Effect and correction of control delay in longitudinal dynamics of insect hovering flight.

Sensor-to-actuator delay is inevitable in any complex control system, be it one for a free-flying insect or a mimicking insectlike robotic flyer. In this work, we analyze the effects of control delay (latency) on the hovering performance of a model insect flyer, as exemplified by the hummingbird hawkmoth Re∼3000, and determine how control coefficients or gains may be modified to ameliorate the adverse effects of latency. The analyses are based on a simplified or reduced dynamic model of the hovering flyer. The longitudinal dynamics of the hovering flyer comprises the coupled forward (backward) and vertical translations and pitch rotation of the flyer, with kinematical wing actions being governed by proportional-differential (PD) closed-loop control. Keeping to the same PD control coefficients as a stable reference zero-delay case, the flight system becomes overly responsive at a small control delay, eventually diverging when delay approaches around one wing cycle. Stable hovering may be regained for control delay of up to several wingbeats by suitably reducing or softening the PD control coefficients. The results of the analyses are validated by a series of time-based simulations using the simplified dynamic model and a high-fidelity three-dimensional computational fluid dynamics with fluid structure-body interaction model of the hovering flyer. The simulations also show that noncyclic asymptotic oscillations about the mean equilibrium hovering state are enhanced with larger control delay. The analyses and simulations have helped us to gain a better understanding of the effects of control latency in insect free flight, which may be relevant for the design of mimetic insect flyers.

A simplified dynamic model for controlled insect hovering flight and control stability analysis.

In this paper, the controlled stability of insect hovering flight is analyzed in detail based on a simplified dynamic model of the flyer and flow. The simplified dynamic model incorporates PID-based wing-kinematic controllers. The control stability of the hovering flight is evaluated based on the cycle-mean dynamic equations. The stability analyses and the simplified dynamic model allow us to derive and test the control coefficients for stable free hovering, firstly in the longitudinal mode of flight and then the lateral mode. In this manner, coefficients for wing-kinematic control for full CFD-FSI simulation could be obtained very efficiently. The coefficients thus determined are verified against full-fidelity CFD-FSI free flight simulations.

Ground effect on the aerodynamics of three-dimensional hovering wings.

This paper reports the results of combined experimental and numerical studies on the ground effect on a pair of three-dimensional (3D) hovering wings. Parameters investigated include hovering kinematics, wing shapes, and Reynolds numbers (Re). The results are consistent with the observation by another study (Gao and Lu, 2008 Phys. Fluids, 20 087101) which shows that the cycle-averaged aerodynamic forces generated by two-dimensional (2D) wings in close proximity to the ground can be broadly categorized into three regimes with respect to the ground clearance; force enhancement, force reduction, and force recovery. However, the ground effect on a 3D wing is not as significant as that on a 2D flapping wing reported in (Lu et al 2014 Exp. Fluids, 55 1787); this could be attributed to a weaker wake capture effect on 3D wings. Also, unlike a 2D wing, the leading edge vortex (LEV) remains attached on a 3D wing regardless of ground clearance. For all the wing kinematics considered, the three above-mentioned regimes are closely correlated to a non-monotonic trend in the strength of downwash due to the restriction of root and tip vortex formation, and a positional shift of wake vortices. The root vortices in interaction with the ground induce an up-wash in-between the two wings, causing a strong 'fountain effect' (Maeda and Liu, 2013 J. Biomech. Sci. Eng., 8 344) that may increase the body lift of insects. The present study further shows that changes in wing planform have insignificant influence on the overall trend of ground effect except for a parallel shift in force magnitude, which is caused mainly by the difference in aspect ratio and leading edge pivot point. On the two Reynolds numbers investigated, the results for the low Re case of 100 do not deviate significantly from those of a higher Re = 5000 except for the difference in force magnitudes, since low Reynolds number generates lower downwash, weaker LEV, and lower rotational circulation. Additionally, lower Re leads to a weaker fountain effect.

A quasi-steady aerodynamic model for flapping flight with improved adaptability.

