Master-Slave Control of an Intention-Actuated Exoskeletal Robot for Locomotion and Lower Extremity Rehabilitation

Gao Huang,Weimin Zhang,Fei Meng,Zhangguo Yu,Xuechao Chen,Marco Ceccarelli,Qiang Huang 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.7

In this paper, a master-slave control system is proposed and applied in an intention-actuated exoskeletal robot to assist user locomotion and lower extremity rehabilitation simultaneously. In particular, to increase users’ sense of participation, the motion of the exoskeleton and the wheelchair, which is denoted as slave motion in this study, is actuated by the user’s intention, which is denoted as master motion and thus makes patients feel that they are moving the wheelchair. This master-slave motion control system can help to eliminate patients’ fear of medical apparatus and instruments. The bicycling motion actuated by one motor is implemented to realize the rehabilitation motion exercise. Experimental results validate a position-force control strategy for the exoskeleton motors, and show that the proposed method can help users to move around and to exercise their legs simultaneously and effectively.

Exercise Reduces Airway Smooth Muscle Contraction in Asthmatic Rats via Inhibition of IL-4 Secretion and Store-Operated Ca2+ Entry Pathway

Huang Jun-Hao,Gao Hui-Wen,Gao Dong-Dong,Yang Wei-Yue,Zhao Meng-Ke,Shen Bing,Hu Min 대한천식알레르기학회 2023 Allergy, Asthma & Immunology Research Vol.15 No.3

Purpose: Increased evidence has shown that aerobic exercise reduces airway hyperresponsiveness in asthmatic individuals. However, the underlying mechanisms of action remain elusive. This study aimed to investigate the effect of exercise on airway smooth muscle (ASM) contractile function in asthmatic rats, and uncover the possible involvement of interleukin 4 (IL-4) and the store-operated Ca2+ entry (SOCE) pathway. Methods: In this study, chicken ovalbumin was used to induce asthma in male Sprague-Dawley rats. The exercise group received moderate-intensity aerobic exercise training for 4 weeks. IL-4 concentrations in bronchoalveolar lavage fluid (BALF) samples were evaluated by enzyme linked immunosorbent assay. The contractile function of the ASM was investigated using tracheal ring tension experiments and intracellular Ca2+ imaging techniques. Western blot analysis was used to evaluate expression levels of calcium-release activated calcium (CRAC) channel protein (Orai) and stromal interaction molecule 1 (STIM1) in ASM. Results: Our data showed that the carbachol-stimulated, SOCE-mediated contraction of rat ASM was significantly increased in asthmatic rats, which could be abolished by exercise. Pharmacological studies revealed that GSK5498A and BTP-2, selective blockers of CRAC channels significantly inhibited SOCE-induced ASM contraction. In addition, exercise inhibited the up-regulation of IL-4 in BALF as well as STIM1 and Orai expression in the ASM of asthmatic rats. In line with these observations, we demonstrated that pretreatment of the ASM with IL-4 up-regulated the expression level of STIM1, Orai1 and Orai2, thereby promoting SOCE-mediated ASM contraction. Conclusions: The data in this study reveal that aerobic exercise may improve the ASM contractile function in asthmatic rats by inhibiting IL-4 secretion and by down-regulating the expression of STIM1, Orai1 and Orai2, thus decreasing excessive SOCE-mediated ASM contraction in asthmatic rats.

Analysis of the Difference of Spray Angles based on Various Definitions and Calculation Criterions

( Yuan Gao ),( Li Guang Li ),( Ya Gao ),( Wei Di Huang ),( Jun Deng ),( Tao Li Gu ) 한국액체미립화학회 2010 한국액체미립화학회 학술강연회 논문집 Vol.2010 No.-

Spray angle is one of the key spray macro parameters which reflect fuel atomization characteristics and fuel and air entrainment quality directly; it then could affect the combustion efficiency and emission formation in cylinder. As the spray characteristics are widely investigated, there are already some kinds of definition and calculation methods for spray angle. Although all these definitions reflect the spray angle trends correspondingly, the difference between these definitions and calculation results was seldom studied. This paper focuses on the comparison and analysis the spray angle results based on the different calculation criterions, and the trend of these key points versus time at various calculation criterions which determine spray angle.

