A new kind of adaptive Dynamic Surface Control (DSC) method is proposed in this study to overcome parametric uncertainties of Flexible-Joint (FJ) robots. These uncertainties of FJ robots are transformed into linear expressions of inertial parameters, which are estimated based on the DSC, and the high-order derivatives in DSC are solved by using a rst-order lter. The adaptation laws of inertial parameters are designed directly to improve the tracking performance according to the Lyapunov stability analysis. Simulation results of a two-link FJ robot show better tracking accuracy against model parametric uncertainties. The used method does not need the aid of Neural Network (NN); it is simpler and calculates faster than the other adaptive methods.
BackgroundChronic Toxoplasma gondii (T. gondii) infection evokes abnormal cognitive behavior of the host. Recent studies suggest that the polarization of microglia to the phenotype of classically activated macrophage (M1) and the deposition of beta-amyloid (Aβ) may be induced in brain of mice chronically infected with T. gondii. However, so far, there is no definite explanation for the relationship mechanism underlying the above between microglia polarization, Aβ deposition and T. gondii. Our previous investigations indicated that in vitro T. gondii type Ⅱ strain dense granule protein 15 (GRA15Ⅱ), one of the genotype-associated effectors of T. gondii Ⅱ strain may induce mouse macrophage to M1. While T. gondii type Ⅰ/Ⅲ strain rhoptry protein 16 (ROP16Ⅰ/Ⅲ) can drive the mouse macrophage to the phenotype of alternatively activated macrophage (M2). Unlike the archetypal strains of types Ⅰ, Ⅱ, and Ⅲ, T. gondii Chinese 1 genotype Wh6 strain (TgCtwh6) possesses both GRA15Ⅱ and ROP16Ⅰ/Ⅲ proteins, indicating the unique pathogenesis of Toxoplasma-related cognitive behavioral abnormalities.MethodsIn this study, we constructed mice model of cognitive behavioral abnormalities through chronic infection of TgCtwh6 via the oral route, and used mouse hippocampal neuronal cell line (HT22) and mouse microglial cell line (BV2) infected with TgCtwh6 in co-culture system to explore the mechanism with which TgCtwh6 infection induced mouse abnormal cognitive behavior. The immunohistochemistry, immunofluorescence, western blotting, cell culture assays, as well as an array of mouse behavior tests were adopted in the research.ResultsIn our research, the infected group showed abnormal cognitive behavior in the water maze and open field experiments in comparison with the control group. Further study showed that the number of synapses and hippocampal neurons decreased and the expression of Aβ increased in brain. In vitro, our research indicated that TgCtwh6 infection could not only directly lead to the HT22 apoptosis but also directly induce BV2 activation to M1 possibly through Notch pathway. Activated BV2 secreted pro-inflammatory factors resulting in HT22 apoptosis indirectly in transwell device. Meanwhile, our reseach demonstrated that TgCtwh6 infection caused a notable expression of β-secretase 1 (BACE1)、amyloid precursor protein (APP) and Aβ in HT22 through NF-κB signaling. Furthmore, BV2 activated by TgCtwh6 infection produced pro-inflammatory factors, such as IL-6, TNF-α and iNOS, which promoted HT22 to express APP in co-culture system. In all, our results suggested that TgCtwh6 gave rise to mouse abnormal cognitive behavior due to hippocampal neuronal apoptosis and Aβ deposition driven by indirect and indirect TgCtwh6 infection to hippocampal neuron. In this pathogenic process, microglia activation played an important role in mediating hippocampal neuronal apoptosis and Aβ deposition.ConclusionsThis study demonstrates TgCtwh6 infection can cause mice to develop AD-like symptoms and give rise to hippocampal neuronal apoptosis and Aβ deposition. Besides, microglia activation played an functional role in the pathological development.
In this paper, the feedback control problem is considered for a class of parabolic distributed parameter systems (DPS). By employing a new Lyapunov-Krasovskii functional as well as the linear matrix inequality (LMI), a novel feedback controller is developed, which can guarantee the closed-loop system states uniformly convergent to zero. The stability conditions for closed-loop systems can be easily checked by utilizing the numerically efficient Matlab LMI toolbox. At last, a numerical example shows the effectiveness of the presented LMI-based methods.
In this paper, we apply homotopy analysis method to solve nonlinear equation and successfully obtain the bell-shaped solitary solution to the nonlinear equation. Comparison between our solution and the exact solution shows that homotopy analysis method is effective and valid for nonlinear problems.
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