Circulating HOTAIR LncRNA Is Potentially Up-regulated in Coronary Artery Disease

Avazpour, Niloofar,Hajjari, Mohammadreza,Yazdankhah, Saeed,Sahni, Azita,Foroughmand, Ali Mohammad Korea Genome Organization 2018 Genomics & informatics Vol.16 No.4

Coronary artery disease (CAD) is one of the leading causes of death and disability all around the world. Recent studies have revealed that aberrantly regulated long non-coding RNA (lncRNA) as one of the main classes of cellular transcript plays a key regulatory role in transcriptional and epigenetic pathways. Recent reports have demonstrated that circulating lncRNAs in the blood can be potential biomarkers for CAD. HOTAIR is one of the most cited lncRNAs with a critical role in the initiation and progression of the gene expression regulation. Recent research on the role of the HOTAIR in cardiovascular disease lays the basis for the development of new studies considering this lncRNA as a potential biomarker and therapeutic target in CAD. In this study, we aimed to compare the expression of HOTAIR lncRNA in the blood samples of patients with CAD and control samples. The expression level was examined by semi-quantitative reverse transcriptase polymerase chain reaction technique. Our data shows that expression of HOTAIR is up-regulated in blood samples of patients with CAD.

Circulating HOTAIR RNA Is Potentially Up-regulated in Coronary Artery Disease

Niloofar Avazpour,Mohammadreza Hajjari,Saeed Yazdankhah,Azita Sahni,Ali Mohammad Foroughmand 한국유전체학회 2018 Genomics & informatics Vol.16 No.4

Coronary artery disease (CAD) is one of the leading causes of death and disability all around the world. Recent studies have revealed that aberrantly regulated long non-coding RNA (lncRNA) as one of the main classes of cellular transcript play a key regulatory role in transcriptional and epigenetic pathways. Recent reports have demonstrated circulating long noncoding RNAs in blood can be potential biomarkers for CAD. HOTAIR is one of the most cited lncRNAs with a critical role in initiation and progression of the gene expression regulation. Recent research on the role of the HOTAIR in cardiovascular disease lays the basis for the development of new studies considering this lncRNA as a potential biomarker and therapeutic target in CAD. In this study, we aimed to compare the expression of HOTAIR lncRNA in the blood samples of patients with CAD and control samples. The expression level was examined by semi-quantitative reverse transcriptase polymerase chain reaction technique. Our data show that expression of HOTAIR is up-regulated in blood samples of patients with CAD.

Intelligent Trajectory Tracking Control of Robot-Assisted Surgery

Mohammad Reza Avazpour,Farzin Piltan,Hooton Ghiasi,Mohammad Hadi Mazloom,Amirzubir Sahamijoo 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.5

Robotic surgery, computer-assisted surgery, and robotically-assisted surgery are terms for technological developments that use robotic systems to aid in surgical procedures. Robotically-assisted surgery was developed to overcome the limitations of minimally-invasive surgery and to enhance the capabilities of surgeons performing open surgery. In the case of robotically-assisted minimally-invasive surgery, instead of directly moving the instruments, the surgeon uses one of two methods to control the instruments; either a direct telemanipulator or through computer control. A telemanipulator is a remote manipulator that allows the surgeon to perform the normal movements associated with the surgery whilst the robotic arms carry out those movements using end-effectors and manipulators to perform the actual surgery on the patient. In computer-controlled systems the surgeon uses a computer to control the robotic arms and its end-effectors, though these systems can also still use telemanipulators for their input. One advantage of using the computerised method is that the surgeon does not have to be present, but can be anywhere in the world, leading to the possibility for remote surgery. The multi degrees of freedom actuator is an important joint, which has attracted worldwide developing interests for its medical, industry and aerospace applications. This paper addresses the problem of trajectory tracking of three dimensions joint in the presence of model uncertainties and external disturbances. An adaptive fuzzy sliding mode controller (AFLSMC) is proposed to steer a three dimension joint along a desired trajectory precisely. First, the dynamics model of a three dimension joint is formulated and the trajectory tracking problem is described. Second, a sliding mode controller (SMC) is designed to track a time-varying trajectory. The fuzzy logic system (FLS) is employed to approximate the uncertain model of the three dimension joint, with the tracking error and its derivatives and the commanded trajectory and its derivatives as FLS inputs and the approximation of the uncertain model as FLS output. And a fuzzy logic system is also adopted to attenuate the chattering results from the SMC. The control gains are tuned synchronously with the sliding surface according to fuzzy rules, with switching sliding surface as fuzzy logic inputs and control gains as fuzzy logic outputs. The stability and convergence of the closed-loop controller is proven using the Lyapunov stability theorem. Finally, the effectiveness and robustness of the proposed controller are demonstrated via simulation results. Contrasting simulation results indicate that the AFLSMC attenuates the chattering effectively and has better performance against the SMC.

