulates pathological cardiac fibrosis by modulating SMAD2 signaling.

Cardiac fibrosis is a final common pathology in inherited and acquired heart diseases that causes cardiac electrical and pump failure. Here, we use systems genetics to identify a pro-fibrotic gene network in the diseased heart and show that this network is regulated by the E3 ubiquitin ligase WWP2, specifically by the WWP2-N terminal isoform. Importantly, the WWP2-regulated pro-fibrotic gene network is conserved across different cardiac diseases characterized by fibrosis: human and murine dilated cardiomyopathy and repaired tetralogy of Fallot. Transgenic mice lacking the N-terminal region of the WWP2 protein show improved cardiac function and reduced myocardial fibrosis in response to pressure overload or myocardial infarction. In primary cardiac fibroblasts, WWP2 positively regulates the expression of pro-fibrotic markers and extracellular matrix genes. TGFß1 stimulation promotes nuclear translocation of the WWP2 isoforms containing the N-terminal region and their interaction with SMAD2. WWP2 mediates the TGFß1-induced nucleocytoplasmic shuttling and transcriptional activity of SMAD2.

Single-cell imaging and RNA sequencing reveal patterns of gene expression heterogeneity during fission yeast growth and adaptation.

Phenotypic cell-to-cell variability is a fundamental determinant of microbial fitness that contributes to stress adaptation and drug resistance. Gene expression heterogeneity underpins this variability but is challenging to study genome-wide. Here we examine the transcriptomes of >2,000 single fission yeast cells exposed to various environmental conditions by combining imaging, single-cell RNA sequencing and Bayesian true count recovery. We identify sets of highly variable genes during rapid proliferation in constant culture conditions. By integrating single-cell RNA sequencing and cell-size data, we provide insights into genes that are regulated during cell growth and division, including genes whose expression does not scale with cell size. We further analyse the heterogeneity of gene expression during adaptive and acute responses to changing environments. Entry into the stationary phase is preceded by a gradual, synchronized adaptation in gene regulation that is followed by highly variable gene expression when growth decreases. Conversely, sudden and acute heat shock leads to a stronger, coordinated response and adaptation across cells. This analysis reveals that the magnitude of global gene expression heterogeneity is regulated in response to different physiological conditions within populations of a unicellular eukaryote.

Condensin controls cellular RNA levels through the accurate segregation of chromosomes instead of directly regulating transcription.

Condensins are genome organisers that shape chromosomes and promote their accurate transmission. Several studies have also implicated condensins in gene expression, although any mechanisms have remained enigmatic. Here, we report on the role of condensin in gene expression in fission and budding yeasts. In contrast to previous studies, we provide compelling evidence that condensin plays no direct role in the maintenance of the transcriptome, neither during interphase nor during mitosis. We further show that the changes in gene expression in post-mitotic fission yeast cells that result from condensin inactivation are largely a consequence of chromosome missegregation during anaphase, which notably depletes the RNA-exosome from daughter cells. Crucially, preventing karyotype abnormalities in daughter cells restores a normal transcriptome despite condensin inactivation. Thus, chromosome instability, rather than a direct role of condensin in the transcription process, changes gene expression. This knowledge challenges the concept of gene regulation by canonical condensin complexes.

Size-Dependent Expression of the Mitotic Activator Cdc25 Suggests a Mechanism of Size Control in Fission Yeast.

Proper cell size is essential for cellular function. Nonetheless, despite more than 100 years of work on the subject, the mechanisms that maintain cell-size homeostasis are largely mysterious [1]. Cells in growing populations maintain cell size within a narrow range by coordinating growth and division. Bacterial and eukaryotic cells both demonstrate homeostatic size control, which maintains population-level variation in cell size within a certain range and returns the population average to that range if it is perturbed [1, 2]. Recent work has proposed two different strategies for size control: budding yeast has been proposed to use an inhibitor-dilution strategy to regulate size at the G1/S transition [3], whereas bacteria appear to use an adder strategy, in which a fixed amount of growth each generation causes cell size to converge on a stable average [4-6]. Here we present evidence that cell size in the fission yeast Schizosaccharomyces pombe is regulated by a third strategy: the size-dependent expression of the mitotic activator Cdc25. cdc25 transcript levels are regulated such that smaller cells express less Cdc25 and larger cells express more Cdc25, creating an increasing concentration of Cdc25 as cells grow and providing a mechanism for cells to trigger cell division when they reach a threshold concentration of Cdc25. Because regulation of mitotic entry by Cdc25 is well conserved, this mechanism may provide a widespread solution to the problem of size control in eukaryotes.

Observability of Boolean multiplex control networks.

