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Experiment on closed-loop subspace model identification of an unstable underactuated system
Hiroshi Oku,Shun Ushida 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
We report an experimental result on closed-loop subspace model identification of a cart-inverted pendulum system. Such a system as mentioned here is known as a typical unstable under actuated system, which is impossible of open-loop identification. Furthermore, any conventional SISO identification is not applicable to this systemsince this system is of single input and two outputs. Therefore, in this case, closed-loop subspace model identification is the only way of identification. Bode diagrams will show that the reisfairly good agreement between an identified model obtained from closed-loop subspace identification and an initial model used for a stabilizing feedback controller at the frequency important for control of this inverted pendulum.
A New Potent Angiogenesis Inhibitor, FR-118487
TAKANAO, OTSUKA,OHKAWA, TAKEHIKO,SHIBATA, TOSHIHIRO,OKU, TERUO,OKUHARA, MASAKUNI,TERANO, HIROSHI,MASANOBU KOHSAKA,IMANAKA, HIROSHI 한국미생물 · 생명공학회 1991 Journal of microbiology and biotechnology Vol.1 No.3
A new angiogenesis inhibitor, FR-118487 was obtained by chemical modification of FR-111142 which was isolated from the fermentation products of Scolecobasidium arenarium F-2015. The antiangiogenic activity of FR-118487 was compared with that of the parent compound, FR-111142. In the endothelial cell proliferation test in vitro and the anglogenesis in the chick embryo chorioallantoic membrane assay, FR-118487 had about 5∼10 times stronger antiangiogenic activities than FR-111142. In addition, FR-118487 inhibited the angiogenesis in the rabbit corneal assay and suppressed the solid tumor growth in mice. These findings showed that FR-118487 would be a unique antiangiogenic agent with promising antitumor activity.
( Shiro Nakamura ),( Hirotsugu Imaeda ),( Hiroki Nishikawa ),( Masaki Iimuro ),( Minoru Matsuura ),( Hideo Oka ),( Junsuke Oku ),( Takako Miyazaki ),( Hirohito Honda ),( Kenji Watanabe ),( Hiroshi Nak 대한장연구학회 2018 Intestinal Research Vol.16 No.4
Background/Aims: Noninvasive objective monitoring is advantageous for optimizing treatment strategies in patients inflammatory bowel disease (IBD). Fecal calprotectin (FCP) is superior to traditional biomarkers in terms of assessing the activity in patients with IBD. However, there are the differences among several FCP assays in the dynamics of FCP. In this prospective multicenter trial, we investigated the usefulness of FCP measurements in adult Japanese patients with IBD by reliable enzyme immunoassay using a monoclonal antibody. Methods: We assessed the relationship between FCP levels and disease or endoscopic activity in patients with ulcerative colitis (UC, n=64) or Crohn’s disease (CD, n=46) compared with healthy controls (HCs, n=64). Results: FCP levels in UC patients strongly correlated with the Disease Activity Index (r<sub>s</sub>=0.676, P<0.0001) and Mayo endoscopic subscore (MES; r<sub>s</sub>=0.677, P<0.0001). FCP levels were significantly higher even in patients with inactive UC or CD compared with HCs (P=0.0068, P<0.0001). The optimal cutoff value between MES 1 and 2 exhibited higher sensitivity (94.1%). FCP levels were significantly higher in active UC patients than in inactive patients (P<0.001), except those with proctitis. The Crohn’s Disease Activity Index tended to correlate with the FCP level (rs=0.283, P=0.0565). Conclusions: Our testing method using a monoclonal antibody for FCP was well-validated and differentiated IBD patients from HCs. FCP may be a useful biomarker for objective assessment of disease activity in adult Japanese IBD patients, especially those with UC. (Intest Res 2018;16:554-562)