Autonomous Control Research Articles

The effect of ischemic preconditioning on the cardiac autonomic nervous system after exercise: A systematic review and meta-analysis

Aims: The objective of this study is to comprehensively evaluate the influence of ischemic preconditioning intervention on the autonomic control nerves of athletes during the post-exercise period. Methods: Randomized controlled trials (RCTs) were sourced from PubMed, Web of Science, Embase, Wipo, CNKI, and Cochrane databases, covering the period from inception to December 2023. The quality of the included RCTs was evaluated using the Cochrane Risk Assessment Tool, and a systematic assessment was conducted using RevMan 5.3. Results: Seven randomized controlled trials (RCTs) involving 88 subjects were included in the analysis. The meta-analysis indicated that ischemic preconditioning significantly improved heart rate during both short-term recoveries (mean difference [MD] = -3.99, 95% confidence interval [CI]: -5.93 to -2.05, p < 0.00001) and long-term recovery post-exercise (MD = -9.73, 95% CI: -12.74 to -6.73, p < 0.00001). However, there was no significant effect observed on resting state heart rate variability (HRV) or peak heart rate (HR peak) at the end of exercise (MD = -0.16, 95% CI: -2.46 to 2.14, p = 0.89). Conclusion: Ischemic preconditioning facilitates the prompt reactivation of cardiac parasympathetic nerves following exercise and enhances both short-term and long-term heart rate recovery. The extent of this recovery effect may be influenced by factors such as the dosage of the intervention, the individual’s training level, and the intensity of the exercise performed. Limitation: Given the limited number of included studies, the small sample size, and the unclear definition of some experimental procedures, it is essential to design more rigorous and comprehensive high-quality randomized controlled trials (RCTs) in the future to investigate the effects of ischemic preconditioning on cardiac autonomic control nerves following exercise. Registration: INPLASY202440069

Early-Life Sodium Restriction Programs Autonomic Dysfunction and Salt- Sensitivity in Male C57BL/6J Mice.

Preterm birth increases the risk of cardiometabolic disease in adulthood. Infants born during the second trimester of pregnancy, a critical period of hypothalamic development, are at risk of sodium (Na) depletion due to renal immaturity and large urine Na losses. We previously demonstrated in male mice that Na restriction during the equivalent mouse hypothalamic development period (PD21-PD42) programs long-term changes in energy balance via increased thermogenic sympathetic nervous activity. We therefore hypothesized that early-life Na restriction programs changes in cardiovascular control via altered autonomic activity. C57BL/6J male mice were supplied a low (0.04%) Na or supplemented (0.30%) Na diet from PD21-PD42, before return to standard (0.15%) Na diet. Hemodynamic and autonomic functions were assessed by radiotelemetry and acute administration of autonomic antagonists before and after all animals were switched to a high Na diet (HSD; 1% Na) at 12 weeks of age. Mice were additionally treated with the angiotensin II type 1 receptor (AT1R) antagonist, losartan, for two weeks. On standard diet, early-life Na restriction resulted in small but significantly different hemodynamic responses to autonomic blockers without effect on systolic blood pressure (SBP) or heart rate (HR). HSD increased SBP in 0.04% but not 0.30% Na mice, accompanied by increased cardiac sympathetic activity. Losartan had a greater BP lowering effect in early life Na-restricted mice. Our findings suggest Na restriction during a critical hypothalamic developmental period programs long-term changes in autonomic control of cardiovascular functions and may offer insight into the increased risk of cardiovascular disease in former preterm infants.

Altered parasympathetic outflow and central sensitization response to continuous pain in cyclic vomiting syndrome: a functional magnetic resonance imaging study.

