Stabilizing control of two-wheeled wheelchair with movable payload using optimized interval type-2 fuzzy logic

The control schemes of a wheelchair having two wheels with movable payload utilizing the concept of a double-link inverted pendulum have been investigated in this article. The proposed wheelchair has been simulated using SimWise 4D software considering the most efficient parameters. These parameters are extracted using the spiral dynamic algorithm while being controlled with interval type-2 fuzzy logic controller (IT2FLC). The robustness and stability of the implemented controller are assessed under different situations including standing upright, forward motion and application of varying directions and magnitudes of outer disturbances to movable (up and down) system payload. It is shown that the two-wheeled wheelchair adopted by the newly introduced controller has achieved a 94% drop in torque for both Link1 and Link2 and more than 98% fall in distance travelled in comparison with fuzzy logic control type-1 (FLCT1) controller employed in an earlier design. The present study has further considered the increased nonlinearity and complexity of the additional moving payload. From the outcome of this study, it is obvious that the proposed IT2FLC-spiral dynamic algorithm demonstrates better performance than FLCT1 to manage the uncertainties and nonlinearities in case of a movable payload two-wheel wheelchair system

1,1-Dibenzyl-3-(3-chloro­benzo­yl)thio­urea

In the title compound, C22H19ClN2OS, the thiono and carbonyl groups are trans positioned with respect to a partially double C—N bond. The amide group is twisted relative to the thio­urea fragment, forming a dihedral angle of 46.75 (11)°. In the crystal, inter­molecular N—H⋯S and C—H⋯O hydrogen bonds link the mol­ecules into a one-dimensional polymeric structure parallel to the c axis

1,1-Dibenzyl-3-(4-fluoro­benzo­yl)thio­urea

In the title compound, C22H19FN2OS, the 2-fluoro­benzoyl group adopts a trans conformation with respect to the thiono S atom across the N—C bond. In the crystal, inter­molecular N—H⋯S, C—H⋯S and C—H⋯O hydrogen bonds link the mol­ecules, forming a two-dimensional network parallel to (101)

3-(3-Meth­oxy­benzo­yl)-1,1-diphenyl­thio­urea

The thiono and carbonyl groups in the title compound, C21H18N2O2S, adopt an anti disposition with respect to the central C—N bond. The diphenyl­amine rings are twisted relative to each other by a dihedral angle of 82.55 (10)°. The 3-meth­oxy­benzoyl fragment is twisted relative to one of the diphenyl­amine rings, forming a dihedral angle of 74.04 (9)°. In the crystal, pairs of inter­molecular N—H⋯S hydrogen bonds link the mol­ecules into centrosymmetric dimers, forming columns parallel to the a axis

The link between individual personality traits and criminality: A systematic review

In addition to social and environmental factors, individual personality traits have intricately linked with maladaptive behaviour. Thus, the purpose of this article was to review the link between individual personality traits and criminality. A systematic review was conducted to obtain information regarding the link between individual personality traits with criminal behaviour in the Sage, Web of Science, APA PsycNet, Wiley Online Library, and PubMed databases. The results indicate that individual personality traits that contribute towards criminality are (i) psychopathy; (ii) low self-control; and (iii) difficult temperament. As an overall impact, the review is expected to provide in-depth understanding of the link between individual personality traits and criminality; hence, greater consideration will be given to the dimension of personality as a notable risk factor of criminal behaviour

The Link between Individual Personality Traits and Criminality: A Systematic Review

: In addition to social and environmental factors, individual personality traits have intricately linked with maladaptive behaviour. Thus, the purpose of this article was to review the link between individual personality traits and criminality. A systematic review was conducted to obtain information regarding the link between individual personality traits with criminal behaviour in the Sage, Web of Science, APA PsycNet, Wiley Online Library, and PubMed databases. The results indicate that individual personality traits that contribute towards criminality are (i) psychopathy; (ii) low self-control; and (iii) difficult temperament. As an overall impact, the review is expected to provide in-depth understanding of the link between individual personality traits and criminality; hence, greater consideration will be given to the dimension of personality as a notable risk factor of criminal behaviour

Analyzing molecular signatures in preeclampsia and fetal growth restriction: Identifying key genes, pathways, and therapeutic targets for preterm birth

