A series elastic actuator(SEA) is a powerful device in the area of human-machine integration, but it still suffers from difficult position control issues. Therefore, in this paper,an efficient approach is proposed to ...A series elastic actuator(SEA) is a powerful device in the area of human-machine integration, but it still suffers from difficult position control issues. Therefore, in this paper,an efficient approach is proposed to solve this problem. The approach design is divided into two steps: feedback linearization(FL) and global sliding mode(GSM) controller design. The bounded analysis is presented and global asymptotic convergence is analytically proven. Simulation and experiment results illustrate the effectiveness of the proposed scheme.展开更多
OBJECTIVE:To evaluate the effects of Rongchang capsule and Xifeng capsule on pentylenetetrazoleinduced epilepsy in zebrafish larvae and to explore the possible mechanisms behind their actions.METHODS:We utilized a tra...OBJECTIVE:To evaluate the effects of Rongchang capsule and Xifeng capsule on pentylenetetrazoleinduced epilepsy in zebrafish larvae and to explore the possible mechanisms behind their actions.METHODS:We utilized a trajectory tracking system to monitor seizures in zebrafish larva to confirm that certain concentrations of Rongchang capsule and Xifeng capsule produce antiepileptic effects.c-fos expression was assessed by quantitative reverse transcription-polymerase chain reaction to validate the efficacy of the capsules.Rest/wake behavior and correlation analysis predicted the targets of Rongchang capsule and Xifeng capsule.RESULTS:Larval movement times and total distances traveled by zebrafish larvae experiencing pentylenetetrazole(PTZ)-induced seizures were decreasedbyvalproatetreatment.Rongchang(500μg/m L)and Xifeng(200μg/m L)rescued the epileptic behaviors and down-regulated c-fos expression in the brains of larvae,which indicated antiepileptic effects.The rest/wake behavioral profiles showed that Rongchang and Xifeng differentially decreased rest time at night and increased larval locomotor activities during the day.Based on correlation between the actions of the two capsules and known compounds,we predicted that they might change rest/wake behaviors by affecting serotonin,GABAergic and histamine signaling pathways.CONCLUSION:The efficacy of Rongchang capsule and Xifeng capsule in alleviating epilepsy-like behaviors and molecular responses was confirmed.Our study provides insight into the capsules'effect on epilepsy.展开更多
基金supported in part by the National Natural Science Foundation of China(61573198)
文摘A series elastic actuator(SEA) is a powerful device in the area of human-machine integration, but it still suffers from difficult position control issues. Therefore, in this paper,an efficient approach is proposed to solve this problem. The approach design is divided into two steps: feedback linearization(FL) and global sliding mode(GSM) controller design. The bounded analysis is presented and global asymptotic convergence is analytically proven. Simulation and experiment results illustrate the effectiveness of the proposed scheme.
基金Supported by the Chinese National Natural Science Foundation of China:In situ microscopic Analysis and manipulator for Life Science(No.61327802)the Chinese National Natural Science Foundation of China:Functional Nanoparticle Drug Vector for Zebrafish Development and Biocompatible Assessmen(No.81501589)+3 种基金the Chinese National Natural Science Foundation of China:Development of a cross-scale fast AFM system for life science(No.61127006)the Chinese National Natural Science Foundation of China:Study on the Method of Automatic Nano-manipulation for Cell-Oriented Accurate Displacement(No.61633012)the Tianjin Science Technology Research Funds of China:the function of Rab23 gene in zebrafish development(No.14JCQNJC09600)the National Basic Research Program of China:The Basic and Frontier of the New Topological Structure of the Molecular-based Functional Carbon Materials(No.2015CB856500)
文摘OBJECTIVE:To evaluate the effects of Rongchang capsule and Xifeng capsule on pentylenetetrazoleinduced epilepsy in zebrafish larvae and to explore the possible mechanisms behind their actions.METHODS:We utilized a trajectory tracking system to monitor seizures in zebrafish larva to confirm that certain concentrations of Rongchang capsule and Xifeng capsule produce antiepileptic effects.c-fos expression was assessed by quantitative reverse transcription-polymerase chain reaction to validate the efficacy of the capsules.Rest/wake behavior and correlation analysis predicted the targets of Rongchang capsule and Xifeng capsule.RESULTS:Larval movement times and total distances traveled by zebrafish larvae experiencing pentylenetetrazole(PTZ)-induced seizures were decreasedbyvalproatetreatment.Rongchang(500μg/m L)and Xifeng(200μg/m L)rescued the epileptic behaviors and down-regulated c-fos expression in the brains of larvae,which indicated antiepileptic effects.The rest/wake behavioral profiles showed that Rongchang and Xifeng differentially decreased rest time at night and increased larval locomotor activities during the day.Based on correlation between the actions of the two capsules and known compounds,we predicted that they might change rest/wake behaviors by affecting serotonin,GABAergic and histamine signaling pathways.CONCLUSION:The efficacy of Rongchang capsule and Xifeng capsule in alleviating epilepsy-like behaviors and molecular responses was confirmed.Our study provides insight into the capsules'effect on epilepsy.
