Candidate Vectors Research Articles

52Mn-labelled Beta-cyclodextrin for Melanoma Imaging: A Proof-of-concept Preclinical Study.

As prostaglandin E2 (PGE2) and its receptors (EP2) are over-expressed on tumor cells and microenvironment, radiolabeled cyclodextrins targeting such biomolecules are valuable vector candidates in molecular cancer diagnostics. Using experimental melanoma models, we evaluated the in vivo imaging behavior of novel Manganese-52-labeled (52Mn) randomly methylated beta-cyclodextrin ([52Mn]Mn-DOTAGA-RAMEB) and compared it with the following well-established tumor-specific probes: melanocortin-1 receptor (MC1-R)-affine [68Ga]Ga-DOTA-NAPamide and PGE2 selective [68Ga]Ga-DOTAGA-RAMEB cyclodextrin. Post-injection of [68Ga]Ga-DOTA-NAPamide, [68Ga]Ga-DOTAGA-RAMEB, and [52Mn]Mn-DOTAGA-RAMEB into MC1-R positive B16F10 melanoma-bearing mice, tumor radio-pharmaceutical uptake was quantified in vivo and ex vivo using preclinical positron emission tomography (PET) and high-performance gamma counter. Although all tracers performed well in tumor identification, the highest standardized uptake values were detected in the [68Ga]Ga-DOTA-NAPamide scans. Corresponding to the ex vivo data, meaningful [52Mn]Mn-DOTAGA-RAMEB accumulation 1 h post-injection confirmed the tumor-targeting potential of the tracer. Temporal changes in PGE2/EP2 expression of the neoplasms may explain the significant differences observed between the tumor uptake of the two cyclodextrin probes and that of the 52Mn-labelled compound measured 1 h, 4 h, and 3 days post-injection (p≤0.01, p≤0.05). Although further pharmacokinetical optimization may be required, 52Mn-labelled cyclodextrin holds potential in melanoma diagnostics and the PET-based longitudinal assessment of tumor-associated PGE2/EP2 expression.

Identified a novel prognostic model of HCC basing on virus signature for guiding immunotherapy

Oncolytic viral immunotherapy is a cancer treatment that uses native or genetically modified viruses that selectively replicate and destroy tumor cells. In this study, we aimed to construct a virus-based prognostic model for risk assessment and prognosis prediction in patients with hepatocellular carcinoma (HCC) and determine the most appropriate virus as a candidate vector for oncolytic virus immunotherapy. Microbiome and RNA sequencing data and clinical information were obtained from The Cancer Genome Atlas, and viruses with prognostic value were identified (Deltabaculovirus, Sicinivirus, and Cytomegalovirus) to construct the prognostic model. Correlation analyses were performed to evaluate the predictive function of the viral signature. Bioinformatics analyses were conducted to explore the functional enrichment of viral expression in HCC. The risk score generated by this model could distinguish patients with different survival outcomes, have excellent reliability and accuracy, and could be used as an independent prognostic indicator. The high-risk score group showed significantly lower overall survival, and this trend was also observed in subgroups with different clinicopathological features. Furthermore, Deltabaculovirus positively correlated with amino acid metabolism, energy metabolism signaling pathways, peroxisomes, and complement coagulation cascades. In addition, Deltabaculovirus was significantly related to immune cell infiltration; therefore, patients with high Delta-baculovirus expression might respond better to HCC immunotherapy. Our study identified a promising predictive viral signature for assessing clinical prognosis and guiding immunotherapy in HCC. Deltabaculovirus might be a suitable viral vector for oncolytic virus immunotherapy.

A novel satisfactory model predictive control based on current variance for high power three‐level‐NPC rectifiers

AbstractHere, a novel satisfactory model predictive control based on current variance (CV‐SMPC) is proposed for three level neutral point clamped (NPC) rectifiers. CV‐SMPC achieves global optimization of multiple control objectives rather than optimal control of a single control objective with the satisfaction interval. The current satisfaction interval is adjusted online based on the current variance in the CV‐SMPC. The relationship between the current total harmonic distortion (THD), switching frequency, and current variance is established through experimental investigation, enhancing the comprehensibility of control effects. In addition, three simplified sets of candidate vectors are proposed based on the voltage satisfaction interval, thereby reducing the computational burden. Furthermore, the control objectives are categorized into three levels and sequentially combined, eliminating the laborious process of adjusting the weighting factors. Finally, the experimental results conclusively demonstrate the exceptional control performance of CV‐SMPC in both steady‐state and dynamic processes.

