This paper presents the construction of an active suspension control of a one-wheel car model using fuzzy reasoning and a disturbance observer. The one-wheel car model to be treated here can be approximately described...This paper presents the construction of an active suspension control of a one-wheel car model using fuzzy reasoning and a disturbance observer. The one-wheel car model to be treated here can be approximately described as a nonlinear two degrees of freedom system subject to excitation from a road profile. The active control is designed as the fuzzy control inferred by using single input rule modules fuzzy reasoning, and the active control force is released by actuating a pneumatic actuator. The excitation from the road profile is estimated by using a disturbance observer, and the estimate is denoted as one of the variables in the precondition part of the fuzzy control rules. A compensator is inserted to counter the performance degradation due to the delay of the pneumatic actuator. The experimental result indicates that the proposed active suspension system improves much the vibration suppression of the car model. Key words One-wheel car model - Active suspension system - Single input rule modules fuzzy reasoning - Pneumatic actuator - Disturbance observer Document code A CLC number TH16展开更多
Combination of a bus system and cable car system can reduce the overall congestion of traffic in urban areas, where surrounding hills or mountains hold larger settlements or tourist and recreational infrastructure. Wi...Combination of a bus system and cable car system can reduce the overall congestion of traffic in urban areas, where surrounding hills or mountains hold larger settlements or tourist and recreational infrastructure. With this kind of integration number of individual car trips can be significantly reduced. In this paper, the authors present an analysis of the pilot project implementation, which was held in Maribor. The authors conducted a limited test trial of two means of transportation, combining them into a single operating transport offer for inhabitants and tourists. Combined transport option proved to be a good starting point for reduction of traffic and parking congestion during winter tourist season and beyond. Method used in the research, in order to gain actual potential of integrating two systems and improving public transport offer, was establishment and implementation of the pilot project in Maribor during January 2011. Data was gathered through interviews of two interest groups. The first covered the users who were brought to the foothills of Pohorje＇s ski center by bus. The second covered the cable car users that were traveling to the top of Pohorje. For a limited time period, a trial principle of a single ticket was established, which gave ski-pass holders free bus ride on bus line No. 6. With the aim of reducing CO2, test drives of hybrid bus and compressed natural gas bus were conducted alongside many promotional activities with which users were informed of importance of environmentally friendly mobility options.展开更多
Heart failure is a dynamic condition with high morbidity and mortality and its prognosis should be reassessed frequently, particularly in patients for whom critical treatment decisions may depend on the results of pro...Heart failure is a dynamic condition with high morbidity and mortality and its prognosis should be reassessed frequently, particularly in patients for whom critical treatment decisions may depend on the results of prognostication. In patients with heart failure, nuclear cardiology techniques are useful to establish the etiol-ogy and the severity of the disease, while fewer studies have explored the potential capability of nuclear cardi-ology to guide cardiac resynchronization therapy （CRT） and to select patients for implantable cardioverter defbrillators （ICD）. Left ventricular synchrony may be assessed by radionuclide angiography or gated single-photon emission computed tomography myocardial perfusion scintigraphy. These modalities have shown promise as predictors of CRT outcome using phase analysis. Combined assessment of myocardial viability and left ventricular dyssynchrony is feasible using posi-tron emission tomography and could improve conven-tional response prediction criteria for CRT. Preliminary data also exists on integrated positron emission tomog-raphy/computed tomography approach for assessing myocardial viability, identifying the location of biven-tricular pacemaker leads, and obtaining left ventricular functional data, including contractile phase analysis. Fi-nally, cardiac imaging with autonomic radiotracers may be useful in predicting CRT response and for identifying patients at risk for sudden cardiac death, therefore po-tentially offering a way to select patients for both CRT and ICD therapy. Prospective trials where imaging is combined with image-test driven therapy are needed to better defne the role of nuclear cardiology for guiding device therapy in patients with heart failure.展开更多
The activation mechanism of chimeric antigen receptor (CAR)-engineered T cells may differ substantially from T cells carrying native T cell receptor,but this difference remains poorly understood. We present the first ...The activation mechanism of chimeric antigen receptor (CAR)-engineered T cells may differ substantially from T cells carrying native T cell receptor,but this difference remains poorly understood. We present the first comprehensive portrait of single-cell level transcriptional and cyto-kine signatures of anti-CD19/4-1BB/CD28/CD3ζ CAR-T cells upon antigen-specific stimulation. Both CD4+helper T (TH) cells and CD8+cytotoxic CAR-T cells are equally effective in directly killing target tumor cells and their cytotoxic activity is associated with the elevation of a range of TH1 and TH2 signature cytokines,e.g.,interferon γ,tumor necrotic factor α,interleukin 5 (IL5),and IL13,as confirmed by the expression of master transcription factor genes TBX21 and GATA3. However,rather than conforming to stringent TH1 or TH2 subtypes,single-cell analysis reveals that the predominant response is a highly mixed TH1/TH2 function in the same cell. The reg-ulatory T cell activity,although observed in a small fraction of activated cells,emerges from this hybrid TH1/TH2 population. Granulocyte-macrophage colony stimulating factor (GM-CSF) is pro-duced from the majority of cells regardless of the polarization states,further contrasting CAR-T to classic T cells. Surprisingly,the cytokine response is minimally associated with differentiation status,although all major differentiation subsets such as na?ve,central memory,effector memory,and effector are detected. All these suggest that the activation of CAR-engineered T cells is a canon-ical process that leads to a highly mixed response combining both type 1 and type 2 cytokines together with GM-CSF,supporting the notion that polyfunctional CAR-T cells correlate with objective response of patients in clinical trials. This work provides new insights into the mechanism of CAR activation and implies the necessity for cellular function assays to characterize the quality of CAR-T infusion products and monitor therapeutic responses in patients.展开更多
