An Adaptive Nonlinear Control for Gyro Stabilized Platform Based on Neural Networks and Disturbance Observer

In order to improve the tracking performance of gyro stabilized platform with disturbances and uncertainties, an adaptive nonlinear control based on neural networks and reduced-order disturbance observer for disturbance compensation is developed. First the reduced-order disturbance observer estimates the disturbance directly. The error of the estimated disturbance caused by parameter variation and measurement noise is then approximated by neural networks. The phase compensation is also introduced to the proposed control law for the desired sinusoidal tracking. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Experimental results show the validity of the proposed control approach

Hyperforin Promotes Post-stroke Neuroangiogenesis via Astrocytic IL-6-Mediated Negative Immune Regulation in the Ischemic Brain

Hyperforin has been shown to be capable of promoting angiogenesis and functional recovery after ischemic stroke in our previous study. However, the exact mechanisms involved are not fully elucidated. In this study, adult male mice were subjected to 60-min transient middle cerebral artery occlusion followed by reperfusion for 28 days. Hyperforin was administrated to MCAO mice every 24 h for 2 weeks starting at 14 days post-ischemia (dpi). Then flow cytometry, quantitative Real-time PCR (RT-qPCR), western blotting, immunohistochemistry, and functional assays were performed to explore the molecular mechanisms in vivo and in vitro. Our data showed that hyperforin increased astrocytic interleukin (IL)-6 in the ischemic hemisphere via TLR4 at 28 dpi. The astrocytic IL-6 was essential to the promoting effects of hyperforin on the neural precursor cells proliferation, neuronal differentiation, angiogenesis, and functional recovery after stroke. Furthermore, hyperforin promoted the infiltration of regulatory T cells (Tregs) to the ischemic hemisphere and increased Tregs-derived cytokine IL-10 and transforming growth factor-β (TGF-β) in a manner that was dependent on astrocytic IL-6. Astrocytic IL-6 was critical to the role of hyperforin in promoting the infiltration of T-helper (Th) type 2 cells to the ischemic hemisphere and Th2-derived cytokine IL-4, relative to Th1 and Th1-derived cytokine interferon-γ (IFN-γ), which decreased during stroke recovery. After depletion of CD25+ Tregs, the promoting effects of hyperforin on post-stroke neurogenesis was attenuated. Moreover, blockade of IL-4 and TGF-β abrogated the promoting role of hyperforin in post-stroke neurogenesis, angiogenesis and functional recovery. Our results reveal a previously uncharacterized role of astrocytic IL-6-mediated negative immune regulation in the promoting effects of hyperforin on post-stroke neurovascular regeneration and functional recovery

Effects of exoskeleton-assisted walking on bowel function in motor-complete spinal cord injury patients: involvement of the brain–gut axis, a pilot study

Evidence has demonstrated that exoskeleton robots can improve intestinal function in patients with spinal cord injury (SCI). However, the underlying mechanisms remain unelucidated. This study investigated the effects of exoskeleton-assisted walking (EAW) on intestinal function and intestinal flora structure in T2-L1 motor complete paraplegia patients. The results showed that five participants in the EAW group and three in the conventional group reported improvements in at least one bowel management index, including an increased frequency of bowel evacuations, less time spent on bowel management per day, and less external assistance (manual digital stimulation, medication, and enema usage). After 8 weeks of training, the amount of glycerol used in the EAW group decreased significantly (p <0.05). The EAW group showed an increasing trend in the neurogenic bowel dysfunction (NBD) score after 8 weeks of training, while the conventional group showed a worsening trend. Patients who received the EAW intervention exhibited a decreased abundance of Bacteroidetes and Verrucomicrobia, while Firmicutes, Proteobacteria, and Actinobacteria were upregulated. In addition, there were decreases in the abundances of Bacteroides, Prevotella, Parabacteroides, Akkermansia, Blautia, Ruminococcus 2, and Megamonas. In contrast, Ruminococcus 1, Ruminococcaceae UCG002, Faecalibacterium, Dialister, Ralstonia, Escherichia-Shigella, and Bifidobacterium showed upregulation among the top 15 genera. The abundance of Ralstonia was significantly higher in the EAW group than in the conventional group, and Dialister increased significantly in EAW individuals at 8 weeks. This study suggests that EAW can improve intestinal function of SCI patients in a limited way, and may be associated with changes in the abundance of intestinal flora, especially an increase in beneficial bacteria. In the future, we need to further understand the changes in microbial groups caused by EAW training and all related impact mechanisms, especially intestinal flora metabolites.Clinical trial registration: https://www.chictr.org.cn/

AMS measurement of 53Mn and its initial application at CIAE

The determination of cosmogenic 53Mn in terrestrial archives has important applications, such as burial ages, exposure age and erosion rates. Accelerator mass spectrometry (AMS) is the most sensitive technique to detect minute amounts of 53Mn. 53Mn measurements were developed at the China Institute of Atomic nergy (CIAE) using the DE-Q3D equipped AMS system. This approach was recently optimized with the goal to reach the sensitivity required for AMS measurements of 53Mn in deep-sea ferromanganese crust (DSFC) samples. Based on these improvements of sample preparation, current beam transmission and so on, 53Mn in two samples of DSFC was measured by AMS. The ratios of 53Mn/Mn corresponding to an age of 3.77 ± 0.42 and 13.73 ± 2.74 Ma by 129I dating method are (5.01 ± 2.15) 10 13 and (1.90 ± 0.96) 10 13. The ratios are close to the experimental reference values, deduced from the previous research. The experimental progress, performances and results are presented in this contribution.This work was mainly supported by the National Natural Science Foundations of China (NSFC), under Grant No. 11075221, and a partly supported by the National Natural Science Foundation of China under Grant Nos. 10705054, 41073044 and 11265005