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Consensus Tracking for Teleoperating Cyber-physical System
Lingmin Zhang,Jing Yan,Xian Yang,Xiao-yuan Luo,Fuxiao Tan,Xinbin Li 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.3
In this paper, we investigate the consensus tracking problem for teleoperating cyber-physical system (TCPS) under time-varying delay and actuator saturation constraints. Due to the introduction of communication network, variable propagation time delays are considered in cyber element. In addition, actuator saturation problem is investigated in physical element, which is caused by the physical restrictions on robots. Then, a novel distributed consensus tracking controller is proposed in the presence of time-varying delay and actuator saturation. Meanwhile, sufficient conditions are provided to show that the consensus tracking controller can stabilize the master-slave TCPS. Finally, simulations and experiments are performed to validate our proposed results. It is shown that the consensus controllers can guarantee the asymptotic stability of single-master-multi-slave TCPS.
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JianYan Huang,Lingmin Zhang,Peng Chen,Shitao Chen,Yueheng Wu,ShunQing Tang 한국물리학회 2011 Current Applied Physics Vol.11 No.3
Agarose-grafting-hyaluronan (Ag-g-HA) has been proved to be a potential carrier for oral insulin, but it needs to clarify that insulin loaded in Ag-g-HA microparticle is effectively transported across epithelial layer. In this paper, Caco-2 cell monolayer was used for imitation of epithelial layer in small intestine to evaluate Ag-g-HA copolymer enhanced insulin transportation crossing epithelial layer. Ag-g-HA/insulin polyelectrolyte complexes were formed via electrostatic interaction at pH 3e5.4 and could spontaneously form microparticles with average diameter of 2 μm. Caco-2 cells in transwell dish were attached in tight monolayer after 21 d proliferation, and some features of Caco-2 cell monolayer, such as trans-epithelial electrical resistance (TEER) value being over 400 Ω/cm^2, alkaline phosphatase (ALP) activity being 0.7184 ± 0.095, and apparent permeability coefficient value (Papp) of propranonol being 1 × 10^-6 cm/s,were similar to those of epithelial layer in small intestine. These results revealed that Caco-2 cellmonolayer was suitable to be a model of small intestine epithelium layer for imitation of insulin crossing small intestine. P_app of insulin crossing Caco-2 monolayer reached 0.592 ± 0.067 × 10^-6 cm/s, which was significantly greater than the control groups. This meant Ag-g-HA as insulin carrier significantly promoted insulin crossing Caco-2 cell monolayer. These findings demonstrate that Caco-2 cell monolayer is a suitable model for drug transportation crossing epithelial layer, and Ag-g-HA has a promise as oral insulin carrier.
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