robbins_eob11_inppt09

RSLogix 5000 Release 17.00Copyright © 2008 Rockwell Automation, Inc. All rights reserved.Logix V17 Extensions• Software Extensions– Partial Import / Export of Routines and Programs – Full Project XML (L5X) Import/Export – Offline Partial Import of Modified UDT with Data Preservation – Runtime Partial Import of Routines, Programs, and NEW Add-On-Instructions – Multi-Lingual project documentation with Language Switching – Controller on-line project change logging• Reporting– Controller Organizer Report• Usability Extensions– – – – – – – – – – – – – – – – Forcing and Toggle Bit Added to Quick Watch Window Tag Monitor Enhancement - Alarm Grid Display Mode Search Item Browser Supports Tag Name Typeahead ControlFlash v7.0 Enhancements Coordinated System Time (CST) Master Existence Check On Download Tag’s Descriptions Length Extended Produced / Consumed Tag Status Verification Warning If Forces Are Present Verification Warning If AFI Are Present System Install Enhancements Start Page Enhancements Decorated Data Support in L5X Import/Export Files RSLogix 5000 Professional Concurrent RSLogix 5000 Standard Concurrent RSLogix 5000 Professional Changes Microsoft Windows Vista Support• Programming Languages Enhancements– LD Instruction Parameter Display Optimization Options – FBD Advanced Process Control Blocks (Smith Predictor, Coordinated Control, Multivariable control) – SFR Instruction Filters Routine Types and Step Names – Option to hold SFC Step / Action Timer “Acc” when chart is paused – SFC Chart Paused State Via GSV Instruction – Tag’s Description Added to Tooltips in FBD Editor – GuardLogix SIL 3 Instructions Extensions• Miscellaneouos• Motion Enhancements– Motion multi-axis programmable Jerk – MCD and MCCD Motion Instructions Enhancements• RSI Integration– FactoryTalk AssetCentre Archive Check-In/Out – RSLogix Architect Library Management2010/12/24Logix V17 Extensions Continued• New Network and I/O Module Profiles– Flex 1794-IJ2I Isolated Counter – Flex 1794- IF4XOF4I 4pt In / 4pt Out Combination Isolated Analog – Flex 1794-IG16, OG16, IH16, IV32, OV32, IM16, OM16 – Flex 1794-IT8/B, 1794-IR8/B, 1794-IF8I and 1794-OF8I – ControlLogix 1756-EN2F Major rev 2 – ControlLogix 1756-CFM Counter Major Rev 2 (Config output based on freq) – ControlLogix 1756-OB8I 8pt Isolated DC Output – 1768 Compact Generic Config Profile – 1757-FFLDC ControlNet to Foundation Fieldbus Linking Device – Adding PowerFlex 7 & 4 Drives On-line on EtherNet/IP and ControlNet – Thin profiles for Flex IO modules (1794IF8IH/B, 1794-OF8IH/B, 1794-IE8H/B, 1794OE8H/B, 1797-IE8H/B, 1797-OE8H/B) – 1797-ACNR15 Major rev 5• Controller Support– ControlLogix 1756-L65 32MB Memory Controller – GuardLogix 1756-L63S Controller – CompactLogix 1769-L2x Controllers – Removal of ControlLogix 1756-L55 and FlexLogix 1794-L34B Controller• Other– StratixTM Industrial Switch Portfolio – CIP Sync support on 1756-EN2T – Unicast Produced/Consumed Tags for EtherNet/IP Generic Modules – CIP Generic Module COMM Format of None – Cyclic EDT support for flex adapters (1794ACN, 1794-ACNR, 1794-AENT, 1797-ACNR)• Tools– Logix5000 Update Tool – DELMIA Automation Bi-Directional Synchronization Utility2010/12/24Program & Routine Partial Import / Export• V17 provides ability to export Programs, Phases and Routines– Similar to the V13 LD Rung Partial Import/Export – Includes support for FBD,SFC and ST• The export “.L5X” file includes all pertinent information– Program configuration, code, user defined data-types, tags and descriptions – XML formatted ASCII text file – Distribute code separately from the RSLogix 5000 Project “.ACD” file – The file can be manipulated and even created by other tools• Create larger libraries of reusable code– Provides more control over the scope of what will be extracted from the project – Useful for larger machine, cell or unit control – Promotes standardization and reuse2010/12/24Importing into a project• To import, select the previously exported Add-On Instruction, program, phase, routine, or UDT you wish to use in your running project and click on Import...2010/12/24Import Configuration dialog• Provides a listing of all components which will be imported and whether they conflict with existing components already in the running project. • Allows you to resolve conflicts when collisions occur.2010/12/24RSLogix 5000 Project “.L5X” Import/Export• Extends RSLogix 5000 to support import/export of a FULL project to an XML formatted file– Contains: processor / I/O / motion configuration, application logic, data / structures / tag definitions, comments and descriptions – Similar to ASCII Text L5K file but uses an XML Scheme – Open and fully documented in publication 1756-RM084E-EN-P• Useful for enhancing development productivity– Manipulate application source using text editing tools – Build tools to auto-generate projects – Extract / merge code fragments to build new projects2010/12/24Off-line Partial Import of Modified UDT with Data Preservation• With release V16, we allowed you to import/export a UDT to an XML file– However, only new UDTs could be importedOld UDT• With V17, we are extending this functionality by allowing existing UDTs to be imported while maintaining existing members’ data values– Data values will be maintained when: • Inserting/adding members • Deleting members • Rearranging (moving) members • Renaming members • Changing the data types of members – Data values for members renamed and moved will not be maintainedAdded Member member Added Added Member leaves existing data values unchanged• Improves user experience by allowing easy UDT maintenance off-lineUpdated UDT2010/12/24 Runtime Partial Import• V17 Provides ability to import Programs, Routines and NEW Add-on Instructions on-line with a running controller– – – – NEW programs, routines and add-on instructions can be added Existing Programs and routines can be replaced New tags and UDTs are created as needed Name collisions are detected automatically and user prompted to rename or bind to existing components – The data values in the controller are maintained and new tags will have their values initialized from the import fileNEW Add-on Tags Instruction User-Defined Routine Datatype Program Data “.L5X” File• Permits ability to manipulate code off-line and deliver to controller later– ...vs. on-line editing where you must be connected – With some extra effort, existing Add-on Instructions can be replaced• Must use the following versions of RSLinx to use this feature– RSLinx Classic V2.54.00 or greater – RSLinx Enterprise V5.17.00 or greater2010/12/24RSLogix 5000 Multi-Lingual Project Documentation with Language Switching• V17 Extends RSLogix 5000 to manage multiple local language documentation sets– User has control over how many are created – Supports both single (European) and double byte (Unicode / Asian) character sets – Translation can occur manually within RSLogix 5000 of externally via a Unicode Text (txt) file that is formatted