Modeling and control of a pneumatic muscle actuator

This thesis presents the theoretical and experimental study of pneumatic servo position control systems based on pneumatic muscle actuators (PMAs). Pneumatic muscle is a novel type of actuator which has been developed to address the control and compliance issues of conventional cylindrical actuators. Compared to industrial pneumatic cylinders, muscle actuators have many ideal properties for robotic applications providing an interesting alternative for many advanced applications. However, the disadvantage is that muscle actuators are highly nonlinear making accurate control a real challenge. Traditionally, servo-pneumatic systems use relatively expensive servo or proportional valve for controlling the mass flow rate of the actuator. This has inspired the research of using on/off valves instead of servo valves providing a low-cost option for servo-pneumatic systems. A pulse width modulation (PWM) technique, where the mass flow is provided in discrete packets of air, enables the use of similar control approaches as with servo valves. Although, the on/off valve based servo-pneumatics has shown its potential, it still lacks of analytical methods for control design and system analysis. In addition, the literature still lacks of studies where the performance characteristics of on/off valve controlled pneumatic systems are clearly compared with servo valve approaches. The focus of this thesis has been on modeling and control of the pneumatic muscle actuator with PWM on/off valves. First, the modeling of pneumatic muscle actuator system controlled by a single on/off valve is presented. The majority of the effort focused on the modeling of muscle actuator nonlinear force characteristics and valve mass flow rate modeling. A novel force model was developed and valve flow model for both simulation and control design were identified and presented. The derived system models (linear and nonlinear), were used for both control design and utilized also in simulation based system analysis. Due to highly nonlinear characteristics and uncertainties of the system, a sliding mode control (SMC) was chosen for a control law. SMC strategy has been proven to be an efficient and robust control strategy for highly nonlinear pneumatic actuator applications. Different variations of sliding mode control, SMC with linear model (SMCL) and nonlinear model (SMCNL) as well as SMC with integral sliding surface (SMCI) were compared with a traditional proportional plus velocity plus acceleration control with feed-forward (PVA+FF) compensation. Also, the effects of PWM frequency on the system performance were studied. Different valve configurations, single 3/2, dual 2/2, and servo valve, for controlling a single muscle actuator system were studied. System models for each case were formulated in a manner to have a direct comparison of the configuration and enabling the use of same sliding mode control design. The analysis of performance included the sinusoidal tracking precision and robustness to parameter variations and external disturbances. In a similar manner, a comparison of muscle actuators in an opposing pair configuration controlled by four 2/2 valves and servo valve was executed. Finally, a comparison of a position servo realized with pneumatic muscle actuators to the one realized with traditional cylinder was presented. In these cases, servo valve with SMC and SMCI were used to control the systems. The analysis of performance included steady-state error in point-to-point positioning, the RMSE of sinusoidal tracking precision, and robustness to parameter variations

