Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Implication of the NLRP3 Inflammasome in Bovine Age-Related Sarcopenia

Sarcopenia is defined as the age-related loss of skeletal muscle mass, quality, and strength. The pathophysiological mechanisms underlying sarcopenia are still not completely understood. The aim of this work was to evaluate, for the first time, the expression of NLRP3 inflammasome in bovine skeletal muscle in order to investigate the hypothesis that inflammasome activation may trigger and sustain a pro-inflammatory environment leading to sarcopenia. Samples of skeletal muscle were collected from 60 cattle belonging to three age-based groups. Morphologic, immunohistochemical and molecular analysis were performed to assess the presence of age-related pathologic changes and chronic inflammation, the expression of NLRP3 inflammasome and to determine the levels of interleukin-1β, interleukin-18 and tumor necrosis factor alpha in muscle tissue. Our results revealed the presence of morphologic sarcopenia hallmark, chronic lymphocytic inflammation and a type II fibers-selective NLRP3 expression associated to a significant decreased number of immunolabeled-fibers in aged animals. Moreover, we found a statistically significant age-related increase of pro-inflammatory cytokines such as interleukin-1β and interleukin-18 suggesting the activation of NLRP3 inflammasome. Taken together, our data suggest that NLRP3 inflammasome components may be normally expressed in skeletal muscle, but its priming and activation during aging may contribute to enhance a pro-inflammatory environment altering normal muscular anabolism and metabolism.     

Granulation Tissue Enhanced with Aspirin and Omega-3 PUFAs as a Local Adjunct to the Surgical Treatment of Periodontitis

The topical application of aspirin and omega-3 polyunsaturated fatty acids (PUFAs) may trigger the resolution of inflammation by inducing the biosynthesis of pro-resolvers such as lipoxins and resolvins while also avoiding the side effects of systemic aspirin intake. This study assessed the effect of enhanced granulation tissue (EGT) on periodontal tissue regeneration through the local application of aspirin and omega-3 PUFAs directly to granulation tissue (GT) during periodontal surgery. This randomized controlled experiment assesses 38 pockets in 19 patients. In every patient, two similar intrabony periodontal defects are treated with an open flap debridement, one with EGT (GT extracted, enhanced with aspirin and omega-3 PUFAs, and replaced) and the other with standard GT removal. Clinical attachment level (CAL) and probing pocket depth (PPD) are assessed at baseline and 2 and 6 months after surgery. The experimental protocol (EGT) results in a greater CAL gain as compared to that in the controls at 6 months (p < 0.05), while PPD reduction is not affected. The retained GT does not compromise healing. EGT is proposed as a promising, inexpensive, and simple method that may improve the outcome of periodontal regenerative treatment. However, the described protocol requires optimization and further assessment. Practical Applications : The biosynthesis of mediators including resolvins and lipoxins triggered by aspirin and omega-3 PUFAs promote the resolution of inflammation, eventually leading to faster regeneration of inflamed tissues. While granulation tissue is a necessary component in wound healing, enhancing granulation tissue with aspirin and omega-3 PUFAs results in CAL gain in the surgical treatment of periodontal defects. Retained granulation tissue does not compromise periodontal healing. The EGT strategy is an inexpensive and simple method that may improve the clinical outcomes of regenerative periodontal procedures.     

CaDHN3, a Pepper (Capsicum annuum L.) Dehydrin Gene Enhances the Tolerance against Salt and Drought Stresses by Reducing ROS Accumulation

Dehydrins (DHNs) play an important role in abiotic stress tolerance in a large number of plants, but very little is known about the function of DHNs in pepper plants. Here, we isolated a Y₁SK₂-type DHN gene “CaDHN3” from pepper. To authenticate the function of CaDHN3 in salt and drought stresses, it was overexpressed in Arabidopsis and silenced in pepper through virus-induced gene silencing (VIGS). Sub-cellular localization showed that CaDHN3 was located in the nucleus and cell membrane. It was found that CaDHN3-overexpressed (OE) in Arabidopsis plants showed salt and drought tolerance phenotypic characteristics, i.e., increased the initial rooting length and germination rate, enhanced chlorophyll content, lowered the relative electrolyte leakage (REL) and malondialdehyde (MDA) content than the wild-type (WT) plants. Moreover, a substantial increase in the activities of antioxidant enzymes; including the superoxide dismutase (SOD), peroxidase (POD), catalase (CAT), ascorbate peroxidase (APX), and lower hydrogen peroxide (H₂O₂) contents and higher O₂^•− contents in the transgenic Arabidopsis plants. Silencing of CaDHN3 in pepper decreased the salt- and drought-stress tolerance, through a higher REL and MDA content, and there was more accumulation of reactive oxygen species (ROS) in the CaDHN3-silenced pepper plants than the control plants. Based on the yeast two-hybrid (Y2H) screening and Bimolecular Fluorescence Complementation (BiFC) results, we found that CaDHN3 interacts with CaHIRD11 protein in the plasma membrane. Correspondingly, the expressions of four osmotic-related genes were significantly up-regulated in the CaDHN3-overexpressed lines. In brief, our results manifested that CaDHN3 may play an important role in regulating the relative osmotic stress responses in plants through the ROS signaling pathway. The results of this study will provide a basis for further analyses of the function of DHN genes in pepper.     