with tab-separated values• RSLogix 5000 allows you to switch the documentation view to the desired language– This is independent from the language software displays on its menus and help• Valuable for companies with multi-national business– Standardize systems internationally – Use the same base project in multiple countries – Draw resources globally to develop and support2010/12/24Multi-Lingual Description / Comments in a RSLogix 5000 Project – Import/Export• Use export/import to manipulate project document outside of RSLogix 5000– Tab Separated Value (.txt) Unicode text file• Use off-the-shelf tools to do offline translation, like Microsoft Excel– Allows for easier translation process and spell checking• Share the project information with others– Valuable for 3rd party translation – Outsource translation2010/12/24Runtime Detection of Controller Modifications• With V17, the 1756 ControlLogix L6x1 and GuardLogix L6xS1 Controllers track on-line changes via an internal log and with change counters– Logs type of change and PC Identity of user making the change – Stores a list of changes to CompactFlash card for later review – Programmatically accessible (GSV Instruction) counters increment when a user modifies a running controller• Provide indication that changes have occurred and post mortem of where the changes are and by whom via the log • Valuable for FDA regulated applications that need to know the applications has been modified1Initially Limited to ControlLogix L6x and GuardLogix L6xS ControllersChange Change Change Change Log Counters Log Counters2010/12/24LD Instruction Parameter Display Optimization Options• New workstation options provide more control over how instructions are displayed in Ladder Diagram– Increases the amount of information that can fit on a display (reduced white space) – Improves readability• Four new options:– – – – Include* / hide instruction description line Show instruction parameters in a flat list* or inputs left and outputs right Control when left/right presentation is used for AOIs or all instructions Animate Boolean tags via highlighting or via separate value*• * Default today2010/12/24New Options Maximize Screen ContentLegacy faceplate style New optional faceplate style• • • •2010/12/24Reduced instruction display space Easily determine inputs from outputs InOut parameters use a different color from inputs Animation of BOOL tags via color rather than valuesNew Advanced Process Control Instructions• RSLogix 5000 V17 provides three new optional advanced process control (APC) instructions– Internal Model Control (IMC) – Compares actual process error against error calculated by an internal first order lag plus deadtime model – Coordinated Control (CC) - Controls a single process variable by manipulating as many as three different outputs – Modular Multivariable Control (MMC) - Controls two process variables to their setpoints using up to three controller outputs – Useful for applications with multiple interacting inputs/outputs or with long deadtimes0.0 PV 0.0 SPProg 0.0 SPCascade 0.0 0.0 0.0 0 00.0 0.0 0.0 0.0 0.0 0.0 0 0 0 0 0 0 ProgCV3AutoReq 0 ProgCV1ManualReq 0 ProgCV2ManualReq 0 ProgCV3ManualReq 0 ProgCV1OverrideReq 0 ProgCV2OverrideReq 0 ProgCV3OverrideReq CV3Override CV2Override 0 CV1Override 0 CV3Manual 0IMC_01 IMC Internal Model Control 0.0 CVEUCC_01 0.0...SPCC0ProgOperCoordinated Control 0...RatioProg 0.0PVCasRat 0 Auto 0 Manual 0 00.0 0.0 0.0CV1EU SPProg CV2EU0.0 0.0 0.0 CV3EU 0.0 SP 0 ProgOper 0 CV1Auto 0 CV2Auto 0 CV3Auto 0 0 0 0 CV1Override 0 CV2Override 0 CV3OverrideCVProg 0.00.0HandFB 0.0 MMC_01 CV1Prog• Instructions purchased separately and licensed per use– 9324-RLDAPCENE – provides a license to use the instructions in RSLogix 5000 and provides a license to use them in a single Logix controller - $3,000 US List Price – 9324-RLDAPCCLENE - provides a license to use the instructions in an additional controller (honor system for run-time license, may change in the future) - $1,000 US List Price0 CV3Prog Hand ProgOperReq Modular Multivariable Control 0 0 ProgProgReq ProgCasRatReq 0 CV1EU PV1 0 ProgOperReq 0 PV2 CV2EU ProgAutoReq ProgCV1AutoReq 0 0 SP1Prog CV3EU ProgManualReq ProgCV2AutoReq 0 0 SP2Prog SP1 ProgOverrideReq ProgCV3AutoReq 0 0CV1Prog SP2 ProgHandReq ProgCV1ManualReq 0 CV2Prog ProgOper ProgCV2ManualReq 0 CV3Prog CV1Auto ProgCV3ManualReq 0 ProgProgReq CV2Auto ProgCV1OverrideReq 0 ProgOperReq CV3Auto ProgCV2OverrideReq 0 ProgCV1AutoReq ProgCV3OverrideReq CV1ManualMMC ProgProgReq CV2Prog Override ...0.0 CV1Manual 0.0 CV2Manual 0 0 0 0 0 0 0CV3ManualProgCV2AutoReqCV2Manual2010/12/24Advanced Process Control Instructions Internal Model Control (IMC)• Controls a single process variable by manipulating a single output • Compares actual process error against error calculated by an internal first order lag plus deadtime model • Built-in autotuner makes setup easier • Suitable for long deadtime processes which are difficult to control with standard PID loopsIMC_01 IMC Internal Model Control 0.0 PV 0.0 SPProg 0.0 SPCascade 0.0 RatioProg 0.0 CVProg 0.0 HandFB 0 ProgProgReq 0 ProgOperReq 0 ProgCasRatReq 0 ProgAutoReq 0 ProgManualReq 0 ProgOverrideReq 0 ProgHandReq Hand Override 0 Manual 0 Auto 0 CasRat 0 ProgOper 0 SP 0 CVEU 0.0 0.0 ...2010/12/24Advanced Process Control Instructions Coordinated Control (CC)• Controls a single process variable by manipulating as many as three different outputs • Target values and priorities for outputs are used to optimize your process • Compares actual process error against error calculated by internal first order lag plus deadtime models for each output • Outputs not currently controlling (held at target or in manual) are used as feedforward signals • Built-in autotuners make setup easierCC_01 CC Coordinated Control 0.0 PV 0.0 SPProg 0.0 CV1Prog 0.0 CV2Prog 0 CV3Prog 0 ProgProgReq 0 ProgOperReq 0 ProgCV1AutoReq 0 ProgCV2AutoReq 0 ProgCV3AutoReq 0 ProgCV1ManualReq 0 ProgCV2ManualReq 0 ProgCV3ManualReq 0 ProgCV1OverrideReq 0 ProgCV2OverrideReq 0 ProgCV3OverrideReq CV3Override CV2Override 0 CV1Override 0 CV3Manual 0 CV2Manual 0 CV1Manual 0 CV3Auto 0 CV2Auto 0 CV1Auto 0 ProgOper 0 SP 0 CV3EU 0.0 CV2EU 0.0 CV1EU 0.0 0.0 ...2010/12/24Advanced Process Control Instructions Modular Multivariable Control (MMC)• Controls two process variables to their setpoints using up to three controller outputs. • Target values and priorities for outputs are used to optimize your process. • Compares actual process errors against errors calculated by internal first order lag plus deadtime models for each output-toinput relationship. • Outputs not currently controlling (held at target or in manual) are used as feedforward signals. • Built-in autotuners make setup easier.2010/12/24 MMC_01 MMC Modular Multivariable Control 0.0 PV1 0.0 PV2 0.0 SP1Prog 0.0 SP2Prog 0.0 CV1Prog 0.0 CV2Prog 0 CV3Prog 0 ProgProgReq 0 ProgOperReq 0 ProgCV1AutoReq 0 ProgCV2AutoReq 0 ProgCV3AutoReq 0 ProgCV1ManualReq 0 ProgCV2ManualReq 0 ProgCV3ManualReq 