Reinforcement learning control of a flexible two-link manipulator: an experimental investigation

This article discusses the control design and experiment validation of a flexible two-link manipulator (FTLM) system represented by ordinary differential equations (ODEs). A reinforcement learning (RL) control strategy is developed that is based on actor-critic structure to enable vibration suppression while retaining trajectory tracking. Subsequently, the closed-loop system with the proposed RL control algorithm is proved to be semi-global uniform ultimate bounded (SGUUB) by Lyapunov's direct method. In the simulations, the control approach presented has been tested on the discretized ODE dynamic model and the analytical claims have been justified under the existence of uncertainty. Eventually, a series of experiments in a Quanser laboratory platform are investigated to demonstrate the effectiveness of the presented control and its application effect is compared with PD control

Model estimates of China's terrestrial water storage variation due to reservoir operation

Understanding the role of reservoirs in the terrestrial water cycle is critical to support the sustainable management of water resources especially for China where reservoirs have been extensively built nationwide. However, this has been a scientific challenge due to the limited availability of continuous, long-term reservoir operation records at large scales, and a process-based modeling tool to accurately depict reservoirs as part of the terrestrial water cycle is still lacking. Here, we develop a continental-scale land surface-hydrologic model over the mainland China by explicitly representing 3,547 reservoirs in the model with a calibration-free conceptual operation scheme for ungauged reservoirs and a hydrodynamically based two-way coupled scheme. The model is spatially calibrated and then extensively validated against streamflow observations, reservoir storage observations and GRACE-based terrestrial water storage anomalies. A 30-year simulation is then performed to quantify the seasonal dynamics of China’s reservoir water storage (RWS) and its role in China\u27s terrestrial water storage (TWS) over recent decades. We estimate that, over a seasonal cycle, China\u27s RWS variation is 15%, 16%, and 25% of TWS variation during 1981–1990, 1991–2000, and 2001–2010, respectively, and one-fifth of China’s reservoir capacity are effectively used annually. In most regions, reservoirs play a growing role in modulating the water cycle over time. Despite that, an estimated 80 million people have faced increasing water resources challenges in the past decades due to the significantly weakened reservoir regulation of the water cycle. Our approaches and findings could help the government better address the water security challenges under environmental changes

Efficacy and Adverse Events Associated With Use of OnabotulinumtoxinA for Treatment of Neurogenic Detrusor Overactivity: A Meta-Analysis

Purpose OnabotulinumtoxinA is used widely for the treatment of neurogenic detrusor overactivity. We conducted a systematic review and meta-analysis to assess its efficacy and safety for neurogenic detrusor overactivity treatment. Methods A systematic literature review was performed to identify all published randomized double-blind, placebo-controlled trials of onabotulinumtoxinA for neurogenic detrusor overactivity treatment. MEDLINE, Embase, and the CENTRAL were employed. Reference lists of retrieved studies were reviewed carefully. Results Six publications involving 871 patients, which compared onabotulinumtoxinA with a placebo were analyzed. Efficacy of onabotulinumtoxinA treatment was shown as a reduction of the mean number of urinary incontinence episodes per day (mean difference, -1.41; 95% confidence interval [CI], -1.70 to -1.12; P<0.00001), maximum cystometric capacity (135.48; 95% CI, 118.22–152.75; P<0.00001), and maximum detrusor pressure (-32.98; 95% CI, -37.33 to -28.62; P<0.00001). Assessment of adverse events revealed that complications due to onabotulinumtoxinA injection were localized primarily to the urinary tract. Conclusions This meta-analysis suggests that onabotulinumtoxinA is an effective treatment for neurogenic detrusor overactivity with localized advent events

Knockdown of Mediator Complex Subunit 19 Suppresses the Growth and Invasion of Prostate Cancer Cells.