Boolean multiplex (multilevel) networks (BMNs) are currently receiving considerable attention as theoretical arguments for modeling of biological systems and system level analysis. Studying control-related problems in BMNs may not only provide new views into the intrinsic control in complex biological systems, but also enable us to develop a method for manipulating biological systems using exogenous inputs. In this article, the observability of the Boolean multiplex control networks (BMCNs) are studied. First, the dynamical model and structure of BMCNs with control inputs and outputs are constructed. By using of Semi-Tensor Product (STP) approach, the logical dynamics of BMCNs is converted into an equivalent algebraic representation. Then, the observability of the BMCNs with two different kinds of control inputs is investigated by giving necessary and sufficient conditions. Finally, examples are given to illustrate the efficiency of the obtained theoretical results.

Sampled-Data-Based Consensus and $L_{2}$ -Gain Analysis for Heterogeneous Multiagent Systems.

This paper is concerned with the sampled-data-based consensus problem of heterogeneous multiagent systems under directed graph topology with communication failure. The heterogeneous multiagent system consists of first-order and second-order integrators. Consensus of the heterogeneous multiagent system may not be guaranteed if the communication failure always happens. However, if the frequency and the length of the communication failure satisfy certain conditions, consensus of the considered system can be reached. In particular, we introduce the concepts of communication failure frequency and communication failure length. Then, with the help of the switching technique and the Lyapunov stability theory, sufficient conditions are derived in terms of linear matrix inequalities, which guarantees that the heterogeneous multiagent system not only achieves consensus but also maintains a desired L2 -gain performance. A simulation example is given to show the effectiveness of the proposed method in this paper.

Redesigned Predictive Event-Triggered Controller for Networked Control System With Delays.

Event-triggered control (ETC) is a control strategy which can effectively reduce communication traffic in control networks. In the case where communication resources are scarce, ETC plays an important role in updating and communicating data. When network-induced delays are involved, two unsynchronized phenomena will appear if the existing ETC strategy, designed for networked control systems (NCSs) free of delays, is adopted. This paper deals with the ETC problem for NCS with delays existing in both sensor-to-controller and controller-to-actuator channels. A new predictive ETC strategy is proposed to solve both unsynchronized problems. It is shown that the stability of the resulting closed-loop system can be guaranteed under such an ETC strategy. Finally, both simulation studies and experimental tests are carried out to illustrate the proposed technique and verify its effectiveness.

Absolutely Exponential Stability and Temperature Control for Gas Chromatograph System Under Dwell Time Switching Techniques.

This paper provides a design strategy for temperature control of the gas chromatograph. Usually gas chromatograph is modeled by a simple first order system with a time-delay, and a proportion integration (PI) controller is widely used to regulate the output of the gas chromatograph to the desired temperature. As the characteristics of the gas chromatograph varies at the different temperature range, the single-model based PI controller cannot work well when output temperature varies from one range to another. Moreover, the presence of various disturbance will further deteriorate the performance. In order to improve the accuracy of the temperature control, multiple models are used at the different temperature ranges. With a PI controller designed for each model accordingly, a delay-dependent switching control scheme using the dwell time technique is proposed to ensure the absolute exponential stability of the closed loop. Experiment results demonstrate the effectiveness of the proposed switching technique.

Input-to-state stability of switched nonlinear systems with time delays under asynchronous switching.

This paper is concerned with analyzing input-to-state stability (ISS) for a class of switched nonlinear systems with time delays under asynchronous switching. Due to the existence of switching delay, the switching of the controller does not coincide accurately with the switching of the system.When the subsystem is stabilized with the matched controller, the subsystem is ISS; otherwise, the subsystem may be not ISS. We establish efficient condition, in terms of an upper bound on the switching delay, and in terms of a lower bound on the matched time intervals for the subsystem and the controller, which ensures ISS for the whole switched nonlinear system. Finally, an illustrative example is presented to demonstrate the efficacy of the results.

Endonuclease G is a novel determinant of cardiac hypertrophy and mitochondrial function.

Left ventricular mass (LVM) is a highly heritable trait and an independent risk factor for all-cause mortality. So far, genome-wide association studies have not identified the genetic factors that underlie LVM variation, and the regulatory mechanisms for blood-pressure-independent cardiac hypertrophy remain poorly understood. Unbiased systems genetics approaches in the rat now provide a powerful complementary tool to genome-wide association studies, and we applied integrative genomics to dissect a highly replicated, blood-pressure-independent LVM locus on rat chromosome 3p. Here we identified endonuclease G (Endog), which previously was implicated in apoptosis but not hypertrophy, as the gene at the locus, and we found a loss-of-function mutation in Endog that is associated with increased LVM and impaired cardiac function. Inhibition of Endog in cultured cardiomyocytes resulted in an increase in cell size and hypertrophic biomarkers in the absence of pro-hypertrophic stimulation. Genome-wide network analysis unexpectedly implicated ENDOG in fundamental mitochondrial processes that are unrelated to apoptosis. We showed direct regulation of ENDOG by ERR-α and PGC1α (which are master regulators of mitochondrial and cardiac function), interaction of ENDOG with the mitochondrial genome and ENDOG-mediated regulation of mitochondrial mass. At baseline, the Endog-deleted mouse heart had depleted mitochondria, mitochondrial dysfunction and elevated levels of reactive oxygen species, which were associated with enlarged and steatotic cardiomyocytes. Our study has further established the link between mitochondrial dysfunction, reactive oxygen species and heart disease and has uncovered a role for Endog in maladaptive cardiac hypertrophy.

