A common setting for the design of iterative learning and repetitive controllers with experimental verification

Previous work has shown that the structure of repetitive control (RC) and that of iterative learning control (ILC) differ only in the location of an internal model of the disturbance. In this paper, it is shown how this common setting permits derivation of controllers in one domain based on an existing controller in the other. This is illustrated using the following case studies: 1) an RC scheme using a state feedback structure is derived based on an existing ILC scheme, which also uses state feedback (the underlying structure is first extended to comprise both current‐error feedback and previous‐error feedforward implementations); and 2) an ILC scheme using an output injection structure is developed based on an existing RC scheme, which uses state feedback, but differs from 1) by containing only a single internal model representation. All controllers are shown to have similar equivalent representations, with parameters derived by using linear quadratic regulator analysis. This correspondence enables comparison of the effect of the structure (ILC or RC, state feedback or output injection), number of internal models, and use of error (feedback or feedforward) on subsequent performance. This is undertaken using experimental results obtained using a gantry robot. Copyright © 2012 John Wiley & Sons, Ltd.     

Increased milk production versus reproductive and energy status of high producing dairy cows

Two groups of 10 Holstein cows were chosen by pairs from a 20-yr genetic selection project that used either breed average or breed high sires chosen only for Predicted Differences in milk production. Milk production (305-d mature equivalent) was 10,814 kg and 6912 kg for the high and average groups of cows. Days to first visual estrus and number of ovulations before first visual estrus were greater for the high versus the average group (66 vs. 43 d and 1.6 vs. .7 ovulations). No differences were significant between groups for the interval from parturition to uterine involution or for days to first ovulation. Energy balance was less for the high group during wk 1, 2, 10, and 11. Plasma glucose concentration was lowest during wk 2 for both groups, and nonesterified fatty acids and beta-hydroxybutyrate were greatest for both groups during wk 1 and 2. Liver glycogen content was lower at d 15 postpartum for the high group, and liver triglyceride content was greater on d 30 for the high group. The data for reproductive functions support the concept that high milk production is antagonistic to expression of estrous behavior but not to reactivation of ovarian function.     

Chemical dependencies of learning in the rabbit olfactory bulb: Acquisition of the transient spatial pattern change depends on norepinephrine.

Intracerebral cannulas were implanted in both olfactory bulbs of 6 New Zealand albino rabbits. A surface electrode array was implanted epidurally on the lateral surface of the left bulb. Each S was conditioned to respond to sniffing to an odor paired with cutaneous shock while receiving continuous intrabulbar infusion of propranolol (100 μM at 1 μl/hr) or vehicle. After 2 training sessions to the original odor, a response to a new odor was conditioned under the influence of the alternate infusate. EEG activity was sampled on inspirations before and during odor presentations. During vehicle infusion a transient alteration in the pattern of activity was acquired that occurred during the 2nd and 3rd inspirations following presentation of the reinforced odor. The acquisition did not occur when propranolol was infused. No significant pattern changes occurred with unreinforced odors in either condition. Intrabulbar norepinephrine injection (100 μM) resulted in an amplitude increase of the bulbar 40–80 Hz EEG and a potentiation of the transient spatial pattern change to a novel odor, when compared with those observed during vehicle infusion. It is concluded that norepinephrine released under centrifugal control may act to prevent or delay habituation that otherwise occurs rapidly to unreinforced odors. (49 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

2. Numerical Simulations of Water Flow and Solute Transport Applied to Acid Sulfate Soils

Field investigations of Rassam et al. in 2001 have highlighted the effects of infiltration, drainage, and evapotranspiration on the dynamics of water flow and solute transport in acid sulfate (AS) soils. In this work, HYDRUS-2D is adopted as the modeling tool to elucidate the trends observed in that field experiment. Hypothetical simulations have shown that the relative contribution of drains to lowering the water table is significant only when closely spaced drains are installed in coarse textured soils, evapotranspiration being the main driving force in all other cases. AS soils reaction products that are close to a drain are readily transportable during infiltration and early drainage, but those produced farther away from it near the midpoint between drains are only slowly transported during a prolonged drainage process. Simulating the field trial of Rassam et al. has shown that drain depth and evapotranspiration significantly affect solute fluxes exported to the ecosystem. Managing AS soils should target minimal drain depth and density. Partial or full lining of the drains should be considered as a management option for ameliorating the environmental hazards of AS soils.     