0 ProgCV1OverrideReq 0 ProgCV2OverrideReq 0 ProgCV3OverrideReq CV3Override CV2Override 0 CV1Override 0 CV3Manual 0 CV2Manual 0 CV1Manual 0 CV3Auto 0 CV2Auto 0 CV1Auto 0 ProgOper 0 SP2 0 SP1 0.0 CV3EU 0.0 CV2EU 0.0 CV1EU 0.0 0.0 ...SFR Instruction Filters Routine Types and Step Names• With V17, the SFR instruction (Sequential Function Chart Reset) operand selection pulldown menus have been enhanced to filter just SFC routine types and SFC_STEP tag types • Previously, customers had to browse through all routines and tag types, which was time consuming2010/12/24SFC Step Timer ACC time Chart Pause Management• Logix timers store a portion of the wall clock with each scan and compare to the value from the last scan, The ACC value is then updated by the difference– When an SFC chart is paused, and then released, all of the timers jump forward by the amount of time of the pause • This is valuable for operations that consider the pause time as part of the process • Application code could be used to buffer the timer ACC and restore it after a release to ignore the chart pause duration – Many applications want the timers to pick up where they were at the point of the pause (ignoring the pause time)• This release now provides an option to control how the step timers will treat the pause– Options to Ignore or count the pause time – Provides more flexibility to control a wider range of applications2010/12/24SFC Chart Paused State Via GSV Instruction• With release v17, we are giving the user the ability to determine via GSV instruction an SFC chart paused state programmatically • Customers can now have either:– The program detect the situation and take corrective action or – Send the state to an HMI for user interface display.2010/12/24Tag’s Description Added to Tooltips in FBD Editor• With V17, the tooltips in the FBD editor now always include the tags’ descriptions • Provides improved ease-of-use when customers turn off “Show Tag Descriptions” in the Workstation Options– Descriptions may be turned off to reduce clutter on FBD sheetsTag’s description added to tooltip2010/12/24 GuardLogix V17 Safety Enhancements• 20 TÜV / BG Certified Safety Application Instructions– – – – – 9 Metal Forming Instructions (BG) 3 Muting Instructions (Light Curtains) 6 New Dual Channel Instructions Safety Mat 8 Position Mode SwitchMore Information2010/12/24 Dual Channel Application Instructions• Next generation of certified application instructions– – – – – – DCI – Start DCI – Stop DCI – Stop with Test DCI – Stop with Test & Lock DCI – Stop with Test & Mute DCI - Monitor• Focused on three main safety “jobs”– Start – Stop – Monitor• Easier to use • Better diagnostics2010/12/24 Metal Forming Instruction Suite• BG Certified Mechanical Press Application Instructions– EN 692 – ANSI B11.1 – CSA Z142.02– 10 Metal Forming Instructions • Crankshaft Position Monitor • Clutch Brake Inch Mode • Clutch Brake Single Stroke Mode • Clutch Brake Continuous Mode • Camshaft Monitor • Main Valve Control • Auxiliary Valve Control • Manual Maintenance Valve Control • Two Hand Run Station • 8 Position Mode Selector2010/12/24 Muting Suite and Safety Mat• 3 Certified Muting Instructions– Two Sensor Asymmetrical – Two Sensor Symmetrical – Four Sensor Bidirectional– Superior Safety for Conveyor related applications• Light Curtains • Laser Scanners• Safety Mat Instruction– Eliminates the need for a safety mat controller. – Directly connect safety mats to 1791DS, 1791ES and 1732DS safety I/O.2010/12/24IA Safety Accelerator – System Design Guidelines/Tools• A safety control system methodology assisting in device configuration and supporting safety logic tasks. • A device selection guide based on safety requirements.2010/12/24IA Safety Toolkit Preconfigured Status and Diagnostic Faceplates/AOIs• FactoryTalk View Faceplates for GuardLogix Controller and Safety I/O Blocks including companion Logix Add-On Instructions.Preconfigured FaceplateCompanion Add-On Instruction2010/12/24Preconfigured Status and Diagnostic Faceplates General Faceplate Components• Faceplates are single on-top displays incorporating object visibility control to create multiple views based on toolbar buttons and device status.Header Object Group with configurable ASCII Display for application specific faceplate identification Close Button Operator toolbar for navigating to different views of the faceplateController or device status/diagnostic indicator objects including configurable description objects. Operator action button objects specific to faceplate view.2010/12/24Preconfigured Status and Diagnostic Faceplates Toolbar Components• Operator toolbar allows navigation to different views of the faceplate.Alarm button allows operator to view fault descriptions and action views. The button icon will flash yellow indicating an active fault/alarm event. Configuration button will allow operator to launch a configuration view or allow object description editing directly on current view. Faceplate specific buttons allow navigation to status/diagnostic views associated with the specific device. This example includes (3) buttons providing access to Safety I/O block inputs and outputs. The “IN 0-7” is grayed indicating button is currently inactive and status view section below is displaying Safety I/O block inputs 0 thru 7. Help button initiates navigation to a help view specific to current view providing operator with indicator color codes, description explanations, and button action information.2010/12/24 Controller Organizer Report• Extends RSLogix 5000’s printed output to include the contents of the controller organizer– – – – Provides an overview of the application structure and configuration Includes component and associated descriptions Serves as a sort of table of contents for the rest of the listing Helps to provide a more comprehensive project documentationController: my_controller This is my controller description Controller Fault Handler my_controller_fault_program This is my description for my controller fault program my_controller_fault_routine this is my description for my controller fault routine Power-Up Handler power_up_handler_program, This is my description power_up_handler_routine Tasks My_Event_Task, This is an event task aaaaa bbbbb ccccc ddddd eeeee fffff ggggg hhhhh iiiii jjjjj kkkkk lllll mmmmm nnnnnn ooooo ppppp qqqqq rrr my_event_task_program This is my description for my event task program my_event_routine MainTask This is my main task description MainProgram This is my description for my program My_Main_SFC_Routine This is my description for my_main_sfc_routine My_Fault_SFC_Routine This is my description for my_fault_sfc_routine My_RLL_Routine This is my description for my_rll_routine My_FBD_Routine This is my description for my_fbd_routine My_ST_Routine This is my description for my_st_routine MyEquipmentPhase2010/12/24Multi-Axis Programmable Jerk• Programmable jerk added in v16 is being extended in this release to also support multi-axes moves