Research on First Order Delays System Automation

Mohammad Reza Avazpour,Farzin Piltan,Mohammad Hadi Mazloom,Amirzubir Sahamijoo,Hootan Ghiasi,Nasri B. Sulaiman 보안공학연구지원센터 2015 International Journal of Grid and Distributed Comp Vol.8 No.4

Many of industrial plant require high performance and linear operation; higher density position and/or incremental PID can be used to integrate large amounts of control methodology in a single methodology. This work, proposes a developed method to design PID controller (PID) with optimal-tunable gains method using PC-based method. Many industrial processes can be represented by a first order model. The time delay occurs when a sensor or an actuator are used with a physical separation. The method used to design a PID is to design it as Proportional – derivative controller (PDC) and proportional – integral controller (PIC) connected in parallel through a summer. PIC is designed by accumulating the output of PDC. This method contributes to avoid writing a huge number of fuzzy rules and to reduce the memory considerations in digital design.

Robust Auto-Intelligent Sliding Accuracy for High Sensitive Surgical Joints

Amirzubir Sahamijoo,Farzin Piltan,Mohammad Reza Avazpour,Hootan Ghiasi,Mohammad Hadi Mazloom 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.8

The use of robots in medical applications has increased considerably in the last decade. Today, there are robots being used in complex surgeries such as those of the brain, eye, heart, and hip. Complex surgeries have complex requirements, such as high precision, reliability over multiple and long procedures, ease of use for physicians and other personnel, and a demonstrated advantage, to the patient, of using a robot. Furthermore, all new technologies in the medical area have to undergo strict regulatory clearance procedures, which may include clinical trials, as outlined by various government regulatory agencies. Variable Structure controller is a powerful nonlinear robust controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for surgical joints. Limitation of robustness in uncertain dynamic parameter is the main drawback in pure Variable Structure controller. This challenge in pure Variable Structure controller and intelligent Variable Structure controller is reduced by using sliding surface auto-tuning. Artificial intelligence theory is used to reduce the system’s limitation. In this research, PI fuzzy sliding surface tuning Variable Structure controller is introduced. To eliminate the uncertain limitation, 49 rules Mamdani inference system is design and supervised the Variable Structure methodology. This method is based on resolve the on line sliding surface slope as well as improve the output performance by tuning the sliding surface slope coefficient. The sliding surface gain () of this controller is adjusted online depending on the last values of error () and integral of error (Σ) by sliding surface slope updating factor (). Fuzzy-based tuning controller is stable controller, which does not need to limits the dynamic model of surgical joints.

Design Sensor-less PID Filter Controller for First Order Delays System

Hootan Ghiasi,Farzin Piltan,Mohammad Reza Avazpour,Mohammad Hadi Mazloom,Amirzubir Sahamijoo,Nasri B. Sulaiman 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.4

The dynamics of a first order delay system is highly nonlinear, time variant, uncertain and coupling effects. The main objectives to control of first order delay system are time response and acceleration measurements. The problem of acceleration measurements can be reduced, based on design sensor-less Proportional-Integral-Derivative (PID) filter controller in this research. Assuming unstructured uncertainties and structure uncertainties can be defined into one term and considered as an uncertainty and external disturbance, the problem of computation burden and large number of parameters can be solved to some extent. To solve the uncertainties acceleration measurements play an important role. In order to design sensor-less PID filter controller, an accurate PD surface and the derivative of PD surface plays important role. To design an accurate PD surface, stable and tuning surface slope is needed to form the structure of main PID controller. In this algorithm, the derivative of PD surface computes the second derivation of error. Regarding to this method, the challenge of system uncertainties and time response have been solved based on sensor-less acceleration linear filter controller. As this point if s = K1e + e + K2Σe is chosen as desired surface, if the dynamic of first order delay is derived to surface then the linearization can be realized. Because, when the system dynamic is on the surface is used the derivative of surface S = K1e + e + K2e is equal to the zero that is a decoupled and linearized closed-loop systems dynamics. Linearization and decoupling by the above method can be obtained in spite of the quality of the first order delay dynamic model.

