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

Solid-Phase Synthesis of Peptide-Conjugated Perylene Diimide Bolaamphiphile and Its Application in Photodynamic Therapy

Here, we describe a rapid and efficient synthetic method of peptide-conjugated perylene diimide (P-PDI) using solid-phase peptide synthesis (SPPS). Due to severe insolubility of perylene dianhydride (PDA) as a starting material of perylene diimide (PDI), PDA was initially conjugated with amino acids to obtain soluble PDI derivatives. Target peptides were synthesized on a 2-chlorotrityl chloride resin using the SPPS method and then conjugated with the amino acid-appended PDI. Various conditions such as loading levels, reaction times and solvents were optimized for introducing the peptides to both sides of the amino acid-appended PDI. The final P-PDI was obtained with a maximum yield of 80% in 12 h. Its singlet oxygen-derived phototoxicity on cells was confirmed, which could be applicable to photodynamic therapy

CXCL12 secreted from adipose tissue recruits macrophages and induces insulin resistance in mice

Aims/hypothesis Obesity-induced inflammation is initiated by the recruitment of macrophages into adipose tissue. The recruited macrophages, called adipose tissue macrophages, secrete several proinflammatory cytokines that cause low-grade systemic inflammation and insulin resistance. The aim of this study was to find macrophage-recruiting factors that are thought to provide a crucial connection between obesity and insulin resistance. Methods We used chemotaxis assay, reverse phase HPLC and tandem MS analysis to find chemotactic factors from adipocytes. The expression of chemokines and macrophage markers was evaluated by quantitative RT-PCR, immunohistochemistry and FACS analysis. Results We report our finding that the chemokine (C-X-C motif) ligand 12 (CXCL12, also known as stromal cell-derived factor 1), identified from 3T3-L1 adipocyte conditioned medium, induces monocyte migration via its receptor chemokine (C-X-C motif) receptor 4 (CXCR4). Diet-induced obese mice demonstrated a robust increase of CXCL12 expression in white adipose tissue (WAT). Treatment of obese mice with a CXCR4 antagonist reduced macrophage accumulation and production of proinflammatory cytokines in WAT, and improved systemic insulin sensitivity. Conclusions/interpretation In this study we found that CXCL12 is an adipocyte-derived chemotactic factor that recruits macrophages, and that it is a required factor for the establishment of obesity-induced adipose tissue inflammation and systemic insulin resistance.close1