Background:Intrauterine growth restriction (IUGR) and preeclampsia (PE) are intricately linked with specific maternal health conditions, exhibit shared placental abnormalities, and play pivotal roles in precipitating preterm birth (PTB) incidences. However, the molecular mechanism underlying the association between PE and IUGR has not been determined. Therefore, we aimed to analyze the data of females with PE and those with PE + IUGR to identify the key gene(s), their molecular pathways, and potential therapeutic interactions.Methods:In this study, a comprehensive relationship analysis of both PE and PE + IUGR was conducted using RNA sequence datasets. Using two datasets (GSE148241 and GSE114691), differential gene expression analysis via DESeq2 through R-programming was performed. Gene set enrichment analysis was performed using ClusterProfiler, protein‒protein interaction (PPI) networks were constructed, and cluster analyses were conducted using String and MCODE in Cytoscape. Functional enrichment analyses of the resulting subnetworks were performed using ClueGO software. The hub genes were identified under both conditions using the CytoHubba method. Finally, the most common hub protein was docked against a library of bioactive flavonoids and PTB drugs using the PyRx AutoDock tool, followed by molecular dynamic (MD) simulation analysis. Pharmacokinetic analysis was performed to determine the ADMET properties of the compounds using pkCSM.Results:We identified eight hub genes highly expressed in the case of PE, namely, PTGS2, ENG, KIT, MME, CGA, GAPDH, GPX3, and P4HA1, and the network of the PE + IUGR gene set demonstrated that nine hub genes were overexpressed, namely, PTGS2, FGF7, FGF10, IL10, SPP1, MPO, THBS1, CYBB, and PF4. PTGS2 was the most common hub gene found under both conditions (PE and PEIUGR). Moreover, the greater (−9.1 kcal/mol) molecular binding of flavoxate to PTGS2 was found to have satisfactory pharmacokinetic properties compared with those of other compounds. The flavoxate-bound PTGS2 protein complex remained stable throughout the simulation; with a ligand fit to protein, i.e., a RMSD ranging from ∼2.0 to 4.0 Å and a RMSF ranging from ∼0.5 to 2.9 Å, was observed throughout the 100 ns analysis.Conclusion:The findings of this study may be useful for treating PE and IUGR in the management of PTB

2-Bromo-N-(dibenzyl­carbamothioyl)benzamide

The 2-bromo­benzoyl group in the title compound, C22H19BrN2OS, adopts an E conformation with respect to the thiono S atom across the N—C bond. In the crystal structure, the mol­ecule is stablized by N—H⋯O inter­molecular hydrogen bonds, forming a one-dimensional chain along the b axis

Hybrid manta ray foraging—particle swarm algorithm for PD control optimization of an inverted pendulum

This paper presents a hybrid Manta ray foraging—particle swarm optimization algorithm. Manta Ray Foraging Optimization (MRFO) algorithm is a recent algorithm that has a promising performance as compared to other popular algorithms. On the other hand, Particle Swarm Optimization (PSO) algorithm is a well-known and a good performance algorithm. The proposed hybrid algorithm in this work incorporates social interaction and elitism mechanisms from PSO into MRFO strategy. The mechanisms help search agents to determine their new search direction. The proposed algorithm is tested on various dimensions and fitness landscapes of CEC2014 benchmark functions. In solving a real world engineering problem, it is applied to optimize a PD controller for an inverted pendulum system. Result of the benchmark function test is statistically analyzed. The proposed algorithm has successfully improved the accuracy performance for most of the test functions. For optimization of the PD control, result shows that the proposed algorithm has attained a better control performance compared to MRF

Non-dominated sorting manta ray foraging algorithm with an application to optimize PD control

This paper presents a multi-objective (MO) version of Manta Ray Foraging Algorithm (MRFO) by using components in Non-Dominated Sorting Genetic Algorithm (NSGAII). MFRO is a recent developed algorithm which was inspired from behavior of a cartilaginous fish called Manta Ray. MRFO search solution by using three strategies of manta ray which are chain foraging, cyclone foraging and somersault foraging. However, this algorithm solves only single-objective problem and can be improved to solve multi-objective problem. Thus, non-dominated sorting (NS) strategies including crowding distance (CD) were adopted into MRFO. NS is a sorting technique based on Pareto’s game. It is a fast strategy to develop a good characteristic of Pareto’s front (PF). Meanwhile, CD is a strategy to preserve good distribution of solutions along the PF. This proposed algorithm is called NSMRFO. It is tested using several benchmark functions and its performance is compared to its parent by using statically analysis of hypervolume indicator. Then, it is applied to a Proportional-Derivative (PD)-controller for an Inverted Pendulum System (IPS) in order to know its performance on real-world application. Result of the NSMRFO on benchmark functions shows that it outperforms NSGAII and satisfactorily optimizes PD-control for the IPS