Premature senescence in cells from patients with autosomal recessive hypercholesterolemia (ARH): evidence for a role for ARH in mitosis.

OBJECTIVE: The defective gene causing autosomal recessive hypercholesterolemia (ARH) encodes ARH, a clathrin-associated adaptor protein required for low-density-lipoprotein receptor endocytosis in most cells but not in skin fibroblasts. The aim here was to elucidate why ARH fibroblasts grow slowly and undergo premature senescence. METHODS AND RESULTS: Knockdown of ARH by RNA interference in IMR90 cells produces the same phenotype, indicated by increased p16 expression, γ-H2AX-positive foci, and enlarged flattened morphology. We showed that ARH contributes to several aspects of mitosis: it localizes to mitotic microtubules, with lamin B1 on the nuclear envelope and spindle matrix, and with clathrin heavy chain on mitotic spindles. Second, ARH is phosphorylated in G(2)/M phase by a roscovitine-sensitive kinase, probably cdc2. Third, cells lacking ARH show disfigured nuclei and defective mitotic spindles. Defects are most marked in ARH W22X cells, where translation starts at Met46, so the protein lacks a phosphorylation site at Ser14, identified by mass spectrometry of wild-type ARH. CONCLUSIONS: The ARH protein is involved in cell cycle progression, possibly by affecting nuclear membrane formation through interaction with lamin B1 or other mitotic proteins, and its absence affects cell proliferation and induces premature senescence, which may play a role in the development of atherosclerosis in ARH.

Increased secretion of lipoproteins in transgenic mice expressing human D374Y PCSK9 under physiological genetic control.

OBJECTIVE: To produce transgenic mice expressing the D374Y variant of the human proprotein convertase subtilisin/kexin type 9 (PCSK9) gene at physiological levels to investigate the mechanisms causing hypercholesterolemia and accelerated atherosclerosis. METHODS AND RESULTS: A bacterial artificial chromosome containing PCSK9 and its flanking regions was modified to introduce the D374Y mutation and a C-terminal myc(2) tag. Transgenic mice that expressed 1 copy of the mutant or wild-type (WT) PCSK9 bacterial artificial chromosome were produced. Human PCSK9 mRNA was expressed at levels comparable to endogenous pcsk9 and with the same tissue specificity. The expression of D374Y or WT human PCSK9 increased the serum cholesterol level and reduced hepatic low-density lipoprotein receptor protein levels in the transgenic mice compared with bacterial artificial chromosome-negative controls; however, the effects were more marked in D374Y mice. The effect of a high-cholesterol diet on increasing serum cholesterol level was greater in D374Y mice, and atherosclerotic plaques after 15 weeks were more extensive in mice expressing D374Y than in WT PCSK9. D374Y mice secreted more triglyceride-rich lipoproteins into the circulation than WT mice. CONCLUSIONS: The expression of human D374Y PCSK9 at physiological levels produced a phenotype that closely matched that found in heterozygous D374Y patients and suggested that reduced low-density lipoprotein receptor activity is not the sole cause of their hypercholesterolemia.

Degradation of LDLR protein mediated by 'gain of function' PCSK9 mutants in normal and ARH cells.

Dominant gain-of-function mutations in proprotein convertase subtilisin kexin type 9 (PCSK9) cause familial hypercholesterolaemia (FH) and result in accelerated atherosclerosis and premature coronary heart disease. It is believed that PCSK9 binds to LDL-receptor (LDLR) protein and prevents its recycling to the cell surface; gain-of-function PCSK9 mutants enhance LDLR degradation. Several new variants of PCSK9 have been identified, but their effect on PCSK9 activity has not been determined. We describe a new procedure for assessing the activity of four putative gain-of-function mutations identified in FH patients (D129N, D374H, N425S, R496W). All four mutant proteins were secreted normally from transfected HEK293T cells. Immortalized lymphocytes from normolipaemic controls were incubated with conditioned medium from transfected cells and cell-surface LDLR protein was determined by FACS. D374H was as potent as D374Y in reducing cell-surface LDLR, while the other three mutations were more potent than wild type, but less so than the D374 mutants; this correlated with total serum cholesterol in the patients. Substitution of different amino acids at 374 showed that aspartate in this position was critical; even glutamate at residue 374 increased LDLR degradation. When the assay was carried out with ARH-negative lymphocytes that are unable to internalise the LDLR, D374Y-PCSK9 was able to reduce cell-surface LDLR by 35%, compared with approximately 70% for normal lymphocytes. Thus, PCSK9-mediated LDLR degradation is not entirely dependent on ARH function. We propose a novel ARH-independent pathway for PCSK9 activity on LDLR.