Trajectory Tracking Control Design for Dual-Arm Robots Using Dynamic Surface Controller

This paper presents a dynamic surface controller (DSC) for dual-arm robots (DAR) tracking desired trajectories. The DSC algorithm is based on backstepping technique and multiple sliding surface control principle, but with an important addition. In the design of DSC, low-pass filters are included which prevent the complexity in computing due to the “explosion of terms”, i.e. the number of terms in the control law rapidly gets out of hand. Therefore, a controller constructed from this algorithm is simulated on a four degrees of freedom (DOF) dual-arm robot with a complex kinetic dynamic model. Moreover, the stability of the control system is proved by using Lyapunov theory. The simulation results show the effectiveness of the controller which provide precise tracking performance of the manipulator

A case of hepatic cyst-induced internal jugular venous thrombosis

• Echocardiography can demonstrate hepatic cyst–induced right atrial compression. • Hepatic cyst–induced blood flow stasis can cause internal jugular venous thrombus. • Laparoscopic deroofing of hepatic cysts is a safe and effective treatment

Serum interleukin 6 concentration in patients with pemphigus

Pemphigus is a rare autoimmune blistering disease that detrimentally affects the integumentary system and decreases patients’ quality of life. Recent studies have shown that interleukin 6 (IL-6) is closedly involved in the immunophathogenesis of pemphigus. Therefore, this study was performed to evaluate the role of IL-6 in the pathogenesis and severity of pemphigus disease. The case-series study was conducted in Ho Chi Minh City Hospital of Dermato-Venereology from January 2022 to August 2022, involving 26 patients with pemphigus vulgaris (PV), 4 patients with pemphigus foliaceus (PF), and 20 healthy volunteers. The serum IL-6 concentrations of patients with PV and PF were significantly higher than those of the healthy volunteers (P < 0.001). Serum IL-6 concentrations were significantly higher in patients with a positive than a negative Nikolsky sign (P < 0.001). A significant correlation was found between the serum IL-6 concentration and the pemphigus disease area index (r = 0.8, P < 0.001). Our results suggest that IL-6 may play an important role in the pathogenesis and severity of pemphigus. Therefore, new therapies targeting IL-6 may be a promising choice for treating pemphigus, especially in its severe forms

Application of Fuzzy-ANFIS Controller for Ball on Wheel System

The ball-on-wheel (BoW) is a nonlinear single input-multi output (SIMO) system consisting of a ball located on a wheel. The system’s challenge is to balance ball at the highest point on the wheel. In this paper, we propose a method of applying ANFIS toolbox in imitating a successful controller (in this case, it is PD controller). This process creates a similar fuzzy controller which controls well this system. Therefore, through this research, ANFIS toolbox shows the ability in imitating an expert‘s control law through collecting data of operations

Studying and forecasting the evolution of the Day river coastal zone up to the year of 2070

The Day river coastal zone is the place of plentiful and eventful economical activities and the natural habitat of diverse endemic species that should be preserved and developed. According to the updated geological, remote-sensing and oceanographic data sources, this study figures out the actual state, evolutional history and forecasts the development of the Day river coastal zone up to the year 2070, which could be used to improve the effectiveness of the long-term spatial coastal zone management and master planning. Major conclusions are as follows: (i) The Day river coastline has been highly modified since the last 50 years, (ii) The shoreline seaward development tends to gradually decrease in recent years, and (iii) The river-bed continues to be shifted southwestwards in the context of global climate change and sea level rise.Abstract STUDYING AND FORECASTING THE EVOLUTION OF THE DAY RIVER COASTAL ZONE UPTO THE YEAR 2050 Duong Quoc Hung1, Vu Hai Dang1, Phan Dong Pha1, Nguyen Thi Anh Nguyet1, Ngo Bich Huong1, Nguyen Thai Son2 (1) Institute of Marine Geology and Goephysics; (2) Institute of Geography The coastal geographical features including alluvial grouds, estuaries, mangrove forest, etc. are products of the river - ocean interactions, reflect the dynamic equilibrium of the unsustainable ecosystems that are spacial and temporary changing. These areas are also the places of plentiful and eventful economical activities and the natural diversified endemic habitats to be preserved and developed. According to the updated data sources, this study mentions to the actual state, evolution history and developing forecasts for the Day River coastal zone up to the year of 2050, which could be used to inhale the effectiveness of the long-term spacial coastal zone management and master plannin

Состояние провоспалительного цитокинового звена у больных с нестабильной стенокарадией и сахарным диабетом 2-го типа в зависимости от функционального класса хронической сердечной недостаточности