文摘This paper presents the construction of an active suspension control of a one-wheel car model using fuzzy reasoning and a disturbance observer. The one-wheel car model to be treated here can be approximately described as a nonlinear two degrees of freedom system subject to excitation from a road profile. The active control is designed as the fuzzy control inferred by using single input rule modules fuzzy reasoning, and the active control force is released by actuating a pneumatic actuator. The excitation from the road profile is estimated by using a disturbance observer, and the estimate is denoted as one of the variables in the precondition part of the fuzzy control rules. A compensator is inserted to counter the performance degradation due to the delay of the pneumatic actuator. The experimental result indicates that the proposed active suspension system improves much the vibration suppression of the car model. Key words One-wheel car model - Active suspension system - Single input rule modules fuzzy reasoning - Pneumatic actuator - Disturbance observer Document code A CLC number TH16
文摘Combination of a bus system and cable car system can reduce the overall congestion of traffic in urban areas, where surrounding hills or mountains hold larger settlements or tourist and recreational infrastructure. With this kind of integration number of individual car trips can be significantly reduced. In this paper, the authors present an analysis of the pilot project implementation, which was held in Maribor. The authors conducted a limited test trial of two means of transportation, combining them into a single operating transport offer for inhabitants and tourists. Combined transport option proved to be a good starting point for reduction of traffic and parking congestion during winter tourist season and beyond. Method used in the research, in order to gain actual potential of integrating two systems and improving public transport offer, was establishment and implementation of the pilot project in Maribor during January 2011. Data was gathered through interviews of two interest groups. The first covered the users who were brought to the foothills of Pohorje＇s ski center by bus. The second covered the cable car users that were traveling to the top of Pohorje. For a limited time period, a trial principle of a single ticket was established, which gave ski-pass holders free bus ride on bus line No. 6. With the aim of reducing CO2, test drives of hybrid bus and compressed natural gas bus were conducted alongside many promotional activities with which users were informed of importance of environmentally friendly mobility options.
文摘Heart failure is a dynamic condition with high morbidity and mortality and its prognosis should be reassessed frequently, particularly in patients for whom critical treatment decisions may depend on the results of prognostication. In patients with heart failure, nuclear cardiology techniques are useful to establish the etiol-ogy and the severity of the disease, while fewer studies have explored the potential capability of nuclear cardi-ology to guide cardiac resynchronization therapy （CRT） and to select patients for implantable cardioverter defbrillators （ICD）. Left ventricular synchrony may be assessed by radionuclide angiography or gated single-photon emission computed tomography myocardial perfusion scintigraphy. These modalities have shown promise as predictors of CRT outcome using phase analysis. Combined assessment of myocardial viability and left ventricular dyssynchrony is feasible using posi-tron emission tomography and could improve conven-tional response prediction criteria for CRT. Preliminary data also exists on integrated positron emission tomog-raphy/computed tomography approach for assessing myocardial viability, identifying the location of biven-tricular pacemaker leads, and obtaining left ventricular functional data, including contractile phase analysis. Fi-nally, cardiac imaging with autonomic radiotracers may be useful in predicting CRT response and for identifying patients at risk for sudden cardiac death, therefore po-tentially offering a way to select patients for both CRT and ICD therapy. Prospective trials where imaging is combined with image-test driven therapy are needed to better defne the role of nuclear cardiology for guiding device therapy in patients with heart failure.
基金supported by the Packard Fellowship for Science and Engineering, the CAREER award from the National Science Foundation (NSF), United States (Grant No. CBET-1351443)the grants from National Institutes of Health (NIH), United States (Grant No. U54 CA193461 and Sub-Project 7297 of Grant No. U54 CA209992)+1 种基金the CoPilot Grant from Yale Cancer Center, United States, to RFsupported by National Institutes of Health, United States (NIH U54DK106857)
文摘The activation mechanism of chimeric antigen receptor (CAR)-engineered T cells may differ substantially from T cells carrying native T cell receptor,but this difference remains poorly understood. We present the first comprehensive portrait of single-cell level transcriptional and cyto-kine signatures of anti-CD19/4-1BB/CD28/CD3ζ CAR-T cells upon antigen-specific stimulation. Both CD4+helper T (TH) cells and CD8+cytotoxic CAR-T cells are equally effective in directly killing target tumor cells and their cytotoxic activity is associated with the elevation of a range of TH1 and TH2 signature cytokines,e.g.,interferon γ,tumor necrotic factor α,interleukin 5 (IL5),and IL13,as confirmed by the expression of master transcription factor genes TBX21 and GATA3. However,rather than conforming to stringent TH1 or TH2 subtypes,single-cell analysis reveals that the predominant response is a highly mixed TH1/TH2 function in the same cell. The reg-ulatory T cell activity,although observed in a small fraction of activated cells,emerges from this hybrid TH1/TH2 population. Granulocyte-macrophage colony stimulating factor (GM-CSF) is pro-duced from the majority of cells regardless of the polarization states,further contrasting CAR-T to classic T cells. Surprisingly,the cytokine response is minimally associated with differentiation status,although all major differentiation subsets such as na?ve,central memory,effector memory,and effector are detected. All these suggest that the activation of CAR-engineered T cells is a canon-ical process that leads to a highly mixed response combining both type 1 and type 2 cytokines together with GM-CSF,supporting the notion that polyfunctional CAR-T cells correlate with objective response of patients in clinical trials. This work provides new insights into the mechanism of CAR activation and implies the necessity for cellular function assays to characterize the quality of CAR-T infusion products and monitor therapeutic responses in patients.