Cyclic vomiting syndrome (CVS) is a disorder of brain-gut interaction characterized by recurrent episodes of nausea and vomiting interspersed with asymptomatic periods and associated with autonomic nervous system dysfunction. We examined the dysautonomic response to noxious stimuli seen in CVS patients using our previously validated approach to integrate peripheral autonomic outflow metrics, temporal summation of pain, and brain fMRI. BOLD fMRI and ECG were acquired from CVS patients and healthy adults during a rest condition and a sustained cuff pressure pain stimulus at the leg. After the latter scan, participants rated pain for the full 6-minute pain stimulus as well as first, middle, and last two-minutes to calculate temporal summation. During sustained pain, patients (n=13) exhibited greater reduction in heart rate variability within the high-frequency range (HF-HRV) and reduced anticorrelation between HF-HRV and fMRI signal in the anterior insula, pregenual anterior cingulate cortex, and ventrolateral and dorsolateral prefrontal cortex relative to healthy adults (n=13). Compared to healthy adults (n=14), patients (n=14) exhibited increasing pain intensity over the course of sustained cuff pressure. Seed-based functional connectivity analysis revealed for healthy adults (n=13), pain sensitization correlated with pain-induced increases in connectivity between primary somatosensory cortex and regions of interest in both left anterior insula/posterior orbitofrontal cortex and right pre-supplementary motor area, while this correlation was disrupted in CVS (n=10). Our results support altered central coding of nociceptive stimuli and autonomic responsivity of CVS patients in key brain regions implicated in autonomic control and interoception.

Autonomous orbit maintenance takeover control of ultra-low orbit spacecraft with event-triggered mechanism

In this paper, the problem of high-precision autonomous orbit maintenance takeover control of ultra-low orbit (ULO) spacecraft with event-triggered mechanism (ETM) and tangential continuous low thrust is addressed. First, the ETM I is proposed to reduce the communication burden between Global Navigation Satellite System (GNSS) cellular satellite and controller cellular satellite. Second, a fuzzy adaptive controller is proposed to maintain the orbit altitude of the ULO spacecraft. Furthermore, the ETM II is provided to ensure that the control thrust changes infrequently to extend the lifetime of electric thrust cellular satellite. In addition, the ETM II can lighten the communication burden between controller cellular satellite and electric thrust cellular satellite. By combining fuzzy adaptive control method and ETMs, the ETM-based fuzzy adaptive controller is established. Finally, the simulation is provided to verify the effectiveness of the developed control method.

Water-Stable Magnetic Lipiodol Micro-Droplets as a Miniaturized Robotic Tool for Drug Delivery.

Magnetic microrobots, designed to navigate the complex environments of the human body, show promise for minimally invasive diagnosis and treatment. However, their clinical adoption faces hurdles such as biocompatibility, precise control, and intelligent tracking. Here a novel formulation (referred to water-stable magnetic lipiodol micro-droplets, MLMD), integrating clinically approved lipiodol, gelatin, and superparamagnetic iron oxide nanoparticles (SPION) with a fundamental understanding of the structure-property relationships is presented. This formulation demonstrates multiple improved properties including flowability, shape adaptability, efficient drug loading, and compatibility with digital subtraction angiography (DSA) imaging in both in vitro and in vivo experiments. This enables the MLMD as a versatile tool for image-guided therapy, supported by a close-looped magnetic navigation system featuring artificial intelligence (AI)-driven visual feedback for autonomous control. The system effectively performs navigational tasks, including pinpointing specific locations of MLMD, recognizing and avoiding obstacles, mapping and following predetermined paths, and utilizing magnetic fields for precise motion planning to achieve visual drug delivery. The MLMD combines magnetic actuation with an AI-directed close-looped navigation, offering a transformative platform for targeted therapeutic delivery.

