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A position Synchronization Controller for Co-ordinated Links(COOL)Dual Robot Arm Based on Integral Sliding Mode:Design and Experimental Validation

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International Journal of Automation and computing 2021年第1期18卷 110-123页

作者： Sumi phukan Chitralekha mahanta Department of Electronics and Electrical Engineering Indian Institute of Technology GuwahatiGuwahati 781039India

In this study,a simple position synchronization control algorithm based on an integral sliding mode is developed for dualarm robotic manipulator systems.A first-order sliding surface is designed using cross-coupling error in order to ensure position synchronization of dual-arm *** design objective of the proposed controller is to ensure stability as well as to synchronize the movement of both arms while maintaining the trajectory as *** integral sliding mode eliminates the reaching phase and guarantees robustness throughout the whole operating ***,a low pass filter is used to smoothen the discontinuous element and minimize unwanted *** stability theory is utilized to prove the asymptotic stability of the controlled *** studies are performed to validate the proposed controller′s ***,to investigate the possibility of realizing the proposed dynamic control method in practical applications,experiments are conducted on a 14DoF coordinated links(COOL)dual-arm robotic manipulator *** evidence indicates adequate efficiency in trajectory tracking and guarantees robustness in the presence of parametric uncertainty and external disturbance.

关键词： Integral sliding mode control position synchronization dual-arm robotic manipulator chattering robust control

Intrumer:A Multi Module Distributed Explainable IDS/IpS for Securing Cloud Environment

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Computers, Materials & Continua 2025年第1期82卷 579-607页

作者： Nazreen Banu A S.k.B.Sangeetha Department of Computer Science and Engineering SRM Institute of Science and TechnologyVadapalani CampusChennai600026Tamil NaduIndia

The increasing use of cloud-based devices has reached the critical point of cybersecurity and unwanted network *** environments pose significant challenges in maintaining privacy and *** approaches,such as IDS,have been developed to tackle these ***,most conventional Intrusion Detection System(IDS)models struggle with unseen cyberattacks and complex high-dimensional *** fact,this paper introduces the idea of a novel distributed explainable and heterogeneous transformer-based intrusion detection system,named INTRUMER,which offers balanced accuracy,reliability,and security in cloud settings bymultiplemodulesworking together within *** traffic captured from cloud devices is first passed to the TC&TM module in which the Falcon Optimization Algorithm optimizes the feature selection process,and Naie Bayes algorithm performs the classification of *** selected features are classified further and are forwarded to the Heterogeneous Attention Transformer(HAT)*** this module,the contextual interactions of the network traffic are taken into account to classify them as normal or malicious *** classified results are further analyzed by the Explainable prevention Module(XpM)to ensure trustworthiness by providing interpretable *** the explanations fromthe classifier,emergency alarms are transmitted to nearby IDSmodules,servers,and underlying cloud devices for the enhancement of preventive *** experiments on benchmark IDS datasets CICIDS 2017,Honeypots,and NSL-kDD were conducted to demonstrate the efficiency of the INTRUMER model in detecting network trafficwith high accuracy for different *** outperforms state-of-the-art approaches,obtaining better performance metrics:98.7%accuracy,97.5%precision,96.3%recall,and 97.8%*** results validate the robustness and effectiveness of INTRUMER in securing diverse cloud environments against sophisticated cyber threats.

关键词： Cloud computing intrusion detection system transformers and explainable artificial intelligence(XAI)

Adaptive integral higher order sliding mode controller for uncertain systems

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控制理论与应用（英文版） 2013年第1期11卷 61-68页

作者： Sanjoy MONDAL Chitralekha mahanta Department of Electronics and Electrical Engineering Indian Institute of Technology Guwahati

This paper proposes an adaptive integral higher order sliding mode （HOSM） controller for uncertain sys- tems. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discon- tinuous sign function in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The adaptive tuning law used in the proposed controller eliminates the need of prior knowledge about the upper bound of the system uncertainties. Stability and robustness of the proposed controller are proved by using the classical Lyapunov criterion. Simulation results demonstrate the advantages of the proposed control scheme.

关键词： Higher order sliding mode Adaptive tuning Integral sliding mode Uncertain systems Chattering

Effects of p301L-TAU on post-translational modifications of microtubules in human ipSC-derived cortical neurons and TAU transgenic mice

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Neural Regeneration Research 2025年第8期20卷 2348-2360页

作者： Mohamed Aghyad Al kabbani Christoph köhler Hans Zempel Institute of Human Genetics Faculty of Medicine and University Hospital CologneUniversity of CologneCologneGermany Center for Molecular Medicine Cologne(CMMC) University of CologneCologneGermany Center Anatomy Department ⅡMedical FacultyUniversity of CologneCologneGermany