MicroRNA-340-5p relieved chronic constriction injury-induced neuropathic pain by targeting Rap1A in rat model

Lu Gao,Xuehua Pu,Yujing Huang,Jing Huang 한국유전학회 2019 Genes & Genomics Vol.41 No.6

Objectives Neuropathic pain (NP) is one of the main challenges towards NP syndrome treatment. miR-340-5p exhibit different expression levels in NP models. Its effects on NP remained unclear. The objective of this study was to explore the potential regulation mechanisms of miR-340-5p in NP. Methods Rat model of chronic constriction injury (CCI) was established to induce NP in vivo. NP levels were assessed using mechanical withdrawal threshold (MWT). The inflammation response in CCI rats were determined by HE staining and ELISA assay. The target genes of miR-340-5p were verified by luciferase report assays. Results In CCI rats, level of miR-340-5p was down-regulated both in spinal cord tissues and isolated microglial cells. Paw withdrawal threshold (PWT) and paw withdrawal latency (PWL) were decreased in CCI rats, which were restored upon miR-340-5p overexpression. miR-340-5p overexpression also decreased inflammation as well as expression levels of COX- 2, IL-1β, TNF-α and IL-6 in CCI rats. Luciferase report assays revealed Rap1A was a target gene of miR-340-5p in the experimental model. Elevated miR-340-5p decreased Rap1A expression level in vitro and in vivo. Overexpression of Rap1A protein restored expression levels of COX-2, IL-1β, TNF-α and IL-6, reduced the PWT and PWL and increased inflammation response in CCI rats. Conclusion miR-340-5p alleviated CCI-induced NP by targeting Rap1A. miR-340-5p and Rap1A may be the potential treatment targets for NP therapeutics.

Identification and Expression Patterns of fvexpl1, an Expansin-Like Protein-Encoding Gene, Suggest an Auxiliary Role in the Stipe Morphogenesis of Flammulina velutipes

( Qianhui Huang ),( Xing Han ),( Irum Mukhtar ),( Lingling Gao ),( Rongmei Huang ),( Liping Fu ),( Junjie Yan ),( Yongxin Tao ),( Bingzhi Chen ),( Baogui Xie ) 한국미생물생명공학회(구 한국산업미생물학회) 2018 Journal of microbiology and biotechnology Vol.28 No.4

Expansins are cell wall proteins that mediate cell wall loosening and promote specific tissue and organ morphogenesis in plants and in some microorganisms. Unlike plant expansins, the biological functions of fungal expansin-like proteins have rarely been discussed. In the present study, an expansin-like protein-encoding fvexpl1 gene, was identified from Flammulina velutipes by using local BLAST. It consisted of five exons with a total length of 822 bp. The deduced protein FVEXPL1 contained 274 amino acids with a predicted molecular mass and isoelectric point of 28,589 Da and pH 4.93, respectively. The first 19 amino acids from the N terminal are the signal peptide. Phylogenetic analysis and multiple protein alignment indicated FVEXPL1 was an expansin-like protein. The expression level of fvexpl1 gene in the stipe was significantly higher than that in the mycelia, primordia, and cap. However, the expression level of fvexpl1 gene was significantly higher in the fast elongation region of the stipe as compared with the slow elongation region. Expression analysis indicated that fvexpl1 gene might have an auxiliary role in the stipe morphogenesis of F. velutipes.

Improved Convolutional Neural Network for Laser Welding Defect Prediction

Weiwei Huang,Xiangdong Gao,Yuhui Huang,Yanxi Zhang 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.1

In order to predict the laser welding defects, a convolutional neural network prediction model is established. The keyhole image and plume image collected by a high-speed camera are processed to obtain visual information such as keyhole area and plume area. The rolling mean and standard deviation methods are used to calculate the fluctuation degree indicators of the visual information and the optical radiation information obtained by the photoelectric sensor. Finally, three improved one-dimensional convolutional neural network prediction models with a learning rate dynamic adjustment mechanism are established to predict welding defects. Experimental results indicate that the improved one-dimensional convolutional neural network prediction model can avoid premature convergence four times to achieve the best performance. The fluctuation degree indicators of sensor features can distinguish the welding state more easily than the sensor features. The reliability test of the new weld is carried out. The prediction accuracy of fusion detection model of sensor features and fluctuation degree indicators is 99.21%. The improved model can accurately predict laser welding defects.

