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Aiming at the double motor driving structure of precision air suspension platform, the control strategy of the system is studied under the condition of various mechanical vibration and electrical signal noise. Based on controllability and observability of systems, the optimal controller is designed to realize the fast rise and fast stability of the system. Simulation results verify the effectiveness and feasibility of the control strategy, and the system performance is optimal.

In order to provide the fundamental basis for control and application of sea cucumber autolysis, the contribution of cathepsin L to intestinal proteolysis in sea cucumber (Stichopus japonicus) was investigated. Cathepsin L mRNA expression was significantly up-regulated by 1.80 ± 0.44-fold with ultraviolet irradiation (p< 0.05). According to the protein pattern identified by sodium dodecyl sulfate polyacrylamide gel electrophoresis (SDS-PAGE) and determination of the release of trichloroacetic acid (TCA)-soluble oligopeptide, high intestinal protein degradation was observed at pH 4.4 and 48°C. Intestinal protein proteolysis was strongly inhibited by cathepsin L inhibitors, including trans-epoxysuccinyl-L-leucyl-amido (4-guani-dino)butane (E-64), iodoacetic acid (IA), and antipain (AP). These results imply that cathepsin L is involved in intestinal autolysis in the sea cucumber S. japonicus. Abbreviations: TCA: trichloroacetic acid; Z-Phe-Arg-AMC: Z-Phe-Arg-7-amido-4-methylcou-marin; IA: iodoacetic acid; E-64: trans-epoxysuccinyl-L-leucyl-amido (4-guanidino) butane; AP: antipain; SBTI: soybean trypsin inhibitor; SDS-PAGE: sodium dodecyl sulfate polyacrylamide gel electrophoresis; RT-PCR: reverse transcription-polymerase chain reaction [ABSTRACT FROM AUTHOR]