PMC

Flow diagram of the hierarchical control system. Commands that control the wheel angle of the truck are issued by the lower-level controller, which receives information about a sub-target direction toward which the truck should be driven from the higher-level controller. Both controllers receive proprioceptive information about the angle between the cab and trailer of the truck, and the higher-level controller also receives information about obstacles in the environment from a grid of sensors. In addition, the higher-level controller receives input about the final target that the truck is supposed to reach.

Haul truck operator time to reach MSHA PEL, stock and with noise controls installed.

A) The truck is directed to avoid the obstacles and reach the final target. The white square indicates the first sub-target; note that it is not at a position the truck actually reaches. The higher-level controller merely uses this to indicate the desired heading to the lower-level controller. B) With 50 static obstacles, more than the 20 that were present during training, the higher-level controller steers the truck around all of the obstacles to the final target on each of 50 consecutive trials. The black lines show the paths taken by the back of the trailer.

Adoptive T cell transfer therapies. Tumor-specific T cells can be isolated from tumors or generated by genetic engineering of peripheral T cells. To eliminate the tumor, infused therapeutic T cells need to reach cancer cells, proliferate, and survive in a hostile tumor microenvironment. Research approaches to overcome these challenges while preventing toxicity and ensuring access to every patient are exemplified. Abbreviations: CAR, chimeric antigen receptor; TCR, T cell receptor; TIL, tumor-infiltrating lymphocyte; TRUCK, T cell redirected for universal cytokine-mediated killing; UCAR-T, universal CAR-T cell; UTCR-T, universal TCR-T cell.