Optimal Digital Control Systems Design for Handling Machines using dsPIC

This paper presents a method of the controller design for the handling machine by using dsPIC(Digital Signal Processor + Peripheral Interface Controller). Recently, many manufacturing robots are operated in manufacturing facilities, with the aim of labor, cost saving, and improvement of the productivity. Such robots need to have positioning performance of high precision and simultaneously to save cost. In this paper, a digital optimal servo controller is designed, and it is implemented into our barebones controller which involves dsPIC. We have designed and manufactured the controller which is added suitable peripherals to improve the consistency between the mechanical machine operating in continuous time and controller in discrete time. The significance of this research is that digital implementation of the embedded system which has performance-limitation has ensured a comparable result, against the one with PC which has broad utility. When it is used as a controller, it is possible to restrain product prices greatly equivalent PC precision. We demonstrate potential that good control can be achieved even with low cost. Our research has lead to the viability of lower cost and higher performance system for the production process at factories

Heterotypic macrophages/microglia differentially contribute to retinal ischaemia and neovascularisation

AIMS/HYPOTHESIS: Diabetic retinopathy is characterised by neuroinflammation that drives neuronal and vascular degenerative pathology, which in many individuals can lead to retinal ischaemia and neovascularisation. Infiltrating macrophages and activated retina-resident microglia have been implicated in the progression of diabetic retinopathy, although the distinct roles of these immune cells remain ill-defined. Our aim was to clarify the distinct roles of macrophages/microglia in the pathogenesis of proliferative ischaemic retinopathies.METHODS: Murine oxygen-induced retinopathy is commonly used as a model of ischaemia-induced proliferative diabetic retinopathy (PDR). We evaluated the phenotype macrophages/microglia by immunostaining, quantitative real-time RT-PCR (qRT-PCR), flow cytometry and scRNA-seq analysis. In clinical imaging studies of diabetic retinopathy, we used optical coherence tomography (OCT) and OCT angiography.RESULTS: Immunostaining, qRT-PCR and flow cytometry showed expression levels of M1-like macrophages/microglia markers (CD80, CD68 and nitric oxide synthase 2) and M2-like macrophages/microglia markers (CD206, CD163 and macrophage scavenger receptor 1) were upregulated in areas of retinal ischaemia and around neo-vessels, respectively. scRNA-seq analysis of the ischaemic retina revealed distinct ischaemia-related clusters of macrophages/microglia that express M1 markers as well as C-C chemokine receptor 2. Inhibition of Rho-kinase (ROCK) suppressed CCL2 expression and reduced CCR2-positive M1-like macrophages/microglia in areas of ischaemia. Furthermore, the area of retinal ischaemia was reduced by suppressing blood macrophage infiltration not only by ROCK inhibitor and monocyte chemoattractant protein-1 antibody but also by GdCl 3. Clinical imaging studies of diabetic retinopathy using OCT indicated potential involvement of macrophages/microglia represented by hyperreflective foci in areas of reduced perfusion. CONCLUSIONS/INTERPRETATION: These results collectively indicated that heterotypic macrophages/microglia differentially contribute to retinal ischaemia and neovascularisation in retinal vascular diseases including diabetic retinopathy. This adds important new information that could provide a basis for a more targeted, cell-specific therapeutic approach to prevent progression to sight-threatening PDR.</p