ENHANCED MODEL-FREE PREDICTIVE CONTROL FOR VOLTAGE SOURCE INVERTERS USING AN ADAPTIVE OBSERVER

In this paper, a free model predictive control based on the active vector execution time (AVET-MFPC) using an adaptive observer is proposed for two-level voltage source inverters. The traditional model-free predictive control (MFPC) uses the sampling period to select one voltage vector for all candidate vectors according to the minimizing cost function principle. With the proposed control, two vectors are selected at one sampling period. The first vector is an active vector that uses the execution time of the active vector to select it, while the second one is a zero vector as it is applied after the active vector. The execution time is calculated using the ultra-local model (ULM) equation. In the traditional MFPC, the factor in the ULM is chosen with approximate values ranging between ±50 % of the nominal value. This paper proposes an adaptive sliding mode observer (ASMO) with an improved design to observe the variation of this factor, especially in case of mismatch parameters and during a step change in the reference signal. Combining the proposed ASMO observer and the AVET-MFPC controller gives faster system response, good tracking results, and less computational burden. Finally, the effectiveness of the proposed control model is approved and confirmed under various conditions, as well as the simulations carried out and the results obtained.

Mosquito dynamics and their drivers in peri-urban Antananarivo, Madagascar: insights from a longitudinal multi-host single-site survey

BackgroundAntananarivo, the capital city of Madagascar, is experiencing a steady increase in population growth. Due to the abundance of mosquito vectors in this locality, the population exposed to mosquito-borne diseases is therefore also increasing, as is the risk of epidemic episodes. The aim of the present study was to assess, in a resource-limited setting, the information on mosquito population dynamics and disease transmission risk that can be provided through a longitudinal entomological study carried out in a multi-host single site.MethodsMosquitoes were collected every 15 days over 16 months (from January 2017 to April 2018) using six CDC-light traps in a peri-urban area of Antananarivo. Multivariable generalised linear models were developed using indoor and outdoor densities of the predominant mosquito species as response variables and moon illumination, environmental data and climatic data as the explanatory variables.ResultsOverall, 46,737 mosquitoes belonging to at least 20 species were collected, of which Culex antennatus (68.9%), Culex quinquefasciatus (19.8%), Culex poicilipes (3.7%) and Anopheles gambiae sensu lato (2.3%) were the most abundant species. Mosquito densities were observed to be driven by moon illumination and climatic factors interacting at different lag periods. The outdoor models demonstrated biweekly and seasonal patterns of mosquito densities, while the indoor models demonstrated only a seasonal pattern.ConclusionsAn important diversity of mosquitoes exists in the peri-urban area of Antananarivo. Some well-known vector species, such as Cx. antennatus, a major vector of West Nile virus (WNV) and Rift-Valley fever virus (RVFV), Cx. quinquefasciatus, a major vector of WNV, Cx. poicilipes, a candidate vector of RVFV and An. gambiae sensu lato, a major vector of Plasmodium spp., are abundant. Importantly, these four mosquito species are present all year round, even though their abundance declines during the cold dry season, with the exception of Cx. quinquefasciatus. The main drivers of their abundance were found to be temperature, relative humidity and precipitation, as well as—for outdoor abundance only—moon illumination. Identifying these drivers is a first step towards the development of pathogen transmission models (R0 models), which are key to inform public health stakeholders on the periods of most risk for vector-borne diseases.Graphical

Assessing the Potential of Tortistilus (Hemiptera: Membracidae) from Northern California Vineyards as Vector Candidates of Grapevine Red Blotch Virus.

