An Application of Modified T2FHC Algorithm in Two-Link Robot Controller

Parallel robotic systems have shown their advantages over the traditional serial robots such as high payload capacity, high speed, and high precision. Their applications are widespread from transportation to manufacturing fields. Therefore, most of the recent studies in parallel robots focus on finding the best method to improve the system accuracy. Enhancing this metric, however, is still the biggest challenge in controlling a parallel robot owing to the complex mathematical model of the system. In this paper, we present a novel solution to this problem with a Type 2 Fuzzy Coherent Controller Network (T2FHC), which is composed of a Type 2 Cerebellar Model Coupling Controller (CMAC) with its fast convergence ability and a Brain Emotional Learning Controller (BELC) using the Lyaponov-based weight updating rule. In addition, the T2FHC is combined with a surface generator to increase the system flexibility. To evaluate its applicability in real life, the proposed controller was tested on a Quanser 2-DOF robot system in three case studies: no load, 180 g load and 360 g load, respectively. The results showed that the proposed structure achieved superior performance compared to those of available algorithms such as CMAC and Novel Self-Organizing Fuzzy CMAC (NSOF CMAC). The Root Mean Square Error (RMSE) index of the system that was 2.20E-06 for angle A and 2.26E-06 for angle B and the tracking error that was -6.42E-04 for angle A and 2.27E-04 for angle B demonstrate the good stability and high accuracy of the proposed T2FHC. With this outstanding achievement, the proposed method is promising to be applied to many applications using nonlinear systems

Adaptive Single-Input Recurrent WCMAC-Based Supervisory Control for De-icing Robot Manipulator

The control of any robotic system always faces many great challenges in theory and practice. Because between theory and reality, there is always a huge difference in the uncertainty components in the system. That leads to the accuracy and stability of the system not being guaranteed with the set requirements. This paper presents a novel adaptive single-input recurrent wavelet differentiable cerebellar model articulation controller (S-RWCMAC)-based supervisory control system for an m-link robot manipulator to achieve precision trajectory tracking. This adaptive S-RWCMAC-based supervisory control system consists of a main adaptive S-RWCMAC, a supervisory controller, and an adaptive robust controller. The S-RWCMAC incorporates the advantages of the wavelet decomposition property with a CMAC fast learning ability, dynamic response, and input space dimension of RWCMAC can be simplified; and it is used to control the plant. The supervisory controller is appended to the adaptive S-RWCMAC to force the system states within a predefined constraint set and the adaptive robust controller is developed to dispel the effect of the approximate error. In this scheme, if the adaptive S-RWCMAC can not maintain the system states within the constraint set. Then, the supervisory controller will work to pull the states back to the constraint set and otherwise is idle. The online tuning laws of S-RWCMAC and the robust controller parameters are derived from the gradient-descent learning method and Lyapunov function so that the stability of the system can be guaranteed. The simulation and experimental results of the novel three-link De-icing robot manipulator are provided to verify the effectiveness of the proposed control methodology. The results indicate that the proposed model has superior accuracy compared to that of the Standalone CMAC Controller. The parameters of the average squared error in the S-RWCMAC -based 3 robot joints are lower than those of the Standalone CMAC Controller by 0.023%, 0.029%, and 0.032%, respectively

Finishing the euchromatic sequence of the human genome

The sequence of the human genome encodes the genetic instructions for human physiology, as well as rich information about human evolution. In 2001, the International Human Genome Sequencing Consortium reported a draft sequence of the euchromatic portion of the human genome. Since then, the international collaboration has worked to convert this draft into a genome sequence with high accuracy and nearly complete coverage. Here, we report the result of this finishing process. The current genome sequence (Build 35) contains 2.85 billion nucleotides interrupted by only 341 gaps. It covers ∼99% of the euchromatic genome and is accurate to an error rate of ∼1 event per 100,000 bases. Many of the remaining euchromatic gaps are associated with segmental duplications and will require focused work with new methods. The near-complete sequence, the first for a vertebrate, greatly improves the precision of biological analyses of the human genome including studies of gene number, birth and death. Notably, the human enome seems to encode only 20,000-25,000 protein-coding genes. The genome sequence reported here should serve as a firm foundation for biomedical research in the decades ahead

Safety and efficacy of fluoxetine on functional outcome after acute stroke (AFFINITY): a randomised, double-blind, placebo-controlled trial

