Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation

This paper copes with parameter-robust controller design for transportation system by multiple unmanned aerial vehicles. The transportation is designed in the form of string connection. Minimal state-space realization of slung-load dynamics is obtained by Newtonian approach with spherical coordinates. Linear quadratic Gaussian / loop transfer recovery (LQG/LTR) is implemented to control the position and attitude of all the vehicles and payloads. The controller's robustness against variation of payload mass is improved using parameter-robust linear quadratic Gaussian (PRLQG) method. Numerical simulations are conducted with several transportation cases. The result verifies that LQG/LTR shows fast performance while PRLQG has its strong point in robustness against system variation

Nanoscale Perovskite‐Sensitized Solar Cell Revisited: Dye‐Cell or Perovskite‐Cell?

A general and straightforward way of preparing few nanometer-sized well-separated MAPbIxBr3-x perovskite photosensitizers on the surface of ~1 μm thick mesoporous TiO2 photoanode was suggested via a two-step sequential deposition of low-concentrated lead halides (0.10 ~ 0.30 M PbI2 or PbBr2) and methylammonium iodide/bromide (MAI/MABr). When those nanoscale MAPbIxBr3-x perovskites are incorporated as a photosensitizer in typical solid state dye-sensitized solar cells (ss-DSSCs), it could be verified clearly by the capacitance analysis that nano-particulate MAPbI3 perovskites are playing the same role as that of a typical dye sensitizer (MK-2 molecule) though their size, composition and structure are different

Preparation of nanoscale inorganic CsPbIxBr3-x perovskite photosensitizers on the surface of mesoporous TiO2 film for solid-state sensitized solar cells

Metal chalcogenide quantum dot (QD)-like all-inorganic nanoscale perovskite photosensitizers of CsPbIxBr3-x were prepared on the surface of mesoscopic TiO2 film by a direct two-step spin-coating of lead and cesium halide precursors for application into solid-state dye-sensitized solar cells (DSSCs), as confirmed by impedance frequency response analysis. A few nanometer-sized hemisphere-shaped dots of CsPbIxBr3-x perovskites were deposited and distributed separately onto TiO2, which were checked by scanning and transmission electron microscopic (SEM and TEM) techniques. The as-deposited CsPbIxBr3-x perovskites were stable only in the case of including about 20% or more bromide in the composition of halides. When the bromide content increased in the ratio of halides of CsPbIxBr3-x, gradual decrease in lattice spacing and blue-shift of emission peaks were observed in X-ray diffraction (XRD) and photoluminescence (PL) measurements, respectively. These well-defined nano-particulate CsPbIxBr3-x perovskites were incorporated into solid-state DSSCs and tested as a new type of photosensitizers. The initial power conversion efficiency (PCE) of ca. 1.0–3.5% based on relatively thin mesoporous TiO2 film (~1 μm) looks promising with many parameters remaining for possibly more optimization. The best result, 3.79%, was obtained from CsPbI2.2Br0.80 25 days after initial measurement. These CsPbIxBr3-x-sensitized cells displayed a stable record of PCE over ~2 month and no hysteresis behavior in current-voltage traces

Bleeding complications associated with the molecular adsorbent recirculating system: a retrospective study

Background The molecular adsorbent recirculating system (MARS) is a hepatic replacement system that supports excretory liver function in patients with liver failure. However, since MARS has been employed in our hospital, bleeding complications have occurred in many patients during or after MARS. The objective of this study was to determine how MARS affects coagulopathy and identify specific factors associated with bleeding complications. Methods We retrospectively analyzed data from 17 patients undergoing a total of 41 MARS sessions. Complete blood count, coagulation profiles, and blood chemistry values were compared before and after MARS. To identify pre-MARS factors associated with increased bleeding after MARS, we divided patients into bleeder and non-bleeder groups and compared their pre-MARS laboratory values. Results MARS significantly reduced bilirubin and creatinine levels. MARS also increased prothrombin time and reduced platelet and fibrinogen, thus negatively impacting coagulation. Pre-MARS hemoglobin was significantly lower in the bleeder group than in the non-bleeder group (P=0.015). When comparing the upper and lower 33% of MARS sessions based on the hemoglobin reduction rate, hemoglobin reduction was significantly greater in MARS sessions involving patients with low pre-MARS international normalized ratio of prothrombin time (PT-INR) and factor V (P=0.038 and P=0.023, respectively). Conclusions MARS could appears to alter coagulation-related factors such as factor V and increase the risk of bleeding complications particularly in patient with low hemoglobin. However, individual differences among patients were large, and various factors, such as low hemoglobin, PT-INR, and factor V levels, appear to be involved

Comparisons of Three Indicators for Frey's Syndrome: Subjective Symptoms, Minor's Starch Iodine Test, and Infrared Thermography