Ceresini treehoppers are present in northern California vineyard ecosystems, including the closely related Spissistilus and Tortistilus (Hemiptera: Membracidae). These membracids are not direct pests of wine grapes, but S. festinus is a vector of grapevine red blotch virus (GRBV). No information is available on the ability of Tortistilus spp. to transmit GRBV. In this study, Tortistilus were collected on yellow panel cards across 102 vineyard sites and surrounding areas in Napa Valley, California, USA in 2021-2023. Specimens were morphotyped, sexed and tested for GRBV ingestion and acquisition by multiplex PCR or qPCR. Phylogenetic analysis of the partial sequence of mt-COI and ITS gene fragments of a subset of 40 Tortistilus specimens revealed clustering in a monophyletic clade with T. wickhami with the former barcode sequence. Only 6% (48/758) of the T. wickhami tested positive for GRBV, but none of the heads with salivary glands (0%, 0/50) of the dissected specimens tested positive for GRBV, indicating no virus acquisition. In contrast, half of the dissected heads with salivary glands of S. festinus (52%, 12/23), from the same collection vineyard sites, tested positive for GRBV. Together, our findings confirmed the presence of T. wickhami in northern California vineyards and suggested a dubious role of this treehopper as a vector of GRBV.

Selective inference for fMRI cluster-wise analysis, issues, and recommendations for critical vector selection: A comment on Blain et al.

Abstract Two permutation-based methods for simultaneous inference on the proportion of active voxels in cluster-wise brain imaging analysis have recently been published: Notip and pARI. Both rely on the definition of a critical vector of ordered p-values, chosen from a family of candidate vectors, but differ in how the family is defined: computed from randomization of external data for Notip and determined a priori for pARI. These procedures were compared to other proposals in the literature, but an extensive comparison between the two methods is missing due to their parallel publication. We provide such a comparison and find that pARI outperforms Notip if both methods are applied under their recommended settings. However, each method carries different advantages and drawbacks.

Thyrotropin-Releasing Hormone and Food Intake in Mammals: An Update.

Thyrotropin-releasing hormone (TRH; pGlu-His-Pro-NH2) is an intercellular signal produced mainly by neurons. Among the multiple pharmacological effects of TRH, that on food intake is not well understood. We review studies demonstrating that peripheral injection of TRH generally produces a transient anorexic effect, discuss the pathways that might initiate this effect, and explain its short half-life. In addition, central administration of TRH can produce anorexic or orexigenic effects, depending on the site of injection, that are likely due to interaction with TRH receptor 1. Anorexic effects are most notable when TRH is injected into the hypothalamus and the nucleus accumbens, while the orexigenic effect has only been detected by injection into the brain stem. Functional evidence points to TRH neurons that are prime candidate vectors for TRH action on food intake. These include the caudal raphe nuclei projecting to the dorsal motor nucleus of the vagus, and possibly TRH neurons from the tuberal lateral hypothalamus projecting to the tuberomammillary nuclei. For other TRH neurons, the anatomical or physiological context and impact of TRH in each synaptic domain are still poorly understood. The manipulation of TRH expression in well-defined neuron types will facilitate the discovery of its role in food intake control in each anatomical scene.

Molecular Methods for the Simultaneous Detection of Tomato Fruit Blotch Virus and Identification of Tomato Russet Mite, a New Potential Virus–Vector System Threatening Solanaceous Crops Worldwide

Tomato fruit blotch virus (ToFBV) (Blunervirus solani, family Kitaviridae) was firstly identified in Italy in 2018 in tomato plants that showed the uneven, blotchy ripening and dimpling of fruits. Subsequent High-Throughput Sequencing (HTS) analysis allowed ToFBV to be identified in samples collected in Australia, Brazil, and several European countries, and its presence in tomato crops was dated back to 2012. In 2023, the virus was found to be associated with two outbreaks in Italy and Belgium, and it was included in the EPPO Alert list as a potential new threat for tomato fruit production. Many epidemiologic features of ToFBV need to be still clarified, including transmission. Aculops lycopersici Massee (Acariformes: Eriophyoidea), the tomato russet mite (TRM), is a likely candidate vector, since high population densities were found in most of the ToFBV-infected tomato cultivations worldwide. Real-time RT-PCR tests for ToFBV detection and TRM identification were developed, also as a duplex assay. The optimized tests were then transferred to an RT-ddPCR assay and validated according to the EPPO Standard PM 7/98 (5). Such sensitive, reliable, and validated tests provide an important diagnostic tool in view of the probable threat posed by this virus–vector system to solanaceous crops worldwide and can contribute to epidemiological studies by simplifying the efficiency of research. To our knowledge, these are the first molecular methods developed for the simultaneous detection and identification of ToFBV and TRM.

