Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments.

This paper proposes a robust tracking control method for wheeled mobile robot (WMR) against uncertainties, including wind disturbances and slipping. Through the application of the differential flatness methodology, the under-actuated WMR model is transformed into a linear canonical form, simplifying the design of a stabilizing feedback controller. To handle uncertainties from wheel slip and wind disturbances, the proposed feedback controller uses sliding mode control (SMC).

Effects of replacing of alfalfa hay with Plantago lanceolata hay on digestibility, methane production and microbial protein production of total mixed diet.

The aim of current experiment was to determine the effect of replacement of alfalfa hay with ribwort plantain (Plantago lanceolata) hay in ruminant diets on the fermentation parameters such as gas production, methane (CH) production, true digestible dry matter (TDDM), true digestibility (TD), partitioning factor, microbial protein, and efficiency of microbial protein using in vitro gas production technique. The alfalfa hay was replaced with P. lanceolata hay in a diets isocaloric (2650 kcal/kg DM) and nitrogenic (17% CP kg DM) at the ratio of 0, 5, 10 and 15%.

Determination of radon concentrations and physicochemical parameters of non-alcoholic carbonated beverages consumed in Türkiye and assessment of radiological health risk.

The strategy for controlling the existence of radionuclides in drinking water depends upon an individual dose criterion (IDC) of 0.1 mSv/y, which represents a very low level of risk that is not expected to cause any identified adverse health effects. Radon gas, considered a carcinogenic radionuclide, can dissolve and accumulate in drinking water.

Evaluation of radiological health risk due to ingestion and inhalation of radon in commercial packaged fruit juices consumed in Turkey.

Fruit juices (FJs) are among the most popular beverages frequently preferred by consumers, believing FJs contain the nutritional values, minerals, phytochemicals, vitamins, and antioxidants necessary for a healthy life. However, FJs may contain natural radionuclides such as radon (Rn), which originates from the fruit and water utilized in their production, at levels that may pose a health risk to people. Inhalation and ingestion of Rn gas increases the risk of lung and stomach cancer.

Analysis of the patients with nonvariceal upper gastrointestinal bleeding and comparison of Rockall and Glasgow-Blatchford scores.

Background: Nonvariceal upper gastrointestinal bleeding (UGB) has important morbidity and mortality. Predicting high-risk patients for mortality and rebleeding is necessary for a treatment plan. In the present study, we aimed to define the epidemiological and etiological characteristics of patients presenting with nonvariceal UGB and to observe mortality and morbidity rates.

Model Predictive Control with Integrated Model Reduction for a Continuous Lactide Ring-Opening Polymerization Process.

Poly(lactic acid) production has received increasing attention, mainly due to its inherent biodegradable thermoplastic properties and to its renewable-resource-based composition. This process is affected by changes in the operating conditions and by raw material impurities which influence the reaction rate and degrade the polymer properties. As the system model is multivariable with coupled dynamics and constraints, linear model predictive control (LMPC) is employed here.

HIV-2 Vpx neutralizes host restriction factor SAMHD1 to promote viral pathogenesis.

SAMHD1, a human host factor found in myeloid cells which restricts HIV-1 replication. It depletes the dNTPs pool for viral cDNA syntheses, thus preventing the viral replication in the cells. The viral accessory protein, Vpx, exists only in SIVmac/HIV-2 particles.

Synthesis, spectroscopic studies, and antioxidant activities of novel thio/carbohydrazones and bis-isatin derivatives from terephthalaldehyde.

New bis(isatins-thio/carbohydrazones) based on Schiff bases were prepared from terephthalaldehyde biscarbohydrazone and 5-substituted isatins in the presence of a drop of sulfuric acid under reflux in ethanol. Terephthalaldehyde bis(thio/carbohydrazone) was synthesized by the reaction of (thio)/carbohydrazide and terephthalaldehyde in the presence of a few drops of acetic acid under reflux in ethanol. The structures of these synthesized compounds were determined using IR, H NMR, and C NMR spectroscopy and elemental analysis.

