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In this paper, we propose an extended navigation framework for autonomous mobile robots in dynamic environments using a reinforcement learning algorithm. The main idea of the proposed algorithm is to provide the mobile robots the relative position and motion of the surrounding objects to the robots, and the safety constraints such as minimum distance from the robots to the obstacles, and a learning model. We then distribute the mobile robots into a dynamic environment. The mobile robots will automatically learn to adapt to the environment by their own experienced through the trial-and-error interaction with the surrounding environment. When the learning phase is completed, the mobile robots equipped with our proposed framework are able to navigate autonomously and safely in the dynamic environment. The simulation results in a simulated environment shows that, our proposed navigation framework is capable of driving the mobile robots to avoid dynamic obstacles and catch up dynamic targets, providing the safety for the surrounding objects and the mobile robots.

Psoriasis is a chronic autoimmune disease in dermatology. The experiment collected peripheral blood samples from cohorts. These samples were treated and sorted mononuclear leukocytes with LPS receptors or CD14. Then, they were stimulated by a lysis of Streptococcus pneumonia in 24 hours. These cells were harvested in 0, 1, 24, 48, 72,120 (day 5) and 168 (day 7) hours and were isolated total mRNA. All mRNA samples were converted into the cDNA samples which were utilised to indirectly evaluate the cytokine expression of TNF-α, IL10 and Heparin-binding EGF-like growth factor (HBEGF) on the mononuclear cells (CD14+) in the period shown. Regarding result of the psoriatic patient, three cytokines abnormally prolonged after the 24 hours induction. The signals of TNF-α, IL10 and HBEGF expanded throughout 48 hours,5 days and 7 days, respectively. In addition, a band (627bp) was obtained in from PCR products of IL10. Furthermore, sequencing the 627bp band shows that it was homologous to a fragment on chromosome 2. Meanwhile, the results of those cytokines on a cohort without non-psoriasis were slightly exposed in around 48 hours. In conclusion, the mononuclear cells (CD14+) in the cohort with guttate psoriasis is highly more sensitive with a lysis of Streptococcus pneumonia than the non-psoriatic cohort in TNF-α expression, and IL10 and HBEGF of the psoriatic one are also simultaneous and extended during the inflammation and wound healing. Furthermore, the 620bp band might relate to edit progressing pre-mRNA IL10 in the guttate psoriasis.