Methodologies of Chattering Attenuation in Sliding Mode Controller

Amirzubir Sahamijoo,Farzin Piltan,Mohammad Hadi Mazloom,Mohammad Reza Avazpour,Hootan Ghiasi,Nasri B. Sulaiman 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.2

Uncertain or complicated systems are difficult to control. Modeling the system uncertainties is an especial topics in most of engineering field. On the other hand, since system has uncertainty, design stable and robust controller is crucial importance in control engineering. To solve this challenge nonlinear control technique is the best choice. Sliding mode control is one important type of robust control. Model imprecision may come from actual uncertainty about the plant or from a purposeful simplification of the system's dynamics. Modeling inaccuracies can cause strong adverse effects on the control design of nonlinear systems. For the class of systems to which it applies, sliding mode controller design provides a systematic approach to the problem of maintaining stability and consistent performance in the face of modeling imprecision. However, sliding mode controller is a robust and stable controller but it has an important challenge called, chattering phenomenon. This research focuses on the comparative between three methods to eliminate/reduce the chattering.

Design SPARTAN FPGA-Based PD Controller for FOD Systems

Amirzubir Sahamijoo,Farzin Piltan,Hootan Ghiasi,Mohammad Reza Avazpour,Mohammad Hadi Mazloom,Nasri B. Sulaiman 보안공학연구지원센터 2016 International Journal of Smart Home Vol.10 No.11

It goes without saying that, there is quite a diverse mixture of the linear controller. Nevertheless, I assume the most famous would probably be Proportional Integral (PI) controller. The things with PI controller are that most of PI controllers are reduction the error. As well as PI controllers, another kind of linear controller worth mentioning could be Proportional Derivative (PD) controller and the unique characteristic of PD controller is that PD controllers are high speed and independent of system’s dynamic modeling. In addition, there are the usual things like PID controllers and PI2D controllers. The main objective of this paper designs a minimum delay proportional-derivative (PD) controller to the control of first order delay (FOD) system. First order delay system has delay time about 4 seconds in certain and about 19 seconds in limited uncertain condition. To improve the flexibility, design high-speed and low-cost controller, the micro-electronic device (FPGA-Based) controller is used in this research. The proposed design is 30-bits FPGA-based controller for inputs and 35-bits for output. In this research, the maximum frequency is 63.629 MHz and the minimum period is 15.716 ns, the minimum input arrival time before the clock is 4.362 ns and the maximum output required time after clock is19.727 ns. In this algorithm, the delay time for the derivative algorithm is 15.526 ns which 87.8% is a logic delay and 12.2% is route delay.

Trajectory Tracking Control of Multi Degrees of Freedom Joints: Robust Fuzzy Logic-Based Sliding Mode Approach

S.Yauldegar,Hootan Ghiasi,Mohammad Hadi Mazloom,Amirzubir Sahamijoo,Mohammad Reza Avazpour,Farzin Piltan 보안공학연구지원센터 2014 International Journal of Control and Automation Vol.7 No.12

The multi degrees of freedom actuator is an important joint, which has attracted worldwide developing interests for its medical, industry and aerospace applications. This paper addresses the problem of trajectory tracking of three dimensions joint in the presence of model uncertainties and external disturbances. An adaptive fuzzy sliding mode controller (AFLSMC) is proposed to steer a three dimension joint along a desired trajectory precisely. First, the dynamics model of a three dimension joint is formulated and the trajectory tracking problem is described. Second, a sliding mode controller (SMC) is designed to track a time-varying trajectory. The fuzzy logic system (FLS) is employed to approximate the uncertain model of the three dimension joint, with the tracking error and its derivatives and the commanded trajectory and its derivatives as FLS inputs and the approximation of the uncertain model as FLS output. And a fuzzy logic system is also adopted to attenuate the chattering results from the SMC. The control gains are tuned synchronously with the sliding surface according to fuzzy rules, with switching sliding surface as fuzzy logic inputs and control gains as fuzzy logic outputs. The stability and convergence of the closed-loop controller is proven using the Lyapunov stability theorem. Finally, the effectiveness and robustness of the proposed controller are demonstrated via simulation results. Contrasting simulation results indicate that the AFLSMC attenuates the chattering effectively and has better performance against the SMC.

Robust Auto-Intelligent Sliding Accuracy for High Sensitive Surgical Joints

Mohammad Hadi Mazloom,Farzin Piltan,Amirzubir Sahamijoo,Mohammad Reza Avazpour,Hootan Ghiasi,Nasri B. Sulaiman 보안공학연구지원센터 2016 International Journal of Bio-Science and Bio-Techn Vol.8 No.1

The objective of this paper is to design and coordinate controllers that will enhance transient stability of three dimensions motor subject to large disturbances. Two specific classes of controllers have been investigated, the first one is a type of disturbance signals added to the excitation systems of the generating units. To address a wide range of operating conditions, a nonlinear control design technique, called highly nonlinear computed torque control, is used. While these two types of controllers improve the dynamic performance significantly, a coordination of these controllers is even more promising. Results show that the proposed control technique provides better stability than conventional computed torque fixed gain controllers.