The telomere length of gastric mucosal samples and peripheral blood lymphocytes in patients who have undergone Billroth II distal gastrectomy.

Introduction: Telomeres play an important role in maintaining chromosomal integrity. Functional loss of telomeres increases the risk of cancer by causing genomic instability. Telomere length abnormalities have been reported in several precancerous lesions.

A New Mathematical Force Model that Predicts the Force-pulse Amplitude Relationship of Human Skeletal Muscle.

Current functional electrical stimulation (FES) systems vary the stimulation intensity to control the muscle force in order to produce precise functional movements. However, mathematical model that predicts the intensity effect on the muscle force is required for model-based controller design. The most previous force model designed by Ding et al was validated only for a standardized stimulation pulse amplitude (intensity).

The role of SAMHD1 expression and its relation to HIV-2 (Vpx) gene production.

SAMHD1 (sterile alpha motif and HD domain 1) is a protein that is found in myeloid cells, which restricts HIV1 replication. It depletes the de-oxy-nucleoside tri-phosphate (dNTPs) pool needed for a viral cDNA synthesis leading to inhibition of viral replication inside the cells. However, it does not restrict HIV2 replication in myeloid cells due to the presence of viral Vpx protein.

An approach to a muscle force model with force-pulse amplitude relationship of human quadriceps muscles.

Background: Recent advanced applications of the functional electrical stimulation (FES) mostly used closed-loop control strategies based on mathematical models to improve the performance of the FES systems. In most of them, the pulse amplitude was used as an input control. However, in controlling the muscle force, the most popular force model developed by Ding et al.

Investigation of antioxidant activities of stored at different temperatures.

In this study, the antioxidant capacity of oyster mushroom () stored in five different temperature environments was investigated by DPPH (1,1 diphenyl-2-picryl hydrazyl) radical scavenging method. The antioxidant capacity results of oyster mushroom extracts were examined by spectroscopic measurements and expressed as percent of inhibition. The IC values of mushroom samples were calculated with DPPH method using calibration equations, and change in antioxidant properties was also tried to decipher by SEM images.

Intrafamilial similarities and cross-generational differences in the earliest childhood memories of daughters, mothers, and grandmothers.

This study aimed to examine how daughters, mothers, and grandmothers from the same families resembled each other and how these three generations differed from each other in narrating their earliest childhood memories. Fifty-nine triads from the same families filled out a memory questionnaire and were asked to narrate their earliest childhood memories. Results revealed both intrafamilial similarities and cross-generational difference on characteristics of triads' earliest childhood memories.

The carvacrol ameliorates acute pancreatitis-induced liver injury via antioxidant response.

Acute pancreatitis (AP) may cause significant persistent multi-organ dysfunction. Carvacrol (CAR) possesses a variety of biological and pharmacological properties. The aim of the present study was to analyze the hepatic protection of CAR on AP induced by cerulein and to explore the underlying mechanism using in vivo studies.

Evaluating the toxic and beneficial effects of lichen extracts in normal and diabetic rats.

Lichens can be used as a novel bioresource for natural antioxidants. However, there is need for further investigations to validate the lichens used in medicinal remedies. In this study, the effects of Cetraria islandica and Pseudevernia furfuracae lichen species in streptozotocin (STZ)-induced diabetes were evaluated.

The biochemical and histological effects of lichens in normal and diabetic rats.

Oxidative stress plays an important role in causing diabetes; however, no studies have thoroughly reported on the toxic and beneficial effects of lichen extracts in patients with diabetes mellitus (DM). This study covers a previously unrecognized effect of two well-known lichen species Cetraria islandica and Pseudevernia furfuracae in streptozotocin (STZ)-induced diabetes. In experimental design, control or diabetic rats were either untreated or treated with aqueous lichen extracts (250-500 mg/kg /day) for 2 weeks starting at 72 h after STZ injection.

Antioxidant/prooxidant effects of α-tocopherol, quercetin and isorhamnetin on linoleic acid peroxidation induced by Cu(II) and H2O2.

