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Abstract Unmanned Aerial Vehicles are useful tools for many applications. However, autonomous path planning for Unmanned Aerial Vehicles in unfamiliar environments is a challenging problem when facing a series of problems such as poor consistency, high influence by the native controller of the Unmanned Aerial Vehicles. In this paper, we investigate reinforcement learning-based autonomous local path planning methods for Unmanned Aerial Vehicles with high autonomous decision-making capability and locally high portability. We propose an autonomous local path planning algorithm based on the TD3 strategy to solve the problem of local obstacle avoidance and path planning in unfamiliar environments using autonomous decision-making of Unmanned Aerial Vehicles. The simulation results on Gazebo show that our method can effectively realize the autonomous local path planning task for Unmanned Aerial Vehicles, the success rate of path planning with our method can reach 93% under the interference of no obstacles, and 92% in the environment with obstacles. Finally, our method can be used for autonomous path planning of Unmanned Aerial Vehicles in unfamiliar environments.

Traditional multi-agent path planning algorithms often lead to path overlap and excessive energy consumption when dealing with cooperative tasks due to the single-agent-single-task configuration. For this reason, the "many-to-one" cooperative planning method has been proposed, which, although improved, still faces challenges in the vast search space for meeting points and unreasonable task handover locations. This paper proposes the Cooperative Dynamic Priority Safe Interval Path Planning with a multi-meeting-point and single-meeting-point solving mode switching (Co- D P S I P P m s ) algorithm to achieve multi-agent path planning with task handovers at multiple or single meeting points. First, the initial priority is set based on the positional relationships among agents within the cooperative group, and the improved Fermat point method is used to locate multiple meeting points quickly. Second, considering that agents must pick up sub-tasks or conduct task handovers midway, a segmented path planning strategy is proposed to ensure that cooperative agents can efficiently and accurately complete task handovers. Finally, an automatic switching strategy between multi-meeting-point and single-meeting-point solving modes is designed to ensure the algorithm's success rate. Tests show that Co- D P S I P P m s outperforms existing algorithms in 1-to-1 and m-to-1 cooperative tasks, demonstrating its efficiency and practicality. [ABSTRACT FROM AUTHOR]

The heart is one of the major organs affected by microwave radiation, and these effects have been extensively studied. Previous studies have shown that microwave-radiation-induced heart injury might be related to the abnormal expression and distribution of Cx43. In order to make the research model closer to humans, we used iPSC-CMs as the cell injury model to investigate the biological effect and mechanism of iPSC-CM injury after microwave radiation. To model the damage, iPSC-CMs were separated into four groups and exposed to single or composite S-band (2.856 GHz) and X-band (9.375 GHz) microwave radiation sources with an average power density of 30 mW/cm2. After that, FCM was used to detect cell activity, and ELISA was used to detect the contents of myocardial enzymes and injury markers in the culture medium, and it was discovered that cell activity decreased and the contents increased after radiation. TEM and SEM showed that the ultrastructure of the cell membrane, mitochondria, and ID was damaged. Mitochondrial function was aberrant, and glycolytic capacity decreased after exposure. The electrical conduction function of iPSC-CM was abnormal; the conduction velocity was decreased, and the pulsation amplitude was reduced. Wb, qRT-PCR, and IF detections showed that the expression of Cx43 was decreased and the distribution of Cx43 at the gap junction was disordered. Single or composite exposure to S- and X-band microwave radiation caused damage to the structure and function of iPSC-CMs, primarily affecting the cell membrane, mitochondria, and ID. The composite exposure group was more severely harmed than the single exposure group. These abnormalities in structure and function were related to the decreased expression and disordered distribution of Cx43. [ABSTRACT FROM AUTHOR]

The quadratic minimum spanning tree problem (QMSTP) is a spanning tree optimization problem that considers the interaction cost between pairs of edges arising from a number of practical scenarios. This problem is NP-hard, and therefore there is not a known polynomial time approach to solve it. To find a close-to-optimal solution to the problem in a reasonable time, we present for the first time a clustering-enhanced memetic algorithm (CMA) that combines four components, i.e., (i) population initialization with clustering mechanism, (ii) a tabu-based nearby exploration phase to search nearby local optima in a restricted area, (iii) a three-parent combination operator to generate promising offspring solutions, and (iv) a mutation operator using Lévy distribution to prevent the population from premature. Computational experiments are carried on 36 benchmark instances from 3 standard sets, and the results show that the proposed algorithm is competitive with the state-of-the-art approaches. In particular, it reports improved upper bounds for the 25 most challenging instances with unproven optimal solutions, while matching the best-known results for all but 2 of the remaining instances. Additional analysis highlights the contribution of the clustering mechanism and combination operator to the performance of the algorithm. [ABSTRACT FROM AUTHOR]

Clinically, drug-induced torsades de pointes (TdP) are rare events, whereas the reduction of the human ether-à-go-go-related gene (hERG) current is common. In this study, we aimed to explore the specific factors that contribute to the deterioration of hERG inhibition into malignant ventricular arrhythmias. Cisapride, a drug removed from the market because it caused long QT (LQT) syndrome and torsade de pointes (TdP), was used to induce hERG inhibition. The effects of cisapride on the hERG current were evaluated using a whole-cell patch clamp. Based on the dose-response curve of cisapride, models of its effects at different doses (10, 100, and 1,000 nM) on guinea pig heart in vitro were established. The effects of cisapride on electrocardiogram (ECG) signals and QT interval changes in the guinea pigs were then comprehensively evaluated by multi-channel electrical mapping and high-resolution fluorescence mapping, and changes in the action potential were simultaneously detected. Cisapride dose-dependently inhibited the hERG current with a half inhibitory concentration (IC50) of 32.63 ± 3.71 nM. The complete hERG suppression by a high dose of cisapride (1,000 nM) prolonged the action potential duration (APD), but not early after depolarizations (EADs) and TdP occurred. With 1 μM cisapride and lower Mg2+/K+, the APD exhibited triangulation, dispersion, and instability. VT was induced in two of 12 guinea pig hearts. Furthermore, the combined administration of isoproterenol was not therapeutic and increased susceptibility to ventricular fibrillation (VF) development. hERG inhibition alone led to QT and ERP prolongation and exerted an anti-arrhythmic effect. However, after the combination with low concentrations of magnesium and potassium, the prolonged action potential became unstable, triangular, and dispersed, and VT was easy to induce. The combination of catecholamines shortened the APD, but triangulation and dispersion still existed. At this time, VF was easily induced and sustained. [ABSTRACT FROM AUTHOR]