S-model speed planning of NURBS curve based on uniaxial performance limitation

As more complex curves are used in current productions, curve speed planning has become a key technique to overcome the bottleneck of high-speed and high-precision computerized numerical control (CNC) systems. This paper first establishes the model of particle velocity, acceleration and jerk in Cartesian coordinate system, and then improves the uniaxial performance limit algorithm.We set up a real-time speed planning process of spline curves, design a S-model look-ahead algorithm, simplify the S-model speed planning algorithm, and achieve real-time non-uniform rational B-splines (NUBRS) curve S-model speed planning based on uniaxial performance limitation. Simulation results show that all the actual interpolation velocity, acceleration and jerk under the proposed method meet the preset single-axis limit. Experimental results show that the tracking performance under the proposed method has been significantly improved compared with that under the small line segments method. Compared with the NUBRS curve trapezoidal model speed planning, the vibration spikes during machining can be eliminated

Planar tool radius compensation for CNC systems based on NURBS interpolation

This paper introduces the realization of a tool radius compensation algorithm for NURBS trajectory. First, a single-segment NURBS trajectory tool radius compensation algorithm is developed. Different from the straight line and arc trajectory, the self-intersection phenomenon is prone to happen when calculating a single NURBS tool center trajectory, and the self-intersection will cause the overcut of workpiece. To avoid this situation, the algorithm introduced in this paper can detect whether the NURBS tool center track has caused overcut, and deal with the self-processing. Second, the tool radius compensation algorithm with multi-segment NURBS trajectory is implemented. The focus of this part is the tool radius compensation of the trajectory transfer, and the trajectory transfer is divided into two types: the extension type and the shortened type. For the shortened type transfer, cross-processing is needed to avoid the overcut of workpiece at the transfer. When calculating the tool radius compensation of the shortened type, we not only need to find the intersection of the tool center trajectory of two adjacent NURBS curves, but also need to select the intersection we need when a number of intersections exist. For the extension type transfer, in order to ensure the continuity of the tool center trajectory, we need to extend the tool center trajectory or add arc-segment at the transfer. The proposed algorithm can automatically decide where to extend the tool center trajectory or add arc-segment to achieve the best efficiency. Finally, the algorithm can output the calculated NURBS tool center trajectory in the form of linear segment interpolation G code or NURBS interpolation G code according to the processing needs. Simulations on VERICUT and experiments on three-axis CNC machine tool shows the effectiveness and validation of the tool path compensation algorithm

Reference modification for trajectory tracking using hybrid offline and online neural networks learning

In this paper, we propose a hybrid offline/online neural networks learning method, which combines complementary advantages of two types of neural networks (NNs): deep NN (DNN) and single-layer radial basis function NN (RBFNN). Firstly, after analyzing the mechatronic system’s model, we select reasonable features as the input of the DNN to learn the inverse dynamic characteristics of the closed-loop system offline, so as to establish the mapping between the desired trajectory and the reference trajectory of the system. The trained DNN is used to generate a new reference trajectory and compensate for the tracking error in advance, which can speed up the convergence of online learning control based on RBFNN. This reference trajectory is further modified iteratively when the tracking task is repeated. For this purpose, a single-layer RBFNN model is established, and an online learning algorithm is developed to update the RBFNN parameters. The proposed hybrid offline/online NN method can improve the tracking performance of mechatronic systems by modifying the reference trajectory on top of the baseline controller without affecting the system stability. To verify the effectiveness of this method, we conduct experiments on a piezoelectric drive platform

Anti-inflammatory activity of N-butanol extract from Ipomoea stolonifera in vivo and in vitro.

Ipomoea stolonifera (I. stolonifera) has been used for the treatment of inflammatory diseases including rheumatism and rheumatoid arthritis in Chinese traditional medicine. However, the anti-inflammatory activity of I. stolonifera has not been elucidated. For this reason, the anti-inflammatory activity of n-butanol extract of I. stolonifera (BE-IS) was evaluated in vivo by using acute models (croton oil-induced mouse ear edema, carrageenan-induced rat paw edema, and carrageenan-induced rat pleurisy) and chronic models (cotton pellet-induced rat granuloma, and complete Freund's adjuvant (CFA)-induced rat arthritis). Results indicated that oral administration of BE-IS significantly attenuated croton oil-induced ear edema, decreased carrageenan-induced paw edema, reduced carrageenan-induced exudates and cellular migration, inhibited cotton pellet-induced granuloma formation and improved CFA-induced arthritis. Preliminary mechanism studies demonstrated that BE-IS decreased the levels of myeloperoxidase (MPO) and malondialdehyde (MDA), increased the activity of anti-oxidant enzyme superoxide dismutase (SOD) in vivo, and reduced the production of nitric oxide (NO), prostaglandin E2 (PGE2), tumor necrosis factor-α (TNF-α), interleukin (IL)-1β and IL-6 in lipopolysaccharide-activated RAW264.7 macrophages in vitro. Results obtained in vivo and in vitro demonstrate that BE-IS has considerable anti-inflammatory potential, which provided experimental evidences for the traditional application of Ipomoea stolonifera in inflammatory diseases

Antioxidant, antibacterial and antischistosomal activities of extracts from Grateloupia livida (Harv). Yamada.