The peroxidation of linoleic acid (LA) in the presence of copper(II) (Cu(II)) ions alone and with α-tocopherol (α-TocH) was investigated in aerated and incubated emulsions at 37 °C and pH 7. Additionally, the effects of quercetin (QR) and its O-methylated derivative, isorhamnetin (IR), as potential antioxidant protectors were studied in the (Cu(II) + TocH)-induced LA peroxidation system. Cu(II)-induced LA peroxidation followed pseudo-first-order kinetics with respect to primary (hydroperoxides) and secondary (aldehydes- and ketones-like) oxidation products, which were determined by ferric thiocyanate and thiobarbituric acid-reactive substances methods, respectively.

The ameliorative effect of Cetraria islandica against diabetes-induced genetic and oxidative damage in human blood.

Context: The aqueous extracts of Cetraria islandica (L.) Ach. (Parmeliaceae) is traditionally used in many countries against a number of conditions, including inflammatory conditions.

The effects of Cetraria islandica and Pseudevernia furfuracea extracts in normal and diabetic rats.

Lichens are symbiotic organisms composed of a fungus joined to a photosynthesizing partner that can be either an alga or a cyanobacterium. They can be used as a novel bioresource for natural antioxidants. However, there is also a need for further studies to validate the lichens used in medicinal remedies.

Polar paradox revisited: analogous pairs of hydrophilic and lipophilic antioxidants in linoleic acid emulsion containing Cu(II).

Background: Literature data are scarce on the activities of analogous pairs of hydrophilic and lipophilic antioxidants related to the 'polar paradox' distinguishing antioxidants based on their partitioning between lipids and water. The peroxidation of linoleic acid (LA) in the presence of either Cu(II) ions alone or Cu(II) ions combined with Trolox (TR), ascorbic acid (AA), hydroquinone (HQ) and gallic acid (GA), as hydrophilic antioxidants, or with α-tocopherol (TocH), ascorbyl palmitate (AP), tert-butyl hydroquinone (TBHQ) and propyl gallate (PG), as their respective lipophilic analogues, was investigated in aerated and incubated emulsions at 37 °C and pH 7.

Results: LA peroxidation induced by Cu(II) followed pseudo-first-order kinetics with respect to the formation of primary (hydroperoxides) and secondary (aldehyde- and ketone-like) oxidation products, which were determined by ferric thiocyanate (Fe(III)-SCN) and thiobarbituric acid-reactive substances (TBARS) methods respectively.

Truncation effects on muscular fatigue indexes based on M waves analysis.

In this paper, we investigate muscular fatigue. We propose a new fatigue index based on the continuous wavelet transform (CWT) and compare it with the standard fatigue indexes from literature. Fatigue indexes are all based on the electrical activity of muscles (electromyogram) acquired during an electrically stimulated contraction (ES).

Estimation of muscular fatigue under electromyostimulation using CWT.

The aim of this study is to investigate muscular fatigue and to propose a new fatigue index based on the continuous wavelet transform (CWT) which is compared to the standard fatigue indexes from literature. Fatigue indexes are all based on the electrical activity of muscles [electromyogram (EMG)] acquired during an electrically stimulated contraction thanks to two modules (electromyostimulation + electromyography recording) that can analyze EMG signals in real time during electromyostimulation. The extracted parameters are compared with each other and their sensitivity to noise is studied.

Ameliorative effect of supplementation with L-glutamine on oxidative stress, DNA damage, cell viability and hepatotoxicity induced by 2,3,7,8-tetrachlorodibenzo-p-dioxin in rat hepatocyte cultures.

The most potent of the dioxins, 2,3,7,8-tetrachlorodibenzo-p-dioxin (TCDD), is a persistent and ubiquitous environmental contaminant. And the health impact of exposure to TCDD is of great concern to the general public. Recent data indicate that L-glutamine (Gln) has antioxidant properties and may influence hepatotoxicity.