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https://www.selleckchem.com/products/gw806742x.html In this paper, a novel grey decision-differential evolution (GD-DE) optimized internal model controller is proposed for the control of nonlinear aeroelastic blade system (ABS) under time-varying uncertainties and control saturations. Two-port internal model control structure is presented for saturation compensation. The filter parameter of the controller is optimally tuned by proposed GD-DE algorithm, which is designed based on the grey decision incidence theory and differential evolution algorithm. The superiority of GD-DE optimized tuning technique is verified, compared to conventional IMC tuning method and other evolutionary algorithm based techniques. The robustness is analysed by comprehensive simulations from time-invariant uncertainties to large periodic or random time-varying uncertainties. The realistic condition with input/output disturbances is also involved. Simulation results show that the proposed controller outperforms existing adaptive IMC controller and other advanced controllers with greatly improved dynamic performance, stronger robustness and better saturation compensation on various conditions.Tumor angiogenesis is characterized by a defective, leaky and fragile microvascular construction, and microbubble-enhanced ultrasound (MEUS) with high-pressure amplitude is capable of disrupting tumor microvasculature and arresting blood perfusion. In this study, we tried to investigate whether the blood perfusion of a malignant tumor can be characteristically interrupted by combining microbubbles and diagnostic ultrasound (US). Twenty-nine Sprague-Dawley (SD) rats with subcutaneous Walker 256 tumors and seven healthy SD rats were included. Fifteen tumors were treated by MEUS, which combined constant microbubble injection and 20 episodes of irradiation by diagnostic US (i.e., acoustic radiation force impulse [ARFI] imaging). The other 14 tumors were treated by ARFI or sham US only. Seven skeleton muscles

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