Game of Drones: Multi-UAV Pursuit-Evasion Game With Online Motion Planning by Deep Reinforcement Learning.

As one of the tiniest flying objects, unmanned aerial vehicles (UAVs) are often expanded as the "swarm" to execute missions. In this article, we investigate the multiquadcopter and target pursuit-evasion game in the obstacles environment. For high-quality simulation of the urban environment, we propose the pursuit-evasion scenario (PES) framework to create the environment with a physics engine, which enables quadcopter agents to take actions and interact with the environment. On this basis, we construct multiagent coronal bidirectionally coordinated with target prediction network (CBC-TP Net) with a vectorized extension of multiagent deep deterministic policy gradient (MADDPG) formulation to ensure the effectiveness of the damaged "swarm" system in pursuit-evasion mission. Unlike traditional reinforcement learning, we design a target prediction network (TP Net) innovatively in the common framework to imitate the way of human thinking: situation prediction is always before decision-making. The experiments of the pursuit-evasion game are conducted to verify the state-of-the-art performance of the proposed strategy, both in the normal and antidamaged situations.

IFN-γ promotes the development of systemic lupus erythematosus through the IFNGR1/2-PSTAT1-TBX21 signaling axis.

BACKGROUND: Systemic lupus erythematosus (SLE) is a chronic disease that causes inflammation in cartilage and the lining of blood vessels. Emerging evidence implicates IFN-γ as a major effector molecule in SLE during both active and stable stages. Here, we investigated the effects of IFN-γ on cytokines that play an autoimmune disease-promoting role and Th1-versus-Th2 and B cell dualism in SLE patients and mouse models of SLE. METHODS: The levels of pro-inflammatory factors CXCL11, IFN-γ, IL-1ß and IL-4, and immune complexes IgG, anti-dsDNA and anti-RNP were assessed through enzyme-linked immunosorbent assays (ELISA). Flow cytometry was performed to measure Th1, Th2 and B cell counts and IFNGR1, IFNGR2, pSTAT1 and TBX21 expression. The pathology of renal tissue from mouse SLE models was investigated through Hematoxylin eosin (H&E) staining. The levels of IgG, anti-dsDNA and anti-RNP were determined through immunofluorescence (IF) assays. RESULTS: Skin damage was observed in SLE patients in both active and stable stages. ELISA analysis showed that SLE patients displayed higher levels of pro-inflammatory factors (CXCL11, IFN-γ, IL-1ß and IL-4) and immune complexes (IgG, anti-dsDNA and anti-RNP). The percentage of Th1 and B cells was increased in blood samples from SLE patients with skin lesions (SL) or lupus nephritis (LN). The percentage of Th2 cells among the groups were comparable. Higher levels of IFNGR1, IFNGR2, pSTAT1 and TBX21 were observed in Th1 but not Th2 cells. In SLE mouse models, H&E staining revealed fewer immune complexes in glomerular endothelial cells and decreased hyaline thrombus in the capillary lumen following treatment with anti-IFN-γ antibodies or following IFNGR1 or STAT1 silencing. CONCLUSION: IFN-γ contributes to the pathogenesis of SLE through the IFNGR1/2-pSTAT1-TBX21 axis and regulates inflammation and immune complex formation in SLE mice.

Event-Based Robust Optimal Consensus Control for Nonlinear Multiagent System With Local Adaptive Dynamic Programming.

This article investigates the robust optimal consensus for nonlinear multiagent systems (MASs) through the local adaptive dynamic programming (ADP) approach and the event-triggered control method. Due to the nonlinearities in dynamics, the first part defines a novel measurement error to construct a distributed integral sliding-mode controller, and the consensus errors can approximately converge to the origin in a fixed time. Then, a modified cost function with augmented control is proposed to deal with the unmatched disturbances for the event-based optimal consensus controller. Specifically, a single network local ADP structure with novel concurrent learning is presented to approximate the optimal consensus policies, which guarantees the robustness of the MASs and the uniform ultimate boundedness (UUB) of the neural network (NN) weights' estimation error and relaxes the requirement of initial admissible control. Finally, an illustrative simulation verifies the effectiveness of the method.

Finite-Time Dynamic Allocation and Control in Multiagent Coordination for Target Tracking.

