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Controlling Dynamic Formations of Mobile Agents Governed by Euler-Lagrange Dynamics
Liangming Chen,Qingkai Yang,Chuanjiang Li,Guangfu Ma 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.5
This paper studies the problem of controlling dynamic formations of mobile agents governed by EulerLagrange dynamics. Here a formation is said to be dynamic if as time evolves, the desired formation undergoes translation, scaling and rotation. First, a constant-gain formation control algorithm is designed such that all agents can converge to the desired dynamic formation, in which the graphic information is needed for the selection of constant gains. Then, another fully distributed formation control algorithm is further proposed by employing variablegain control techniques, which enables each agent to be independent of the knowledge of the overall interaction graph needed otherwise in the control gain. Instead of moving with a desired translational velocity, a centroidtracking formation control algorithm is also proposed such that the centroid of the formation tracks a desired trajectory. The parametric uncertainties are taken into consideration in the proposed formation control algorithms. Finally, simulation examples are provided to validate the effectiveness of the proposed control algorithms.
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Zhao Jie,He Shaolong,Xiang Chenhuan,Zhang Shaoli,Chen Xinyue,Lu Xinyi,Yao Qiong,Yang Liping,Ma Liangming,Tian Weiwei 대한독성 유전단백체 학회 2023 Molecular & cellular toxicology Vol.19 No.3
Background T -cell acute lymphoblastic leukemia (T-ALL) is considered a malignant tumor with a high mortality rate. To combat this disease, exploring the mechanism of T-ALL progression is urgently needed. Krüppel-like factors (KLFs) are known as the transcription factors and mediate series of biological processes. KLF9 is a member of the KLF family which could serve as a tumor suppressor gene in most solid tumors. GEO Database analysis showed that KLF9 expression in normal T cells was higher than T-ALL cell lines and patients. However, the possible role of KLF9 in T-ALL progression is still unclear. Objective To uncover the possible eff ects of Krüppel-like transcription factor 9 (KLF9) on the progression of T-Acute lymphoblastic leukemia (T-ALL). Results The expression of KLF9 was low in human T-ALL cells. KLF9 suppressed the viability of T-ALL cells. In addition, KLF9 stimulated the apoptosis as well as autophagy of T-ALL cells. Mechanically, KLF9 suppressed AKT/mTOR pathway in T-ALL cells. Conclusion KLF9 suppressed viability and promoted autophagy as well as apoptosis in T-ALL cells by inhibiting AKT/ mTOR pathway.
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