Modeling of the Multi-Target Locating and Tracking in the Field Artillery System

A method for the multi target locating and tracking with the multi sensor in a field artillery system is studied. A general modeling structure of the system is established. Based on concepts of cluster and closed ball, an algorithm is put forward for multi sensor multi target data fusion and an optimal solution for state estimation is presented. The simulation results prove the algorithm works well for the multi stationary target locating and the multi moving target tracking under the condition of the sparse target environment. Therefore, this method can be directly applied to the field artillery C 3I system.

Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier Curve and Particle Swarm Optimization

A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for different application sites.The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space.This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator.In this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy.The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve.Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints.The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.

Transforming Growth Factor and the Role of Epigenetic Aberrancies in Oncogenic Amplifications: A New Perspective in Preventive and Therapeutic Arena

Three genetic mechanisms activate oncogenes in human neoplasms: 1) mutations, 2) gene amplification, and 3) chromosome rearrangements. These mechanisms result in either an alteration of protooncogene structure or an increase in protooncogene expression. The role of epigenetic aberrancies in carcinogenesis has been described earlier however to clinicians, the biological implications of epigenetic therapies to prevent cancer and the mechanisms involved have been a mystery. Furthermore, there is no biomarker suggested to track the carcinogenesis steps long before cancer develops, and this has caused a significant lack of proactive and preventive measures to be taken as all recommendations in preventive oncology are either deficiently and blindly made or through screening methods which are too late in the game. Here we explored a very different approach by applying our deepest understanding of epigenetics and carcinogenesis and even further we developed a framework where our clinical findings could translate to the research and vice versa by generating advanced and novel hypotheses on “how we get cancer”, by exploring the relation between the host and the tumor cells in a way no one had perceived before. The role of specific cancer stem cell pathways is dissected and how to inhibit each of these initiators using multitargeted epigenetic therapies and off-label medications are explained. We should admit that without considering this sophisticated amazing biological network, cancer will remain an unsolved challenge. Further, we were able to solve this unsolved puzzle by bridging the gap from a hypothetical point of view/hypothesis to possibilities that explain the clinical findings we had observed, and conclude that such an approach can completely change the way practitioners are treating cancer.