A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained workspace

This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards specific way points. Various limitations such as: obstacles, workspace boundary, thruster saturation and predefined desired upper bound of the vehicle velocity are captured as state and input constraints and are guaranteed during the control design. The proposed scheme incorporates the full dynamics of the vehicle in which the ocean currents are also involved. Hence, the control inputs calculated by the proposed scheme are formulated in a way that the vehicle will exploit the ocean currents, when these are in favor of the way-point tracking mission which results in reduced energy consumption by the thrusters. The performance of the proposed control strategy is experimentally verified using a $4$ Degrees of Freedom (DoF) underwater robotic vehicle inside a constrained test tank with obstacles.Comment: IEEE International Conference on Robotics and Automation (ICRA-2018), Accepte

Efficiency and Effectiveness of Social Spending

In this qualitative sociological and quantitative economic policy paper, we start out from the assumption of a very recent European Commission Background paper on the “Efficiency and effectiveness of social spending”, which says the effectiveness of social spending can be defined by the degree to which the realized allocation approaches the socially desired outcome. The conclusions listed in the Commission paper are found far reaching and not supported by the empirical data. We perform such an analysis, starting from advances in recent literature. A more encompassing sociological perspective on the issue and factor analytical calculations is presented, which supports our general argument about the efficiency of the Scandinavian model. The social quality approach provides an alternative perspective on welfare system analysis, focusing on public policies rather than social policies. The empirical evidence, suggests that in terms of the efficiency of the European social model, the geography of comparative performance include: the direct action against social exclusion, health and family social expenditures, the neo-liberal approach, and the unemployment benefit centred approach. Applying rigorous comparative social science methodology, we also arrive at the conclusion that in terms of the initial ECOFIN definition of efficiency, the data presented in this article suggest that apart from Finland and the Netherlands, three new EU-27 member countries, especially the Czech Republic and Slovenia, provide interesting answers to the question about the efficiency of state expenditures in reducing poverty rates.social spending, European Commission, index numbers and aggregation, cross-sectional models, spatial models, economic integration, regional economic activity, international factor movements, nternational political economy

Effects of thylakoid intake on appetite and weight loss: a systematic review

Background: Previous studies have shown thylakoids, the membrane proteins which are extracted from green leaves like spinach, can induce satiety through homeostatic and non-homeostatic pathways. In this study, we reviewed the current human literature on thylakoids� characteristics and their relationship to satiety regulation and weight loss. Methods: A systematic search of literature published between January 1990 and May 2019 was conducted on the electronic databases; including WEB OF SCIENCE, Cochrane Library, MEDLINE, Scopus, and EMBASE databases. We included all clinical trials that addressed the effects of thylakoids or chloroplast intake on satiety and weight loss. Results: After excluding non-human studies, non-RCTs, duplications, studies with irrelevant data and interventions, eight studies were included in the qualitative synthesis. All studies supported this hypothesis that thylakoids reduce the feeling of hunger by increasing postprandial cholecystokinin and leptin and decreasing serum ghrelin, but the consequences of thylakoid intake on anthropometric characteristics were controversial. Conclusion: In conclusion, our results may approve this postulation that receiving a thylakoid-enriched meal can decrease appetite and probably food intake in short term; however, more studies are needed to explore the effects of long term supplementation with thylakoids on weight loss in human subjects. © 2019, Springer Nature Switzerland AG

Production of recombinant CAMP – Sialidase protein and preparation of chitosan nanoparticles carrying this protein to be used as a candidate for vaccines targeting Propionibacterium acnes

BACKGROUND AND OBJECTIVE: Acne vulgaris is one of the most common skin diseases that imposes too much mental pressure and high costs on patients. The existing treatments have low efficacy and include antibiotics and anti-inflammatory drugs, which have many complications due to the chronic nature of the disease, especially at young age, including antibiotic resistance and allergic reactions. For this reason, one of the new therapeutic approaches is the use of a vaccine with the help of the bacterium or its components. The aim of this study is to produce nanoparticles carrying the recombinant CAMP – Sialidase protein as a new chimeric antigen to be used in acne vaccine. METHODS:To express the recombinant CAMP – Sialidase protein, E. coli BL21 DE3 was used as the host. Purification of protein was done through combined urea/imidazole method and using a nickel-nitroacetic acid column. The recombinant protein was confirmed using Western Blotting by Anti – Histidine Antibody. Then, the loaded nanoparticles were prepared by recombinant protein using ionic gelation technique and tripolyphosphate. Finally, the size and zeta potential of the nanoparticles were determined by the DLS device. FINDINGS: The recombinant CAMP – Sialidase protein was confirmed after expression and purification. The size and zeta potential of nanoparticles containing recombinant CAMP – Sialidase protein at a concentration of 0.6 mg / ml were determined to be 80 nm and +27 mV, respectively, using the DLS device. The loading rate of the protein in the nanoparticles was found to be 88%. CONCLUSION: The results show that the recombinant protein is expressed completely and is successfully encapsulated in the chitosan nanoparticles

Resveratrol supplementation and acute pancreatitis: A comprehensive review

Resveratrol, a natural polyphenolic ingredient extracted from herbs, suppresses oxidative stress and inflammation. We performed a comprehensive review to find any evidence about the effects of Resveratrol on acute pancreatitis (AP). Resveratrol has been found to directly impact cytokine generation. As these factors play a crucial role in the pathophysiology of AP, resveratrol might attenuate AP and its complications. Mechanistically, resveratrol exerts its pharmacological effects through anti-inflammatory and antioxidant mechanisms via interaction with different signaling molecules and transcription factors. Indeed, resveratrol might prove to be an effective therapeutic component for AP treatment in the future. In this review, we shed light on potential most recent pathways through which resveratrol might impact the management and control of AP. © 202

Essential Role of SIRT1 Signaling in the Nucleus Accumbens in Cocain and Morphine Action

Sirtuins (SIRTs), class III histone deacetylases, are well characterized for their control of cellular physiology in peripheral tissues, but their influence in brain under normal and pathological conditions remains poorly understood. Here, we establish an essential role for brain reward region. We show that chronic cocain administration increases SIRT1 and SIRT2 expression in the mouse NAc, while chronic morphine administration induces SIRT1 expression alone, with no regulation of all other sirtuin family members observed. Drug induction of SIRT1 and SIRT2 is mediated in part at the transcriptional level via the drug-induced transcription factor ΔFosB and is associated with robust histone modifications at the Sirt1 and Sirt2 genes. Viral-mediated overexpression of SIRT1 or SIRT2 in the NAc enhances the rewarding effects of both cocain and morphine. In contrast, the local knockdown of SIRT1 from the NAc of floxed Sirt1 mice decreases drug reward. Such behavioral effects of SIRT1 occur in concert with its regulation of numerous synaptic proteins in NAc as well as with SIRT1-mediated induction of dendritic spines on NAc medium spiny neurons. These studies establish sirtuins as key mediators of the molecular and cellular plasticity induced by drugs of abuse in NAc, and of the associated behavioral adaptations, and point towards novel signaling pathways involved in drug action