ABSTRACT
The design process of a novel adaptive critic based neuro-fuzzy controller is described. The concept is based on separating state variables into groups, assigning the groups to a multi-layer structure, and employing individual neuro-fuzzy controllers for each layer. The correlation procedure between layers is then defined and a proportional-derivative critic is generalized to be used with this structure. The controller's structure leads to a high reduction in the number of tunable parameters. For easier tuning, different gains are considered in the structure and an approach for the synthesis of the networks' initial parameters is given. The effectiveness of the controller is then verified by investigating two case studies: 1. Ball and beam regulation 2. Stabilizing the chaotic spinning disk's lateral vibrations. Simulations proved the feasibility and robustness of the proposed controller.
ABSTRACT
BACKGROUND: Despite some successful dynamic simulation of self-impact double pendulum (SIDP)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion. OBJECTIVE: The main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by modeling the swing leg as a SIDP. This paper also presents the control design for a SIDP by a nonlinear model-based control method. To achieve this goal, the available data of normal human gait will be taken as the desired trajectories of the hip and knee joints. METHOD: The model is characterized by the constraint that occurs at the knee joint (the lower joint of the model) in both dynamic modeling and control design. Since the system dynamics is nonlinear, the MIMO Input-Output Feedback Linearization method will be employed for control purposes. RESULTS: The first constraint in forward impact simulation happens at 0.5 rad where the speed of the upper link is increased to 2.5 rad/sec. and the speed of the lower link is reduced to -5 rad/sec. The subsequent constraints occur rather moderately. In the case of both backward and forward constraints simulation, the backward impact occurs at -0.5 rad and the speeds of the upper and lower links increase to 2.2 and 1.5 rad/sec., respectively. CONCLUSION: The designed controller performed suitably well and regulated the system accurately.
ABSTRACT
The ability of freshly isolated primary human alveolar epithelial cells (type II pneumocytes) to induce leucocyte migration across an endothelial monolayer was investigated. Three-way factorial analysis of variance (ANOVA) demonstrated that resting alveolar endothelial cells (AEC) could produce detectable quantities of monocyte chemoattractant protein 1 (MCP-1), which was upregulated in response to tumour necrosis factor-alpha (TNF-alpha) in a dose- and time-dependent fashion. Interferon-gamma (IFN-gamma) had no significant effect on this process. TNF-alpha and IFN-gamma both induced AEC to provoke migration of CD14+ monocytes and CD3+ lymphocytes across endothelium. IFN-gamma and TNF-alpha synergized in their ability to induce production of T lymphocyte, but not monocyte, chemoattractants from AEC. Leucocyte transendothelial migration was inhibited by anti-MCP-1 neutralizing antibody and by heparin, a polyanionic glycosaminoglycan (GAG). These data suggest that human AEC play a role in the multiple mechanisms that facilitate monocyte and T lymphocyte migration into the alveolar compartment of the lung under homeostasis and inflammatory conditions. One of these mechanisms is mediated via constitutive MCP-1 production by alveolar epithelial cells, which is upregulated by TNF-alpha.
