Receding Horizon Trajectory Optimization with Terminal Impact Specifications

The trajectory optimization problem subject to terminal impact time and angle specifications can be reformulated as a nonlinear programming problem using the Gauss pseudospectral method. The cost function of the trajectory optimization problem is modified to reduce the terminal control energy. A receding horizon optimization strategy is implemented to reject the errors caused by the motion of a surface target. Several simulations were performed to validate the proposed method via the C programming language. The simulation results demonstrate the effectiveness of the proposed algorithm and that the real-time requirement can be easily achieved if the C programming language is used to realize it

Disturbance observer-based neural network control of cooperative multiple manipulators with input saturation

In this paper, the complex problems of internal forces and position control are studied simultaneously and a disturbance observer-based radial basis function neural network (RBFNN) control scheme is proposed to: 1) estimate the unknown parameters accurately; 2) approximate the disturbance experienced by the system due to input saturation; and 3) simultaneously improve the robustness of the system. More specifically, the proposed scheme utilizes disturbance observers, neural network (NN) collaborative control with an adaptive law, and full state feedback. Utilizing Lyapunov stability principles, it is shown that semiglobally uniformly bounded stability is guaranteed for all controlled signals of the closed-loop system. The effectiveness of the proposed controller as predicted by the theoretical analysis is verified by comparative experimental studies

Existence and Exponential Stability of Equilibrium Point for Fuzzy BAM Neural Networks with Infinitely Distributed Delays and Impulses on Time Scales

By using the fixed point theorem and constructing a Lyapunov functional, we establish some sufficient conditions on the existence, uniqueness, and exponential stability of equilibrium point for a class of fuzzy BAM neural networks with infinitely distributed delays and impulses on time scales. We also present a numerical example to show the feasibility of obtained results. Our example also shows that the described time and continuous neural time networks have the same dynamic behaviours for the stability

[Letter] Adaptive NN impedance control for an SEA-driven robot

In this letter, we propose an adaptive active impedance control combined with passive mechanical impedance, and use neural networks (NNs) to compensate for uncertainties of compliant robot’s dynamics. Taking these into account, we propose an online adaptive law to update NN weights and a complete framework about adaptive impedance control design. Simulations show the proposed method can ensure that both the accuracy and safety can be achieved

Engineering human ventricular heart muscles based on a highly efficient system for purification of human pluripotent stem cell-derived ventricular cardiomyocytes

Background Most infarctions occur in the left anterior descending coronary artery and cause myocardium damage of the left ventricle. Although current pluripotent stem cells (PSCs) and directed cardiac differentiation techniques are able to generate fetal-like human cardiomyocytes, isolation of pure ventricular cardiomyocytes has been challenging. For repairing ventricular damage, we aimed to establish a highly efficient purification system to obtain homogeneous ventricular cardiomyocytes and prepare engineered human ventricular heart muscles in a dish. Methods The purification system used TALEN-mediated genomic editing techniques to insert the neomycin or EGFP selection marker directly after the myosin light chain 2 (MYL2) locus in human pluripotent stem cells. Purified early ventricular cardiomyocytes were estimated by immunofluorescence, fluorescence-activated cell sorting, quantitative PCR, microelectrode array, and patch clamp. In subsequent experiments, the mixture of mature MYL2-positive ventricular cardiomyocytes and mesenchymal cells were cocultured with decellularized natural heart matrix. Histological and electrophysiology analyses of the formed tissues were performed 2 weeks later. Results Human ventricular cardiomyocytes were efficiently isolated based on the purification system using G418 or flow cytometry selection. When combined with the decellularized natural heart matrix as the scaffold, functional human ventricular heart muscles were prepared in a dish. Conclusions These engineered human ventricular muscles can be great tools for regenerative therapy of human ventricular damage as well as drug screening and ventricular-specific disease modeling in the future. Electronic supplementary material The online version of this article (doi:10.1186/s13287-017-0651-x) contains supplementary material, which is available to authorized users

IKKβ Suppression of TSC1 Links Inflammation and Tumor Angiogenesis via the mTOR Pathway