Culicoides Midge Abundance across Years: Modeling Inter-Annual Variation for an Avian Feeder and a Candidate Vector of Hemorrhagic Diseases in Farmed Wildlife

(1) Background: Epizootic hemorrhagic disease virus (EHDV) and bluetongue virus (BTV) are orbiviruses that cause hemorrhagic disease (HD) with significant economic and population health impacts on domestic livestock and wildlife. In the United States, white-tailed deer (Odocoileus virginianus) are particularly susceptible to these viruses and are a frequent blood meal host for various species of Culicoides biting midges (Diptera: Ceratopogonidae) that transmit orbiviruses. The species of Culicoides that transmit EHDV and BTV vary between regions, and larval habitats can differ widely between vector species. Understanding how midges are distributed across landscapes can inform HD virus transmission risk on a local scale, allowing for improved animal management plans to avoid suspected high-risk areas or target these areas for insecticide control. (2) Methods: We used occupancy modeling to estimate the abundance of gravid (egg-laden) and parous (most likely to transmit the virus) females of two putative vector species, C. stellifer and C. venustus, and one species, C. haematopotus, that was not considered a putative vector. We developed a universal model to determine habitat preferences, then mapped a predicted weekly midge abundance during the HD transmission seasons in 2015 (July–October) and 2016 (May–October) in Florida. (3) Results: We found differences in habitat preferences and spatial distribution between the parous and gravid states for C. haematopotus and C. stellifer. Gravid midges preferred areas close to water on the border of well and poorly drained soil. They also preferred mixed bottomland hardwood habitats, whereas parous midges appeared less selective of habitat. (4) Conclusions: If C. stellifer is confirmed as an EHDV vector in this region, the distinct spatial and abundance patterns between species and physiological states suggest that the HD risk is non-random across the study area.

Expanding the Scope of Adenoviral Vectors by Utilizing Novel Tools for Recombination and Vector Rescue.

Recombinant adenoviruses are widely used in clinical and laboratory applications. Despite the wide variety of available sero- and genotypes, only a fraction is utilized in vivo. As adenoviruses are a large group of viruses, displaying many different tropisms, immune epitopes, and replication characteristics, the merits of translating these natural benefits into vector applications are apparent. This translation, however, proves difficult, since while research has investigated the application of these viruses, there are no universally applicable rules in vector design for non-classical adenovirus types. In this paper, we describe a generalized workflow that allows vectorization, rescue, and cloning of all adenoviral species to enable the rapid development of new vector variants. We show this using human and simian adenoviruses, further modifying a selection of them to investigate their gene transfer potential and build potential vector candidates for future applications.

3D Facial Expression Recognition Based on Geometric Feature Fusion

In order to overcome the problems of missing important information and di-mensionality disaster of three-dimensional (3D) facial expression, a novel method based on geometric feature fusion is proposed. This approach initially extracts distance feature vectors and angle feature vectors from key facial regions such as the eyes, mouth, and eyebrows using direct geometric feature. Subsequently, the K-nearest neighbor (K-NN) algorithm is used to obtain the distance feature vector candidate sets and angle feature vector candidate sets separately. Finally, the maximum-minimum rule is utilized to fuse these candidate sets into a single feature vector, completing the recognition of 3D facial expression. Experimental results on the BU-3DFE database demonstrate that this method achieves on overall recognition rate of 97.6%, exhibiting excellent robustness to varia-tions in facial expressions. Furthermore, this approach can serve as a valuable reference for future research in the field of 3D face recognition.

