轮式移动机器人瞬态模型鲁棒自适应同步终端滑模编队控制 (Robust adaptive synchronized formation control for the transient model of wheeled mobile robots with terminal sliding mode)

In the cooperative formation of wheeled mobile robots, the problem how to guarantee that mobile robots can track their own trajectories while synchronizing motions with others puts forward higher requirements on the design of control algorithms. A robust adaptive synchronized control with terminal sliding mode based on the algebraic graph theory is developed to solve this problem. Firstly, the nonlinear kinematics transient model of wheeled mobile robot is introduced. This model avoids the problem of multi-input coupling mutual interference in general kinematics model. Then, the synchronized control algorithm is designed according to the cross-coupling errors to realize the motion synchronization, and the external disturbance of the system is suppressed by the robust control. The adaptive law ensures the real-time adjustment of the switching gain. The stability analysis is carried out by using the Lyapunov method, which proves the convergence of the system tracking errors. Finally, the effectiveness of the designed algorithm is verified by MATLAB simulation

A Closed-Loop Brain Stimulation Control System Design Based on Brain-Machine Interface for Epilepsy

In this study, a closed-loop brain stimulation control system scheme for epilepsy seizure abatement is designed by brain-machine interface (BMI) technique. In the controller design process, the practical parametric uncertainties involving cerebral blood flow, glucose metabolism, blood oxygen level dependence, and electromagnetic disturbances in signal control are considered. An appropriate transformation is introduced to express the system in regular form for design and analysis. Then, sufficient conditions are developed such that the sliding motion is asymptotically stable. Combining Caputo fractional order definition and neural network (NN), a finite time fractional order sliding mode (FFOSM) controller is designed to guarantee reachability of the sliding mode. The stability and reachability analysis of the closed-loop tracking control system gives the guideline of parameter selection, and simulation results based on comprehensive comparisons are carried out to demonstrate the effectiveness of proposed approach

High-efficiency computation for electromagnetic forming process: An explicit-implicit GPU approach

Summary: Low computational efficiency is one of the crucial challenges in electromagnetic forming process simulation. However, the huge gap in switching from the electromagnetic field to mechanics hinders the development of high-efficiency parallel coupling. A graphics processing unit (GPU)-based explicit-implicit coupling method is proposed to address the high-computational cost in simulations of the electromagnetic forming process, in which the large deformation (explicit) and electromagnetic field (implicit) are intimately coupled. The electromagnetic-mechanical coupling is achieved by constructing five parallel algorithms, which include the parallel operations of vector-vector, matrix-matrix, matrix-vector, vector assembly, and matrix-free assembly parallel preconditioned conjugate gradient algorithm. The high-efficiency GPU parallel computing is realized through the special data storage structure and parallel strategies. The explicit-implicit GPU method is validated against the experimental results, and several examples are presented for simulations of the electromagnetic forming process to illustrate both the accuracy and high-efficiency parallel acceleration performance of the present program

Two kinds of ketoprofen enteric gel beads (CA and CS-SA) using biopolymer alginate

To obtain expected rapid-release and sustained-release of ketoprofen gel beads, this paper adopted biopolymer alginate to prepare alginate beads and chitosan-alginate gel beads. Formulation factors were investigated and optimized by the single factor test. The release of ketoprofen from calcium alginate gel beads in pH 1.0 hydrochloric acid solution was less than 10% during 2 h, then in pH6.8 was about 95% during 45 min, which met the requirements of rapid-release preparations. However, the drug release of chitosan-alginate gel beads in pH1.0 was less than 5% during 2 h, then in pH6.8 was about 50% during 6 h and reached more than 95% during 12 h, which had a good sustained-release behavior. In addition, the release kinetics of keteprofen from the calcium alginate gel beads fitted well with the Korsmeyer–Peppas model and followed a case-II transport mechanism. However, the release of keteprofen from the chitosan-alginate gel beads exhibited a non-Fickian mechanism and based on the mixed mechanisms of diffusion and polymer relaxation from chitosan-alginate beads. In a word, alginate gel beads of ketoprofen were instant analgesic, while chitosan-alginate gel beads could control the release of ketoprofen during gastro-intestinal tract and prolong the drug's action time. Keywords: Gel beads, Enteric rapid-release, Enteric sustained-release, Ketoprofe

Preparation and evaluation of Vinpocetine self-emulsifying pH gradient release pellets

The main objective of this study was to develop a pH gradient release pellet with self-emulsifying drug delivery system (SEDDS), which could not only improve the oral bioavailability of Vinpocetine (VIN), a poor soluble drug, but reduce the fluctuation of plasma concentration. First, the liquid VIN SEDDS formulation was prepared. Then the self-emulsifying pH gradient release pellets were prepared by extrusion spheronization technique, and formulation consisted by the liquid SEDDS, absorbent (colloidal silicon dioxide), penetration enhancer (sodium chloride), microcrystalline cellulose, ethyl alcohol, and three coating materials (HPMC, Eudragit L30D55, Eudragit FS30D) were eventually selected. Three kinds of coated pellets were mixed in capsules with the mass ratio of 1:1:1. The release curves of capsules were investigated in vitro under the simulated gastrointestinal conditions. In addition, the oral bioavailability and pharmacokinetics of VIN self-emulsifying pH gradient release pellets, commercial tablets and liquid VIN SEDDS were evaluated in Beagle dogs. The oral bioavailability of self-emulsifying pH gradient release pellets was about 149.8% of commercial VIN tablets, and it was about 86% of liquid VIN SEDDS, but there were no significant difference between liquid SEDDS and self-emulsifying pH gradient release pellets. In conclusion, the self-emulsifying pH gradient release pellets could significantly enhance the absorption of VIN and effectively achieve a pH gradient release. And the self-emulsifying pH gradient release pellet was a promising method to improve bioavailability of insoluble drugs

Digestive system is a potential route of COVID-19: An analysis of single-cell coexpression pattern of key proteins in viral entry process

Objective: Since December 2019, a newly identified coronavirus (severe acute respiratory syndrome coronavirus (SARS-CoV-2)) has caused outbreaks of pneumonia in Wuhan, China. SARS-CoV-2 enters host cells via cell receptor ACE II (ACE2) and the transmembrane serine protease 2 (TMPRSS2). In order to identify possible prime target cells of SARS-CoV-2 by comprehensive dissection of ACE2 and TMPRSS2 coexpression pattern in different cell types, five datasets with single-cell transcriptomes of lung, oesophagus, gastric mucosa, ileum and colon were analysed. Design: Five datasets were searched, separately integrated and analysed. Violin plot was used to show the distribution of differentially expressed genes for different clusters. The ACE2-expressing and TMPRRSS2-expressing cells were highlighted and dissected to characterise the composition and proportion. Results: Cell types in each dataset were identified by known markers. ACE2 and TMPRSS2 were not only coexpressed in lung AT2 cells and oesophageal upper epithelial and gland cells but also highly expressed in absorptive enterocytes from the ileum and colon. Additionally, among all the coexpressing cells in the normal digestive system and lung, the expression of ACE2 was relatively highly expressed in the ileum and colon. Conclusion: This study provides the evidence of the potential route of SARS-CoV-2 in the digestive system along with the respiratory tract based on single-cell transcriptomic analysis. This finding may have a significant impact on health policy setting regarding the prevention of SARS-CoV-2 infection. Our study also demonstrates a novel method to identify the prime cell types of a virus by the coexpression pattern analysis of single-cell sequencing data