Abstract-In this paper, novel direct yaw moment control and anti-skid control are proposed for electrical vehicles with two in-wheel motors. The proposed controllers are composed of double disturbance observers. The inner-loop observer controls the vehicle traction, and outer-loop observer stabilizes the yawing motion. The advantages of these approaches are 1) the stability robustness for road condition is guaranteed and 2) the proposed controllers require no immeasurable parameters. The experiments demonstrate the performance of these controllers under snowy conditions, and the stability is theoretically analyzed as inertia variation and dead-time system.
Electrochemically generated hydrogen gas was used to measure local blood flow by Stosseck et al. The data obtained by their method, however, did not correlate well with those obtained by hydrogen inhalation. We have modified the equation proposed by Stosseck, prolonging the stimulus duration in order to increase the amount of hydrogen generated. In dog white matter the resulting clearance curves were formed to be monoexponential both in the living animal as well as after circulatory arrest when all the clearance is by diffusion away from the electrode. The values calculated by our equation correlated well with those obtained by hydrogen inhalation.
Specific strains of Lactobacillus have been found to be beneficial in treating some types of diarrhea and vaginosis. However, a high mortality rate results from underlying immunosuppressive conditions in patients with Lactobacillus casei bacteremia. Cyclic AMP (cAMP) is a small second messenger molecule that mediates signal transduction. The onset and progression of inflammatory responses are sensitive to changes in steady-state cAMP levels. L. casei cell wall extract (LCWE) develops arteritis in mice through Toll-like receptor-2 signaling. The purpose of this study was to investigate whether intracellular cAMP affects LCWE-induced pathological signaling. LCWE was shown to induce phosphorylation of the nuclear factor κB (NF-κB) and mitogen-activated protein kinase (MAPK) signaling pathways and cell proliferation in mice fibroblast cells. Theophylline and phosphodiesterase inhibitor increased intracellular cAMP and inhibited LCWE-induced cell proliferation as well as phosphorylation of NF-κB and MAPK. Protein kinase A inhibitor H89 prevented cAMP-induced MAPK inhibition, but not cAMP-induced NF-κB inhibition. An exchange protein activated by cAMP (Epac) agonist inhibited NF-κB activation but not MAPK activation. These results indicate that an increase in intracellular cAMP prevents LCWE induction of pathological signaling pathways dependent on PKA and Epac signaling.
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