A new adaptive sliding mode controller based on the RBF neural network for an electro-hydraulic servo system.

Accuracy and robust trajectory tracking for electro-hydraulic servo systems in the presence of load disturbances and model uncertainties are of great importance in many fields. In this work, a new adaptive sliding mode control method based on the RBF neural networks (SMC-RBF) is proposed to improve the performances of a robotic excavator. Model uncertainties and load disturbances of the electro-hydraulic servo system are approximated and compensated using the RBF neural networks. Adaptive mechanisms are designed to adjust the connection weights of the RBF neural networks in real time to guarantee the stability. A nonlinear term is introduced into the sliding mode to design an adaptive terminal sliding mode control structure to improve dynamic performances and the convergence speed. Moreover, a sliding mode chattering reduction method is proposed to suppress the chattering phenomenon. Three types of step, ramp and sine signals are used as the simulation reference trajectories to compare different controllers on a co-simulation platform. Experiments with leveling and triangle conditions are presented on a robotic excavator. Results show that the proposed SMC-RBF controller is superior to existing proportional integral derivative (PID) and sliding mode controller (SMC) in terms of tracking accuracy and disturbance rejection.

Borosilicate Glass-Ceramics Containing Zirconolite and Powellite for RE- and Mo-Rich Nuclear Waste Immobilization.

In order to increase the loading of rare earth- and molybdenum-rich high-level waste in the waste forms, zirconolite- and powellite-based multi-phase borosilicate glass-ceramics were synthesized via an in-situ heat treatment method. The effects of the CTZ (CaO, TiO2 and ZrO2) content on the crystallization, microstructure and aqueous durability of the multi-phase borosilicate glass-ceramics were studied. The results indicate that the increase of CTZ content can promote crystallization. The glass-ceramics presented even structures when the CTZ content was ≥ 40 wt%. For the glass-ceramic with 40 wt% CTZ, only zirconolite and powellite crystals were detected and powellite crystals were mainly distributed around zirconolite, whereas for the glass-ceramics with 50 wt% CTZ, perovskite was detected. Furthermore, the leaching rates of Na, Ca, Mo and Nd were in the ×10-3, ×10-4, ×10-3 and ×10-5 g·m-2·d·-1 orders of magnitude on the 28th leaching day, respectively.

Krüppel-like factor 6 mediates pulmonary angiogenesis in rat experimental hepatopulmonary syndrome and is aggravated by bone morphogenetic protein 9.

Hepatopulmonary syndrome (HPS) is a serious pulmonary vascular disease derived from chronic liver disease, and its key pathogenesis is angiogenesis. Krüppel-like factor 6 (KLF6) mediates physiological repair and remodeling during vascular injury. However, the role of KLF6 in pulmonary microvascular endothelial cells (PMVECs) during angiogenesis of HPS and its underlying mechanism in HPS have not been investigated. Common bile duct ligation (CBDL) in rats can replicate pulmonary vascular abnormalities of human HPS. Here, we found that advanced pulmonary angiogenesis and pulmonary injury score coincided with the increase of KLF6 level in PMVECs of CBDL rat; KLF6 in PMVECs was also induced while cultured with CBDL rat serum in vitro Inhibition of KLF6 dramatically suppressed PMVEC-mediated proliferation, migration and tube formation in vivo; this may be related to the downregulation of activin receptor-like kinase-1 (ALK1) and endoglin (ENG), which are transacted by KLF6. Bone morphogenetic protein 9 (BMP9) enhanced the expression of KLF6 in PMVECs and was involved in the angiogenesis of HPS. These results suggest that KLF6 triggers PMVEC-mediated angiogenesis of HPS and is aggravated by BMP9, and the inhibition of the BMP9/KLF6 axis may be an effective strategy for HPS treatment.

Loss of cell polarity regulated by PTEN/Cdc42 enrolled in the process of Hepatopulmonary Syndrome.

One central factor in hepatopulmonary syndrome (HPS) pathogenesis is pulmonary vascular remodelling (PVR) which involves dysregulation of proliferation and migration in pulmonary microvascular endothelial cells (PMVECs). Growing evidence suggests that Apical/basolateral polarity plays an important role in cell proliferation, migration, adhesion and differentiation. In this study, we explored whether cell polarity is involved and critical in experimental HPS rats that are induced by common bile duct ligation (CBDL). Cell polarity related proteins were analysed in CBDL rats lung and PMVECs under the HPS serum stimulation by immunofluorescence assay. Cdc42/PTEN activity, cell proliferation and migration and Annexin A2 (AX2) in PMVECs were determined, respectively. Cell polarity related proteins, lost their specialized luminal localization in PMVECs of the CBDL rat. The loss of cell polarity was induced by abnormal activity of Cdc42, which was strongly enhanced by the interaction between p-PTEN and Annexin A2 in PMVECs, after treatment with serum from CBDL rats. It led to over-proliferation and high migration ability of PMVECs. Down-regulation of PTEN-Cdc42 activity in PMVECs restored cell polarity and thus reduced their ability of migration and proliferation. Our study suggested that the loss of cell polarity plays a critical role in the pathogenesis of HPS-associated PVR and may become a potentially effective therapeutic target.