TAU is a microtubule-associated protein that promotes microtubule assembly and stability in the *** is missorted and aggregated in an array of diseases known as *** are essential for neuronal function and regulated via a complex set of post-translational modifications,changes of which affect microtubule stability and dynamics,microtubule interaction with other proteins and cellular structures,and mediate recruitment of microtubule-severing *** impairment of microtubule dynamics causes neuronal dysfunction,we hypothesize cognitive impairment in human disease to be impacted by impairment of microtubule *** therefore aimed to study the effects of a disease-causing mutation of TAU(p301L)on the levels and localization of microtubule post-translational modifications indicative of microtubule stability and dynamics,to assess whether p301L-TAU causes stability-changing modifications to *** investigate TAU localization,phosphorylation,and effects on tubulin post-translational modifications,we expressed wild-type or p301L-TAU in human MApT-kO induced pluripotent stem cell-derived neurons(i Neurons)and studied TAU in neurons in the hippocampus of mice transgenic for human p301L-TAU(p R5 mice).Human neurons expressing the longest TAU isoform(2N4R)with the p301L mutation showed increased TAU phosphorylation at the AT8,but not the p-Ser-262 epitope,and increased polyglutamylation and acetylation of microtubules compared with endogenous TAU-expressing neurons.p301L-TAU showed pronounced somatodendritic presence,but also successful axonal enrichment and a similar axodendritic distribution comparable to exogenously expressed 2N4R-wildtype-TAU.p301L-TAU-expressing hippocampal neurons in transgenic mice showed prominent missorting and tauopathy-typical AT8-phosphorylation of TAU and increased polyglutamylation,but reduced acetylation,of microtubules compared with non-transgenic *** sum,p301L-TAU results in changes in micr

关键词： human induced pluripotent stem cell microtubules p301L pR5 mice TAU tauopathy tubulin code

Unlocking hypoglycemia–associated brain microvascular dysfunction:critical insights from proteomic analysis

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Neural Regeneration Research 2025年第6期20卷 1707-1708页

作者： Siva S.V.p.Sakamuri Anil Sakamuri Department of Chemistry Auburn University at MontgomeryMontgomeryALUSA Vascular Biology Center and Department of Medicine Medical College of Georgia at Augusta UniversityAugustaGAUSA

Hypoglycemia-a critical complication linked to worsened brain function in diabetic subjects:Hypoglycemia is characterized by a decline in circulatory glucose levels below sta nda rd physiological *** hypoglycemia,classified as level 1 hypoglycemia,is defined by blood glucose levels below 70 mg/dL and can be effectively addressed through carbohydrate *** hypoglycemia,denoted by blood glucose levels less than 54 mg/dL,poses a life-threatening risk if left *** with type 1 and type 2 diabetes undergoing insulin treatment are particularly susceptible to hypoglycemia due to impaired counterregulatory mechanisms.

关键词： impaired intake critical

Design of FOpI Controller for Time Delay Systems and Its Experimental Validation

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International Journal of Automation and computing 2019年第3期16卷 310-328页

作者： Gargi Baruah Somanath Majhi Chitralekha mahanta Department of Electronics and Electrical Engineering Indian Institute of Technology Guwahati

In this paper,we report on the identification and modeling of unknown and higher order processes into first order plus dead time(FOpDT)plants based on the limit cycle information obtained from a single relay feedback test with an online fractional order proportional integral(FOpI)*** parameters of the test processes are accurately determined by the state space method while the FOpI controller settings are re-tuned to achieve enhanced performance based on the identified model parameters based on the balancedtuning method.A new performance index,integral time fractional order absolute error(ITFIAE)is introduced in this paper for balanced tuning of fractional order(FO)*** requires minimum design specifications without a-priori knowledge of gain and phase crossover frequencies and is done non-iteratively without disrupting the closed *** test processes and experimental analysis on a coupled tank system(CTS)validate the theory proposed.

关键词： Auto-tuning fractional order proportional integral(FOpI) first order plus dead time(FOpDT) balanced tuning coupled tank system(CTS).

Auto-tuning of FOpI Controllers for TITO processes with Experimental Validation

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International Journal of Automation and computing 2019年第5期16卷 589-603页

作者： Gargi Baruah Somanath Majhi Chitralekha mahanta Department of Electronics and Electrical Engineering Indian Institute of Technology Guwahati

In this paper, the auto-tuning of a fractional order proportional and integral(FOpI) controller is proposed and experimentally validated for two-input two-output(TITO) processes. The proposed method first identifies an unknown TITO plant into fractional order TITO model with time delay. Furthermore, decoupling the TITO process into two fractional order single-input single-output(SISO) transfer function models makes it easier for designing the decentralized FOpI controllers. The proposed control method is a generalization of both integer order and fractional order TITO systems depending on the value of the order of the model. One advantage of this method is the non-requirement of a-priori information of gain and phase crossover frequencies of the system while tuning the controllers. The proposed algorithm is validated both by simulation of a class of TITO process models as well as by experimental analysis of a coupled tank system(CTS).