Abstract 4136776: Prognostic Value of Resting Heart Rate and Heart Rate Variability in the 12-lead Electrocardiogram: Mortality Data From the CODE Nationwide Database

Introduction: Resting Heart Rate (HR) and Heart Rate Variability (HRV) reflect autonomic control, and are implicated as prognostic factors. We aimed to evaluate the prognostic value of HR and HRV in a cohort from a nationwide telemedicine network. Methods: We assessed unique ECGs recorded from patients ≥16 years-old, from the tele-ECG database of the Telehealth Network of Minas Gerais, Brazil, between 2010 and 2017. Variables of interest were HR and standard deviation of normal RR intervals (SDNN). Self-informed data were collected: sex, age, risk factors (hypertension, dyslipidemia, diabetes, smoking) and comorbidities (myocardial infarction, Chronic Obstructive Pulmonary Disease, and Chagas disease). Outcomes of interest were all-cause and cardiovascular mortality, assessed by ICD codes reported in death certificates, through linkage with the Mortality Information System. Cox regression was applied to evaluate the association between HR and HRV and the outcomes, in 4 models: 1. Unadjusted; 2. Adjusted for sex and age; 3. Model 2 + risk factors + clinical comorbidities; 4. Model 3 + HRV or HR, respectively. Results: At total 992.611 individuals were included, median age of 55 years, 60% women. In 6 years, there were 33.292 deaths (3,37%), 21% due to cardiovascular causes. Patients who died had higher prevalence of all risk factors and comorbidities, as well as higher HR: 76 (IQR 66-87) vs. 74 (IQR 65-83) bpm, p<0.001 and lower HRV: 84 (IQR 51-127) vs. 114 (IQR 74-153), p<0.001. After adjustments (model 4), all HR quartiles were independently associated a progressively increased risk of all-cause mortality, being 88% higher for the 4 th quartile (HR=1.88 (95%CI 1.77–1.89). Similarly, the 1 st and 2 nd HRV quartiles remained associated with increased all-cause mortality (1 st quartile HR=1.42 (95%CI 1.37–1.47) in the final model. For cardiovascular mortality, HR was also an independent predictor, with a progressively higher risk, with a 77% increase (HR=1.77 95%CI 1.65–1.91) in the 4 th quartile. HRV was also an independent predictor of cardiovascular death, with a 33% risk increase (HR=1.33, 95%CI 1.23–1.44) for the 1 st quartile. Male gender, age, and all risk factors and comorbidities were also independent predictors of all-cause and cardiovascular mortality. Conclusions: In a large cohort of Brazilian adults, baseline HR and HRV were independent predictors of all-cause and cardiovascular mortality, after adjustment for clinical variables and autonomic indexes.

Effects of Exercise Interventions on Cardiac Structure, Function, and Mechanics in Individuals with Chronic Motor-Complete Spinal Cord Injury: An Exploratory Randomized Clinical Trial

Background: Individuals with spinal cord injury (SCI) at or above T6 face increased cardiovascular disease (CVD) risks due to altered autonomic control and physical inactivity. Arm cycle ergometry training (ACET) or body weight-supported treadmill training (BWSTT) may improve cardiovascular health, but the impact on cardiac structure and function remains unclear. Objectives: The study aimed to compare the impact of two exercise interventions on cardiac measures in individuals with chronic SCI. Methods: Participants with motor-complete SCI (C4-T6, American Spinal Injury Association Impairment Scale [AIS] grade A or B) were randomly assigned to perform 72 ACET or BWSTT sessions. Left ventricular (LV) echocardiography assessments were performed pre and post training. Data were analyzed using a two-way repeated measures analysis of variance and effect sizes (Cohen’s d). Results: Twelve participants underwent analysis (6 per group), revealing significant Group (ACET, BWSTT) x Time (pre, post) interactions for global circumferential systolic and diastolic strain rate (SR) and early diastolic filling velocity (p ≤ .018; Cohen’s d > .8/ -.8). Within-group post hoc testing demonstrated a significant decrease in global circumferential systolic SR (p < .001, d = -4.00) and a significant increase in global circumferential diastolic SR (p = .025, d = 2.48) following ACET, with no significant differences following BWSTT. Although there were no statistically significant within-group post hoc changes (p > .58) for diastolic filling, there was a large effect size favoring ACET (d = 1.11). Conclusion: This exploratory study suggests that ACET alters LV mechanics and potentially diastolic function in a cohort of individuals with chronic, cervical or upper thoracic, motor-complete SCI. Conversely, no significant changes were observed following BWSTT. These findings indicate that ACET can improve cardiac function relative to BWSTT in individuals with SCI, though further studies are warranted.

