Prisilno upravljanje dinamikom pogona elastičnog zgloba s jednim senzorom pozicije rotora

Position control system of moderate precision based on ‘forced dynamics control’ for the drive with significant vibration modes is described. To exploit the only position sensor on the motor side, all necessary control variables are estimated in observers based on motor position and stator current measurements. The designed controller is of a cascade structure, comprising an inner speed control loop, which respects vector control principles and an outer position control loop, which is designed to control load angle with prescribed dynamics in the presence of flexible modes. Simulations of the overall control system indicate that the proposed control system exhibits the desired robustness and therefore warrants further development and experimental investigation.U radu je opisano upravljanje sustavom pozicioniranja srednje preciznosti s izraženim vibracijskim modovima korištenjem metodologije prisilnog upravljanja dinamikom. Kako bi se iskoristio senzor pozicije na strani motora, sve potrebne varijable stanja estimiraju se na temelju mjerenja pozicije motora i statorskih struja. Projektirani regulator je kaskadne strukture, s unutarnjom petljom po brzini vrtnje koja se temelji na principima vektorskog upravljanja, i vanjskom petljom po poziciji za upravljanje kutom tereta s definiranom dinamikom u prisustvu slabo prigušenih modova. Simulacijski rezultati cjelokupnog sustava upravljanja potvr.uju da predloženi sustav upravljanja posjeduje željenu robusnost i time opravdava budući razvoj i eksperimentalna istraživanja

Integrative Metabolomic Analysis of Serum and Selected Serum Exosomal microRNA in Metastatic Castration-Resistant Prostate Cancer

Metastatic castration-resistant prostate cancer (mCRPC) remains a lethal disease due to the absence of effective therapies. A more comprehensive understanding of molecular events, encompassing the dysregulation of microRNAs (miRs) and metabolic reprogramming, holds the potential to unveil precise mechanisms underlying mCRPC. This study aims to assess the expression of selected serum exosomal miRs (miR-15a, miR-16, miR-19a-3p, miR-21, and miR-141a-3p) alongside serum metabolomic profiling and their correlation in patients with mCRPC and benign prostate hyperplasia (BPH). Blood serum samples from mCRPC patients (n = 51) and BPH patients (n = 48) underwent metabolome analysis through 1H-NMR spectroscopy. The expression levels of serum exosomal miRs in mCRPC and BPH patients were evaluated using a quantitative real-time polymerase chain reaction (qRT-PCR). The 1H-NMR metabolomics analysis revealed significant alterations in lactate, acetate, citrate, 3-hydroxybutyrate, and branched-chain amino acids (BCAAs, including valine, leucine, and isoleucine) in mCRPC patients compared to BPH patients. MiR-15a, miR-16, miR-19a-3p, and miR-21 exhibited a downregulation of more than twofold in the mCRPC group. Significant correlations were predominantly observed between lactate, citrate, acetate, and miR-15a, miR-16, miR-19a-3p, and miR-21. The importance of integrating metabolome analysis of serum with selected serum exosomal miRs in mCRPC patients has been confirmed, suggesting their potential utility for distinguishing of mCRPC from BPH

Mapping European Association of Urology Guideline Practice Across Europe: An Audit of Androgen Deprivation Therapy Use Before Prostate Cancer Surgery in 6598 Cases in 187 Hospitals Across 31 European Countries

Peer reviewe