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Two-State GMS-based Friction Model for Precise Control Applications
Fernando Villegas,Rogelio Lorenzo Hecker,Miguel Peña 한국정밀공학회 2016 International Journal of Precision Engineering and Vol.17 No.5
The capability of a model to represent the complex friction behavior is particularly important for systems where friction has a major impact on motion precision. In this work a GMS-based model is proposed which would require only two states, aiming to simplify the implementation of control laws that require friction models capable of representing presliding friction. Simulations of the proposed model are provided, showing that it keeps the main properties of the GMS model, like hysteresis with nonlocal memory, non-drifting behavior and friction lag. Also, an experimental comparison of the performance of model-based compensation for the proposed twostate model and for the complete GMS model is presented for a linear motor system with linear guides, showing promising results.
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Yeliana L. Sánchez,Manuela Yepes-Calderón,Luis Valbuena,Andrés F. Milán,María C. Trillos-Almanza,Sergio Granados,Miguel Peña,Mauricio Estrada-Castrillón,Juan C. Aristizábal,Raúl Narvez-Sanchez,Jaime G 대한내분비학회 2021 Endocrinology and metabolism Vol.36 No.5
Background: We studied whether musclin function in humans is related to glycemic control, body composition, and cardiorespiratory capacity. Methods: A cross-sectional study was performed in sedentary adults with or without metabolic syndrome (MS). Serum musclin wasmeasured by enzyme-linked immunosorbent assay. Insulin resistance (IR) was evaluated by the homeostatic model assessment(HOMA-IR). Body composition was determined by dual-energy X-ray absorptiometry and muscle composition by measuring carnosine in the thigh, a surrogate of fiber types, through proton magnetic resonance spectroscopy. Cardiorespiratory capacity was assessed through direct ergospirometry. Results: The control (n=29) and MS (n=61) groups were comparable in age (51.5±6.5 years old vs. 50.7±6.1 years old), sex(72.4% vs. 70.5% women), total lean mass (58.5%±7.4% vs. 57.3%±6.8%), and peak oxygen consumption (VO2peak) (31.0±5.8mL O2./kg.min vs. 29.2±6.3 mL O2/kg.min). Individuals with MS had higher body mass index (BMI) (30.6±4.0 kg/m2 vs. 27.4±3.6 kg/m2), HOMA-IR (3.5 [95% confidence interval, CI, 2.9 to 4.6] vs. 1.7 [95% CI, 1.1 to 2.0]), and musclin (206.7 pg/mL [95%CI, 122.7 to 387.8] vs. 111.1 pg/mL [95% CI, 63.2 to 218.5]) values than controls (P˂0.05). Musclin showed a significant relationship with HOMA-IR (β=0.23; 95% CI, 0.12 to 0.33; P˂0.01), but not with VO2peak, in multiple linear regression models adjusted forage, sex, fat mass, lean mass, and physical activity. Musclin was significantly associated with insulin, glycemia, visceral fat, and regional muscle mass, but not with BMI, VCO2peak, maximum heart rate, maximum time of work, or carnosine. Conclusion: In humans, musclin positively correlates with insulinemia, IR, and a body composition profile with high visceral adiposity and lean mass, but low body fat percentage. Musclin is not related to BMI or cardiorespiratory capacity.
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