Regional cerebral perfusion and sympathetic activation during exercise in hypoxia and hypercapnia: preliminary insight into'Cushing's mechanism'.

We examined the interactive influence of hypoxia and exercise, and hypercapnia and exercise,on regional cerebral perfusion and sympathetic activation. Twenty healthy young adults (seven women) completed study trials including (1) rest in normoxia ( : ∼96%, : ∼36mmHg), normocapnic hypoxia ( : ∼84%, : ∼36mmHg), and normoxic hypercapnia ( : ∼98%, : ∼46mmHg) and (2) unilateral rhythmic handgrip exercise (45% of maximal voluntary contraction at 1Hz for 3min) under the same gas conditions. Based on the exercising arm, blood flow in the contralateral internal carotid (ICABF) and ipsilateral vertebral (VABF) arteries, anterior and posterior cerebral O2 delivery ( ), and muscle sympathetic nerve activity (MSNA) were measured in each trial. During exercise in hypoxia, ICABF, VABF, anterior and posterior were significantly lower, whereas total MSNA was significantly greater, than the sum of the responses evoked by either hypoxia or exercise alone. During exercise in hypercapnia, ICABF and anterior were significantly greater, whereas MSNA was lower, than the sum of the responses evoked by either hypercapnia or exercise alone. The VABF and posterior responses to hypercapnic exercise were not different from the summated responses. These findings suggest that the brain is hypoperfused and sympathetic outflow potentiated during hypoxic exercise, and that the brain is hyperperfused and sympathetic discharge constrained during hypercapnic exercise. The contrasting consequences for cerebral perfusion and sympathetic activation indicate a potential involvement of Cushing's mechanism in the autonomic control during exercise in healthy humans. KEY POINTS: Brain O2-demand and -supply are mismatched, and muscle sympathetic nerve activity (MSNA) is enhanced in humans exercising at high altitude; the link between the two phenomena remains elusive. We evaluated the isolated and interactive effects of exercise, hypoxia, and hypercapnia on blood flow in the internal carotid (ICABF) and vertebral (VABF) arteries, and MSNA. The interaction of hypoxia and exercise was hypo-additive for ICABF and VABF and anterior and posterior cerebral O2 delivery ( ), but hyper-additive for MSNA. The interaction of hypercapnia and exercise was hyper-additive for ICABF and anterior , additive for VABF and posterior , and hypo-additive for MSNA. These observations indicate that a suboptimal brain perfusion during hypoxic exercise coincides with a potentiated sympathetic outflow, while a (supra-)optimal brain perfusion during hypercapnic exercise coincides with a suppressed sympathetic outflow. Our findings suggest that Cushing's mechanism may play a role in the autonomic control in exercising humans.

Multi-organ gene expression analysis and network modeling reveal regulatory control cascades during the development of hypertension in female spontaneously hypertensive rat.