Modeling and control of a pneumatic muscle actuator

This thesis presents the theoretical and experimental study of pneumatic servo position control systems based on pneumatic muscle actuators (PMAs). Pneumatic muscle is a novel type of actuator which has been developed to address the control and compliance issues of conventional cylindrical actuators. Compared to industrial pneumatic cylinders, muscle actuators have many ideal properties for robotic applications providing an interesting alternative for many advanced applications. However, the disadvantage is that muscle actuators are highly nonlinear making accurate control a real challenge. Traditionally, servo-pneumatic systems use relatively expensive servo or proportional valve for controlling the mass flow rate of the actuator. This has inspired the research of using on/off valves instead of servo valves providing a low-cost option for servo-pneumatic systems. A pulse width modulation (PWM) technique, where the mass flow is provided in discrete packets of air, enables the use of similar control approaches as with servo valves. Although, the on/off valve based servo-pneumatics has shown its potential, it still lacks of analytical methods for control design and system analysis. In addition, the literature still lacks of studies where the performance characteristics of on/off valve controlled pneumatic systems are clearly compared with servo valve approaches. The focus of this thesis has been on modeling and control of the pneumatic muscle actuator with PWM on/off valves. First, the modeling of pneumatic muscle actuator system controlled by a single on/off valve is presented. The majority of the effort focused on the modeling of muscle actuator nonlinear force characteristics and valve mass flow rate modeling. A novel force model was developed and valve flow model for both simulation and control design were identified and presented. The derived system models (linear and nonlinear), were used for both control design and utilized also in simulation based system analysis. Due to highly nonlinear characteristics and uncertainties of the system, a sliding mode control (SMC) was chosen for a control law. SMC strategy has been proven to be an efficient and robust control strategy for highly nonlinear pneumatic actuator applications. Different variations of sliding mode control, SMC with linear model (SMCL) and nonlinear model (SMCNL) as well as SMC with integral sliding surface (SMCI) were compared with a traditional proportional plus velocity plus acceleration control with feed-forward (PVA+FF) compensation. Also, the effects of PWM frequency on the system performance were studied. Different valve configurations, single 3/2, dual 2/2, and servo valve, for controlling a single muscle actuator system were studied. System models for each case were formulated in a manner to have a direct comparison of the configuration and enabling the use of same sliding mode control design. The analysis of performance included the sinusoidal tracking precision and robustness to parameter variations and external disturbances. In a similar manner, a comparison of muscle actuators in an opposing pair configuration controlled by four 2/2 valves and servo valve was executed. Finally, a comparison of a position servo realized with pneumatic muscle actuators to the one realized with traditional cylinder was presented. In these cases, servo valve with SMC and SMCI were used to control the systems. The analysis of performance included steady-state error in point-to-point positioning, the RMSE of sinusoidal tracking precision, and robustness to parameter variations

VTT-006, an anti-mitotic compound, binds to the Ndc80 complex and suppresses cancer cell growth <i>in vitro</i>.

Hec1 (Highly expressed in cancer 1) resides in the outer kinetochore where it works to facilitate proper kinetochore-microtubule interactions during mitosis. Hec1 is overexpressed in various cancers and its expression shows correlation with high tumour grade and poor patient prognosis. Chemical perturbation of Hec1 is anticipated to impair kinetochore-microtubule binding, activate the spindle assembly checkpoint (spindle checkpoint) and thereby suppress cell proliferation. In this study, we performed high-throughput screen to identify novel small molecules that target the Hec1 calponin homology domain (CHD), which is needed for normal microtubule attachments. 4 million compounds were first virtually fitted against the CHD, and the best hit molecules were evaluated in vitro. These approaches led to the identification of VTT-006, a 1,2-disubstituted-tetrahydro-beta-carboline derivative, which showed binding to recombinant Ndc80 complex and modulated Hec1 association with microtubules in vitro. VTT-006 treatment resulted in chromosome congression defects, reduced chromosome oscillations and induced loss of inter-kinetochore tension. Cells remained arrested in mitosis with an active spindle checkpoint for several hours before undergoing cell death. VTT-006 suppressed the growth of several cancer cell lines and enhanced the sensitivity of HeLa cells to Taxol. Our findings propose that VTT-006 is a potential anti-mitotic compound that disrupts M phase, impairs kinetochore-microtubule interactions, and activates the spindle checkpoint

Effect of remdesivir post hospitalization for COVID-19 infection from the randomized SOLIDARITY Finland trial

We report the first long-term follow-up of a randomized trial (NCT04978259) addressing the effects of remdesivir on recovery (primary outcome) and other patient-important outcomes one year after hospitalization resulting from COVID-19. Of the 208 patients recruited from 11 Finnish hospitals, 198 survived, of whom 181 (92%) completed follow-up. At one year, self-reported recovery occurred in 85% in remdesivir and 86% in standard of care (SoC) (RR 0.94, 95% CI 0.47-1.90). We infer no convincing difference between remdesivir and SoC in quality of life or symptom outcomes (p > 0.05). Of the 21 potential long-COVID symptoms, patients reported moderate/major bother from fatigue (26%), joint pain (22%), and problems with memory (19%) and attention/concentration (18%). In conclusion, after a one-year follow-up of hospitalized patients, one in six reported they had not recovered well from COVID-19. Our results provide no convincing evidence of remdesivir benefit, but wide confidence intervals included possible benefit and harm.Peer reviewe