Three-Dimensional Path Planning Based on Six-Direction Search Scheme.

In order to solve the problem of how to perform path planning for AUVs with multiple obstacles in a 3D underwater environment, this paper proposes a six-direction search scheme based on neural networks. In known environments with stationary obstacles, the obstacle energy is constructed based on a neural network and the path energy is introduced to avoid a too-long path being generated. Based on the weighted total energy of obstacle energy and path energy, a six-direction search scheme is designed here for path planning.

Antibody-based binding domain fused to TCRγ chain facilitates T cell cytotoxicity for potent anti-tumor response.

Chimeric antigen receptor T-cell (CAR-T) therapy has demonstrated potent clinical efficacy in the treatment of hematopoietic malignancies. However, the application of CAR-T in solid tumors has been limited due in part to the expression of inhibitory molecules in the tumor microenvironment, leading to T-cell exhaustion. To overcome this limitation, we have developed a synthetic T-cell receptor (TCR) that targets programmed death-ligand 1 (PD-L1), a molecule that is widely expressed in various solid tumors and plays a pivotal role in T-cell exhaustion.

Study on Particulate Structure Characteristics of Diesel Engines Fueled with a Methanol/Biodiesel Blend.

Methanol and biodiesel are both alternative fuels of diesel engines. In order to study the effects of methanol on the microstructure of particulates produced from the diesel engine fueled with a methanol/biodiesel blend, the methanol/biodiesel blend fuels with 0, 10, and 20% methanol were prepared (named B100, BM10, and BM20, respectively). SEM and TG experiments have been carried out, and the structural and oxidative characteristics of particulates for the methanol/biodiesel blend were investigated.