Optimal control design for robust fuzzy friction compensation in a robot joint

This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis of a precompensator taking into account the dynamics of the overall corrected system by means of a minor loop. The proposed structure does not claim to faithfully reproduce complex phenomena driven by friction. However, the linearity of the local models simplifies the design and implementation of the observer, and its estimation capabilities are improved by the nonlinear integral gain. The controller can then be robustly synthesized using linear matrix inequalities to cancel the effects of inexact friction compensation. Experimental tests conducted on a robot joint with a high level of friction demonstrate the effectiveness of the proposed fuzzy observer-based control strategy for tracking system trajectories when operating in zero-velocity regions and during motion reversals

Direct yaw-moment control of an in-wheel-motored electric vehicle based on body slip angle fuzzy observer

A stabilizing observer-based control algorithm for an in-wheel-motored vehicle is proposed, which generates direct yaw moment to compensate for the state deviations. The control scheme is based on a fuzzy rule-based body slip angle (beta) observer. In the design strategy of the fuzzy observer, the vehicle dynamics is represented by Takagi-Sugeno-like fuzzy models. Initially, local equivalent vehicle models are built using the linear approximations of vehicle dynamics for low and high lateral acceleration operating regimes, respectively. The optimal beta observer is then designed for each local model using Kalman filter theory. Finally, local observers are combined to form the overall control system by using fuzzy rules. These fuzzy rules represent the qualitative relationships among the variables associated with the nonlinear and uncertain nature of vehicle dynamics, such as tire force saturation and the influence of road adherence. An adaptation mechanism for the fuzzy membership functions has been incorporated to improve the accuracy and performance of the system. The effectiveness of this design approach has been demonstrated in simulations and in a real-time experimental settin

Applications of Human Tissue-Engineered Blood Vessel Models to Study the Effects of Shed Membrane Microparticles from T-Lymphocytes on Vascular Function

Microparticles (MPs) are membrane vesicles harboring cell surface proteins and containing cytoplasmic components of the original cell. High levels of circulating MPs have been detected in pathological states associated with vascular dysfunction. We took advantage of the self-assembly method of tissue engineering to produce in vitro three vascular constructs from human vascular smooth muscle cells and fibroblasts to investigate the role of the adventitia in the modulation of vascular tone by MPs, comparing the contractile response of each of these constructs to histamine. The first two were composed of an adventitia (tissue-engineered vascular adventitia (TEVA)) or a media (tissue-engineered vascular media (TEVM)) solely, and the third one contained a media and an adventitia (tissue-engineered vascular media and adventitia (TEVMA)). In the three constructs, the results show that histamine induces contraction insensitive to blockade of inducible nitric oxide (NO) synthase (iNOS) and cyclooxygenase-2 (COX-2) and not affected by MP treatment. MPs decreased NO production and nuclear factor (NF)-κB expression but did not affect superoxide anion (O2−) release in TEVA. MPs enhanced NF-κB expression but did not affect iNOS and COX-2 expression or NO or O2− release in TEVM. In TEVMA, MPs did not enhance NF-κB expression, but COX-2 expression was higher, and O2− release was lower. Thus, MPs affected NO, O2−, NF-κB, and COX-2 in a subtle fashion to maintain the contractile response to histamine. The use of tissue-engineered vascular constructs results in a better understanding of the effect of MPs on human adventitia and media

IL-10 restores the vascular hyporeactivity induced by lipopolysaccharide in tissue-engineered blood vessel models

Date du colloque : 2009National audienc

Red wine polyphenols prevent metabolic and cardiovascular alterations associated with obesity in Zucker fatty rats (Fa/Fa)

Peer reviewedPublisher PD

Estrogen Receptor Alpha as a Key Target of Red Wine Polyphenols Action on the Endothelium

BACKGROUND: A greater reduction in cardiovascular risk and vascular protection associated with diet rich in polyphenols are generally accepted; however, the molecular targets for polyphenols effects remain unknown. Meanwhile evidences in the literature have enlightened, not only structural similarities between estrogens and polyphenols known as phytoestrogens, but also in their vascular effects. We hypothesized that alpha isoform of estrogen receptor (ERalpha) could be involved in the transduction of the vascular benefits of polyphenols. METHODOLOGY/PRINCIPAL FINDINGS: Here, we used ERalpha deficient mice to show that endothelium-dependent vasorelaxation induced either by red wine polyphenol extract, Provinols, or delphinidin, an anthocyanin that possesses similar pharmacological profile, is mediated by ERalpha. Indeed, Provinols, delphinidin and ERalpha agonists, 17-beta-estradiol and PPT, are able to induce endothelial vasodilatation in aorta from ERalpha Wild-Type but not from Knock-Out mice, by activation of nitric oxide (NO) pathway in endothelial cells. Besides, silencing the effects of ERalpha completely prevented the effects of Provinols and delphinidin to activate NO pathway (Src, ERK 1/2, eNOS, caveolin-1) leading to NO production. Furthermore, direct interaction between delphinidin and ERalpha activator site is demonstrated using both binding assay and docking. Most interestingly, the ability of short term oral administration of Provinols to decrease response to serotonin and to enhance sensitivity of the endothelium-dependent relaxation to acetylcholine, associated with concomitant increased NO production and decreased superoxide anions, was completely blunted in ERalpha deficient mice. CONCLUSIONS/SIGNIFICANCE: This study provides evidence that red wine polyphenols, especially delphinidin, exert their endothelial benefits via ERalpha activation. It is a major breakthrough bringing new insights of the potential therapeutic of polyphenols against cardiovascular pathologies