This brief investigates the finite-time consensus tracking control problem for networked uncertain mechanical systems on digraphs. A new terminal sliding-mode-based cooperative control scheme is developed to guarantee that the tracking errors converge to an arbitrarily small bound around zero in finite time. All the networked systems can have different dynamics and all the dynamics are unknown. A neural network is used at each node to approximate the local unknown dynamics. The control schemes are implemented in a fully distributed manner. The proposed control method eliminates some limitations in the existing terminal sliding-mode-based consensus control methods and extends the existing analysis methods to the case of directed graphs. Simulation results on networked robot manipulators are provided to show the effectiveness of the proposed control algorithms.

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To evaluate the effectiveness of ginsenoside Rg3 alone or in combination with cyclophosphamide (CPA) on tumor growth and angiogenesis in human lung cancer, 54 female athymic mice were transplanted with lung cancer cells (A549) which then were randomly divided into 4 groups: Ginsenoside Rg3 group, CPA group, ginsenoside Rg3 plus CPA group and control group. Ginsenoside Rg3 of 3.0 mg/kg (once/day for 10 days) and CPA of 20.0 mg/kg (once/day for 10 days) were intraperitoneally given to mice for consecutive 10 days. Seven mice selected from each group were sacrificed 18 days later. The survival time of the remaining 7 mice in each group was recorded. The life elongation rate, proliferating cell nuclear antigen labeling index (PCNALI), expression of vascular endothelial cell growth factor (VEGF) and microvessel density (MVD) in the tumor tissues were evaluated. The quality of life of mice with administration of ginsenoside Rg3 alone or ginsenoside Rg3 plus CPA were better with longer survival time, when compared with other groups. The PCNALI, MVD and VEGF expression in mice of the treated groups were significantly lowered when compared with that of the control group. Additionally, the MVD of mice in groups with treatment of ginsenoside Rg3 alone or ginsenoside Rg3 plus CPA were lower than that in the CPA group. Tumor growth and angiogenesis in lung cancer were profoundly inhibited by ginsenoside Rg3 alone or in combination with CPA. The synergistic anticancer effects of ginsenoside Rg3 and CPA improved the survival time in lung cancer.

Based on the transmission and equilibrium relationship of vibration energy in beam-like structures, the Galerkin weighted residual method was applied to equation discretization. An equivalent transformation of feedback element was suggested to develop the Energy Finite Element model of a composite piezoelectric cantilever beam driven by harmonic excitation on lateral direction, with both systems with and without time delay being studied and the power input estimation of harmonic excitation was discussed for the resolution of Energy Finite Element function. Then the energy density solutions of the piezoelectric coupling beam through Energy Finite Element Method (EFEM) and classical wave theory were compared to verify the EFEM model, which presented a good accordance. Further investigation was undertaken about the influence of control parameters including the feedback gain and arrangement of piezoelectric patches on characteristics of system energy density distribution.