instructions (MCCM, MCLM & MCS)– Adds programmable jerk configuration on faceplates – Supported for termination types 0 through 3• Configurable Maximum jerk rates are accessible programmatically via GSV/SSV instructions • Allows user to optimize need for speed and smoothness by specifying acceleration and deceleration jerk rates on single and multi-axis moves2010/12/24 MCD and MCCD Motion Instructions Enhancements• Extended the functionality of the MCD instruction by allowing for the acceleration and deceleration jerk rates to be also changed for in process single-axis moves or jogs • Same extensions apply to the MCCD instruction allowing for the acceleration and deceleration jerk rates to be changed for multi-axis coordinated moves or jogs • Lastly, added enumeration to the MCCD instruction so that the "Active & Pending" motion can be changed dynamically2010/12/24Forcing and Toggle Bit Added to Quick Watch Window• In this version of RSLogix 5000, we have ported the Force Mask available in the Tag Monitor dialog also into the Quick Watch window • Additionally, we have added the ability to toggle bits in the Quick Watch window • Improves ease of use and reduces steps required to force and toggle tags2010/12/24Tag Monitor Enhancement - Alarm Grid Display Mode• Quickly evaluate alarm status and current values at-a-glance • Make faster decisions for Alarm Troubleshooting • Supports both ANALOG_DIGITAL and ALARM_ANALOG datatypesUse this button to select datatype2010/12/24Search Item Browser Supports Tag Name Typeahead/Autocompletion• With this release, the Search Item Browser supports tag name typeahead– Browser is available from Find and Replace dialogs• Improves ease-of-use by speeding-up tags selectionNew control supporting typeahead/autocompletion2010/12/24ControlFlash V7.0 – Simplifies Firmware Management• Allows ControlFlash to run with no GUI – Reduce training requirements of technicians – Improve time to commission a machine or performing field upgrades • Command Line Execution – Allows command line execution of ControlFlash for simple Batch File flashing or custom VB app • Script Execution – Allows creation of an ASCII script for ControlFlash to follow when commissioning or upgrading a machine – Script lists the Modules to flash, firmware revs, and path requirements – Multi- Threaded to allow ControlFlash to flash up to 5 modules simultaneously for improved performance • Success/Fail Programmatic Feedback – Return strings for command line execution as well as History Log file for interrogation of success/fail flash eventsExample of custom VB application2010/12/24Coordinated System Time (CST) Master Existence Check On Download• With v16 and earlier, only a verify warning was reported on download to users if the CST master was not designated • Without a designated CST master:– Axes in motion group would not function – Safety controller will fault on transition to RUN if a CST Master is not designatedSafety controller dialog– CST master is required for applications with Motion Groups and Safety controllersStandard controller dialog• With 17, users can designate target controller as the CST master directly from the download dialog– Supports standard and safety controllers• Improves user experience and reduces chances of configuration errors during start-up phase2010/12/24 Tag’s Descriptions Length Extended• Up to v16 of RSLogix 5000, tags’ description may have been represented with a maximum of 128 characters in length • With release v17, we are extending the maximum number of characters to 512– Maximum length applies also to Unicode characters• Allows for extended descriptions or descriptions in multiple localized languages for the same tag2010/12/24Produced/Consumed Tag Structures Status• With v17, users will be able to include status information when producing/consuming tags • P/C tags must be structures– First structure member must be of datatype CONNECTION_STATUS; this datatype includes: • RunMode • ConnectionFaulted• Provides for easy data quality validation by accessing included status data • Must use RSNetWorx v9.0 for ControlNet or greater to use this feature2010/12/24 Verification Warning If Forces Are Present• In release v17, we are adding the option in the software to warn the user during verification and download that forces are present in the project • The option is enabled by default • Provides users with more detailed information on application during debugging and maintenance2010/12/24 Verification Warning If AFI Are Present• In release v17, we are adding the option in the software to warn the user during verification and download that AFI (Always False Instruction) instructions are present in the project • The option is enabled by default • Provides users with more detailed information on application during debugging and maintenance2010/12/24 RSLogix 5000 System Install Enhancement• System install introduced in v16 is being enhanced in release v17 to allow for installation of other RS products– RSLogix 5000 label indicates that this is the first disc to install – Customer picks RS Products, components, firmware kits and tools to install and they are automatically installed in the right order• Reduces the total time to install and improves user experience2010/12/24。

Lower-Limb Wearable Exoskeleton 491 to s wing and coincides with a s pecific dors al flexion of the ankle and a period when the direction of rotation of the leg changes to the knee forward movement direction.3.8.2. Discrete controllerThe intermittent mechanis m on the knee has two pos s ible s tates, R0 and R1, during the cyclical gait. The correct intermittent transition of the system between these states permits the locomotion and application of joint compensation. The R0 to R1 transition is achieved via linear solenoid action. The R1 to R0 transition is done automatically using mechanical means, when the complete extension of the knee is recovered.Fig. 24. Partial objectives of knee control in a gait cycle: (a) heel contact (HC) with controlled plantar drop after knee extension stabilised using K1 at the end of the swing phase (b) heel lift (HL) in the stance phase after controlled knee flexion trajectory in the range of 15° (c) in the phas e prior to s wing, the direction of leg rotation is inverted. Us ing the K1 to K2 trans ition the joint is releas ed (d) leg rotation in res pons e to knee flexion. Control of the plantar drop avoids dragging the toe and K2 is enabled to assist the extension in the air and the end of a cycle.492Rehabilitation RoboticsThe aim of the dis crete controller is to detect the trans ition moment (TI) us ing real timeevaluation, at a sampling frequency of 100 Hz, of the information obtained from the inertialmeas urement units (IMUs) of the exos keleton. The inertial s ys tem embarked directlymeasures on the sagittal plane, the angular speed of the leg, , the angular speed ofthe foot, , and the linear acceleration of the foot limb, , on the y-axis, where y isparallel