基于FLAC3D的破碎围岩巷道支护效果分析

为了解破碎围岩分别采用锚杆支护、锚喷支护以及锚喷+锚索耦合三种支护方式下的支护效果,进而为破碎围岩巷道选择合理的支护方式提供参考。通过借助FLAC^3D软件建立数值模型,分析不同支护条件下的破碎围岩巷道位移量、应力分布以及塑性区的时空演化特征。结果表明,采用锚喷+锚索耦合支护时,可以较好的控制巷道围岩的位移量、减小应力集中效应、缩小塑性区的影响范围。     

Effect of utilization of hydrogen-rich reformed biogas on the performance and emission characteristics of common rail diesel engine

The utilization of renewable gaseous fuels in the diesel engine has gained significant interest in recent years due to its clean-burning nature and higher availability. In this study, hydrogen-rich reformed biogas was used as a gaseous fuel in a common rail diesel engine with diesel as pilot fuel. The hydrogen-rich reformed gas was synthesized through dry-oxidative reforming. The experimentations were performed in the load range from 6 to 24 N m with two different flow rates of gaseous fuel (0.5 and 1.5 kg/h) at a constant speed of 1800 RPM. The effects on engine performance parameters (brake thermal efficiency, brake specific energy consumption, and brake specific diesel consumption), combustion parameters (rate of pressure rise and maximum heat release rate) and emission parameters (Unburnt hydrocarbons, nitrogen oxides, carbon monoxide, and carbon dioxide) were assessed. The induction of gaseous fuel led to an increase in brake thermal efficiency by 10.5%, reduction in brake specific energy consumption by 13.6%, and a reduction of 26.4% in brake specific diesel consumption with a flow rate of 0.5 kg/h when compared to diesel-only mode at 24 N m load. The HC, NO_X and CO₂ emissions were reduced by 18.2%, 7.4% and 1.4% with a flow rate of 0.5 kg/h when compared to diesel-only mode at 24 N m load due to lower availability of carbon content in the combustible mixture. The utilization of renewable fuel like hydrogen-rich reformed biogas has great potential for overcoming the issue related to both biogas and hydrogen in diesel engines. Moreover, the higher diesel substitution also demonstrates the potential for cost-saving and fossil fuel conservation.     

Neural network-based flight control systems: Present and future

As the first review in this field, this paper presents an in-depth mathematical view of Intelligent Flight Control Systems (IFCSs), particularly those based on artificial neural networks. The rapid evolution of IFCSs in the last two decades in both the methodological and technical aspects necessitates a comprehensive view of them to better demonstrate the current stage and the crucial remaining steps towards developing a truly intelligent flight management unit. To this end, in this paper, we will provide a detailed mathematical view of Neural Network (NN)-based flight control systems and the challenging problems that still remain. The paper will cover both the model-based and model-free IFCSs. The model-based methods consist of the basic feedback error learning scheme, the pseudocontrol strategy, and the neural backstepping method. Besides, different approaches to analyze the closed-loop stability in IFCSs, their requirements, and their limitations will be discussed in detail. Various supplementary features, which can be integrated with a basic IFCS such as the fault-tolerance capability, the consideration of system constraints, and the combination of NNs with other robust and adaptive elements like disturbance observers, would be covered, as well. On the other hand, concerning model-free flight controllers, both the indirect and direct adaptive control systems including indirect adaptive control using NN-based system identification, the approximate dynamic programming using NN, and the reinforcement learning-based adaptive optimal control will be carefully addressed. Finally, by demonstrating a well-organized view of the current stage in the development of IFCSs, the challenging issues, which are critical to be addressed in the future, are thoroughly identified. As a result, this paper can be considered as a comprehensive road map for all researchers interested in the design and development of intelligent control systems, particularly in the field of aerospace applications.