The present study was designated to evaluate the antioxidant, antibacterial and antischistosomal activities of Grateloupia livida (GL) extracts in vitro. A GL Ethanol extract (EE) was separated into petroleum ether (PE), ethyl acetate (EA), n-butyl alcohol (BuOH) and aqueous (AQ) fractions to fractionate the polar and non-polar compounds in the EE. Extracts antioxidant activities were evaluated in vitro by DPPH radical-scavenging, deoxyribose radical scavenging, and β-carotene bleaching assays, all using butylated hydroxytoluene (BHT) as the reference antioxidant compound. The most effective antioxidant properties were observed in the PE fraction in all three assays. Antimicrobial testing showed that the PE fraction exhibited broad-spectrum antimicrobial activity, with the PE fraction also exhibiting strong activity against the human pathogenic trematode S. japonicum adult worm. In order to investigate the relationships between bioactivity and chemical composition, the chemical composition of the PE fraction was analyzed by gas chromatography-mass spectrometry (GC-MS). In total, 25 components were identified in the PE fraction, most of which have known antioxidant and antimicrobial activities. However, none of the compounds have reported activity against Schistosoma, suggesting that the schistosomicidal activity of the PE fraction may be related to minor constituents present in the extract, or governed by more intricate synergistic or additive relationships. Finally, fractions with the greatest biological activity displayed neither cellular cytotoxicity, at concentrations up to 100 ug/ml, or acute oral toxicity in mice, at doses up to 2000 mg/kg. Based on antioxidant, antimicrobial, antischistosomal activities, and low toxicity, the PE fraction possesses properties useful for food preservation and overall improvement of human health

Self-Assembled Nanoparticles of Glycyrrhetic Acid-Modified Pullulan as a Novel Carrier of Curcumin

Glycyrrhetic acid (GA)-modified pullulan nanoparticles (GAP NPs) were synthesized as a novel carrier of curcumin (CUR) with a degree of substitution (DS) of GA moieties within the range of 1.2–6.2 groups per hundred glucose units. In the present study, we investigated the physicochemical characteristics, release behavior, in vitro cytotoxicity and cellular uptake of the particles. Self-assembled GAP NPs with spherical shapes could readily improve the water solubility and stability of CUR. The CUR release was sustained and pH-dependent. The cellular uptake of CUR-GAP NPs was confirmed by green fluorescence in the cells. An MTT study showed CUR-GAP NPs with higher cytotoxicity in HepG2 cells than free CUR, but GAP NPs had no significant cytotoxicity. GAP is thus an excellent carrier for the solubilization, stabilization, and controlled delivery of CUR

N-n-Butyl Haloperidol Iodide Ameliorates Oxidative Stress in Mitochondria Induced by Hypoxia/Reoxygenation through the Mitochondrial c-Jun N-Terminal Kinase/Sab/Src/Reactive Oxygen Species Pathway in H9c2 Cells

Both c-Jun N-terminal kinase (JNK) and reactive oxygen species (ROS) play important roles in myocardial ischemia/reperfusion (I/R) injury. Our previous studies suggest that N-n-butyl haloperidol iodide (F2) exerts cardioprotection by reducing ROS production and JNK activation caused by I/R. In this study, we hypothesized that there is a JNK/Sab/Src/ROS pathway in the mitochondria in H9c2 cells following hypoxia/reoxygenation (H/R) that induces oxidative stress in the mitochondria and that F2 exerts mitochondrial protective effects during H/R injury by modulating this pathway. The results showed that H/R induced higher-level ROS in the cytoplasm on the one hand and JNK activation and translocation to the mitochondria by colocalization with Sab on the other. Moreover, H/R resulted in mitochondrial Src dephosphorylation, and subsequently, oxidative stress evidenced by the increase in ROS generation and oxidized cardiolipin in the mitochondrial membranes and by the decrease in mitochondrial superoxide dismutase activity and membrane potential. Furthermore, treatment with a JNK inhibitor or Sab small interfering RNA inhibited the mitochondrial translocation of p-JNK, decreased colocalization of p-JNK and Sab on the mitochondria, and reduced Src dephosphorylation and mitochondrial oxidative stress during H/R. In addition, Src dephosphorylation by inhibitor PP2 increased mitochondrial ROS production. F2, like inhibitors of the JNK/Sab/Src/ROS pathway, downregulated the H/R-induced mitochondrial translocation of p-JNK and the colocalization of p-JNK and Sab on the mitochondria, increased Src phosphorylation, and alleviated the above-mentioned mitochondrial oxidative stress. In conclusion, F2 could ameliorate H/R-associated oxidative stress in mitochondria in H9c2 cells through the mitochondrial JNK/Sab/Src/ROS pathway