to the upper-lower axis of the exoskeleton foot bar. The condition for detecting TI isdefined in the cyclical gait discrete controller based on the speed of the segments using thefollowing equation:(9)with the and thres holds. The algorithm verifies the rotation of the footsegment by dorsal flexion of the ankle in the margins given by and , and in turnverifies the trajectory of the lifting of the foot from the ground using the threshold.Additionally, the algorithm evaluates the s tate of the s ys tem and degree of flexion of theknee in the swing phase to ensure that no undesired activations of the solenoid occur at thefinal swing phase.3.8.3. ActivationThe TI detector output in each cycle is a square pulse with a variable width, and a time-riseedge T after TI. This pulse produces activation and displacement of the linear actuator thatcauses the transition to R1 in the intermittent mechanism.Fig. 25. GAIT exoskeleton control system.Ideally, the width of the pulse should be sufficient to ensure that the knee is free the timenecessary to initiate the flexion and maximum of half of the magnitude of the swing period.We define as an activation criterion in the gait cycle , the function:(10) which evaluates the activation s tate of the previous cycle, the s tance phas e of the currentcycle and the two s tance phas es immediately before, in order to adjus t theactivation period of the actuator to match the gait rhythm trend. A is defined apriori, which should correspond to the mean activation period adjusted to a mean rhythmexpected.Lower-Limb Wearable Exoskeleton 4933.8.4. Preliminary resultsA vers ion of the GAIT exos keleton operated mechanically has been developed. This mechanical s olution is cable-driven exos keleton (CDE) that s witches the s tate of the knee joint, based on the degree of ankle dorsal flexion. The first results with the (CDE) produces re s pon s e error s on 2.4% of occa s ion s in technical validation trial s of 100 s tep s . Comparatively, according to the trial data with a normal subject, the controller significantly reduces the rate of errors and obtains 99% success in the functioning of all the trials at low and medium rhythm.4. Experimental trials A left-leg unilateral exoskeleton was customised to two patients with post-polio syndrome. The construction of the joints restricted movement at the sagital plane. Special attention was paid to achieving the right mechanical adjus tment and adaptation of the exos keleton to guarantee comfort and the appropriate transmission of forces, with the continual assistance of an expert in orthopaedics. The securing pieces were strained and material was added to adjust to the anatomical form until no marks were left on the skin after using the system for twenty-minute periods. The height of the ankle and toe were adjus ted us ing additional material on the s hoe ins ole, when it was neces s ary. Each protoype was made with the actuators consisting of the springs built to offer the compensations calculated according to the moment polynomial adjus tment coefficients agains t angle, depending on the s ubject’s weight (according to the results in Table 2).For the intermittent mechanism of the knee actuator a traction solenoid was anchored (12 Vdc, 10 W, Belling Lee) which transmits the force necessary (up to 700 g, 3 mm trajectory) for the switching between springs and joint unlocking during the stance phase. The solenoid was fed electrically from a lead-sealed battery (Serie Dryfit 1.2Ah, 12V, Sonnenschein) and controlled digitally u s ing a s witching circuit in pul sated mode to reduce power consumption. The circuit implements the discharge via a capacitor to offer rapid unlocking. The exoskeletons were made with the set of sensors consisting of the inertial measurement units, the angular position sensor and the resistive pressure sensor (active area of 5 mm and 0.30 mm of thickness) on the unlocking mechanism to detect the state of the knee joint (R0:locking in extension [K1]; R1: free swing [K2]).Fig. 26. Image of the wearable exoskeleton on a patient after fitting to the anatomy.494Rehabilitation Robotics The monitoring and control unit included two buttons for direct control by the s ubjects, offering the possibility of disabling the control strategy and thus totally unlocking the knee at any moment. The exos keleton with the actuators, batteries, s et of s ens ors and the monitoring and control unit weighed a total of 2.71 Kg.The ambulatory unit (Atmega128, Atmel Inc.; s ampling frequency 100 Hz) was us ed as a real-time control interface with implementation of the control algorithm that generates the real-time control signals (pulses of 12V of amplitude) of activation and activation time of the linear solenoid to compensate gait.4.1. ProtocolIn the first approach of the exoskeleton on the patients the passive prototype version was us ed which controls the exchange mechanis m on the knee actuator us ing the cable connected to the ankle joint, dors al flexion control (CDE). With this s ys tem functioning the practical s es s ion was completed which cons is ted firs t of bipedal trials and after walking on flat ground with the patients’ normal aids. One controller was tuned following a sequential procedure from an initial adjustment. The electronically-controlled exos keleton (ACE) could be dis abled remotely from one-bas e unit at any moment to prevent joint unlocking. Adaptation was expected from the subject after a specific number of trials. In the event that the patient adapted and achieved complete gait cycles, and at the s ame time increas ed his/her perception of trus t in the body weight s upport on the exoskeleton (stance phase) and after prior cons ent, 5 free-gait trials were done with the ACE without external supports.4.2. Results4.2.1. Effects on kinematicsPatient S2 usually uses a knee and ankle orthosis to be able to walk. The orthosis has the knee joint locked while the ankle joint restricts plantar flexion and dorsal flexion mobility. The gait pattern with her orthos is is with the knee locked during the s tance and s wing phas es. Immediately after the s tance res pons e, there is a dors al flexion movement greater than normal in the ankle. During the s wing phas e the foot is protected from the plantar drop with the restriction imposed by the exoskeleton. To put the foot forward, the patient compensates with his body on the transversal and frontal plane.Us ing the exos keleton with CDE, s ubject S2 required a training time of 30 minutes to walk with the crutches instead of standing on the parallel bars used in the first tuning trials of the cable-driven mechanis m. After 30 minutes, the patient was able to walk with free swing of the knee (maximum flexion mean of 50°) with the two crutches, and although the s peed adopted was low, the knee clearly reaches extens ion at the end of the s wing phas e (s ee Figure 27). After a s hort time, the patient learnt to manage joint locking at the beginning of