Prostate cancer (PCa) is one of the most common cancers in elderly men. Mediator Complex Subunit 19 (Med19) is overexpressed and plays promotional roles in many cancers. However, the roles of Med19 in PCa are still obscure. In this study, by using immunohistochemical staining, we found higher expression level of Med19 in PCa tissues than in adjacent benign prostate tissues. We then knocked down the Med19 expression in PCa cell lines LNCaP and PC3 by using lentivirus siRNA. Cell proliferation, anchor-independent growth, migration, and invasion were suppressed in Med19 knockdown PCa cells. In nude mice xenograft model, we found that Med19 knockdown PCa cells formed smaller tumors with lower proliferation index than did control cells. In the mechanism study, we found that Med19 could regulate genes involved in cell proliferation, cell cycle, and epithelial-mesenchymal transition, including P27, pAKT, pPI3K, IGF1R, E-Cadherin, N-Cadherin, Vimentin, ZEB2, Snail-1 and Snail-2. Targeting Med19 in PCa cells could inhibit the PCa growth and metastasis, and might be a therapeutic option for PCa in the future

Model Estimates of China\u27s Terrestrial Water Storage Variation Due To Reservoir Operation

Understanding the role of reservoirs in the terrestrial water cycle is critical to support the sustainable management of water resources especially for China where reservoirs have been extensively built nationwide. However, this has been a scientific challenge due to the limited availability of continuous, long-term reservoir operation records at large scales, and a process-based modeling tool to accurately depict reservoirs as part of the terrestrial water cycle is still lacking. Here, we develop a continental-scale land surface-hydrologic model over the mainland China by explicitly representing 3,547 reservoirs in the model with a calibration-free conceptual operation scheme for ungauged reservoirs and a hydrodynamically based two-way coupled scheme. The model is spatially calibrated and then extensively validated against streamflow observations, reservoir storage observations and GRACE-based terrestrial water storage anomalies. A 30-year simulation is then performed to quantify the seasonal dynamics of China’s reservoir water storage (RWS) and its role in China\u27s terrestrial water storage (TWS) over recent decades. We estimate that, over a seasonal cycle, China\u27s RWS variation is 15%, 16%, and 25% of TWS variation during 1981–1990, 1991–2000, and 2001–2010, respectively, and one-fifth of China’s reservoir capacity are effectively used annually. In most regions, reservoirs play a growing role in modulating the water cycle over time. Despite that, an estimated 80 million people have faced increasing water resources challenges in the past decades due to the significantly weakened reservoir regulation of the water cycle. Our approaches and findings could help the government better address the water security challenges under environmental changes

Establishment and characterization of LNCaP-Med19-si/sc and PC3-Med19-si/sc cells.

<p>(A) After lentivirus infection and FACS sorting, the transduction efficiency was confirmed by determining the GFP expression in a fluorescent microscope. The GFP positive rate was more than 95% in all cells. (B) In Q-PCR assay, the relative Med19 expression levels were 26.18±5.27% in LNCaP-Med19-si cells (n = 3, **<i>P</i><0.01), and 16.88±3.40% in PC3-Med19-si cells (n = 3, **<i>P</i><0.01). (C) In Western blot assay, the Med19 expression level was dramatically decreased in LNCaP-Med19-si and PC3-Med19-si cells. GAPDH was used as an internal control.</p

Knockdown of Med19 altered multiple genes expression in PCa cells.

<p>(A) In Western blot assay, the pAKT and pPI3K expression levels were lower, and the P27 expression level was higher in the Med19 knockdown cells. GAPDH was used as an internal control. (B, C) In Q-PCR assay, the IGF1R, N-Cadherin, Vimentin, ZEB2, Snail-1, and Snail-2 were down-regulated, and the E-Cadherin was up-regulated in both LNCaP-Med19-si and PC3-Med19-si cells (n = 3, *<i>P</i><0.05, **<i>P</i><0.01).</p

Knockdown of Med19 inhibited PCa cells invasion and migration <i>in vitro</i>.

<p>(A) In invasion assay, the invasion ratio was 4.26±0.92% in LNCaP-Med19-si cells and 11.74±1.94% in LNCaP-Med19-sc cells (n = 3, **<i>P</i><0.01). The invasion ratio was 19.71±4.00% in PC3-Med19-si cells and 32.27±3.72% in PC3-Med19-sc cells (n = 3, *<i>P</i><0.05). (B) In “wound healing” migration assay, after 24 hours culture, the percentage of wound healing area was 8.83±2.56% in LNCaP-Med19-si cells and 15.83±4.62% in LNCaP-Med19-sc cells (n = 3, **<i>P</i><0.01), 70.83±9.37% in PC3-Med19-si cells and 87.33±4.63% in PC3-Med19-sc cells (n = 3, **<i>P</i><0.01).</p