A new finite-time dynamic allocation and control scheme is developed in this article for multiple agents tracking a moving target. Based on a competitive manner, the dynamic allocation is achieved by k-winners-take-all (k-WTA), which can be realized by a novel finite-time dual neural network with the adaptive-gain activation function. Then, a finite-time disturbance compensation-based control law is proposed for agents to conduct capturing task or return to the specified point in vigilance. The finite-time stability of the system is guaranteed through Lyapunov analysis. Finally, the efficiency of the proposed scheme is illustrated by simulations in which the situation with higher target velocity than trackers is considered.

The effectiveness of physical exercise type and length to prevent falls in nursing homes: A systematic review and meta-analysis.

OBJECTIVE: The aim of this systematic review and meta-analysis was to determine the effect of physical exercise on fall prevention and the characteristics required for effective exercise. DESIGN: Systematic review and meta-analysis of randomised controlled trials. METHOD: Six databases (PubMed, Cochrane Library, Web of Science, Excerpta Medica Database, SinoMed and China National Knowledge Infrastructure) were searched to find the relevant randomised controlled trials published before January 2021. The study was reported in compliance with PRISMA statement. The included studies were assessed for quality using the Cochrane "Risk of Bias" assessment tool, and the data were analysed with review manager. RESULTS: Overall, fourteen studies were included. Compared physical exercise with normal daily life, the pooled effect size of all trials indicated that intervention had significant effect on fall prevention (RR = 0.85, 95% CI = 0.73-0.98). The result of subgroup revealed that long-term exercise and balance exercise could reduce falling, while short-term exercise and more complex exercise couldn't. CONCLUSIONS: Exercise may be effective in reducing falls, and long-term balance exercise played a role in preventing falls in nursing homes.

Distributed Pursuit of an Evader With Collision and Obstacle Avoidance.

The distributed, real-time algorithms for multiple pursuers cooperating to capture an evader are developed in an obstacle-free and an obstacle-cluttered environment, respectively. The developed algorithm is based on the idea of planning the control action within its safe, collision-free region for each robot. We initially present a greedy capturing strategy for an obstacle-free environment based on the Buffered Voronoi Cell (BVC). For an environment with obstacles, the obstacle-aware BVC (OABVC) is defined as the safe region, which considers the physical radius of each robot, and dynamically weights the Voronoi boundary between robot and obstacle to make it tangent to the obstacle. Each robot continually computes its safe cells and plans its control actions in a recursion fashion. In both cases, the pursuers successfully capture the evader with only relative positions of neighboring robots. A rigorous proof is provided to ensure the collision and obstacle avoidance during the pursuit-evasion games. Simulation results are presented to demonstrate the efficiency of the developed algorithms.

Increased Levels of VCAM-1 in Sera and VLA-4 Expression on Neutrophils in Dermatomyositis with Interstitial Lung Disease.

Vascular cell adhesion molecule-1 (VCAM-1) and its ligand very late antigen (VLA-4) play important roles in many autoimmune diseases. Our study aimed to investigate the serum level of VCAM-1 and VLA-4 expression on peripheral blood neutrophil surface in patients with dermatomyositis (DM), especially focusing on patients with interstitial lung disease (ILD). Blood specimens of 42 patients with DM and 42 healthy controls matched for age and gender were recruited. Total serum VCAM-1 level was measured using commercial enzyme-linked immunosorbent assay (ELISA) and the percentages of VLA-4 expression on neutrophils were analyzed by flow cytometry. We divided patients into subgroups according to whether they had ILD and whether they exhibited diffuse alveolar damage (DAD) via high-resolution computed tomography (HRCT). sVCAM-1 was increased in classical DM (cDM) and clinical amyopathic dermatomyositis (CADM) compared with healthy controls (both p < .01). DM-ILD had higher sVCAM-1 levels than the none-ILD group (p < .01). sVCAM-1 was also significantly increased in the DAD group compared to the none-DAD group (p < .01). The percentages of VLA-4 expression on neutrophils in cDM and CADM patients were significantly elevated than that in healthy controls (both p < .01). The percentage of VLA-4 expression on neutrophils in DM patients with ILD was higher than none-ILD group (p < .01). In the patients with ILD, DAD group had a higher percentage of VLA-4 expression on neutrophils than none-DAD group (p < .01). Our findings indicated that serum VCAM-1 levels combined with VLA-4 expression on neutrophils might be useful for detecting the severity of lung disease in patients with DM.

Brain-derived neurotrophic factor in autoimmune inflammatory diseases (Review).

