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Formation Control with Multiple Leaders via Event-triggering Transmission Strategy
Jing Liu,Jian-an Fang,Zhen Li,Guang He 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.6
Event-triggering formation control with multiple leaders in second-order nonlinear multi-agent systems is investigated in this paper. This novel distributed formation control strategy allows the event-triggering condition to be intermittently examined at sampling instants, where the data transmission is driven by an event-triggering control protocol. Based on this strategy, two different formation control protocols are presented. Then, some sufficient conditions are given to ensure the second-order nonlinear multi-agent systems converge to the desired formation shape. Finally, examples are given to show the effectiveness of theoretical results.
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Jing Liu,Jian-an Fang,Zhen Li,Guang He 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.4
This paper addresses the problem of time-varying formation tracking for a kind of second-order multiagent systems with a switching topology, in which the dynamics of agents are modeled by double integrators and harmonic oscillators respectively. The control input of each agent is subject to saturation. First, depending on the low-gain state feedback technique, an algorithm is designed to solve semi-global time-varying formation tracking problem, where feasibility condition of formation tracking is introduced. Then, by utilizing the Lyapunov function and low-gain feedback theory, it is proved that second-order multi-agent system with a switching topology achieves the specified semi-global time-varying formation tracking if some sufficient conditions hold. Further, as an extension, jointly connected switching topology is considered, and the corresponding formation tracking problem is also explored. Subsequently, several simulation examples is worked out for illustration.
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Wang Tong,Song Yajuan,Yang Liu,Liu Wei,He Zhen’an,Shi Yi,Song Baoqiang,Yu Zhou 한국조직공학과 재생의학회 2024 조직공학과 재생의학 Vol.21 No.1
Background: Cutaneous wound healing represents a common fundamental phenomenon requiring the participation of cells of distinct types and a major concern for the public. Evidence has confirmed that photobiomodulation (PBM) using near-infrared (NIR) can promote wound healing, but the cells involved and the precise molecular mechanisms remain elusive. Methods: Full-thickness skin defects with a diameter of 1.0 cm were made on the back of rats and randomly divided into the control group, 10 J, 15 J, and 30 J groups. The wound healing rate at days 4, 8, and 12 postoperatively was measured. HE and Masson staining was conducted to reveal the histological characteristics. Immunofluorescence staining was performed to label the epidermal stem cells (ESCs) and hair follicle stem cells (HFSCs). Western blot was performed to detect the expressions of proteins associated with ESCs and HFSCs. Cutaneous wound tissues were collected for RNA sequencing. Gene ontology and the Kyoto Encyclopedia of Genes and Genomes analysis was performed, and the hub genes were identified using CytoHubba and validated by qRT-PCR. Results: PBM can promote reepithelialization, extracellular matrix deposition, and wound healing, increase the number of KRT14+/PCNA+ ESCs and KRT15+/PCNA+ HFSCs, and upregulate the protein expression of P63, Krt14, and PCNA. Three hundred and sixty-six differentially expressed genes (DEGs) and 7 hub genes including Sox9, Krt5, Epcam, Cdh1, Cdh3, Dsp, and Pkp3 were identified. These DEGs are enriched in skin development, cell junction, and cadherin binding involved in cell–cell adhesion etc., while these hub genes are related to skin derived stem cells and cell adhesion. Conclusion: PBM accelerates wound healing by enhancing reepithelialization through promoting ESCs and HFSCs proliferation and elevating the expression of genes associated with stem cells and cell adhesion. This may provide a valuable alternative strategy to promote wound healing and reepithelialization by modulating the proliferation of skin derived stem cells and regulating genes related to cell adhesion. Background: Cutaneous wound healing represents a common fundamental phenomenon requiring the participation of cells of distinct types and a major concern for the public. Evidence has confirmed that photobiomodulation (PBM) using near-infrared (NIR) can promote wound healing, but the cells involved and the precise molecular mechanisms remain elusive. Methods: Full-thickness skin defects with a diameter of 1.0 cm were made on the back of rats and randomly divided into the control group, 10 J, 15 J, and 30 J groups. The wound healing rate at days 4, 8, and 12 postoperatively was measured. HE and Masson staining was conducted to reveal the histological characteristics. Immunofluorescence staining was performed to label the epidermal stem cells (ESCs) and hair follicle stem cells (HFSCs). Western blot was performed to detect the expressions of proteins associated with ESCs and HFSCs. Cutaneous wound tissues were collected for RNA sequencing. Gene ontology and the Kyoto Encyclopedia of Genes and Genomes analysis was performed, and the hub genes were identified using CytoHubba and validated by qRT-PCR. Results: PBM can promote reepithelialization, extracellular matrix deposition, and wound healing, increase the number of KRT14+/PCNA+ ESCs and KRT15+/PCNA+ HFSCs, and upregulate the protein expression of P63, Krt14, and PCNA. Three hundred and sixty-six differentially expressed genes (DEGs) and 7 hub genes including Sox9, Krt5, Epcam, Cdh1, Cdh3, Dsp, and Pkp3 were identified. These DEGs are enriched in skin development, cell junction, and cadherin binding involved in cell–cell adhesion etc., while these hub genes are related to skin derived stem cells and cell adhesion. Conclusion: PBM accelerates wound healing by enhancing reepithelialization through promoting ESCs and HFSCs proliferation and elevating the expression of genes associated with stem cells and cell adhesion. This may provide a valuable alternative strategy to promote wound healing and reepithelialization by modulating the proliferation of skin derived stem cells and regulating genes related to cell adhesion.
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