In this paper, a design of a fuzzy-PID controller for path tracking of a mobile robot with differential drive is proposed. The fuzzy-PID controller consists of a PID controller and a fuzzy controller with two inputs and three outputs. When the system response has the error and the error rate, the fuzzy controller can tune the parameters of the PID controller. The model based on Lagrange dynamic approach for a robot with differential drive is described. The fuzzy-PID controller and the classical PID controller are compared by simulation. The path tracking of a mobile robot with differential drive was tested using MATLAB/Simulink. The simulation results show that the fuzzy-PID controller has a better performance than the classical PID controller. The proposed controller has better convergence rate in comparison with the classical PID controller for a mobile robot with any arbitrary initial state. It has the advantages of rapid respond, high stability, tracking accuracy and good anti-interference, so the fuzzy-PID controller is the appropriate choice for path tracking control of mobile robots with differential drive
To determine the anti-inflammatory and analgesic activities of methyl gallate (MG) isolated from Galla Rhois, MG was studied in vivo for its analgesic activities using the writhing response in mice. Anti-inflammatory activity of MG was evaluated for NO and IL-6 production in RAW 264.7 cells. MG inhibited LPS-induced NO and IL-6 production. Consistent with these observations, the protein and mRNA expressions of inducible nitric oxide synthase (iNOS) and cyclooxygenase-2 (COX-2) were inhibited by MG. Moreover, MG suppressed the phosphorylation of ERK1/2 in LPS-induced RAW 264.7 cells in a dose-dependent manner. Taken together, the results of this study indicate that MG has anti-inflammatory effects.
Purple bamboo salt is a specially processed salt according to the traditional recipe using normal salt and bamboo. It has been used for the purpose of prevention and treatment of various diseases in Korea. We investigated the anti-inflammatory activity of purple bamboo salt by using human mast cell line (HMC-1). Purple bamboo salt (1 mg/mL) inhibited phorbol 12-myristate 13-acetate (PMA) plus calcium ionophore A23187-stimulated tumor necrosis factor (TNF)-alpha, interleukin (IL)-1beta and IL-6 secretion, by 67.04% +/- 0.08%, 68.01% +/- 1.85%, and 69.48% +/- 0.54%, respectively. In addition, the expression of TNF-alpha mRNA in HMC-1 cells was inhibited by purple bamboo salt under the same condition. When NaCl (1 mg/mL) was added, the secretion of TNF-alpha and IL-6 was also inhibited but the effect was markedly lower than purple bamboo salt. Our results suggest that purple bamboo salt importantly contributes to the prevention or treatment of inflammatory diseases.
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