The triangle of health. 1: The clinical arena

By transmission electron microscopy tumor infiltrating lymphocyte (TIL) in laryngeal squamous cell carcinoma tissues of 14 cases was studied. The results showed that the infiltrating lymphocyte in varying degrees eristed in laryngeal squamous cell carcinoma tissues. Most of them were present in a motionless state, and the others showed the feature of activated metrocyte and closely contracted with cancer cells and resulted in distinct morphological changes both the cancer cells and themselves. Therefore, this study provided an important morphological evidence for TIL as killer and inhibiter to the growth of cancer cells.     

Novel mutations in the polyadenine tract of the transforming growth factor beta type II receptor gene are found in a subpopulation of human pancreatic adenocarcinomas

Between November 1994 and January 1997, 42 cases of cyanotic congenital cardiac defects underwent definitive surgery at Matsudo Municipal Hospital. We evaluated 30 cases, each weighing from 7 to 20 kg. The procedures were performed at the age of 9 months to 6 years (mean age-2.4 years). The body weights were 7.7 to 20 kg (mean weight-11.4 kg). The preoperative diagnoses were Tetralogy of Fallot (TOF) in 19 cases, Fontan candidates in 6 and the others in 5. We classified them into 3 groups; Group A--15 cases were completed with non-blood transfusion, Group B--8 cases used only plasma protein fraction and Group C--7 cases used blood transfusion. Cardiopulmonary bypass (CPB) system is a semi-closed circuit and priming volume is 400 to 600 ml. There is no difference among the 3 groups in operative age, body weight, operation time, CPB time, aortic cross clamp time, bleeding and postoperative state. The same results were obtained in minimum base excess and urine output during CPB and the changes of hematocrit and total protein. In Groups A and B, CPB blood was returned to the patient as soon as possible after CPB was weaned, but in Group C, blood transfusion was performed without the return of CPB blood. In all groups, hemodynamics were stable. Retrospectively, it is thought that blood transfusion was not necessary in Group C and the use of the plasma protein fraction was not needed in Group B. In conclusion, the open heart surgery can be performed safely without blood transfusion for cyanotic congenital cardiac defects.     

Overexpression of cardiotrophin-1 and gp130 during experimental acute Chagasic cardiomyopathy

The purpose of this study was to examine how antigen retrieval affected the yield of immunogold labeling on epoxy sections based on embedding with different amounts of accelerator. The concentration of accelerator DMP-30 (tri(dimethyl amino methyl) phenol) was varied in the range of 0-8% in the processing of the tissue for epoxy embedding. Immunogold labeling was performed on epoxy sections and LR-White sections of fibrin clots and renal tissue with IgG-deposits, and the antibodies used were anti-fibrinogen anti-IgG and, respectively. For some of the sections antigen retrieval was performed by heating the sections in citrate buffer. In all cases, the yield of immunogold labeling increased following antigen retrieval. The increase (%) in the yield of immunogold labeling as a result of antigen retrieval was larger for epoxy sections than for LR-White sections. The immunolabeling on high-accelerator epoxy sections exposed to antigen retrieval was about 20% more intense than on untreated LR-White sections both for IgG and fibrinogen. In addition to breaking fixations bonds introduced by the chemical fixation, we believe that the antigen retrieval also breaks bonds between the epoxy resin and the embedded tissue. The combination of increased amount of accelerator during tissue processing for epoxy embedding and antigen retrieval by heating in citrate buffer is a potent method for increasing specific immunolabeling on epoxy sections.