Проанализировано состояние провоспалительного звена цитокинов у больных с нестабильной стенокардией (НС) и сопутствующим сахарным диабетом (СД) 2−го типа в зависимости от функционального класса хронической сердечной недостаточности (ХСН). Нарастание проявлений сердечной декомпенсации у больных с НС и СД 2−го типа ассоциируется с высокой активностью провоспалительного цитокинового звена, представленного фактором некроза опухолей−α и интерлейкином−6. Повышение функционального класса ХСН характеризуется увеличением инсулинорезистентности у больных с НС и СД 2−го типа.Проаналізовано стан прозапальної ланки цитокінів у хворих із нестабільною стенокардією (НС) та супутнім цукровим діабетом (ЦД) 2−го типу залежно від функціонального класу хронічної серцевої недостатності (ХСН). Наростання проявів серцевої декомпенсації у хворих із НС та СД 2−го типу асоціюється з високою активністю прозапальної цитокінової ланки, представленої фактором некрозу пухлин−α та інтерлейкіном−6. Підвищення функціонального класу ХСН характеризується зростанням інсулінорезистентності у хворих із НС та ЦД 2−го типу.The state of pro−inflammatory cytokines in patients with unstable angina (UA) and associated type 2 diabetes mellitus (DM) was analyzed depending on the functional class of chronic heart failure (CHF). The increase in manifestations of cardiac decompensation in patients with UA and type 2 DM is associated with high activity of pro−inflammatory cytokine level represented by tumor necrosis factor−β and interleukin−6. Increase of functional class of CHF is characterized by increased insulin resistance in patients with UA and type 2 DM

Limited contribution of non-intensive chicken farming to ESBL-producing Escherichia coli colonization in humans in Vietnam: an epidemiological and genomic analysis.

OBJECTIVES: To investigate the risk of colonization with ESBL-producing Escherichia coli (ESBL-Ec) in humans in Vietnam associated with non-intensive chicken farming. METHODS: Faecal samples from 204 randomly selected farmers and their chickens, and from 306 age- and sex-matched community-based individuals who did not raise poultry were collected. Antimicrobial usage in chickens and humans was assessed by medicine cabinet surveys. WGS was employed to obtain a high-resolution genomic comparison between ESBL-Ec isolated from humans and chickens. RESULTS: The adjusted prevalence of ESBL-Ec colonization was 20.0% (95% CI 10.8%-29.1%) and 35.2% (95% CI 30.4%-40.1%) in chicken farms and humans in Vietnam, respectively. Colonization with ESBL-Ec in humans was associated with antimicrobial usage (OR = 2.52, 95% CI = 1.08-5.87) but not with involvement in chicken farming. blaCTX-M-55 was the most common ESBL-encoding gene in strains isolated from chickens (74.4%) compared with blaCTX-M-27 in human strains (47.0%). In 3 of 204 (1.5%) of the farms, identical ESBL genes were detected in ESBL-Ec isolated from farmers and their chickens. Genomic similarity indicating recent sharing of ESBL-Ec between chickens and farmers was found in only one of these farms. CONCLUSIONS: The integration of epidemiological and genomic data in this study has demonstrated a limited contribution of non-intensive chicken farming to ESBL-Ec colonization in humans in Vietnam and further emphasizes the importance of reducing antimicrobial usage in both human and animal host reservoirs

Streptococcus suis, an Important Cause of Adult Bacterial Meningitis in Northern Vietnam

Streptococcus suis can cause severe systemic infection in adults exposed to infected pigs or after consumption of undercooked pig products. S. suis is often misdiagnosed, due to lack of awareness and improper testing. Here we report the first fifty cases diagnosed with S. suis infection in northern Viet Nam.In 2007, diagnostics for S. suis were set up at a national hospital in Hanoi. That year there were 43 S. suis positive cerebrospinal fluid samples, of which S. suis could be cultured in 32 cases and 11 cases were only positive by PCR. Seven patients were blood culture positive for S. suis but CSF culture and PCR negative; making a total of 50 patients with laboratory confirmed S. suis infection in 2007. The number of S. suis cases peaked during the warmer months.S. suis was commonly diagnosed as a cause of bacterial meningitis in adults in northern Viet Nam. In countries where there is intense and widespread exposure of humans to pigs, S. suis can be an important human pathogen

Host Transcription Profile in Nasal Epithelium and Whole Blood of Hospitalized Children Under 2 Years of Age With Respiratory Syncytial Virus Infection.

BACKGROUND: Most insights into the cascade of immune events after acute respiratory syncytial virus (RSV) infection have been obtained from animal experiments or in vitro models. METHODS: In this study, we investigated host gene expression profiles in nasopharyngeal (NP) swabs and whole blood samples during natural RSV and rhinovirus (hRV) infection (acute versus early recovery phase) in 83 hospitalized patients <2 years old with lower respiratory tract infections. RESULTS: Respiratory syncytial virus infection induced strong and persistent innate immune responses including interferon signaling and pathways related to chemokine/cytokine signaling in both compartments. Interferon-α/β, NOTCH1 signaling pathways and potential biomarkers HIST1H4E, IL7R, ISG15 in NP samples, or BCL6, HIST2H2AC, CCNA1 in blood are leading pathways and hub genes that were associated with both RSV load and severity. The observed RSV-induced gene expression patterns did not differ significantly in NP swab and blood specimens. In contrast, hRV infection did not as strongly induce expression of innate immunity pathways, and significant differences were observed between NP swab and blood specimens. CONCLUSIONS: We conclude that RSV induced strong and persistent innate immune responses and that RSV severity may be related to development of T follicular helper cells and antiviral inflammatory sequelae derived from high activation of BCL6