Numerous recent studies reported that brain-derived neurotrophic factor (BDNF) also exists in the peripheral blood to regulate the proliferation, differentiation and survival of lymphocytes. Besides the role of BDNF in neuron repair, circulatory BDNF also enhances the proliferation and reduces apoptosis of lymphocytes. Peripheral lymphocytes express both BDNF and its receptors. Increasing evidence has indicated that altered BDNF serum levels significantly affect patients with autoimmune inflammatory diseases and may also be linked to the pathogenesis of diseases. For instance, systemic lupus erythematosus, an autoimmune inflammatory disease involving multiple organs, is frequently linked to altered B lymphocyte function, imbalance of T-cell subpopulations and loss of immune tolerance, which dysregulates the immune regulatory network with excessive secretion of inflammatory cytokines. The present review summarized studies that suggest a potential link between circulatory BDNF and autoimmune inflammatory diseases.

Altered peripheral helper T cells in peripheral blood and muscle tissue of the patients with dermatomyositis.

Peripheral helper T (Tph) cells, phenotypically PD-1hiCXCR5-CD4+, are a recently identified Th cell subset that relates to several autoimmune diseases. Contrary to PD-1hiCXCR5+CD4+ follicular helper T (Tfh) cells, Tph cells are not located in lymphoid organs but accumulate in inflamed tissues. This study investigated Tph cells to determine their involvement in dermatomyositis (DM). The frequency of circulating Tph and Tfh cells was evaluated by flow cytometry at baseline and after glucocorticoid treatment. The expression of Tph and B cells was determined in muscle tissue by immunohistochemistry (IHC). Further, the correlations between circulating Tph cells and clinical characteristics were investigated. Flow cytometry revealed that circulating Tph and Tfh cells were decreased in peripheral blood of DM patients compared with healthy controls (HCs). However, the muscular expression of Tph and B cells was upregulated in patients with DM compared to that in the controls by IHC. Interestingly, the increased B cells accumulated around Tph cells in infiltrated lesions. The frequency of circulating Tph cells was positively correlated with Tfh cells, CD3+ T cells, CD4+ T cells, and CD8+ T cells, whereas negatively correlated with erythrocyte sedimentation rate (ESR), interleukin (IL)-6, and IL-10 levels. Furthermore, the abnormal circulating Tph cells in peripheral blood were recovered after glucocorticoid treatment. These results indicate that Tph cells might be involved in the immunopathogenesis of DM and therefore might provide novel insight for the development of DM therapies.

Integrated Fault Estimation and Fault-Tolerant Tracking Control for Lipschitz Nonlinear Multiagent Systems.

An integrated fault estimation (FE) and fault-tolerant tracking control (FTTC) strategy is developed for Lipschitz nonlinear multiagent systems subject to actuator faults, external disturbance, and uncertainties. First, for each agent, a corresponding unknown input observer with reduced/full order is constructed to obtain the FE. Then, a state/output feedback FTTC strategy is proposed based on the integral sliding-mode technique and adaptive super-twisting algorithm. The observer and controller gains are obtained simultaneously via H∞ optimization with a linear matrix inequality formulation. Finally, the comparison simulations are provided to demonstrate the effectiveness of the proposed algorithm.

Peripheral blood brain-derived neurotrophic factor level and tyrosine kinase B expression on T lymphocytes in systemic lupus erythematosus: Implications for systemic involvement.

OBJECTIVE: Brain-derived neurotrophic factor (BDNF) has been reported to be involved in the pathogenesis of autoimmune diseases and tyrosine kinase B (TrkB) is the specific receptor for BDNF. Our aim in this study was to investigate serum BDNF level and TrkB expression on peripheral blood T cell surface in patients with systemic lupus erythematosus (SLE) and explore potential relationship between serum BDNF and SLE. METHODS: Samples from fifty SLE patients and thirty healthy controls were evaluated. Serum BDNF level was measured by enzyme-linked immunosorbent assay (ELISA) and the percentages of TrkB expression on the surface of CD3 + CD4 + and CD3 + CD8 + T lymphocytes were measured by flow cytometry. The SLE patients were divided into subgroups according to whether they exhibited brain, kidney or lung involvement, and whether the disease was active or inactive. RESULTS: Serum BDNF levels in SLE patients were decreased when compared to the controls (p < 0.001). Comparing with the SLE individuals without systemic involvement, the BDNF levels were decreased in SLE patients with lupus nephritis (p = 0.042) and in SLE patients with neuropsychiatric manifestations (p = 0.04). On the other hand, the BDNF level was significantly increased in the inactive SLE group (p < 0.001) compared to the active SLE group. In addition, the percentages of TrkB expression on CD3 + CD4 + and CD3 + CD8 + T cell surface in SLE were significantly higher (p < 0.001; p < 0.001, respectively) than that in the controls. CONCLUSIONS: Serum BDNF level combined with TrkB expression on T cell surface can reflect SLE activity. It is possible that BDNF may be used as a potential serological biomarker for disease activity of SLE. In addition, the significant decrease in serum BDNF level may imply systemic involvement of SLE, as well as, possibly, differentiate neuropsychiatric SLE from hormone-induced mental disorders.

