Adaptive impedance control of robot manipulators based on Q-learning and disturbance observer

In this paper, an adaptive impedance control combined with disturbance observer (DOB) is developed for a general class of uncertain robot manipulators in discrete time. The impedance control is applied to realize the interaction force control of robot manipulators in unknown, time-varying environments. The optimal reference trajectory is produced by impedance control, and the impedance parameters are achieved using Q-learning technique, which is implemented based on trajectory tracking errors. The position control with DOB of robot manipulators is implemented to track the virtual desired trajectory, and the DOB is designed to compensate for unknown compounded disturbance function by bounding both tracking error inputs and compounded disturbance inputs in a permitted control region, of which the compounded disturbance function is taken into account of all uncertain terms and external disturbances. The appropriate DOB parameters are selected applying linear matrix inequalities (LMIs) method. Both the impedance control and the bounded DOB control can well guarantee semiglobal uniform boundness of the closed-loop robot systems based on Lyapunov analysis and Schur complement theory. Simulation results are performed to test and verify effectiveness of the investigated combining adaptive impedance control with DOB

Different Sources of Copper Effect on Intestinal Epithelial Cell: Toxicity, Oxidative Stress, and Metabolism

Copper (Cu) is widely used in the swine industry to improve the growth performance of pigs. However, high doses of copper will induce cell damage and toxicity. The aim of this study was to evaluate toxicity, bioavailability, and effects on metabolic processes of varying copper sources using porcine intestinal epithelial cells (IPEC-J2) as a model. The IPEC-J2 were treated with two doses (30 and 120 μM) of CuSO4, Cu Glycine (Cu-Gly), and Cu proteinate (Cu-Pro) for 10 h, respectively. Cell damage and cellular copper metabolism were measured by the changes in cell viability, copper uptake, oxidative stress biomarkers, and gene/protein expression levels. The results showed that cell viability and ratio of reduced and oxidized glutathione (GSH/GSSG) decreased significantly in all treatment groups; intracellular copper content increased significantly in all treatment groups; total superoxide dismutase (SOD) activity increased significantly in the 120 μM exposed groups; SOD1 protein expression levels were significantly upregulated in 30 μM Cu-Pro, 120 μM Cu-Gly, and 120 μM Cu-Pro treatment groups; intracellular reactive oxygen species (ROS) generation and malondialdehyde (MDA) content increased significantly in 30 μM treatment groups and 120 μM CuSO4 treatment group. CTR1 and ATP7A gene expression were significantly downregulated in the 120 μM exposed groups. While upregulation of ATOX1 expression was observed in the presence of 120 μM Cu-Gly and Cu-Pro. ASCT2 gene expression was significantly upregulated after 120 μM Cu-Glycine and CuSO4 exposure, and PepT1 gene expression was significantly upregulated after Cu-Pro exposure. In addition, CTR1 protein expression level decreased after 120 μM CuSO4 and Cu-Gly exposure. PepT1 protein expression level was only upregulated after 120 μM Cu-Pro exposure. These findings indicated that extra copper supplementation can induce intestinal epithelial cell injury, and different forms of copper may have differing effects on cell metabolism