stance, used only one crutch and felt sure without any risk of falling.On examining the ankle angle, dors al flexion, exces s ive with the s ubject’s habitual orthos is, progres s es appropriately during the s tance phas e from the action of the ankle actuator. Regarding plantar drop, it is restricted by a maximum of 5° (mean of 4.5°). It was found that assistance to knee extension during the swing phase with the actuator functions cons iderably well, as can be obs erved in the mean knee flexions (Table 3).Lower-Limb Wearable Exoskeleton 495Fig. 27. Effects (average values) on joint kinematics.The maximum mean values of knee flexion and ankle flexion for the s wing and s tance phases are represented in Table 3, and correspond to trials under final training conditions. The number of trials with CDE was reduced to measurements of 5 gait cycles, because of the fatigue problems mentioned earlier.CDE (5 cycles) ACE (25 cycles) Peak knee flexion in stance [°] 5.5 ± 2 5.5 ± 1Peak knee flexion in swing [°] 61 ± 5 61 ± 3Peak dorsiflexion in stance [°] 6 ± 3 5 ± 2Peak dorsiflexion in stance [°] 22 ± 5 20 ± 3Table 3. Mean values of maximum joint flexions for the stance and swing phases under final training conditions.4.2.2. KineticsFrom the mean values of the ground reaction forces a reduction in mediolateral forces can be observed in patient S1 when automatic gait control is used. In Figure 28 this reduction in mediolateral forces can be obs erved in the initial s tance phas e, which avoids lateral movement, typical in the gait of patients with post-polio syndrome.496Rehabilitation RoboticsFig. 28. Mean values of the ground reaction forces of evaluation data set of patient S1, under CDE and under ACE, and normality pattern with exos keleton calculated for the s ubject’s weight.The pattern obtained of vertical ground reaction forces with the exos keleton with CDE approximates the normality pattern calculated for the s ubject with a correlation factor of 0.94. An increase was observed in the level of lift force with ACE in comparison to CDE.5. Conclusions and discussionThe differences found in the patients’ kinematic gait patterns during the application of functional compens ation on the lower limb s howed s ignificant differences regarding the s ubjects’ us ual gait. In both patients rapid adaptations were obs erved and new motor commands were learnt neces ary for managing the exos keleton with the cons traints imposed on the limb. The benefits of the correct release of the knee in both instances is clear evidence of approximating their gait patterns to the normality pattern depicted in Figure 27, with the compens ations of the biomimetic actuation s ys tem by applying intermittent impedance (K1 and K2).The GAIT exos keleton made it pos s ible for patient S1 to walk for the firs t time without compensation with the hip movement, necessary with the knee-locking orthosis. Assistance to the extens ion of the knee actuator us ing energy recovery is obvious and is effectively reached before contact with the ground, as can be observed in the mean values of Figure 27, when a low and cons tant gait s peed is maintained. It is uncertain what percentage ofLower-Limb Wearable Exoskeleton 497 as s is tance to the knee extens ion is due to the actuator action and what percentage is determined by movement inertia. It can thus be hypothesised that the recovery spring for extension acts against movement at the beginning of extension.The results with patient S2 give an indication of the functioning of the ankle actuator for the partial recovery of energy —stored during stance by the spring with K3— in combination with the carbon fibre ins ole recovery of energy in the s hoe if the res ulting lift forces are observed with regard to the subject’s insufficient muscular capacity.The s ys tem was des igned taking the weight to the mos t proximal part. Although the ubjects’ firs t impres ion was that the s ys tem was a s lightly heavy, with time this impres s ion changed and the level of acceptance gradually improved. The cyclical control gait s ys tem applied is bas ed on the s peed of rotation of the limbs. It is important to highlight how at the end of trial, patient S2 preferred to use the ACE and rejected the CDE, which operates under the same principle of commercial orthotic systems. The importance of flexibility in the initial adjustment of the algorithm to be customised to the subject’s gait is clear. In the trials, it was observed that patient S2 had reduced mobility in the ankle, so thecontroller conditions were modified and the and , thresholds reduced to detect the transition moment. It was observed that, although the algorithm monitored the state of the knee joint in order to avoid undesired activations of the solenoid, this conditionwas not s ufficient, and it was neces s ary to change the adjus tment of the activation period consign.The results found in this study show that the patterns with ambulatory assistance using the robotic exos keleton are s ignificantly better than thos e offered by traditional orthos es or basic aids. Each pathological case has its own intrinsic characteristics, and the mechanical adaptation and control s ys tem therefore neces s itate cus tomis ation of the robotic s olution. The evidence obtained with both s ubjects with pos t-polio s how the viability of the gait compensation concept using wearable robotic exoskeletons on the improved quality of daily life in subjects with lower-limb joint disorders.6. ReferencesBaten, C., de Vries, W., Moreno, J. & Freriks, B (2004). Use of inertial sensing in an intelligent orthosis. - A feasibility study, Esmac Conference, Warswaw, 2004.Blaya, J. & Herr, H. (2004b). Adaptive Control of a Variable-Impedance Ankle-Foot Orthosis to Assist Drop Foot Gait. IEEE Trans Neural Syst Rehabil Eng, Vol. 12, No. 1, (march,2004), 24-31.Irby, S., Kaufmaun, K., Wirta, R. & Sutherland, R.. (1999). Optimization and application of a wrap s pring clutch to a dynamic knee-ankle-foot orthos is. IEEE Transactions on Rehabilitation Engineering, Vol. 7, No. 2, 130-4.Ferris, D.; Gordon, K., Sawicki, G. & Peethambaran, A. (2006). An improved powered ankle foot orthos is us ing proportional myoelectric control. Gait and Pos ture 23(4), 425-428.Ferris, D.; Gordon, K., Sawicki, G. & Peethambaran, A. (2006). An improved powered ankle foot orthos is us ing proportional myoelectric control. Gait and Pos ture 23(4), 425-428.Kazerooni, H., Steger, R., & Huang, L. (2003). Hybrid control of the Berkeley lower extremity exoskeleton. The International Journal of Robotics Research, 25(4-6), 561-573.498Rehabilitation RoboticsMoreno, J.C., Rocon E., Ruiz, A., Brunetti, F., & Pons , J.L. (2006b). Design andimplementation of an inertial meas urement unit for control of artificial limbs: application on leg orthoses. Sensors and Actuators B, 118(1-2), 333-337.Moreno, J.C., Brunetti, F., Cullell, A., Forner-Cordero, A. & Pons, J.L. (2006c). Simulation Of Knee Function During