Fixed-Time Leader-Follower Output Feedback Consensus for Second-Order Multiagent Systems.

This paper addresses the fixed-time leader-follower consensus problem for second-order multiagent systems without velocity measurement. A new continuous fixed-time distributed observer-based consensus protocol is developed to achieve consensus in a bounded finite time fully independent of initial condition. A rigorous stability proof of the multiagent systems by output feedback control is presented based on the bi-limit homogeneity and the Lyapunov technique. Finally, the efficiency of the proposed methodology is illustrated by numerical simulation.

Neural network disturbance observer-based distributed finite-time formation tracking control for multiple unmanned helicopters.

The distributed finite-time formation tracking control problem for multiple unmanned helicopters is investigated in this paper. The control object is to maintain the positions of follower helicopters in formation with external interferences. The helicopter model is divided into a second order outer-loop subsystem and a second order inner-loop subsystem based on multiple-time scale features. Using radial basis function neural network (RBFNN) technique, we first propose a novel finite-time multivariable neural network disturbance observer (FMNNDO) to estimate the external disturbance and model uncertainty, where the neural network (NN) approximation errors can be dynamically compensated by adaptive law. Next, based on FMNNDO, a distributed finite-time formation tracking controller and a finite-time attitude tracking controller are designed using the nonsingular fast terminal sliding mode (NFTSM) method. In order to estimate the second derivative of the virtual desired attitude signal, a novel finite-time sliding mode integral filter is designed. Finally, Lyapunov analysis and multiple-time scale principle ensure the realization of control goal in finite-time. The effectiveness of the proposed FMNNDO and controllers are then verified by numerical simulations.

Control-oriented modeling and adaptive backstepping control for a nonminimum phase hypersonic vehicle.

In this paper, the nonminimum phase problem of a flexible hypersonic vehicle is investigated. The main challenge of nonminimum phase is the prevention of dynamic inversion methods to nonlinear control design. To solve this problem, we make research on the relationship between nonminimum phase and backstepping control, finding that a stable nonlinear controller can be obtained by changing the control loop on the basis of backstepping control. By extending the control loop to cover the internal dynamics in it, the internal states are directly controlled by the inputs and simultaneously serve as virtual control for the external states, making it possible to guarantee output tracking as well as internal stability. Then, based on the extended control loop, a simplified control-oriented model is developed to enable the applicability of adaptive backstepping method. It simplifies the design process and releases some limitations caused by direct use of the no simplified control-oriented model. Next, under proper assumptions, asymptotic stability is proved for constant commands, while bounded stability is proved for varying commands. The proposed method is compared with approximate backstepping control and dynamic surface control and is shown to have superior tracking accuracy as well as robustness from the simulation results. This paper may also provide a beneficial guidance for control design of other complex systems.

Continuous high order sliding mode controller design for a flexible air-breathing hypersonic vehicle.

This paper investigates the problem of tracking control with uncertainties for a flexible air-breathing hypersonic vehicle (FAHV). In order to overcome the analytical intractability of this model, an Input-Output linearization model is constructed for the purpose of feedback control design. Then, the continuous finite time convergence high order sliding mode controller is designed for the Input-Output linearization model without uncertainties. In addition, a nonlinear disturbance observer is applied to estimate the uncertainties in order to compensate the controller and disturbance suppression, where disturbance observer and controller synthesis design is obtained. Finally, the synthesis of controller and disturbance observer is used to achieve the tracking for the velocity and altitude of the FAHV and simulations are presented to illustrate the effectiveness of the control strategies.