Parameters identification and trajectory control for a hydraulic system.

In order to improve the tracking accuracy of a hydraulic system, an improved ant colony optimization algorithm (IACO) is proposed to optimize the values of proportional-integral-derivative (PID) controller. In addition, this paper presents an experimental study on the parameters identification to deduce accurate numerical values of the hydraulic system, which also determines the relationship between control signal and output displacement. Firstly, the basic principle of the hydraulic system and the mathematical model of the electro-hydraulic proportional control system are analyzed. Based on the theoretical models, the transfer function of the control system is obtained by recursive least square identification method (RLS). Then, the key parameters of the control system model are obtained. Some improvements are proposed to avoid premature convergence and slow convergence rate of ACO: the transition probability is revised based adjacent search mechanism, dynamic pheromone evaporation coefficient adjustment strategy is adopted, pheromone update rule and parameters optimization range are also improved. Then the proposed IACO tuning based PID controller and the identification parameters are modeled and simulated using MATLAB/Simulink and AMESim co-simulation platform. Comparisons of IACO, standard ACO and Ziegler-Nichols (Z-N)PID controllers are carried out with different references as step signal and sinusoidal wave using the co-simulation platform. The simulation results of the bucket system using the proposed controller demonstrates improved settling time, rise time and the convergence speed with a new objective function J. Finally, experiments with leveling operations are performed on a 23 ton robotic excavator. The experimental results show that the proposed controller improves the trajectory accuracy of the leveling operation by 28% in comparison to the standard ACO-PID controller.

Laser frequency instability of 2 × 10-16 by stabilizing to 30-cm-long Fabry-Pérot cavities at 578 nm.

Laser light at 578 nm is frequency-stabilized to two independent 30-cm-long Fabry-Pérot cavities. To achieve a thermal-noise-limited cavity length stability, the geometry and support configuration of the Fabry-Pérot cavities are optimized. The fractional frequency instability of each cavity-stabilized laser system is 2 × 10-16 at 1 s averaging time, approaching to the thermal-noise-induced length instability of the reference cavity. The most probable linewidth of each laser system is about 0.2 Hz, and the laser frequency noise at Fourier frequency of 1 Hz is 0.1 Hz/√Hz.

miR144-3p inhibits PMVECs excessive proliferation in angiogenesis of hepatopulmonary syndrome via Tie2.

BACKGROUND/AIM: Increasing evidence show microRNAs (miRNAs) are associated with hepatopulmonary syndrome (HPS). The aim of this study was to investigate the role of miR-144 in the angiogenesis of HPS, as well as to identify its underlying mechanism. METHODS: The expression levels of miR-144-3p were assessed in pulmonary micro-vascular endothelial cells (PMVECs), as well as in lung tissues from rats with HPS. We predicted the potential target of miR-144-3p. Tyrosine kinase 2(Tie2) was identified as a target gene of miR144-3p, which has an essential role in the angiogenesis of lung vessel. In addition, the effects of miR-144-3p regulated on Tie2 was examined. The upregulation and down-regulation of miR-144-3p can affect the proliferation of PMVECs. RESULTS: We found that the levels of miR-144-3p were frequently downregulated in HPS tissues and cell lines, and overexpression of miR-144-3p dramatically inhibited PMVECs proliferation and cell cycle. We further verified the Tie2 as a novel and direct target of miR-144-3p in HPS. CONCLUSION: miR-144-3p can negatively regulate PMVECs proliferation by Tie2 expression. In addition, overexpression of miR-144-3p may prove beneficial as a therapeutic strategy for HPS treatment.

Coherence transfer of subhertz-linewidth laser light via an optical fiber noise compensated by remote users.

We present a technique for the coherence transfer of laser light through a fiber link, where the optical phase noise induced by environmental perturbation via the fiber link is compensated by remote users. When compensating the fiber noise by remote users, the time base at the remote site independent from that at the local site does not destroy the performance of the fiber output light. Using this technique, we demonstrate the transfer of subhertz-linewidth laser light through a 25-km-long, lab-based spooled fiber. After being compensated, the relative linewidth between the fiber input and output light is 1 mHz, and the relative frequency instability is 4×10-17 at 1 s averaging time and scales down to 2×10-19 at 800 s averaging time. The frequency uncertainty of the light after transferring through the fiber relative to that of the input light is 3.0×10-19. This system is suitable for the simultaneous transfer of an optical signal to a number of end users within a city.

0.26-Hz-linewidth ultrastable lasers at 1557 nm.

Narrow-linewidth ultrastable lasers at 1.5 µm are essential in many applications such as coherent transfer of light through fiber and precision spectroscopy. Those applications all rely on the ultimate performance of the lasers. Here we demonstrate two ultrastable lasers at 1557 nm with a most probable linewidth of 0.26 Hz by independently frequency-stabilizing to the resonance of 10-cm-long ultrastable Fabry-Pérot cavities at room temperature. The fractional frequency instability of each laser system is nearly 8 × 10(-16) at 1-30 s averaging time, approaching the thermal noise limit of the reference cavities. A remarkable frequency instability of 1 × 10(-15) is achieved on the long time scale of 100-4000 s.