Background Trials of fluoxetine for recovery after stroke report conflicting results. The Assessment oF FluoxetINe In sTroke recoverY (AFFINITY) trial aimed to show if daily oral fluoxetine for 6 months after stroke improves functional outcome in an ethnically diverse population. Methods AFFINITY was a randomised, parallel-group, double-blind, placebo-controlled trial done in 43 hospital stroke units in Australia (n=29), New Zealand (four), and Vietnam (ten). Eligible patients were adults (aged ≥18 years) with a clinical diagnosis of acute stroke in the previous 2–15 days, brain imaging consistent with ischaemic or haemorrhagic stroke, and a persisting neurological deficit that produced a modified Rankin Scale (mRS) score of 1 or more. Patients were randomly assigned 1:1 via a web-based system using a minimisation algorithm to once daily, oral fluoxetine 20 mg capsules or matching placebo for 6 months. Patients, carers, investigators, and outcome assessors were masked to the treatment allocation. The primary outcome was functional status, measured by the mRS, at 6 months. The primary analysis was an ordinal logistic regression of the mRS at 6 months, adjusted for minimisation variables. Primary and safety analyses were done according to the patient's treatment allocation. The trial is registered with the Australian New Zealand Clinical Trials Registry, ACTRN12611000774921. Findings Between Jan 11, 2013, and June 30, 2019, 1280 patients were recruited in Australia (n=532), New Zealand (n=42), and Vietnam (n=706), of whom 642 were randomly assigned to fluoxetine and 638 were randomly assigned to placebo. Mean duration of trial treatment was 167 days (SD 48·1). At 6 months, mRS data were available in 624 (97%) patients in the fluoxetine group and 632 (99%) in the placebo group. The distribution of mRS categories was similar in the fluoxetine and placebo groups (adjusted common odds ratio 0·94, 95% CI 0·76–1·15; p=0·53). Compared with patients in the placebo group, patients in the fluoxetine group had more falls (20 [3%] vs seven [1%]; p=0·018), bone fractures (19 [3%] vs six [1%]; p=0·014), and epileptic seizures (ten [2%] vs two [<1%]; p=0·038) at 6 months. Interpretation Oral fluoxetine 20 mg daily for 6 months after acute stroke did not improve functional outcome and increased the risk of falls, bone fractures, and epileptic seizures. These results do not support the use of fluoxetine to improve functional outcome after stroke

Developing an Advanced Control System to Enhance Precision in Uncertain Conditions for Five-Bar Parallel Robot Through a Combination of Robust Adaptive Tracking Control Using CMAC

Parallel robot systems have become increasingly applied due to significant advantages such as fast operating speed and high accuracy. Researchers are currently focusing on developing advanced control methods to increase the accuracy of this system. However, these advances face many challenges, including system dynamics and uncertain components in impact factors. Therefore, achieving a high level of accuracy remains a challenging problem and requires continued effort and careful research. This study proposes to use the Cerebellar Model Articulation Controller (CMAC) to estimate the nonlinear components of the system. By applying Lyapunov theory, this method focuses on adapting CMAC's online learning rules while ensuring stability and convergence. Besides using CMAC, the paper proposes a new signed distance method instead of sliding mode control (SMC) to handle input errors. This method aims to increase flexibility and adaptability and overcome the chattering of SMC in nonlinear systems. In particular, the research also adds a robust controller to ensure stability using Lyapunov to improve the system's accuracy. These recommendations increase the flexibility and accuracy of the control system, helping the system respond more quickly to changes and uncertainties in the operating environment. Finally, to demonstrate the effectiveness of the proposed controller, a five-bar parallel robot was chosen to conduct experiments in case situations. The results show that the proposed controller combined with signed distance achieves higher accuracy than other algorithms and is more stable in all cases mentioned in the research

Robust Adaptive Tracking Control for Uncertain Five-Bar Parallel Robot Using Fuzzy CMAC in Order to Improve Accuracy

Parallel robot systems are increasingly important and widely applied due to their superior advantages such as high speed and accuracy. To improve the accuracy of these systems, recent research has focused on developing advanced control methods. However, this remains a significant challenge due to the complex mathematical model of parallel robots. This study introduces a control system based on a fuzzy cerebellar model articulation controller (FCMAC) to control parallel robots. The proposed control system includes FCMAC as the main tracking controller used to estimate the ideal control. A robust controller is employed to compensate for the error between FCMAC and the ideal controller. The parameters of FCMAC are adjusted online based on adaptive laws derived from Lyapunov functions. Finally, a five-bar parallel robot is selected to experiment with the FCMAC algorithm to demonstrate the effectiveness of the proposed controller. The results show that the accuracy of FCMAC is better than that of other algorithms