Immunoadjuvant Effect of Chitosan Oligosaccharide and Its Feasibility of Being Used as an Adjuvant for Attenuated Live Bacteria Vector Vaccines

To study the immunoadjuvant effects of chitosan oligosaccharide (COS), including the immune activation and the triggering of lysosomal escape, and to explore whether COS can be used as an adjuvant for attenuated live bacteria vector vaccines. 1) Mouse macrophages RAW264.7 cells were cultured with COS at 0 mg/mL (the control group) and 0.1-4 mg/mL for 24 h and the effect on cell viability was measured by CCK8 assay. Mouse macrophages RAW264.7 were treated with COS at 0 (the control group), 1, 2, and 4 mg/mL for 24 h. Then, the mRNA expression levels of the cytokines, including IFN-γ, IL-10, TGF-β, and TLR4, were determined by RT-qPCR assay. 2) RAW264.7 cells were treated with 1 mL of PBS containing different components, including calcein at 50 μg/mL, COS at 2 mg/mL, and bafilomycin A1, an inhibitor, at 1 μmol/mL, for culturing. The cells were divided into the Calcein group, Calcein+COS group, and Calcein+COS+Bafilomycin A1 group accordingly. Laser scanning confocal microscopy was used to observe the phagocytosis and the intracellular fluorescence distribution of calcein, a fluorescent dye, in RAW264.7 cells in the presence or absence of COS intervention to determine whether COS was able to trigger lysosomal escape. 3) LM∆E6E7 and LI∆E6E7, the attenuated Listeria vector candidate therapeutic vaccines for cervical cancer, were encapsulated with COS at the mass concentrations of 0.5 mg/mL, 1 mg/mL, 2 mg/mL , 4 mg/mL, and 8 mg/mL. Then, the changes in zeta potential were measured to select the concentration of COS that successfully encapsulated the bacteria. Phagocytosis of the vaccine strains by RAW264.7 cells was measured before and after LM∆E6E7 and LI∆E6E7 were coated with COS at 2 mg/mL. 1) CCK8 assays showed that, compared with the findings for the control group, the intervention of RAW264.7 cells with COS at different concentrations for 24 h was not toxic to the cells and promoted cell proliferation, with the difference being statistically significant (P<0.05). According to the RT-qPCR results, compared with those of the control group, the COS intervention up-regulated the mRNA levels of TLR4 and IFN-γ in RAW264.7 cells, while it inhibited the mRNA expression levels of TGF-β and IL-10, with the most prominent effect being observed in the 4 mg/mL COS group (P<0.05). 2) Laser scanning confocal microscopy revealed that the amount of fluorescent dye released from lysosomes into the cells was greater in the Calcein+COS group than that in the Calcein group. In other words, a greater amount of fluorescent dye was released from lysosomes into the cells under COS intervention. Furthermore, this process could be blocked by bafilomycin A1. 3) The zeta potential results showed that COS could successfully encapsulate the surface of bacteria when its mass concentration reached 2 mg/mL. Before and after the vaccine strain was encapsulated by COS, the phagocytosis of LM∆E6E7 by RAW264.7 cells was 5.70% and 22.00%, respectively, showing statistically significant differences (P<0.05); the phagocytosis of LI∆E6E7 by RAW264.7 cells was 1.55% and 6.12%, respectively, showing statistically significant differences (P<0.05). COS has the effect of activating the immune response of macrophages and triggering lysosomal escape. The candidates strains of coated live attenuated bacterial vector vaccines can promote the phagocytosis of bacteria by macrophages. Further research is warranted to develop COS into an adjuvant for bacterial vector vaccine.