Gait With An Orthos is By Means Of Two Springs Of Different Stifnesses. Gait and Posture, 21(Sup1), S140.Rehbinder H. and Martin C. (2001). A control theoretic model of the fore arm. Journal of Biomechanics 34(6), 741-748.Rocon, E., Belda-Lois, J.M., Sánchez-Lacuesta, J.J., Ruiz, A.F. & Pons, J.L. (2005b). Estimation of biomechanical characteristics of tremorous movements based on gyroscopes. In:Asistive Technology - from Virtuality to Reality. AAATE05. Lille , France. Winter, D.A. (1991). The biomechanics and motor control of human mov ement, Univers ity of Waterloo, 2nd edition.27E xoskeleton-Based E xercisers for theDisabilities of the Upper Arm and Hand1Ioannis Sarakoglou, 1Sophia Kousidou, 2Nikolaos G. Tsagarakis and2Darwin G. CaldwellUniversity of Salford1, Manchester, UKItalian Institute of Technology2, Genoa, Italy 1. IntroductionThe impact of disability on society is great not only on direct treatment costs. Invaluable loss of human creative activity and mental wellbeing as well as productivity los s es reflect the indirect impact on the disabled individual as well as on society as a whole.Stroke is the leading caus e of dis ability in the indus trialis ed countries. Every year, over 130,000 people in the U.K. s uffer s trokes, with 13,000 under retirement age. Is chemia or haemorrhage in the brain may be the caus e of cerebral vas cular accidents which res ult in strokes (Parker et al., 1986). Fortunately over 65% of patients survive but the majority does have residual disabilities with up to 1/3 having severe disabilities particularly in the upper limb and hand. Hemiplegia, the most common impairment resulting from stroke, leaves the s urvivor with a s tronger unimpaired arm and a weaker impaired one (hemipares is). Traumatic injuries as well as conditions like muscular dystrophy, arthritis and regional pain syndromes, also add to the major causes of disability and functional dependence. Deficits in motor control and coordination synergy patterns, spasticity and pain are some of the most common symptoms of these conditions (Parker et al., 1986).In the case of stroke victims, it is widely accepted that spontaneous recovery accounts for the motor and functional restoration taking place within the first months after the stroke incident. Recent evidence has shown that further improvement can be achieved if neural organisation is modified. Partially damaged neural pathways can be reins tituted and neurons not normally involved in an activity can be engaged. Neuroplasticity is use-dependent; therefore it has been hown that inten ive and repetitive phy iotherapy may be nece ary to modify neural organization (Carr & Shepherd, 1987) and recover functional motor skills. In the case of other dis ability victims, repetitive phys iotherapy is als o the key for regaining motor control, as it contributes in regaining muscle strength as well as in restoring the joints’ range of motion. Despite the benefits of intensive physiotherapy, upper limb and hand disability are seldom considered life-threatening; therefore they rate relatively low on the priority list for urgent medical assistance. In addition to that, manipulative physiotherapy procedures are labour-intensive with hundreds of arm flexing movements per day forming part of a rehabilitation regime that is no untypical. Manipulation requires high levels of one to one attention from highly skilled medical personnel, but there is an international shortage of physiotherapists. Finally, patients mus t receive individualis ed treatment. The need for longer treatment periods, more intens ive regimes and the s hortage of trained s tuff means that robotic and500Rehabilitation Robotics power as s is tive techniques are increas ingly viewed as a potential replacement for the physical labour leaving the therapists with greater time to develop the treatment plan.Computer generated three-dimens ional environments (VEs ) can provide vis ual, auditory and phys ical (haptic) interactions in a way that engages a patient’s attention while at the s ame time keeping him/her motivated. Motivation i s a key factor in s ucce s sful rehabilitation. If an impaired pers on lacks motivation, he/s he may us e the unimpaired arm/hand in performing activities of the daily living (ADLs ) and therefore hamper the functional restoration of the impaired arm/hand (Nakayama et al., 1994). The role of VEs in rehabilitation can be cons idered as dual: they provide the therapis ts with a s et-up for repetitive functional ADL training while at the s ame time giving quality feedback to the patients helping them control their physiological responses in an engaging and entertaining way.There has been a lot of work on power-assisted device therapy and as a result, there is an increasingly wide and diverse range of systems. These systems range from simple powered 2-link orthoses to industrial robots and from simple data gloves in VEs to complicated hand exoskeletons. They use a variety of actuation methods and control strategies and they are targeted at different disabilities.The next two sections explore the art in rehabilitation exoskeletons for the upper arm and hand. Sections 4 and 5 present work that is undergoing at the University of Salford. More s pecifically, Section 4 pre s ent s a rehabilitation s y s tem u s ing Salford Rehabilitation Exos keleton as a medium for delivering therapy whereas Section 5 pres ents a Hand Rehabilitation Exos keleton. Section 6 concludes with a brief dis cus ion including the authors’ view regarding future directions in the area of Rehabilitation Robotics.2. Upper Arm Rehabilitation E xoskeletonsThe major findings in robot-mediated rehabilitation come from two s ys tems that have undergone extensive clinical trials: the MIT-MANUS robot (Hogan et al., 1992; Volpe et al., 2000) and the Palo Alto/VA Stanford Mirror Image Motion Enabler (MIME) (Burgar et al., 2000). Due to the fact that both systems are using robots rather than exoskeletons to deliver therapy to s troke patients , they will not be the s ubject of detailed pres entation here. The main findings of thes e clinical trials however, indicated a s ignificant improvement in patients ’ motor abilities while there was no s ignificant improvement in their functional skills.The orthos es /exos keleton s ys tems pres ented below are targeted mos tly at patients with muscular weakness or multiple sclerosis. Some of them have been clinically tested but none of them has undergone extensive clinical t rials.2.1 ARMinARMin (Mihelj et al., 2006) is a 6 DOF exoskeleton developed at the Swiss Federal Institute of Technology in Zurich. It is s pecifically des igned for neurological rehabilitation; as a device-therapy medium as well as a tool to test existing rehabilitation strategies and find the bes t rehabilitation practice. ARMin is a s emi-exos keleton s olution in the s ens e that its structure is fixed on the wall via an aluminium frame and the patient’s wheelchair can be placed beneath figure. 