Improved PID controller tuning rules for performance degradation/robustness increase trade-off

Definitely, robustness is an important feature that any control system must take into account, especially considering that the design is usually based on low-order linear models that represent the whole controlled process. The problem is that to include such characteristic implies a degradation in the system’s performance. With regard to the previous statement, this paper is concerned with the design of the closed-loop control system, to take into account the system performance to load-disturbance and to set-point changes and its robustness to variation of the controlled process characteristics. The aim is to achieve a good balance between the multiple trade-offs. Here, a PID control design is provided that looks for a robustness increase, allowing some degradation in the system’s combined performance. The proposed approach is complementary to the work presented by Arrieta and Vilanova (Simple PID tuning rules with guaranteed MsMs robustness achievement, in 18th IFAC world congress, 2011; Ind Eng Chem Res 51(6):2666–2674, 2012. doi:10.1021/ie201655c); Arrieta et al. (Performance Degradation Driven PID controller design, in PID12, IFAC conference on advances in PID control, 2012).Universidad de Costa Rica/[731-B4-213]/UCR/Costa RicaUniversidad de Costa Rica/[322-B4-218]/UCR/Costa RicaConsejo Interinstitucional de Ciencia y Tecnología/[DPI2013-47825-C3-1-R]/CICYT/ArgentinaUCR::Vicerrectoría de Investigación::Unidades de Investigación::Ingeniería::Instituto Investigaciones en Ingeniería (INII)UCR::Vicerrectoría de Docencia::Ingeniería::Facultad de Ingeniería::Escuela de Ingeniería Eléctric

Amendment of the OMERACT ultrasound definitions of joints’ features in healthy children when using the DOPPLER technique

Abstract Background Recently preliminary ultrasonography (US) definitions, in B mode, for normal components of pediatric joints have been developed by the OMERACT US group. The aim of the current study was to include Doppler findings in the evaluation and definition of normal joint features that can be visualized in healthy children at different age groups. Methods A multistep approach was used. Firstly, new additional definitions of joint components were proposed during an expert meeting. In the second step, these definitions, along with the preliminary B-mode-US definitions, were tested for feasibility in an exercise in healthy children at different age groups. In the last step, a larger panel of US experts were invited to join a web-based consensus process in order to approve the developed definitions using the Delphi methodology. A Likert scale of 1–5 was used to assess agreement. Results Physiological vascularity and fat pad tissue were identified and tested as two additional joint components in healthy children. Since physiological vascularity changes over the time in the growing skeleton, the final definition of Doppler findings comprised separate statements instead of a single full definition. A total of seven statements was developed and included in a written Delphi questionnaire to define and validate the new components. The final definitions for fat pad and physiological vascularity agreed by the group of experts reached 92.9% and 100% agreement respectively in a web survey. Conclusion The inclusion of these two additional joints components which are linked to detection of Doppler signal in pediatric healthy joints will improve the identification of abnormalities in children with joint pathologies

Elucidation of the mechanisms underlying the angiogenic effects of ginsenoside Rg(1) in vivo and in vitro.

Metadata onlyThe major active constituents of ginseng are ginsenosides, and Rg(1) is a predominant compound of the total extract. Recent studies have demonstrated that Rg(1) can promote angiogenesis in vivo and in vitro. In this study, we used a DNA microarray technology to elucidate the mechanisms of action of Rg(1). We report that Rg(1) induces the proliferation of HUVECs, monitored using [(3)H]-thymidine incorporation and Trypan blue exclusion assays. Furthermore, Rg(1) (150-600 nM) also showed an enhanced tube forming inducing effect on the HUVEC. Rg(1) was also demonstrated to promote angiogenesis in an in vivo Matrigel plug assay, and increase endothelial sprouting in the ex vivo rat aorta ring assay. Differential gene expression profile of HUVEC following treatment with Rg(1) revealed the expression of genes related to cell adhesion, migration and cytoskeleton, including RhoA, RhoB, IQGAP1, CALM2, Vav2 and LAMA4. Our results suggest that Rg(1) can promote angiogenesis in multiple models, and this effect is partly due to the modulation of genes that are involved in the cytoskeletal dynamics, cell-cell adhesion and migration