ObjectivesTo correlate Frey's syndrome with subjective symptoms, Minor's starch iodine test results, and infrared thermography measurements, and to discuss the utility of thermography as a quantitative diagnostic method.MethodsThis study included 59 patients who underwent unilateral parotidectomy. A subjective clinical questionnaire and an objective Minor's starch iodine test were performed to evaluate the incidence of Frey's syndrome. Infrared thermography was performed, and the subjects were divided into seven groups according to the temperature differences between operated and unoperated sites. The thermal differences were correlated with the results from Minor's starch iodine test and the subjective symptoms questionnaire.ResultsOf the 59 patients, 20 patients (33.9%) reported subjective symptoms after eating; 30 patients (50.8%) tested positive for Minor's starch iodine test, 19 patients (63.3%) of which reported subjective symptoms. Of the 29 patients who were negative for the iodine test, 2 patients (6.9%) reported subjective symptoms. Thus, subjective symptoms were well correlated with Minor's starch iodine test (r=0.589, P<0.001). As the thermal differences with infrared thermography increased, the number of patients with subjective symptoms increased (χ2=22.5, P<0.001). Using infrared thermography, the mean temperature difference in the positive group for the iodine test was 0.82℃±0.26℃, and that in the negative group was 0.10℃±0.47℃. With increased thermal differences, more patients showed positivity in the iodine test (χ2=29.9, P<0.001).ConclusionSubjective symptoms, Minor's starch iodine test, and infrared thermography are well correlated with one another. Quantitative thermography provides clues for the wide variation in the incidence of Frey's syndrome, and could be a useful method for diagnosing and studying Frey's syndrome

The Si-Photonic Modulator Using Three- Waveguides Coupler Structure

We proposed and demonstrate the Si-modulatorusing three-waveguides coupler structure for the first time. Byusing three-waveguide structure can decrease the couplinglengthcontrary to conventional directional coupler structure. Forthe modulation operation, pn diode is employed to have junctionat the only one waveguide. The proposed structure wasfabricated using CMOS-compatible process and shows thecompact device size about ~500 μm2 which is much smaller thanMZI modulator structure. By applying forward bias voltage of1.2 V, π-phase shift is achieved with Vsw∙L ~ 0.23 V∙mm. Finally,it shows operation speed up to 3 Gbps with extinction ratio of 3dB which is faster than carrier injection using p-i-n diode. Itcanaffordable for the operation speed up to 3 Gbps using carrierinjection of pn diode by applying forward bias. We expect thatperformance of device can be enhanced using more sophisticatedfabrication process and can be used as the new structure of Siphotonicmodulator

Liver dysfunction induced by systemic hypersensitivity reaction to lamotrigine: case report

Lamotrigine is an anticonvulsant drug used to treat partial and generalized seizure disorders. Hypersensitivity to lamotrigine usually causes mild symptoms such as fever, rash, and slight invasion of internal organs. However, a 33-year-old male patient who was admitted with Stevens-Johnson syndrome after taking lamotrigine for 15 days experienced hepatic failure and died 5 days after admission. This case demonstrates the importance of realizing that lamotrigine can lead to fatal hepatic failure, and that tests for the normal liver function should be performed when administering lamotrigine

Growth hormone-releasing hormone (GHRH) polymorphisms associated with carcass traits of meat in Korean cattle

BACKGROUND: Cold carcass weight (CW) and longissimus muscle area (EMA) are the major quantitative traits in beef cattle. In this study, we found several polymorphisms of growth hormone-releasing hormone (GHRH) gene and examined the association of polymorphisms with carcass traits (CW and EMA) in Korean native cattle (Hanwoo). RESULTS: By direct DNA sequencing in 24 unrelated Korean cattle, we identified 12 single nucleotide polymorphisms within the 9 kb full gene region, including the 1.5 kb promoter region. Among them, six polymorphic sites were selected for genotyping in our beef cattle (n = 428) and five marker haplotypes (frequency > 0.1) were identified. Statistical analysis revealed that -4241A>T showed significant associations with CW and EMA. CONCLUSION: Our findings suggest that polymorphisms in GHRH might be one of the important genetic factors that influence carcass yield in beef cattle. Sequence variation/haplotype information identified in this study would provide valuable information for the production of a commercial line of beef cattle

Relationship between Environmental Phthalate Exposure and the Intelligence of School-Age Children

BACKGROUND: Concern over phthalates has emerged because of their potential toxicity to humans. OBJECTIVE: We investigated the relationship between the urinary concentrations of phthalate metabolites and children`s intellectual functioning. METHODS: This study enrolled 667 children at nine elementary schools in five South Korean cities. A cross-sectional examination of urine phthalate concentrations was performed, and scores on neuro-psychological tests were obtained from both the children and their mothers. RESULTS: We measured mono-2-ethylhexyl phthalate (MEHP) and mono(2-ethyl-5-oxohexyl) phthalate (MEOHP), both metabolites of di(2-ethylhexyl)phthalate (DEHP), and mono-n-butyl phthalate (MBP), a metabolite of dibutyl phthalate (DBP), in urine samples. The geometric mean (ln) concentrations of MEHP, MEOHP, and MBP were 21.3 mu g/L [geometric SD (GSD) = 2.2 mu g/L; range, 0.5-445.4], 18.0 mu g/L (GSD = 2.4; range, 0.07-291.1), and 48.9 mu g/L (GSD = 2.2; range, 2.1-1645.5), respectively. After adjusting for demographic and developmental covariates, the Full Scale IQ and Verbal IQ scores were negatively associated with DEHP metabolites but not with DBP metabolites. We also found a significant negative relationship between the urine concentrations of the metabolites of DEHP and DBP and children`s vocabulary subscores. After controlling for maternal IQ, a significant inverse relationship between DEHP metabolites and vocabulary subscale score remained. Among boys, we found a negative association between increasing MEHP phthalate concentrations and the sum of DEHP metabolite concentrations and Wechsler Intelligence Scale for Children vocabulary score; however, among girls, we found no significant association between these variables. 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