Adaptive Fuzzy and Robust H∞ Compensation Control for Uncertain Robot

In this paper, two types of robust adaptive compensation control schemes for the trajectory tracking control of robot manipulator with uncertain dynamics are proposed. The proposed controllers incorporate the computed-torque control scheme as a nominal portion of the controller; an adaptive fuzzy control algorithm to approximate the structured uncertainties; and a nonlinear H∞ tracking control model as a feedback portion to eliminate the effects of the unstructured uncertainties and approximation errors. The validity of the robust adaptive compensation control schemes is investigated by numerical simulations of a two-link rotary robot manipulato

Expression of Peptidylarginine Deiminase Type 4 in Ovarian Tumors

Peptidylarginine deiminase type 4 (PADI4) converts arginine residues into citrulline. The current study focused on the expression of PADI4 in various subtypes of ovary cancers, and this study investigated the effects of estrogen on PADI4 expression in SKOV-3 cells that originated from ovary tumors. We utilized immunohistochemistry, real-time PCR and western blotting to analyze the expression of PADI4 in the tumor tissues and in the cell line that were cultured with estrodial-17&#946;. PADI4 was detected in serious cystadenocarcinoma (n=39, positivity=100%), clear cell cancer (n=7, positivity= 100%), mucinous cystadenocarcinoma (n=6, positivity=100%), dysgerminoma (n=6, positivity=100%), squamous cell tumor (n=6, positivity=100%), sibnet-ring cell carcinoma (n=6, positivity=100%), endodermal sinus tumor (n=6, positivity=100%), germ cell tumors (n=6, positivity=100%) and immature teratoma (n=6, positivity=100%). However, PADI4 was either not detected or detected at low levels in granulosa cell tumor (n=6), malignant thecoma (n=6), ovarian cystadenoma (n=5) and normal ovarian tissue (n=11). For serious cystadenocarcinoma, all of the samples with high PADI4 expression belonged to the T1 and T2 stages of pTMN, whereas all of the samples that exhibited weak or moderate PADI4 expression belonged to the T3 and T4 stages. PADI4 was evenly distributed in the cytoplasm of tumor cells of serious cystadenocarcinoma that were classified as being grade II and III by histopathological scoring. However, PADI4 showed granular cellular distribution in the tumor tissues that were isolated from grade I cystadenocarcinoma. In addition, the PADI4 level was positively related with the ages of the patients that presented with serious adenocarcinoma (p=0.029). Real-time PCR and western blot analyses confirmed that PADI4 was expressed at higher levels in ovarian adenocarcinoma (n=8) compared to ovarian cystadenoma (n=5) (p&#60; 0.05). The study also detected an increased level of PADI4 in SKOV-3 cells that were incubated with estrodial-17&#946; in the range of 10-12 to 10-4M. The results suggest an important role for PADI4 in the tumorigenesis of ovary cancers that are under the regulation of estrogen.</p

Nonoxynol-9 berberine plural gel has little effect on expression of SLPI, SP-D and lactoferrin in mice’s vagina

Background: The most frequently used spermicide Nonoxynol-9 (N-9) in the clinic alters the vaginal flora, which will result in an increased risk of opportunistic infection. So development of a novel spermicidal and microbicidal drug appears to be inevitable. Vaginal local immune is an important part of vaginal flora. Secretory leukocyte protease inhibitor (SLPI), surfactant proteins D (SP-D), and lactoferrin (LF) are anti-microbial molecules with important roles in immune system of female vaginas. Objective: To observe effect of a vaginal spermicide nonoxynol-9 (N-9) berberine plural gel on the expression of SLPI SP-D and LF in mice’s vaginas. Materials and Methods: Female BABL/C mice were randomly divided into following 5 groups: normal control group, blank gel group, berberine gel group, 12% N-9 gel group and N-9 berberine plural gel group. Estradiol benzoate at physiological dose was done by hypodermic injection to every group’s mice. After 72h, drug gels were separately injected into the mice’s vaginas, while immunohistochemistry and Western blot were taken to detect the expression of the 3 indexes in mice’s vaginas respectively after 24h and 72h of gel injection. Results: The differences in the three indexes between normal control group and blank gel group were not significant statistically (p>0.05). The expression of the three indexes in 12% N-9 gel group was decreased compared to that in blank gel group (p<0.05). The differences in the three indexes between N-9 berberine plural gel group and blank gel group were not significant statistically (p>0.05). Also, the three index's level of 24h and 72h in sub observation groups after treatment were without statistical significance (p>0.05). Conclusion: Application of N-9 berberine plural gel had little impact on antimicrobial peptides in normal mice’s vaginas