关键词： Auto-tuning fractional order proportional and integral (FOpI) two-input two-output (TITO) robust relay with hysteresis model reduction coupled tank system(CTS)

Small molecule inhibitor DDQ-treated hippocampal neuronal cells show improved neurite outgrowth and synaptic branching

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Neural Regeneration Research 2025年第9期20卷 2624-2632页

作者： Jangampalli Adi pradeepkiran priyanka Rawat Arubala p.Reddy Erika Orlov pHemachandra Reddy Department of Internal Medicine Texas Tech University Health Sciences CenterLubbockTXUSA Department of Nutritional Sciences College of Human SciencesTexas Tech UniversityLubbockTXUSA Department of pharmacology&Neuroscience Texas Tech University Health Sciences CenterLubbockTXUSA Department of Neurology Texas Tech University Health Sciences CenterLubbockTXUSA Department of Speech Language and Hearing SciencesTexas Tech University Health Sciences CenterLubbockTXUSA Department of public Health Texas Tech University Health Sciences CenterLubbockTXUSA

The process of neurite outgrowth and branching is a crucial aspect of neuronal development and *** and dendrites,sometimes referred to as neurites,are extensions of a neuron's cellular body that are used to start *** we explored the effects of diethyl(3,4-dihydroxyphenethylamino)(quinolin-4-yl)methylphosphonate(DDQ)on neurite developmental features in HT22 neuronal *** this work,we examined the protective effects of DDQ on neuronal processes and synaptic outgrowth in differentiated HT22cells expressing mutant Tau(mTau)*** investigate DDQ chara cteristics,cell viability,biochemical,molecular,western blotting,and immunocytochemistry were *** outgrowth is evaluated through the segmentation and measurement of neural *** neural processes can be seen and measured with a fluorescence microscope by manually tracing and measuring the length of the neurite *** neuronal processes can be observed and quantified with a fluorescent microscope by manually tracing and measuring the length of the neuronal ***-treated mTau-HT22 cells(HT22 cells transfected with cDNA mutant Tau)were seen to display increased levels of synaptophysin,MAp-2,andβ-***,we confirmed and noted reduced levels of both total and p-Tau,as well as elevated levels of microtubule-associated protein 2,β-tubulin,synaptophysin,vesicular acetylcholine transporter,and the mitochondrial biogenesis protein-pe roxisome prolife rator-activated receptor-gamma coactivator-1α.In mTa u-expressed HT22 neurons,we observed DDQ enhanced the neurite characteristics and improved neurite development through increased synaptic *** findings conclude that mTa u-HT22(Alzheimer's disease)cells treated with DDQ have functional neurite developmental chara *** key finding is that,in mTa u-HT22 cells,DDQ preserves neuronal structure and may even enhance nerve development function with mTa u inhibition.

关键词： diethyl(3 4-dihydroxyphenethylamino)(quinolin-4-yl)methylphosphonate(DDQ) hippocampal neuronal cells HT22 neurite outgrowth neuronal development small molecule

Variability in cone,seed and seedling characteristics of pinus kesiya Royle ***

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Journal of Forestry Research 2015年第2期26卷 331-337页

作者： Ombir Singh Satyam Bordoloi N.mahanta Forest Tree Seed Laboratory Silviculture DivisionForest Research Institute Biotechnology and Genetics Division Rain Forest Research Institute

Investigations were made to determine the nature and extent of variations present for 10 morphological characters of cone,seed and seedlings of 17 plus trees（pTs）of pinus kesiya growing in eastern Himalayas（Meghalaya state） of *** significant variations has been observed in cone weight,cone length,cone diameter,seed length,seed diameter,seed weight,number of seeds per cone,seed germination,seedling height and seedling collar diameter among different pTs of the *** positive correlation（p ／ 0.01） between seed weight,cone length and cone diameter showed that seed weight in *** depend more on the cone *** germination is found positively correlated（p ／ 0.01） with seed weight,seed diameter,cone size and number of seeds per cone in the *** geographical factors,latitude and altitude are found positively correlated（p ／ 0.05） with cone weight and seed diameter,*** genetic parameters for seed,cone and seedlings of pTs of *** also showed a wide range of variability in terms of variance,coefficient of variability,broad sense heritability,genetic advance and genetic *** weight,seeds per cone and seedling diameter showed high heritability values（[75） coupled with maximum genetic *** with such values indicate the presence of good amount of heritable additive components and are under strong genetic *** findings of the study revealed that pTs expressed both phenotypic and genotypic differences in the seed,cone and seedling characters,which may be attributed to the differences in genetic makeup of various pTs and environmental factors *** and environmental *** presence of high variability in *** pTs for different characters provide further opportunities to improve the population in subsequent generations so as to establish this species as an important timber tree to be grown on less fertile and degraded soils in its distributional ranges.

关键词： plus trees Seed traits Heritability Genetic gain Improvement