Optimizing actual PID control for walking quadruped soft robots using genetic algorithms.

The construction of soft robots's models and controllers remains a significant challenge. In this paper, we propose a new walking control method for the quadruped soft robot named genetic algorithm-optimized PID. First, we construct the control model correlating valve voltage with leg bending based on the geometrical analysis. This modeling approach leverages the characteristics of novel leg structure and bend sensor, thereby streamlining the control model for locomotion of quadruped soft robotic. Moreover, We apply the genetic algorithm to automatically tune parameters and optimize PID controllers, aiming to enhance control performance. The application of the proposed method to the walking control has been uniquely demonstrated on a real 3D-printed quadruped soft robot. Experimental results indicate that the genetic algorithm-optimized PID controller significantly improves trajectory tracking compared to the Ziegler-Nichols tuning method. This optimization increases the robot's walking speed from 5 mm/s to 8 mm/s, reduces the error rate by 2.4064%, decreases overshoot by 12.55%, and shortens response time by 0.5 s, substantially enhancing the controller's overall performance. Additionally, compared to particle swarm optimization, the proposed method further improves performance by reducing the error rate by 0.4079%, overshoot by 8.4%, and response time by 1.0 s.

Ginsenoside Rg5 attenuates hypoxia-induced cardiomyocyte apoptosis via regulating the Akt pathway.

Ginsenoside Rg5 has been implicated in a variety of diseases. However, it is unknown whether Ginsenoside Rg5 can protect against hypoxia-induced neonatal rat cardiomyocytes (NRMs). The purpose of this study was to look into the effect of Ginsenoside Rg5 on hypoxia-induced NRMs apoptosis as well as the underlying molecular mechanism. In this study, following isolation and culture of ventricular myocardial cells from neonatal rats, the appropriate concentration of Rg5 was determined using the MTT assay, the effect of Rg5 on apoptosis was assessed employing TUNEL staining and flow cytometry assays. Levels of apoptosis-related proteins and phosphorylated level of Akt (ser 473 and ser 308) were analyzed using the western blot analysis. Finally, the experimental results shown that Ginsenoside Rg5 significantly inhibited hypoxia-induced NRMs apoptosis, decreased the expression pro-apoptotic protein Bax, increased the expression of anti-apoptotic protein Bcl-2 ratio and the level of cleaved caspase 3. Akt signaling activation was found to be the mechanism of Ginsenoside Rg5s protective effect on hypoxia-induced NRMs apoptosis, as an Akt inhibitor eliminated the anti-apoptotic effects of Ginsenoside Rg5. Various analyses were performed and verified, ginsenoside Rg5 suppressed hypoxia-induced apoptosis in NRMs via activation of the Akt signaling.

[Prevention of abdominal adhesions in rats by rhynchophylline through inhibition of Smad singnaling pathway].

Postoperative intra-abdominal adhesion is one of the most common complications in the postoperative period. Current remedies are very ineffective to prevent the pathological outcomes except steroid hormones. Rhynchophylline is deemed as a pharmacologically active component from traditional Oriental medicine Uncaria rhynchophylla (Miq.) Jacks. (Rubiaceae). This study was designed to investigate the preventative effect of rhynchophylline on the abdominal adhesions in rats. Rhynchophylline relieved the experimental abdominal adhesion and decreased the levels of interleukin-1 ß (IL-1ß), interleukin-6 (IL-6) and tumor necrosis factor-α (TNF-α) in the blood serum in a dose-dependent manner. The levels of transforming growth factor- ß1 (TGF-ß1) and connective tissue growth factor (CTGF) were reduced significantly in the peritoneal fluid. The potential mechanism of the activity is related to inhibition of the TGF- ß1/Smad signaling pathway.