Hypertension is a multifactorial disease with stage-specific gene expression changes occurring in multiple organs over time. The temporal sequence and the extent of gene regulatory network changes occurring across organs during the development of hypertension remain unresolved. In this study, female spontaneously hypertensive (SHR) and normotensive Wistar Kyoto (WKY) rats were used to analyze expression patterns of 96 genes spanning inflammatory, metabolic, sympathetic, fibrotic, and renin-angiotensin (RAS) pathways in five organs, at five time points from the onset to established hypertension. We analyzed this multi-dimensional dataset containing ~15,000 data points and developed a data-driven dynamic network model that accounts for gene regulatory influences within and across visceral organs and multiple brainstem autonomic control regions. We integrated the data from female SHR and WKY with published multiorgan gene expression data from male SHR and WKY. In female SHR, catecholaminergic processes in the adrenal gland showed the earliest gene expression changes prior to inflammation-related gene expression changes in the kidney and liver. Hypertension pathogenesis in male SHR instead manifested early as catecholaminergic gene expression changes in brainstem and kidney, followed by an upregulation of inflammation-related genes in liver. RAS-related gene expression from the kidney-liver-lung axis was downregulated and intra-adrenal RAS was upregulated in female SHR, whereas the opposite pattern of gene regulation was observed in male SHR. We identified disease-specific and sex-specific differences in regulatory interactions within and across organs. The inferred multi-organ network model suggests a diminished influence of central autonomic neural circuits over multi-organ gene expression changes in female SHR. Our results point to the gene regulatory influence of the adrenal gland on spleen in female SHR, as compared to brainstem influence on kidney in male SHR. Our integrated molecular profiling and network modeling identified a stage-specific, sex-dependent, multi-organ cascade of gene regulation during the development of hypertension.

Research on Autonomous Navigation of Unmanned Aerial Vehicles Based on Correlation-Based Image Comparison Methods

Relevance. Autonomous navigation of unmanned aerial vehicles (UAVs) is one of the key challenges in the modern aerospace industry. Specifically, for small UAVs, the task of autonomous navigation becomes even more complex due to limitations in computational resources and sensor capabilities. Optimizing navigation methods under such conditions is a pressing issue that requires solutions capable of providing high performance with minimal resource consumption.Objective. Improving the efficiency of autonomous navigation for small UAVs by using correlation methods for image comparison. Achieving this objective is linked to the development and evaluation of algorithms that provide high-speed and accurate navigation with limited computational resources. The work uses methods such as the autocorrelation function, Pearson correlation, the structural similarity index, and a simple neural network for image comparison.Solution. The research showed that the autocorrelation-based approach demonstrates the best performance under low computational resources. It ensures high-speed processing of the entire image and shows optimal detection accuracy. Compared to other methods presented in the study, the autocorrelation approach is capable of working not only with noise in the "reference" map but also of using alternative areas with altered patterns as detected regions.The scientific novelty of the study is determined by the systematic comparison of various methods applied to the task of image comparison for small UAVs with limited computational resources. Unlike well-known works in the field of correlation-extreme systems, this research focuses on the use of a "reference map" and a search area, representing two different images of the same terrain taken from different sources. This is a key difference, as most methods are not highly efficient in processing such images where patterns may differ significantly.The practical significance of the developed algorithm lies in the fact that the proposed autocorrelation-based method can be used by developers of autonomous small UAV control systems to reduce computational load and increase data processing speed.

Real-time autonomous control of a continuous macroscopic process as demonstrated by plastic forming.

To meet the need for more adaptable and expedient approaches in research and manufacturing, we present a continuous autonomous system that leverages real-time, in situ characterization and an active-learning-based decision-making processor. This system was applied to a plastic film forming process to demonstrate its capability in autonomously determining process conditions for specified film dimensions without human intervention. Application of the system to nine film dimensions (width and thickness) highlighted its ability to explore the search space and identify appropriate and stable process conditions, with an average of 11 characterization-adjustment iterations and a processing time of 19 minutes per width, thickness combination. The system successfully avoided common pitfalls, such as repetitive over-correction, and demonstrated high accuracy, with R2 values of 0.87 and 0.90 for film width and thickness, respectively. Moreover, the active learning algorithm enabled the system to begin exploration with zero training data, effectively addressing the complex and interdependent relationships between control factors (material supply rate, applied force, material viscosity) in the continuous plastic forming process. Given that the core concept of this autonomous process can, in principle, be transferred to other continuous material processing systems, these results have implications for accelerating progress in both research and industry.

