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A Fuzzy Cerebellar Model Articulation Controller Based Visual Servo System for Robot
Wei Sun,Cong Wang,Shengnan Liu,Baoqiang Wu,Minghua Ouyang 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.2
This paper presents a novel online learning visual servo controller integrating the FCMAC with proportion controller for the control of position of manipulator end-effector. Since the FCMAC has good learning capability and fast learning speed, and can save much computer memory space by fuzzy processing of input space division and memory unit activation, it is used to develop an adaptive control law by learning the relationship between the image feature errors and manipulator input, and the aim of online learning of the FCMAC is to minimize the output of proportion controller. Further-more, the FCMAC has no need for models of robot manipulator and image feature extraction, so that the capability of proposed controller for tasks under uncertain environment can be improved. Finally, the proposed controller is proved to be effective by the experiment, and compared with BP neural net-work.
Peng Song,Yang Hai,Xin Wang,Longhe Zhao,Baoqiang Chen,Peng Cui,Qin-Jian Xie,Lan Yu,Yang Li,Zhengrong Wu,Hong Yu Li 대한약학회 2018 Archives of Pharmacal Research Vol.41 No.4
Realgar (As4S4), as an arsenic sulfide mineraldrug, has a good therapeutic reputation for anticancer inTraditional Chinese Medicine, and has recently beenreported to inhibit angiogenesis in tumor growth. However,considering the poor solubility and low bioavailability ofrealgar, large dose of realgar and long period of treatmentare necessary for achieving the effective blood medicineconcentration. In present study, we resolved the crucialproblem of poor solubility of realgar by using intrinsicbiotransformation in microorganism, and investigatedunderlying mechanisms of realgar transforming solution(RTS) for antiangiogenesis. Our results demonstrated thatRTS had a strong activity to inhibit HUVECs proliferation,migration, invasion, and tube formation. Moreover, RTSinhibited VEGF/bFGF-induced phosphorylation ofVEGFR2 and the downstream protein kinases includingERK, FAK, and Src. In vivo zebrafish and chickenchorioallantoic membrane model experiments showed thatRTS remarkably blocked angiogenesis. Finally, comparedwith the control, administration of 2.50 mg/kg RTSreached more than 50% inhibition against H22 tumorallografts in KM mice, but caused few toxic effects in thehost. The antiangiogenic effect was indicated by CD31immunohistochemical staining and alginate-encapsulatedtumor cell assay. In summary, our findings suggest thatRTS inhibits angiogenesis and may be a potential drugcandidate in anticancer therapy.