Relationship between serum TNF-α, IL-6, and IL- 10 levels and disease severity, and changes in the cytokines after treatment in patients with bacterial community-acquired pneumonia

Introduction The role of some cytokines, such as interleukin (IL) and tumor necrosis factor-α (TNF-α), in serum in community-acquired pneumonia (CAP) has been mentioned. There are few results on changes in serum cytokines in patients with bacterial CAP. This study aimed at the relationship between serum TNF-α, IL-6, and IL-10 levels, disease severity, and changes in serum cytokines in patients with bacterial CAP. Methods A descriptive follow-up study was conducted on 78 hospitalized patients with CAP. Serum IL-6, IL-10, and TNF-α levels were measured by fluorescence covalent microbead immunosorbent assay technique. Changes in serum cytokine levels were measured on admission’s first and seventh day. Results TNF-α, IL-6, and IL-10 medians were 0.76, 2.15, and 1.18 pg/ mL, respectively. There was no difference in interleukin levels between the two groups, namely those aged 0.05). The levels of IL-10 in patients with Gram-positive bacteria pneumonia were significantly higher than those with Gram-negative bacteria (2.23 pg/mL vs 1.15 pg/mL, respectively, p=0.03). Logistic regression analysis revealed that IL-10 (OR=0.92; 95% CI: 0.86–0.99, p=0.03) was associated with the prognosis of disease severity. IL-6 levels decreased statistically on day 7 after treatment (1.12 pg/mL vs 2.15 pg/mL, p=0.003). The change in TNF-α and IL-10 after treatment was not significant (p>0.05). Conclusions Serum IL-10 levels during hospitalization time are related to the prognosis of disease severity. After 7 days of treatment, IL-6 levels decreased statistically; however, TNF-α and IL-10 levels did not change

Twelve-Month Outcomes of the AFFINITY Trial of Fluoxetine for Functional Recovery After Acute Stroke: AFFINITY Trial Steering Committee on Behalf of the AFFINITY Trial Collaboration

Background and Purpose: The AFFINITY trial (Assessment of Fluoxetine in Stroke Recovery) reported that oral fluoxetine 20 mg daily for 6 months after acute stroke did not improve functional outcome and increased the risk of falls, bone fractures, and seizures. After trial medication was ceased at 6 months, survivors were followed to 12 months post-randomization. This preplanned secondary analysis aimed to determine any sustained or delayed effects of fluoxetine at 12 months post-randomization. Methods: AFFINITY was a randomized, parallel-group, double-blind, placebo-controlled trial in adults (n=1280) with a clinical diagnosis of stroke in the previous 2 to 15 days and persisting neurological deficit who were recruited at 43 hospital stroke units in Australia (n=29), New Zealand (4), and Vietnam (10) between 2013 and 2019. Participants were randomized to oral fluoxetine 20 mg once daily (n=642) or matching placebo (n=638) for 6 months and followed until 12 months after randomization. The primary outcome was function, measured by the modified Rankin Scale, at 6 months. Secondary outcomes for these analyses included measures of the modified Rankin Scale, mood, cognition, overall health status, fatigue, health-related quality of life, and safety at 12 months. Results: Adherence to trial medication was for a mean 167 (SD 48) days and similar between randomized groups. At 12 months, the distribution of modified Rankin Scale categories was similar in the fluoxetine and placebo groups (adjusted common odds ratio, 0.93 [95% CI, 0.76–1.14]; P =0.46). Compared with placebo, patients allocated fluoxetine had fewer recurrent ischemic strokes (14 [2.18%] versus 29 [4.55%]; P =0.02), and no longer had significantly more falls (27 [4.21%] versus 15 [2.35%]; P =0.08), bone fractures (23 [3.58%] versus 11 [1.72%]; P =0.05), or seizures (11 [1.71%] versus 8 [1.25%]; P =0.64) at 12 months. Conclusions: Fluoxetine 20 mg daily for 6 months after acute stroke had no delayed or sustained effect on functional outcome, falls, bone fractures, or seizures at 12 months poststroke. The lower rate of recurrent ischemic stroke in the fluoxetine group is most likely a chance finding. REGISTRATION: URL: http://www.anzctr.org.au/ ; Unique identifier: ACTRN12611000774921