2.1. Its kinematic structure is depicted in figure 2.2. The exoskeleton has 3 DOF at the s houlder permitting horizontal, vertical and internal/external s houlderExoskeleton-Based Exercisers for the Disabilities of the Upper Arm and Hand 501 rotation, 1 DOF for elbow flexion extension, 1 DOF for forearm pronation/supination and finally, 1 DOF for wrist flexion/extension.Fig. 2.1. ARMin. The image depicts the semi-exoskeleton structure. (Mihelj et al., 2006). Impedance control is us ed to ens ure compliant behaviour and many s afety features have been incorporated in order not pose danger to the patient in case of malfunction. Its modes of operation are currently three. In the mov ement therapy mode, the therapis t guides the patient’s arm to form trajectories which can be repeated by the exoskeleton with different velocities. This mode is targeted at pres erving joint range of motion and preventing joint degeneration. The game therapy mode strives to motivate the patient with simple games such as catching a virtual ball. If the patient is able to play the game, ARMin just compensates its weight. If the patient cannot play the game then it guides the patient’s arm with an adjustable force towards the ball position. Finally, in the ADL training mode, the patient can train in ADL tasks like eating or grasping. In this mode the patient generates the trajectory in the s ens e that bas ed on the patient’s pos ition and s peed, ARMin predicts the required forces and torques.In a pilot s tudy with ten healthy s ubjects and five patients, comfort, functionality and acceptance was tes ted out. During the movement therapy, trajectory recording and repetition at different velocities was well performed and the robot s upport for the game therapy mode was adequate. The subjects assigned a grading of 8.5 to the therapy modes and an increase in their performance was noted progressively.2.2 Wearable Orthosis for Tremor Assessment and Suppression (WOTAS)WOTAS (Ruiz et al., 2006) is an upper limb exos keleton s pecifically des igned to meas ure and compensate for movement disorders such as tremor. It is actuated by electric motors at the wrist and elbow and its sensory system comprises of chip gyroscopes (which measure tremor force constantly) and kinetic sensors. The total weight of the system is roughly 850 gr. Impedance control s trategy is us ed and real-time filtering algorithms dis tinguis h between intended motion and tremor.502Rehabilitation Robotics(a) (b)Fig. 2.2. WOTAS. Image (a) s hows a s ubject wearing the exos keleton (Ruiz et al., 2006) while image (b) shows the forearm module.Tremor is s uppres s ed with the means of an actuator bas ed on magneto-rheological fluids (whose viscosity can change by applying a magnetic field and therefore act as an effective damper).Initial s tudies were performed with s ubjects wearing the exos keleton while executing various tas ks of the daily living. It was reported that WOTAS did not affect the s ubjects ’ range of motion. At the second stage of the study, the system added viscosity and inertia in order to suppress tremor (passive control strategy) and was able to estimate and measure tremor parameters. It was estimated that the system could suppress 30% of the production of tremor power. The reduction of the tremor power was sustained in the order of 80% in patients with severe tremor.2.3 Motorized Upper Limb Orthotic System (MULOS)MULOS (Motorized Upper Limb Orthotic Sy s tem) (John s on et al. 2001) wa sdeveloped under a project funded by the Technology Initiative for Dis abled and Elderly (TIDE) program of the Commis s ion of European Communities and it was intended as stroke rehabilitation as well as an assistive. MULOS is a 5 DOF powered orthosis for the upper limb which allows the movement of the shoulder (3 DOF), the elbow and the forearm. It was designed to provide single joint exercise and operates in 3 modes:a) As s is tive, to compens ate for los s of mus cular action caus ed, for ins tance, bymuscular dystrophy of high-level spinal cord injury.b)Continuous Pas s ive Motion, to provide phys ical therapy to s elected joints of thearm.c) Exercise, to provide graded resistance in order to allow exercise therapy to peoplewith muscle weakness.The shoulder structure is a 3 DOF mechanism having intersecting axes to allow it to behave as a spherical joint with a centre approximate coincident with that of the user’s shoulder. The structure has sufficient compliance to allow a full range of motion at the shoulder. The joints are powered by cable drives in such a way as to keep the electric motors as close to the first joint as possible and thus, keep required torques to a minimum.。

Product Data SheetProduct Name:BT-11Cat. No.:GC30803Chemical PropertiesCas No.1912399-75-7ChemicalNameN/ACanonical SMILES O=C(N1CCN(C(C2=NC(C3=NC4=CC=CC=C4N3)=CC=C2)=O)CC1)C5=NC(C6=NC7=CC=CC=C7N6) =CC=C5Formula C30H24N8O2M.Wt528.56 Solubility DMSO : ≥ 30 mg/mL (56.76 mM)Storage Store at -20°CGeneral tips For obtaining a higher solubility , please warm the tube at 37 ℃ and shake it in the ultrasonic bath for a while.Stock solution can be stored below -20℃ for several months.Shipping Condition Evaluation sample solution : ship with blue ice All other available size: ship with RT , or blue ice upon request.StructureBackgroundBT-11 is an orally available LANCL2 binding compound for treating inflammatory bowel disease.Product Data SheetLANCL2 engagement produces an increase of PKA, followed by an accumulation of cAMP in the cytoplasm. BT-11 treatment splenocytes shows a dose-response increase of cAMP production. BT-11 stimulates cAMP production by activating the LANCL2 pathway[1].The oral treatment with BT-11 (8 mg/kg/d) in a mouse model of inflammatory bowel disease results in lowering the disease activity index, decreasing colonic inflammatory lesions by 4-fold, and suppressing inflammatory markers (e.g., TNF-α, and interferon-γ) in the gut. Furthermore, studies in LANCL2-/- mice demonstrates that loss of LANCL2 abrogates beneficial actions of BT-11, suggesting high selectivity for the target. Oral treatment with BT-11 (8mg/kg/day) ameliorates colitis in mice. Initial safety assessment in rats indicates that oral treatment with BT-11 at high doses has an excellent safety profile up to 1000 mg/kg/day[1]. BT-11 is well tolerated in rats, and may hold promise as an orally active therapeutic for Crohn’s disease. One hour after oral administration of a single dose of 80 mg/kg, BT-11 has a maximal concentration of 21 ng/mL; the half-life is 3 hours[2].[1]. Carbo A, et al. An N,N-Bis(benzimidazolylpicolinoyl)piperazine (BT-11): A Novel Lanthionine Synthetase C-Like 2-Based Therapeutic for Inflammatory Bowel Disease. J Med Chem. 2016 Nov 23;59(22):10113-10126. [2]. Bissel P, et al. Exploratory Studies With BT-11: A Proposed Orally Active Therapeutic for Crohn’s Disease. Int J Toxicol. 2016 Sep;35(5):521-9.。

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