Effect of Solution-treated on Electrochemical Properties of AZ91 Magnesium Alloy Anode

Zhiquan, Huang,Yanjie, Pei,Renyao, Huang,Xiangyu, Gao,Jinchao, Zou,Lianyun, Jiang The Korean Electrochemical Society 2022 Journal of electrochemical science and technology Vol.13 No.4

The effect of solution-treated on the self-corrosion performance and discharge performance of AZ91 magnesium alloy as anode material was analyzed by microscopic characterization, immersion tests, electrochemical measurements, and discharge performance tests. The study shows that the β-phase in the AZ91 magnesium alloy gradually dissolved in the matrix with the increase of the solution temperature, and the electrochemical activity of the magnesium alloy anode was significantly improved. Through the comparison of three different solution-treated processes, it is found that the AZ91 magnesium alloy has the most vigorous activity and better discharge performance after solution-treated of 415℃+12 h. In addition, the proportion and distribution of β-phase AZ91 magnesium alloy have a direct impact on its discharge performance as an anode material.

Effects of GanoPoly (A Ganoderma Iucidum Polysaccharide Extract) on the Immune Functions in Advanced-Stage Cancer Patients

Yihuai Gao,Shufeng Zhou,He Gao,Wenbo Tang,Xihu Dai,Wenqi Jiang,Min Huang 한의병리학회 2003 대한동의병리학회 학술대회논문집 Vol.2003 No.7

OrMKK3 Influences Morphology and Grain Size in Rice

Ying Hua Pan,Li Jun Gao,Yun Tao Liang,Yan Zhao,Hai Fu Liang,Wei Wei Chen,Xing Hai Yang,Dong Jin Qing,Ju Gao,Hao Wu,Juan Huang,Wei Yong Zhou,Cheng Cui Huang,Gao Xing Dai,Guo Fu Deng 한국식물학회 2023 Journal of Plant Biology Vol.66 No.3

Although morphology and grain size are important to rice growth and yield, the identity of abundant natural allelic variations that determine agronomically important differences in crops is unknown. Here, we characterized the function of mitogen-activated protein kinase 3 from Oryza officinalis Wall. ex Watt encoded by OrMKK3. Different alternative splicing variants occurred in OrMKK3. Green fluorescent protein (GFP)–OrMKK3 fusion proteins localized to the cell membrane and nuclei of rice protoplasts. Overexpression of OrMKK3 influenced the expression levels of the grain size-related genes SMG1, GW8, GL3, GW2, and DEP3. Phylogenetic analysis showed that OrMKK3 is well conserved in plants while showing large amounts of variation between indica, japonica, and wild rice. In addition, OrMKK3 slightly influenced brassinosteroid (BR) responses and the expression levels of BR-related genes. Our findings thus identify a new gene, OrMKK3, influencing morphology and grain size and that represents a possible link between mitogen-activated protein kinase and BR response pathways in grain growth.

Influence of track irregularities in high-speed Maglev transportation systems

Huang, Jing Yu,Wu, Zhe Wei,Shi, Jin,Gao, Yang,Wang, Dong-Zhou Techno-Press 2018 Smart Structures and Systems, An International Jou Vol.21 No.5

Track irregularities of high-speed Maglev lines have significant influence on ride comfort. Their adjustment is of key importance in the daily maintenance of these lines. In this study, an adjustment method is proposed and track irregularities analysis is performed. This study considers two modules: an inspection module and a vehicle-guideway coupling vibration analysis module. In the inspection module, an inertial reference method is employed for field-measurements of the Shanghai high-speed Maglev demonstration line. Then, a partial filtering, integration method, resampling method, and designed elliptic filter are employed to analyze the detection data, which reveals the required track irregularities. In the analysis module, a vehicle-guideway interaction model and an electromagnetic interaction model were developed. The influence of the measured line irregularities is considered for the calculations of the electromagnetic force. Numerical integration method was employed for the calculations. Based on the actual field detection results and analysis using the numerical model, a threshold analysis method is developed. Several irregularities modalities with different girder end's deviations were considered in the simulations. The inspection results indicated that long-wavelength irregularities with larger girder end's deviations were the dominant irregularities. In addition, the threshold analysis of the girder end's deviation shows that irregularities that have a deviation amplitude larger than 6 mm and certain modalities (e.g., M- and N-shape) are unfavorable. These types of irregularities should be adjusted during the daily maintenance.