An Optimized Model Predictive Control Method With Fixed Switching Frequency for Eliminating Common-Mode Voltage of Five-Level Converters

In this paper, an optimized model predictive control (MPC) method with fixed switching frequency (FSF) is proposed to eliminate the common-mode voltage (CMV) and balance the capacitor voltage. Firstly, the zero CMV vector diagram is divided by finite control set MPC (FCS-MPC) to obtain the candidate vectors effectively. Then, in order to control the capacitor voltage and avoid the great computational burden originated from the redundant switching combinations, a piecewise control scheme is proposed to determine the required ones directly. The sequence generated by the selected vectors is further optimized for the purpose of saving switching transitions according to the internal and external parts of the vector diagram. Finally, the duty ratios are evaluated based on the results of the FCS-MPC in dividing sectors so as to avoid any extra complex calculation. The experimental evaluation has been carried out to validate the feasibility and effectiveness of the proposed method.

Preclinical evaluation of the gorilla-derived HAdV-B AdV-lumc007 oncolytic adenovirus 'GoraVir' for the treatment of pancreatic ductal adenocarcinoma.

Pancreatic ductal adenocarcinoma (PDAC) is a highly aggressive malignancy which shows unparalleled therapeutic resistance due to its genetic and cellular heterogeneity, dense stromal tissue, and immune-suppressive tumour microenvironment. Oncolytic virotherapy has emerged as a new treatment modality which uses tumour-specific viruses to eliminate cancerous cells. Non-human primate adenoviruses of the human adenovirus B (HAdV-B) species have demonstrated considerable lytic potential in humancancer cells as well as limited preexisting neutralizing immunity in humans. Previously, we have generated a new oncolytic derivative of the gorilla-derived HAdV-B AdV-lumc007 named 'GoraVir'. Here, we show that GoraVir displays oncolytic efficacy in pancreatic cancer cells and pancreatic-cancer-associated fibroblasts. Moreover, it retains its lytic potential in monoculture and co-culture spheroids. In addition, we established the ubiquitously expressed complement receptor CD46 as the main entry receptor for GoraVir. Finally, a single intratumoural dose of GoraVir was shown to delay tumour growth in a BxPC-3 xenograft model at 10 days post-treatment. Collectively, these data demonstrate that the new gorilla-derived oncolytic adenovirus is a potent oncolytic vector candidate that targets both pancreatic cancer cells and tumour-adjacent stroma.

Multistep Predictive Current Control for Electrical Drives With Adaptive Horizons

Since the number of candidate vectors is increased in the multi-step model predictive control (MMPC) strategy, its calculation burden becomes a serious problem in implementation. To make full use of the limited processor resources effectively and improve control performances, a MMPC with the adaptive prediction horizon (PH), control horizon (CH) and online selecting weighting factor is proposed in this paper and applied to a PMSM driving system as the current controller. A hysteresis principle is designed to judge the current operating state to online adjust PH and CH in the MMPC within the normal timescale, and a real-time branch and bound algorithm is designed to online select a suitable weighting factor based on the over-timescale caused by the long CH. More effective availability of the processor resources by the proposed method is analyzed and its advantages including improved current impact, reduced switching frequency, and decreased influences of some parameter mismatches with suitable stator current quality are demonstrated by the simulation and experimental results compared to some conventional control strategies.

Identification of new AAV vectors with enhanced blood-brain barrier penetration efficiency via organ-on-a-chip.

To overcome limitations in the generalizability and efficiency of current AAV vectors, in this current study, we constructed an AAV variant library by the insertion of random heptapeptide sequences in the receptor-binding domain of the AAV9 capsid gene. We then applied a recently developed organ-on-a-chip in vitro model of the human blood-brain barrier (BBB) to iteratively enrich for variants that efficiently cross the BBB and transduce astrocyte cells. Through multiple rounds of screening, we obtained two candidate AAV variants, AAV-M6 and AAV-M8, which showed significantly higher BBB penetration efficiency than AAV9 or AAV-PHP.eB. Quantitative PCR (qPCR) assay showed that AAV-M6 could accumulate to a 5 times higher titer, while AAV-M8 reached a 3 times higher titer, than AAV-PHP.eB in the neural chamber of the model. The transduction assay further verified that the AAV-M6 candidate vector was able to infect HA-1800 cells after crossing the BBB, suggesting it could potentially transduce brain parenchymal cells after crossing the hCMEC/D3 layer at higher efficiency than AAV-PHP.eB. Molecular simulations suggested that the human receptor proteins, LY6D and M6PR, could bind the AAV-M6 heptapeptide insertion with high affinity. This study provides two promising candidate AAV vectors and demonstrates the use of this in vitro BBB model for scalable, high-throughput screening of gene therapies. These tools can drive investigations of the mechanisms underlying BBB permeability and the cell-type specificity of virus vectors.