Trajectory tracking for autonomous surface ships using Gaussian process regression and model predictive control with BVS strategy

Autonomous navigation is critical to the development of next-generation shipping systems. The proposal of intelligent ships enables innovation in the shipping and shipbuilding industry and increases the safety and efficiency of ship operations. Autonomous control of surface ships to follow a prescribed trajectory is critical in a variety of maritime applications. This paper proposes a trajectory tracking control strategy for autonomous surface ships that combines nonparametric modelling using Gaussian Process Regression (GPR) with the Model Predictive Control (MPC) framework. A Bézier curve-based Virtual Ship(BVS) guidance strategy is proposed to convert dynamic trajectory points into reference heading angles and speeds, such that the trajectory tracking problem can be decomposed into heading control and speed control problems. Gaussian process regression is utilised to identify the correlation between propeller revolution speed and ship speed, as well as the correlation between rudder angle and heading angle based on experimental data. Two GPR models are therefore constructed as the prediction models for designing MPC controllers for heading control and speed control, respectively. Nonlinear optimisation algorithms are utilised to search for optimal control commands in each sampling interval to solve the optimisation problem in MPC with GPR models and input constraints. Simulations are carried out to evaluate the effectiveness of the proposed method.

Unraveling autonomic cardiovascular control complexity during orthostatic stress: Insights from a mathematical model

Understanding cardiovascular control mediated by the autonomic system remains challenging due to its inherent complexity. Consequently, syndromes such as orthostatic intolerance continue to evoke debates regarding the underlying pathophysiological mechanisms. This study develops a comprehensive mathematical model simulating the control of the sympathetic branch of the cardiovascular system in individuals with normal and abnormal responses to the head-up-tilt test. We recruited four young women: one control, one with vasovagal syncope, one with orthostatic hypertension, and one with orthostatic hypotension, exposing them to an orthostatic head-up tilt test (HUTT) employing non-invasive methods to measure electrocardiography and continuous blood pressure.Our work encompasses a compartmental model formulated using a system of ordinary differential equations. Using heart rate as input, we predict blood pressure, flow, and volume in compartments representing the veins, arteries, heart, and the sympathetic branch of the baroreflex control system. The latter is modulated by high- and low-pressure baroreceptor afferents activated by changes in blood pressure induced by the HUTT. Sensitivity analysis, parameter subset selection, and optimization are employed to estimate patient-specific parameters associated with autonomic performance. The model has seven sensitive and identifiable parameters with significant physiological relevance that can serve as biomarkers for patient classification.Results show that the model can reproduce a spectrum of blood pressure responses successfully, fitting the trajectory displayed by the experimental data. The controller exhibits behavior that emulates the operation of the sympathetic system. These encouraging findings underscore the potential of computational methods in evaluating pathologies associated with autonomic nervous system control, warranting further exploration and novel approaches.

Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

Abstract Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This article provides the mechanical, electrical, and software design of a novel UVMS equipped with a continuum manipulator, referred to as a continuum-UVMS. A kinematic model for the continuum-UVMS is derived in order to build an algorithm to resolve the robot’s redundancy and generate joint space commands. Different methods to optimize the trajectory for specific tasks are proposed using both the weighted least norm solution and the gradient projection method. Kinematic simulation results are analyzed to assess the performance of the proposed algorithm. Finally, the continuum-UVMS is deployed in an experimental demonstration in which both teleoperation and autonomous control are tested for a given reference trajectory.

