Internet-Based Smart-Space Navigation of a Car-Like Wheeled Robot Using Fuzzy-Neural Adaptive Control

In this paper, a navigation system is developed. The system includes path tracking and obstacle avoidance apparatus for a car-like wheeled robot (CLWR) within an Internet-based smart-space (IBSS) using fuzzy-neural adaptive control (FNAC). Two distributed charge-coupled device (CCD) cameras are installed to capture both the dynamic pose of the CLWR and the obstacle. Based on the control authority of these two CCD cameras, a suitable reference command that contains the desired steering angle and angular velocity for the FNAC built into the client computer is planned. Because of the delay encountered by the transmission through the Internet network (IN) and the wireless local area network (WLAN) and the nonlinear coupling features of the CLWR, a weighted combination of $N$ linear subsystems that are described by a state-space model with average-delay is implemented to approximate the dynamics of an IBSS-CLWR. The proposed FNAC contains a neural network consisting of a radial basis function (RBFNN) to learn the uncertainties due to the fuzzy-model error (e.g., the random time-varying delays and the slippage of the CLWR) and the interactions caused by other subsystems. The stability of the overall system is then investigated by adopting the Lyapunov stability theory. Finally, a sequence of experiments including the control of the off-ground CLWR (i.e., the CLWR does not make contact with the ground) and the navigation of the IBSS-CLWR as compared with the conventional proportional-integral-derivative (PID) control is performed to demonstrate the advantage of the proposed control system.      

Dynamic deformation behavior of ultrafine-grained low-carbon steels fabricated by equal-channel angular pressing

The dynamic deformation behavior of ultrafine-grained low-carbon steels fabricated by equal-channel angular pressing (ECAP) was investigated in this study. Dynamic torsional tests, using a torsional Kolsky bar, were conducted on four steel specimens, two of which were annealed at 480 °C after ECAP, and then the test data were compared in terms of microstructures, tensile properties, and adiabatic shear-band formation. The equal-channel angular pressed specimen consisted of very fine, equiaxed grains of 0.2 to 0.3 μm in size, which were slightly coarsened after annealing. The dynamic torsional test results indicated that maximum shear stress decreased with increasing annealing time, whereas fracture shear strain increased. Some adiabatic shear bands were observed at the gage center of the dynamically deformed torsional specimen. Their width was smaller in the equal-channel angular pressed specimen than in the 1-hour-annealed specimen, but they were not found in the 24-hour-annealed specimen. Ultrafine, equiaxed grains of 0.05 to 0.2 μm in size were formed inside the adiabatic shear band, and their boundaries had characteristics of high-angle grain boundaries. These phenomena were explained by dynamic recrystallization due to a highly localized plastic strain and temperature rise during dynamic deformation.     

Production of anti-erythrocyte antibodies by leukemic and nonleukemic B cells in chronic lymphocytic leukemia patients

We have assessed the specificity of antibodies from the leukemic B cells of five patients with both chronic lymphocytic leukemia and autoimmune hemolytic anemia (CLL-AHA). Leukemic cells from one patient displayed surface immunoglobulin with heavy and light chain isotypes identical to that of the patient's anti-red blood cell (RBC) antibodies, and the leukemic cells secreted antibodies in vitro with anti-RBC activity. However, in the remaining patients, the leukemic cells displayed surface immunoglobulin with light chain isotypes different from that of the patient's anti-RBC antibodies and secreted antibodies in vitro with no detectable anti-RBC activity. Thus, there are two distinct classes of CLL-AHA patients, differentiated by the presence or absence of an anti-RBC antibody-producing leukemic B cell clone. The apparent heterogeneity in the source of pathogenic anti-RBC antibodies may impact the treatment response of the two classes of CLL-AHA patients.     

Pulsed Electromagnetic Field (PEMF) Treatment Reduces Lipopolysaccharide-Induced Septic Shock in Mice

Despite advances in medicine, mortality due to sepsis has not decreased. Pulsed electromagnetic field (PEMF) therapy is emerging as an alternative treatment in many inflammation-related diseases. However, there are few studies on the application of PEMF therapy to sepsis. In the current study, we examined the effect of PEMF therapy on a mouse model of lipopolysaccharide (LPS)-induced septic shock. Mice injected with LPS and treated with PEMF showed higher survival rates compared with the LPS group. The increased survival was correlated with decreased levels of pro-inflammatory cytokine mRNA expression and lower serum nitric oxide levels and nitric oxide synthase 2 mRNA expression in the liver compared with the LPS group. In the PEMF + LPS group, there was less organ damage in the liver, lungs, spleen, and kidneys compared to the LPS group. To identify potential gene targets of PEMF treatment, microarray analysis was performed, and the results showed that 136 genes were up-regulated, and 267 genes were down-regulated in the PEMF + LPS group compared to the LPS group. These results suggest that PEMF treatment can dramatically decrease septic shock through the reduction of pro-inflammatory cytokine gene expression. In a clinical setting, PEMF may provide a beneficial effect for patients with bacteria-induced sepsis and reduce septic shock-induced mortality.     

Venom Peptide Toxins Targeting the Outer Pore Region of Transient Receptor Potential Vanilloid 1 in Pain: Implications for Analgesic Drug Development

The transient receptor potential vanilloid 1 (TRPV1) ion channel plays an important role in the peripheral nociceptive pathway. TRPV1 is a polymodal receptor that can be activated by multiple types of ligands and painful stimuli, such as noxious heat and protons, and contributes to various acute and chronic pain conditions. Therefore, TRPV1 is emerging as a novel therapeutic target for the treatment of various pain conditions. Notably, various peptides isolated from venomous animals potently and selectively control the activation and inhibition of TRPV1 by binding to its outer pore region. This review will focus on the mechanisms by which venom-derived peptides interact with this portion of TRPV1 to control receptor functions and how these mechanisms can drive the development of new types of analgesics.     

High-throughput detection and sizing of individual low-index nanoparticles and viruses for pathogen identification

Rapid, chip-scale, and cost-effective single particle detection of biological agents is of great importance to human health and national security. We report real-time, high-throughput detection and sizing of individual, low-index polystyrene nanoparticles and H1N1 virus. Our widefield, common path interferometer detects nanoparticles and viruses over a very large sensing area, orders of magnitude larger than competing techniques. We demonstrate nanoparticle detection and sizing down to 70 nm in diameter. We clearly size discriminate nanoparticles with diameters of 70, 100, 150, and 200 nm. We also demonstrate detection and size characterization of hundreds of individual H1N1 viruses in a single experiment.     

A hierarchical test methodology for systems on chip

We present a hierarchical test methodology for testing a SOC with heterogeneous cores, including the 1149.1-wrapped, P1500-wrapped, and BIST memory cores. We propose an 1149.1-based hierarchical test manager that also provides P1500 test control signals. This scheme includes a memory BIST interface, providing both serial and parallel access ports for BIST circuits. Our approach offers low area and pin overhead, and high flexibility