A Low-Complexity Double Vector Model Predictive Current Control for Permanent Magnet Synchronous Motors

Compared to the conventional finite control set model predictive control (FCS-MPC), the double vector model predictive current control (DVMPCC) for permanent magnet synchronous motors (PMSMs) has a better steady-state performance without significantly increasing the switching frequency. However, determining optimal vectors with their dwell times requires a high computational burden. A low-complexity DVMPCC in the steady state was proposed in this study to address this problem. Firstly, the operating state of the motor was judged according to the speed error. During steady-state operation, the first optimal active vector was selected from three candidate vectors adjacent or identical to the active vector applied in the previous control period, reducing the number of comparisons by half. Next, the second optimal vector was selected from the other two active vectors, and the zero vector, the second optimal vector with the duty cycle, was determined according to the deadbeat condition of the q-axis current and cost function minimization. Finally, simulation and experimental results proved that the proposed low-complexity DVMPCC for surface-mounted permanent magnet synchronous motors is practical and feasible.

Navigation System for Personal Mobility Vehicles Following a Cluster of Pedestrians in a Corridor Using Median of Candidate Vectors Observer

In recent years, personal mobility vehicles have been required to operate autonomously in places with numerous pedestrians. A navigation method using a single human-following scheme is used to avoid collision with pedestrians. However, in many cases, a single human-following method cannot be successfully used for guidance. In crowded places, pedestrians do not always keep walking in the desired direction a user wants to go, and the vehicle must change the target pedestrian frequently. Instead of following a single pedestrian, we propose a method for the vehicle to follow a cluster of pedestrians for stable and robust following. First, the pedestrians around the vehicle are detected by multiple RGB-D cameras, and the pedestrians are tracked using YOLO and Deep Sort. Pedestrians are classified according to their walking direction, and the cluster of pedestrians walking toward the goal is selected and followed. However, the position of pedestrian is sometimes lost in occlusions and the accuracy of the walking direction depends on the distance and pose detected by the sensors. A notable problem is that the cluster of pedestrians is unstable in the cluster following; therefore, a median of candidate vectors (MCV) observer is used to remove outliers caused by observation errors. The proposed method is applied to a scenario involving pedestrians walking toward an elevator hall in a building, and its effectiveness is verified through experiments.

Efficient and Low-Complex Signal Detection with Iterative Feedback in Wireless MIMO-OFDM Systems.

To solve error propagation and exorbitant computational complexity of signal detection in wireless multiple-input multiple-output-orthogonal frequency division multiplexing (MIMO-OFDM) systems, a low-complex and efficient signal detection with iterative feedback is proposed via a constellation point feedback optimization of minimum mean square error-ordered successive interference cancellation (MMSE-OSIC) to approach the optimal detection. The candidate vectors are formed by selecting the candidate constellation points. Additionally, the vector most approaching received signals is chosen by the maximum likelihood (ML) criterion in formed candidate vectors to reduce the error propagation by previous erroneous decision, thus improving the detection performance. Under a large number of matrix inversion operations in the above iterative MMSE process, effective and fast signal detection is hard to be achieved. Then, a symmetric successive relaxation iterative algorithm is proposed to avoid the complex matrix inversion calculation process. The relaxation factor and initial iteration value are reasonably configured with low computational complexity to achieve good detection close to that of the MMSE with fewer iterations. Simultaneously, the error diffusion and complexity accumulation caused by the successive detection of the subsequent OSIC scheme are also improved. In addition, a method via a parallel coarse and fine detection deals with several layers to both reduce iterations and improve performance. Therefore, the proposed scheme significantly promotes the MIMO-OFDM performance and thus plays an irreplaceable role in the future sixth generation (6G) mobile communications and wireless sensor networks, and so on.