SummaryTNFα has recently emerged as a regulator linking inflammation to cancer pathogenesis, but the detailed cellular and molecular mechanisms underlying this link remain to be elucidated. The tuberous sclerosis 1 (TSC1)/TSC2 tumor suppressor complex serves as a repressor of the mTOR pathway, and disruption of TSC1/TSC2 complex function may contribute to tumorigenesis. Here we show that IKKβ, a major downstream kinase in the TNFα signaling pathway, physically interacts with and phosphorylates TSC1 at Ser487 and Ser511, resulting in suppression of TSC1. The IKKβ-mediated TSC1 suppression activates the mTOR pathway, enhances angiogenesis, and results in tumor development. We further find that expression of activated IKKβ is associated with TSC1 Ser511 phosphorylation and VEGF production in multiple tumor types and correlates with poor clinical outcome of breast cancer patients. Our findings identify a pathway that is critical for inflammation-mediated tumor angiogenesis and may provide a target for clinical intervention in human cancer

Atypical radio pulsations from magnetar SGR 1935+2154

Magnetars are neutron stars with extremely strong magnetic fields, frequently powering high-energy activity in X-rays. Pulsed radio emission following some X-ray outbursts have been detected, albeit its physical origin is unclear. It has long been speculated that the origin of magnetars' radio signals is different from those from canonical pulsars, although convincing evidence is still lacking. Five months after magnetar SGR 1935+2154's X-ray outburst and its associated Fast Radio Burst (FRB) 20200428, a radio pulsar phase was discovered. Here we report the discovery of X-ray spectral hardening associated with the emergence of periodic radio pulsations from SGR 1935+2154 and a detailed analysis of the properties of the radio pulses. The complex radio pulse morphology, which contains both narrow-band emission and frequency drifts, has not been seen before in other magnetars, but is similar to those of repeating FRBs - even though the luminosities are many orders of magnitude different. The observations suggest that radio emission originates from the outer magnetosphere of the magnetar, and the surface heating due to the bombardment of inward-going particles from the radio emission region is responsible for the observed X-ray spectral hardening.Comment: 47 pages, 11 figure

Protective Antibody and CD8+ T-Cell Responses to the Plasmodium falciparum Circumsporozoite Protein Induced by a Nanoparticle Vaccine

Background The worldwide burden of malaria remains a major public health problem due, in part, to the lack of an effective vaccine against the Plasmodium falciparum parasite. An effective vaccine will most likely require the induction of antigen specific CD8+ and CD4+ T-cells as well as long-lasting antibody responses all working in concert to eliminate the infection. We report here the effective modification of a self-assembling protein nanoparticle (SAPN) vaccine previously proven effective in control of a P. berghei infection in a rodent model to now present B- and T-cell epitopes of the human malaria parasite P. falciparum in a platform capable of being used in human subjects. Methodology/Principal Findings To establish the basis for a SAPN-based vaccine, B- and CD8+ T-cell epitopes from the P. falciparum circumsporozoite protein (PfCSP) and the universal CD4 T-helper epitope PADRE were engineered into a versatile small protein (∼125 amino acids) that self-assembles into a spherical nanoparticle repetitively displaying the selected epitopes. P. falciparum epitope specific immune responses were evaluated in mice using a transgenic P. berghei malaria parasite of mice expressing the human malaria full-length P. falciparum circumsporozoite protein (Tg-Pb/PfCSP). We show that SAPN constructs, delivered in saline, can induce high-titer, long-lasting (1 year) protective antibody and poly-functional (IFNγ+, IL-2+) long-lived central memory CD8+ T-cells. Furthermore, we demonstrated that these Ab or CD8+ T–cells can independently provide sterile protection against a lethal challenge of the transgenic parasites. Conclusion The SAPN construct induces long-lasting antibody and cellular immune responses to epitope specific sequences of the P. falciparum circumsporozoite protein (PfCSP) and prevents infection in mice by a transgenic P. berghei parasite displaying the full length PfCSP