A Method for Attitude Control Based on a Mathematical Model for an Inverted Pendulum-Type Mobile Robot

A method for attitude control based on a mathematical model for an inverted pendulum-type mobile robot was proposed. The inverted pendulum-type mobile robot was designed and the mathematical modeling was conducted. The parameters of the mobile robot were estimated and the state-space model of mobile robot was obtained by the substitution of the estimated parameters into the mathematical model. The transfer function of the mobile robot is applied to generate the root-locus diagram used for the estimation of the gains of the PID controller. The attitude control method including a PID controller, non-linear elements, and integral saturation prevention was designed and simulated. The experiment was conducted by applying the method to the mobile robot. In the attitude control experiment, the performance of attitude recovery from ±12° tilted initial state with a settling time of 0.98s and a percent overshoot of 40.1% was obtained. Furthermore, the attitude maintaining robustness against disturbance was verified

The Effects of Air Pollution on Mortality in South Korea

AbstractIt is well known that air pollution has the negative effect on human health. This study is dealt with the relationship between air pollutant level and standardized mortality between 2005 and 2013 in Korea. The standardized mortality are collected by the 251 administrative districts using KOSIS (Korean Statistical Information Service) and the air pollutant data collected from air pollutant monitoring sites. The statistical interpolation technique is adapted to solve the problem of spatial misalignment between air pollutant and administrative districts. In addition, SaTScan is used to detecting the high relatively risk area based on spatial and temporal characteristics. It can help determining other external factors to mortality

Favored serum albumin level and ICF volume after use of 1.1% aminoacid based peritoneal dialysis(PD) solution

Aminoacid based PD solution (AAD) has been shown to induce positive nitrogen balance and improve nutritional markers of malnourished patients. But its effcets on body fluid composition and various nutritional markers are contradictory. Nutritional markers may influenced by patient's ECF volume status. So we evaluate effects of AAD on nutritional markers and body composition by analysis using multi-frequency bioimpedance analyzer. 35 PD patients(>6months duration of CAPD) were prospectively randomized to 17 AAD(Nutrineal, one time use/day) and 18 GD group(keep their glucose based PD solution). After 3 months follow up, AAD group showed marginally increased body weight and fat mass, decreased ECF volume(12.45±0.54Lvs 12.10±0.57L, p=0.06), no changed ICF volume(22.2±0.9Lvs 22.3±0.9L, p>0.05) and marginally increased drainage volume(8.77±0.76Lvs 9.12±0.83L, p=0.09). AAD group also showed favored several markers include nPCR(1.59±0.07vs 1.98±0.08, p=0.00), BUN and albumin level (3.54±0.11 vs 3.74±0.11, p=0.02). Although serum albumin level was increased, correction with ECF volume(albumin level X ECF volume) makes it no difference (43.45±2.13vs 44.80±2.28, p=0.14). Furthermore △albumin vs △ECF showed negative correlation pattern(r=-0.46, p=0.07) that means serum albumin change was influenced by ECF volume change. In conclusion, AAD treatment improved markers of better nutritional status. However the change in serum albumin level was influenced by patient's ECF volume status, which can partially explain contradictory effect of aminoacid based PD solution on serum albumin level

A Neonate Diagnosed with Megalencephaly-Capillary Malformation-Polymicrogyria Syndrome with Mutation

Megalencephaly-capillary malformation-polymicrogyria syndrome (MCAP) is a rare genetic disorder characterized by megalencephaly, polymicrogyria, body overgrowth, and cutaneous capillary malformations. It has been reported recently that MCAP is related to a somatic mosaic mutation in the phosphatidylinositol-4,5-bisphosphate 3-kinase catalytic subunit alpha (PIK3CA) gene. We report a case of hemimegalencephaly with polymicrogyria and cutaneous capillary malformations diagnosed by genetic evaluation of MCAP in the neonatal period. The PIK3CA mutation [c.1635G>T (p. Glu545Asp)] was determined by Sanger sequencing. The patient was treated with a ventriculoperitoneal shunt for progressive hydrocephalus. Because of the dynamic, progressive clinical manifestations and tumor-prone traits of MCAP, early diagnosis is important. Moreover, since the phosphoinositide 3-kinase (PI3K)-specific inhibitor, a targeted therapy for the PI3K/AKT/mTOR signaling pathway is emerging as a new therapy, early genetic diagnosis is becoming increasingly important

Radiological Assessment of the Effect of Congenital C3-4 Synostosis on Adjacent Segments

Study DesignRetrospective case series.PurposeTo assess the effect of non-kyphotic aligned congenital C3-4 synostosis on the adjacent segment in 10 patients.Overview of LiteratureIn the cervical spine, fusion disease at the adjacent motion segments may be a risk factor for potential neurological compromise and death.MethodsRadiograms of 10 patients 13 to 69 years of age presenting with neck/shoulder discomfort or pain with or without trauma history were examined. C3-4 synostosis was found incidentally in all patients on routine examination radiographs of cervical spine.ResultsAdjacent segment disease (ASD) was not found in the three patients younger than 39 years of age. Five of the 10 (50%) patients, including a 67-year-old man, did not develop spondylosis in any of the cervical mobile segments. Spondylosis was observed only in the caudal 1-2 mobile segments in the remaining five patients. The youngest was a 40-year-old male who had spondylosis in the two caudal mobile segments (C4-5 and C5-6). Spondylosis was limited to the two close caudal mobile segments and was not in the cranial segments. Flaring of the lower part of synostotic vertebra associated with advanced narrowed degenerate disc was evident in five patients.ConclusionsMobile segment spondylosis in the individuals with congenital monosegment C3-4 synostosis over age of 40 years may be a natural manifestation of aging and is not solely an adjacent segment disease directly and fully related with congenital C3-4 synostosis