An improved quasi-steady aerodynamic model for flapping wings in hover has been developed. The purpose of this model is to yield rapid predictions of lift generation and efficiency during the design phase of flapping wing micro air vehicles. While most existing models are tailored for a specific flow condition, the present model is applicable over a wider range of Reynolds number and Rossby number. The effects of wing aspect ratio and taper ratio are also considered. The model was validated by comparing against numerical simulations and experimental measurements. Wings with different geometries undergoing distinct kinematics at varying flow conditions were tested during validation. Generally, model predictions of mean force coefficients were within 10% of numerical simulation results, while the deviations in power coefficients could be up to 15%. The deviation is partly due to the model not taking into consideration the initial shedding of the leading-edge vortex and wing-wake interaction which are difficult to account under quasi-steady assumption. The accuracy of this model is comparable to other models in literature, which had to be specifically designed or tuned to a narrow range of operation. In contrast, the present model has the advantage of being applicable over a wider range of flow conditions without prior tuning or calibration, which makes it a useful tool for preliminary performance evaluations.

Extended nonlinear parametric process in anomalously pumped linear cavity oscillator.

We demonstrate a linear cavity fiber optical parametric oscillator with extended pump-signal separation of 14.3 THz (116 nm). The signal laser is provided by a pair of 1675nm fiber Bragg gratings and a tunable idler from 1456.12 nm to 1462.48 nm is generated by detuning the pump wavelength in the anomalous dispersion regime of a highly nonlinear fiber. At such large pump-signal separation, we are still able to record a parametric conversion efficiency of more than -35 dB and idler optical signal-to-noise-ratio of 50 dB on average. The stability of the lasing signal and idler is examined and result shows both signal and idler peak power fluctuation is less than 1 dB over a period of 30 minutes.

Brillouin slow light: substantial optical delay in the second-order Brillouin gain spectrum.

We experimentally demonstrate optical delay in the second-order Brillouin gain spectrum by incorporating a double Brillouin-frequency shifter into the system. By coinciding the seed signal with the second-order Brillouin gain spectrum, it was found that the seed signal experienced significantly larger delay as compared to the Brillouin slow light generated from the first-order Brillouin spectrum. At a Brillouin gain of 17 dB, the delay was found to be at maximum of 60 ns. This widens the window of promising opportunities into the deployment of all optical tunable delay into the existing optical signal processing.

Inhibitor of p42/44 mitogen-activated protein kinase, but not p38 MAPK, attenuated antigen challenge of guinea pig airways in vitro.

Upon cross-linking of the high-affinity IgE receptors on mast cells, a family of mitogen-activated protein kinases (MAPKs) is activated. The present study examined the effects of p42/44 MAPK kinase inhibitor U0126 and p38 MAPK inhibitors SB220025 and PD169316 on ovalbumin (OVA)-induced anaphylactic contraction of isolated guinea pig bronchi and release of histamine and peptidoleukotrienes from lung fragments. Guinea pigs were actively sensitized by OVA. OVA induced anaphylactic bronchial contractions, and release of histamine and peptidoleukotrienes from lung fragments. U0126 (0.3-30 microM), but not SB220025 and PD169316 (3-30 microM), slightly suppressed peak OVA-induced bronchial contraction but markedly reduced anaphylactical contraction over a 50-min period in a dose-dependent manner. U0126 did not inhibit bronchial contractions induced by KCl, histamine or leukotriene D4. U0126 produced a slight reduction in OVA-induced release of histamine but a significant inhibition on the release of peptidoleukotrienes from lung fragments. Exogenous arachidonic acid-induced release of peptidoleukotrienes was not blocked by U0126. SB220025 and PD169316 had no effect on OVA-induced release of histamine and peptidoleukotrienes. Our data indicate that inhibitor of p42/44 MAPK kinase, but not p38 MAPK, can reduce antigen-induced release of peptidoleukotrienes leading to a rapid resolution of anaphylactic bronchial contraction, and may have therapeutic potential for allergic asthma.

The use of thiopentone/propofol admixture for laryngeal mask airway insertion.

An admixture of thiopentone and propofol was evaluated against propofol for laryngeal mask airway (LMA) insertion. Eighty-one ASA 1 and 2 18- to 65-year-old patients, premedicated with 7.5 mg midazolam orally were assigned randomly to receive either propofol 1% or an admixture of thiopentone and propofol (1.25% and 0.5% respectively), both at a dose of 0.25 ml x kg(-1). Satisfactory conditions for insertion were achieved with the admixture, which was comparable to propofol (73% vs 85%, P>0.05). There was no statistical difference in the incidence or severity of gagging, coughing, inadequate jaw relaxation and laryngospasm. The incidence of hypotension was lower in the admixture group (51% vs 78%, P=0.02). The duration of apnoea was not different between the admixture and propofol group (mean 103s vs 109s respectively, P>0.05). We conclude that thiopentone/propofol admixture can be a suitable alternative to propofol for LMA insertion, producing less hypotension while allowing cost savings of up to 45%. An admixture of thiopentone and propofol (1.25% and 0.5% respectively) can produce suitable conditions compared to propofol 1%, for laryngeal mask insertion. In addition to cost containment, the admixture also produces less hypotension.