Real-Time Monitoring and Control System Enhances Drilling-Fluid Management

_ This article, written by JPT Technology Editor Chris Carpenter, contains highlights of paper SPE 216322, “Next-Generation Drilling-Fluid Management: Real-Time Monitoring and Autonomous Control,” by Zhicai Zhang, Rached M. Rached, SPE, and Yunbo Xun, Sinopec, et al. The paper has not been peer reviewed. _ Accurate measurement and control of drilling-fluid properties are crucial for safe and successful drilling operations. Traditional manual methods are slow and require significant manpower, underscoring the need for real-time monitoring. This paper highlights a new online system for monitoring drilling fluids, enabling intelligent control of drilling-fluid performance. The online monitoring system improves drilling-industry safety and success by measuring properties of drilling fluids in an accurate, timely, and automated matter. Introduction The primary objectives of this project are to develop an innovative online system for monitoring drilling fluids with a focus on facilitating intelligent control of drilling-fluid performance. The system aims at measuring 10 key parameters continuously, including apparent viscosity, plastic viscosity, yield point, density, pH, and ion concentrations. By incorporating online, real-time, continuous monitoring capabilities, the system offers several advantages, including improved data quality and frequency, reduced on-site labor requirements, and a corresponding decrease in associated health and safety hazards. System Description Overview of the Online Drilling-Fluid-Monitoring System. The online drilling-fluid-monitoring system is available in four distinct configurations: land modular, land skid-mounted, offshore cabin, and indoor small modular, providing customization options to meet specific space requirements. The system is designed to measure 10 crucial parameters essential for drilling operations. These include rheology factors, density, pH, sulfur ion content, and chloride ion content. Density and rheology measurements are performed at a 1-Hz sampling rate, offering near-continuous monitoring. The system is capable of operating within an ambient temperature range from –35 to 50°C, and the testing temperature can be adjusted between 4 and 80°C. Enabled by real-time data transmission, the system allows for the online, real-time monitoring of drilling-fluid properties. The system has proven its utility extensively, with more than 30 sets having been deployed successfully across more than 200 wells. Ideally, the monitoring system is positioned near the circulation tank to enable efficient fluid transfer (Fig. 1a). When space near the circulation tank is limited, an alternative placement can be on the opposite side of the blowout-prevention pipeline (Fig. 1b). However, this alternative may lead to a slight delay in data because of extended circulation times.

A 3D-Printed Microdevice Encapsulates Vascularized Islets Composed of iPSC-derived β-like Cells and Microvascular Fragments for Type 1 Diabetes Treatment

Tranplantation of insulin-secreting cells provides a promising method for re-establishing the autonomous blood glucose control ability of type 1 diabetes (T1D) patients, but the low survival of the tranlplanted cells hinder the therapeutic efficacy. In this study, we 3D-printed an encapsulation system contraining β-like cells and microvascular fragments (MVF), to create a retrivable microdevice with vascularized islets in vivo for T1D therapy. The functional β-like cells were differentiated from the urine epithelial cell-derived induced pluripotent stem cells (UiPSCs). Single-cell RNA sequencing provided an integrative study and macroscopic developmental analyses of the entire process of differentiation, which revealed the developmental trajectory of differentiation in vitro follows the developmental pattern of embryonic pancreas in vivo. The MVF were isolated from the epididymal fat pad. The microdevice with a groove structure were rapidly fabricated by the digital light processing (DLP)-3D printing technology. The β-like cells and MVF were uniformly distributed in the device. After subcutaneous transplantation into C57BL/6 mice, the microdevice have less collagen accumulation and low immune cell infiltration. Moerover, the microdevice encapsulated vascularized islets reduced hyperglycemica in 33% of the treated mice for up to 100 days without immunosuppressants, and the humanized C-peptide was also detected in the serum of the mice. In summary, we described the microdevice-protecd vasculared islets for long-term treatment of T1D, with high safety and potential clinical transformative value, and may therefore provide a translatable solution to advance the research progress of β cell replacement therapy for T1D.

