Characterization of the Functional Cross-Talk between Surface GABAA and Dopamine D5 Receptors

The γ-aminobutyric acid type A receptor (GABA_AR) plays a major role in fast inhibitory synaptic transmission and is highly regulated by the neuromodulator dopamine. In this aspect, most of the attention has been focused on the classical intracellular signaling cascades following dopamine G-protein-coupled receptor activation. Interestingly, the GABA_AR and dopamine D5 receptor (D5R) have been shown to physically interact in the hippocampus, but whether a functional cross-talk occurs is still debated. In the present study, we use a combination of imaging and single nanoparticle tracking in live hippocampal neurons to provide evidence that GABA_ARs and D5Rs form dynamic surface clusters. Disrupting the GABA_AR–D5R interaction with a competing peptide leads to an increase in the diffusion coefficient and the explored area of both receptors, and a drop in immobile synaptic GABA_ARs. By means of patch-clamp recordings, we show that this fast lateral redistribution of surface GABA_ARs correlates with a robust depression in the evoked GABAergic currents. Strikingly, it also shifts in time the expression of long-term potentiation at glutamatergic synapses. Together, our data both set the plasma membrane as the primary stage of a functional interplay between GABA_AR and D5R, and uncover a non-canonical role in regulating synaptic transmission.     

自动壳封焊机焊缝位置控制的实验研究

为解决自动壳封焊机机械凸轮式仿形的缺点，提出了基于电子凸轮的控制方案，为实现电子凸轮控制方案，在焊接轨迹形成分析的基础上，建立了焊枪位置控制的数学模型，改进后的自动焊机焊接试验表明，焊接位置误差较小，可以满足生产的需要。     

中厚板控制冷却过程的轧件跟踪

控制轧制与控制冷却技术所组成的热机械轧制工艺得到了广泛应用。其中精确的板坯跟踪是保证轧钢过程自动化的前提条件。文中较详细地介绍了热机械轧制过程的板坯跟踪方法。     

Investigations of surface degradation of high‐density polyethylene materials resulting from tracking,using physicochemical analysis

In the present work tracking phenomena were studied with high‐density polyethylene (HDPE) materials under dc voltage, with NH₄Cl and acid rain as contaminants. It was determined that the tracking time of the material depends on the conductivity and flow rate of the contaminant. Furthermore, physicochemical analysis by wide‐angle X‐ray diffraction studies, differential scanning calorimetry, and luminescence spectroscopy was carried out, whereupon it was concluded that the tracking process is a surface‐degradation process. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 83: 2843–2849, 2002; DOI 10.1002/app.10260     

Adaptive tracking control of leader–follower systems with unknown dynamics and partial measurements

In this paper, a decentralized adaptive tracking control is developed for a second-order leader–follower system with unknown dynamics and relative position measurements. Linearly parameterized models are used to describe the unknown dynamics of a self-active leader and all followers. A new distributed system is obtained by using the relative position and velocity measurements as the state variables. By only using the relative position measurements, a dynamic output–feedback tracking control together with decentralized adaptive laws is designed for each follower. At the same time, the stability of the tracking error system and the parameter convergence are analyzed with the help of a common Lyapunov function method. Some simulation results are presented to validate the proposed adaptive tracking control.     

主旋翼升力和机身姿态受限的模型直升机非线性控制（英文）

A nonlinear control is proposed for trajectory tracking of a 6-DOF model-scaled helicopter with constraints on main rotor thrust and fuselage attitude. In the procedure of control design, the mathematical model of helicopter is simplified into three subsystems: altitude subsystem, longitudinal-lateral subsystem and attitude subsystem. The proposed control is developed by combining the sub-controls for the corresponding subsystems. The sub-controls for altitude subsystem and longitudinal-lateral subsystem are designed with hyperbolic tangent functions to satisfy the constraints; the sub-control for attitude subsystem is based on backstepping technique such that fuselage attitude tracks the virtual control for longitudinallateral subsystem. It is proved theoretically that tracking errors are ultimately bounded, and control constraints are satisfied.Performances of the proposed controller are demonstrated by simulation results.     

A low-cost real time virtual system for postural stability assessment at home

Background and objective

The degeneration of the balance control system in the elderly and in many pathologies requires measuring the equilibrium conditions very often. In clinical practice, equilibrium control is commonly evaluated by using a force platform (stabilometric platform) in a clinical environment.In this paper, we demonstrate how a simple movement analysis system, based on a 3D video camera and a 3D real time model reconstruction of the human body, can be used to collect information usually recorded by a physical stabilometric platform.

Methods

The algorithm used to reconstruct the human body model as a set of spheres is described and discussed. Moreover, experimental measurements and comparisons with data collected by a physical stabilometric platform are also reported. The measurements were collected on a set of 6 healthy subjects to whom a change in equilibrium condition was stimulated by performing an equilibrium task.

Results

The experimental results showed that more than 95% of data collected by the proposed method were not significantly different from those collected by the classic platform, thus confirming the usefulness of the proposed system.

Conclusions

The proposed virtual balance assessment system can be implemented at low cost (about 500$) and, for this reason, can be considered a home use medical device. On the contrary, astabilometric platform has a cost of about 10,000$ and requires periodical calibration. The proposed system does not require periodical calibration, as is necessary for stabilometric force platforms, and it is easy to use. In future, the proposed system with little integration can be used, besides being an emulator of a stabilometric platform, also to recognize and track, in real time, head, legs, arms and trunk, that is to collect information actually obtained by sophisticated optoelectronic systems.     

Modeling and global trajectory tracking control for an over-actuated MAV

This paper deals with an original micro aerial vehicle (MAV) design, the Omnicopter MAV. It has two central coaxial rotors with fixed-pitch propellers and three perimeter mounted ducted fans with servo motors performing thrust vectoring. Compared with traditional rotary wing MAVs that have inherent underactuation, the Omnicopter possesses some advantages in mobility, for example, lateral translation with zero attitude and hover with nonzero attitude. The trajectory tracking control design, global stability analysis, and control allocation are demonstrated through numerical simulation. The advantage of zero attitude translation is illustrated through experimental results.     

Human tracking system based on adaptive multi-feature mean-shift for robot under the double-layer locating mechanism

Human tracking has been a challenging task for robot in the past decades. In this paper, to realize the human following in a cluttered environment, a human tracking system based on adaptive multi-feature mean-shift (AMF-MS) under the double-layer locating mechanism (DLLM) is proposed to solve the problem of distinguishing target, occlusion, and quick turning. The DLLM, considering the course location processing and fine location processing, is designed to estimate the person’s position using the fusion of heterogeneous data. As an ID tag attached on target can be detected by RF antennas, the course locating method can track the target easily and quickly. The Bayes rule is introduced to calculate the probability where the tag exists due to the instability of RF signals. In the fine locating step, the AMF-MS is proposed because it can reduce computational load and represent target by multi-feature histogram function. Meanwhile, we combine extended Kalman filter and AMF-MS to overcome MS’s inability of occlusion. To control the robot following the target person precisely, an intelligent gear shift strategy based on fuzzy control is implemented by analyzing the robot structure. Experiments demonstrate that the proposed approach is robust to handle complex tracking conditions, and show the system has an optimum performance.