Establishment and characterization of 12 human colorectal-carcinoma cell lines.

In this article, we describe the characteristics of 12 human colorectal-carcinoma cell lines established from 6 primary tumors and 6 metastatic sites of 11 Korean colorectal-carcinoma patients, including the morphology in vivo and in vitro and mutations of K-ras2, p15, p16, p53, APC, beta-catenin, hMLH1 and hMSH2 genes in vitro. No lines were contaminated with Mycoplasma or bacteria. All lines were proven to be unique by DNA-fingerprinting analysis. All lines expressed the surface carcino-embryonic antigen and secreted it into the supernatant fluid. The morphological correlation between the original tumors and cultured cells suggested that the original tumors showing mucinous adenocarcinoma correlated with floating aggregates in culture, and degree of desmoplasia in the original tumor correlated with attached growth in culture. Five of the cell lines showed mutations in the K-ras2 gene, and 6 of the cell lines showed mutations in the p53 gene. The p15 gene was deleted in 2 cell lines, and the p16 gene was hypermethylated in 3 cell lines. The mutation of mismatch-repair genes (hMLH1 and hMSH2) was found in 4 lines, the APC gene and beta-catenin gene were mutated in 9 and 2 lines respectively. These well-characterized colorectal-cancer cell lines should serve as useful tools for investigating the biological characteristics of colorectal cancer.

Establishment and characterization of human gastric carcinoma cell lines.

We report 8 newly established gastric-carcinoma cell lines (SNU-216, 484, 520, 601, 620, 638, 668, 719) from Korean patients. Morphologic study was carried out using light and electron microscopes. CEA, alpha FP, and CA 19-9 and TPA in supernatant and in cell lysate were measured by radioimmunoassay. p53 and c-Ki-ras gene mutations were screened and confirmed by sequencing. The cell lines, derived from tumors with moderate differentiation, grew as a diffuse monolayer, and those from tumors with poor differentiation and minimal desmoplasia grew exclusively as non-adherent. Out of the 8 gastric-cancer cell lines, 5 had detectable levels of CEA both in supernatant and in cell lysate; there was no expression or secretion of alpha FP in these cells; 4 cell lines showed high levels of CA 19-9 in cell pellets. All cell lines except SNU-484 had high concentrations of TPA both in cell lysate and in supernatants. p53 mutation was found in 6 cell lines (75%): 2 (SNU-216 and SNU-668) had mutations in exon 6, and other 3 in exon 8. The c-Ki-ras mutation was found in 2 cell lines (25%), SNU-601 and SNU-668. The former showed GGT-to-GAT transition mutation at codon 12, while the latter showed CAA-to-AAA transversion mutation at codon 61. DNA profiles using restriction endonuclease HinfI and polymorphic DNA probes ChdTC-15 and ChdTC-114 showed different unique patterns; which suggests that these cell lines are unique and not cross-contaminated. We believe that the newly characterized gastric-cancer cell lines presented in this paper will provide a useful in vitro model for studies related to human gastric cancer.

Characterization of cell lines established from human hepatocellular carcinoma.

We characterized 8 human hepatocellular-carcinoma cell lines established from the primary tumors of Korean patients. All lines showed substrate adherence and one line from anaplastic tumor also grew as floating aggregates. Most cultured cells maintained many morphological characteristics of the original tumors from which they were derived. Doubling times varied from 34 to 72 hr. All lines showed relatively high viability and were not contaminated with Mycoplasma or bacteria. All lines showed aneuploidy and were proven to be unique by DNA fingerprinting analysis. Hepatitis-B-virus (HBV) DNA was integrated in the genomes of all lines. Two of the cell lines (SNU-354, SNU-368) showed expression of HBV and HBVx (HBx) transcripts. SNU-354 strongly expressed albumin, and SNU-368 expressed transferrin and insulin-like growth factor II. No lines produced alpha-fetoprotein at the RNA and protein level. These cell lines represent useful tools for in vitro studies related to hepatocellular carcinoma.