Intelligent optimization of horizontal wellbore trajectory based on reinforcement learning

Ultra-long horizontal wells are crucial for improving the production and developmental benefits of shale oil and gas wells. Currently, advanced downhole semi-closed-loop steering drilling technology depends on a dual communication mechanism between the surface and downhole, as well as the empirical decisions of human experts. However, it is difficult to acutely control the trajectory of ultra-long horizontal open hole drilling in a reservoir owing to geological uncertainties related to shale oil and gas, the uncertainty of the drilling tool's building capacity, and the lag of measurement information while drilling. This report proposes an adaptive target detection and design method for ultra-long horizontal well trajectories based on reinforcement learning. The developed approach enables dynamic identification of reservoir sequences according to logging-while-drilling data and prediction of horizontal targets in real-time, with a recognition accuracy of 90.1%. Additionally, measurement-while-drilling data are used to accurately characterize the depth, inclination, and azimuth of the target-entering process. The dynamic interaction mechanism between the bit and the target environment is simulated by defining the bit action, reward function, and an update mechanism. The drilling engineering conditions restrict the interactions, such that the bit automatically decides the direction in which to drill the targets, demonstrating 100% accuracy for the wellbore trajectory toward the target. The experimental application results indicate that the developed method can be applied to determine the dynamic target area of a horizontal well in real time and make intelligent downhole decisions regarding ultra-long horizontal section borehole trajectory adjustments while drilling and measuring. The drilling rate of high-quality reservoirs is therefore significantly improved. The results discussed herein provide insights to support further developments of downhole full-closed-loop intelligent autonomous decision-making borehole trajectory control.

Adaptive Synthesized Fault-Tolerant Autonomous Ground Vehicle Control With Guaranteed Performance and Saturated Input

Adaptive Synthesized Fault-Tolerant Autonomous Ground Vehicle Control With Guaranteed Performance and Saturated Input

Electro-Optical Relative Navigation for Inspection and Rendezvous in the SpEye Mission

The execution of autonomous in-orbit servicing operations is expected to play a crucial role to preserve and enhance satellites’ performance, as well as to ensure a sustainable use of outer space. In this respect, several research efforts are dedicated to addressing the technological challenges that characterize the development of an autonomous guidance, navigation, and control system. In this framework, the Space Eye (SpEye) mission, funded by the Italian Space Agency, aims to demonstrate safe and inexpensive on-orbit inspection of a target satellite using a CubeSat-based free-flying nanosatellite. This paper, which stems from the phase A mission study, describes the high-level architectural design of its electro-optical-based relative navigation subsystem, employing multisensor algorithmic approaches based on the combination of visual, laser, and Differential Global Navigation Satellite System measurements. A dedicated environment is developed for the simulation of measurements from the relative navigation suite (including a synthetic image generator), allowing a preliminary performance assessment of the proposed algorithmic approaches.

Abnormal Autonomic Nervous Regulation in Patients with Globus Pharyngeus.

Globus pharyngeus could be described as a benign sensation of lump or foreign object in the throat. The etiology of the globus as a solitary syndrome is still unknown, but it is proposed that stress could have an important role in symptom emergence. To evaluate the autonomic nervous regulation in patients with globus compared to healthy controls in reaction to stress. Patients included in the study were diagnosed based on ROME IV criteria for Disorders of Gut Brain Interaction. Besides globus, the patients did not suffer any other substantial medical condition. As a control group, measurement of healthy volunteers was performed. Both groups underwent the same stress protocol assessment in the same laboratory settings. The protocol consist of two types of stressors: cold pressor test and mental arithmetic test to test different types of autonomic reactivity. Baroreflex sensitivity was significantly decreased in patients compared to controls in all phases of the protocol. Low-frequency band of systolic blood pressure variability was significantly increasedduring both stress phases in patients compared to controls. High-frequency band of heart rate variability was significantly decreased in patients compared to controls during the both of the stress phases. The results of this study shows discrete abnormalities in complex autonomic reflex control which are predominantly manifested in response to stressful stimuli indicating altered neurocardiac regulation as a reaction to stress associated with globus pharynegus. This fact could have an important role in the personalized management of globus patients such as biofeedback.