High-Resolution Displacement Sensor Based on a Chirped Fabry–Pérot Interferometer Inscribed on a Tapered Microfiber

In this study, a high-resolution optical fiber Fabry&#8315;P&#233;rot (FP) interferometer displacement sensor with chirped spectral characteristics based on a tapered microfiber is theoretically discussed and experimentally implemented. Instead of inscribing two fiber Bragg gratings (FBGs) on the symmetric position of the microfiber, we continuously inscribed one long FBG along the microfiber region to reduce the cavity length. The bandwidth of the interferometer is over 35 nm, and its displacement sensitivity is as high as 36.5 nm/mm at the tension state

Zi Shen Huo Luo Formula Prevents Aldosterone-Induced Cardiomyocyte Hypertrophy and Cardiac Fibroblast Proliferation by Regulating the Striatin-Mediated MR/EGFR/ERK Signaling Pathway

Inappropriate activation of the renin-angiotensin-aldosterone system (RAAS) is an important factor in the development of hypertension. Excessive aldosterone can lead to myocardial extracellular matrix collagen proliferation, fibrosis, and cardiomyocyte hypertrophy and aggravate maladaptive remodeling. The results of our previous clinical and animal experiments suggested that Zi Shen Huo Luo Formula (ZSHLF) combined with perindopril can effectively control the process of left ventricular hypertrophy (LVH). The purpose of this study was to investigate whether ZSHLF-treated serum inhibits the membrane localization of the striatin-mediated mineralocorticoid receptor (MR) and affects MR-mediated nongenomic effects and the downstream epidermal growth factor receptor (EGFR)/extracellular regulated kinase (ERK) signaling pathways, thereby improving aldosterone-induced myocardial remodeling. Serum containing ZSHLF was prepared and used to treat rat cardiomyocytes and cardiac fibroblasts in vitro after aldosterone induction and striatin knockdown by small interfering RNA (siRNA). Cell-based assays were carried out to determine the cardiomyocyte surface area and assess the proliferation rate and hydroxyproline secretion of cardiac fibroblasts. Quantitative real-time PCR (qRT-PCR), immunoprecipitation (IP), and Western blotting were performed to evaluate the striatin-mediated MR/EGFR/ERK signaling pathway. In the present study, ZSHLF attenuated the aldosterone-induced hypertrophy of cardiomyocytes and inhibited the proliferation and collagen synthesis of cardiac fibroblasts. ZSHLF also reduced striatin mRNA expression and inhibited striatin and MR binding, membrane MR protein expression, and EGFR and ERK1/2 phosphorylation. Furthermore, after striatin silencing with siRNA, some of the effects of ZSHLF were not changed significantly. In conclusion, ZSHLF inhibits the downstream EGFR/ERK signaling pathway by blocking the striatin-mediated membrane localization of MR, which may be an important molecular mechanism by which ZSHLF improves aldosterone-induced myocardial remodeling

Facile Construction of Iron/Nickel Phosphide Nanocrystals Anchored on N-B-Doped Carbon-Based Composites with Advanced Catalytic Capacity for 4-Nitrophenol and Methylene Blue

The search for a simple and effective method to remove organic dyes and color intermediates that threaten human safety from the water environment is urgent. Herein, we report a simple method for constructing iron/nickel phosphide nanocrystals anchored on N-B-doped carbon-based composites, using steam-exploded poplar (SEP) and graphene oxide (GO) as a carrier. The stability and catalytic activity of N-B-NixFeyP/SEP and GO were achieved by thermal conversion in a N2 atmosphere and modifying the Fe/Ni ratio in gel precursors. N-B-Ni7Fe3P/SEP was employed for the catalytic hydrogenation of 4-nitrophenol (4-NP) and methylene blue (MB), using sodium borohydride in aqueous media at room temperature. This showed much better catalytic performances in terms of reaction rate constant (0.016 S−1 and 0.041 S−1, respectively) and the activity factor, K (1.6 S−1·g−1 and 8.2 S−1·g−1, respectively) compared to the GO carrier (0.0053 S−1 and 0.035 S−1 for 4-NP and MB, respectively). The strong interaction between the carrier’s morphology and structure, and the vertically grown bimetallic phosphide nanoclusters on its surface, enhances charge transfer, electron transfer kinetics at the interface and Ni-Fe phosphide dispersion on the nanoclusters, and prevents dissolution of the nanoparticles during catalysis, thereby improving stability and achieving catalysis durability. These findings provide a green and simple route to efficient catalyst preparation and provide guidance for the rational selection of catalyst carriers