A robust control scheme for flexible arms with friction in the joints

A general control scheme to control flexible arms with friction in the joints is proposed in this paper. This scheme presents the advantage of being robust in the sense that it minimizes the effects of the Coulomb friction existing in the motor and the effects of changes in the dynamic friction coefficient. A justification of the robustness properties of the scheme is given in terms of the sensitivity analysis

Correlation induced non-Abelian quantum holonomies

In the context of two-particle interferometry, we construct a parallel transport condition that is based on the maximization of coincidence intensity with respect to local unitary operations on one of the subsystems. The dependence on correlation is investigated and it is found that the holonomy group is generally non-Abelian, but Abelian for uncorrelated systems. It is found that our framework contains the L\'{e}vay geometric phase [2004 {\it J. Phys. A: Math. Gen.} {\bf 37} 1821] in the case of two-qubit systems undergoing local SU(2) evolutions.Comment: Minor corrections; journal reference adde

Molecular insights into diabetic cardiomyopathy

Diabetes mellitus affects the heart in 3 ways: (1) coronary artery disease (CAD) due to accelerated atherosclerosis; (2) cardiac autonomic neuropathy (CAN); and (3) diabetic cardiomyopathy (DbCM). Although there is high awareness among clinicians about the first two entities, DbCM is poorly recognized by most physicians and diabetologists. DbCM, first described by Rubler et al. in 1972, is defined as myocardial dysfunction occurring in patients with diabetes in the absence of CAD, hypertension, or valvular heart disease. The development of DbCM is multi-factorial including autonomic dysfunction, metabolic derangements, abnormalities in ion homeostasis, alteration in structural proteins, and interstitial fibrosis. Chronic hyperglycemia is thought to play a central role in the development of DbCM. The main metabolic abnormalities in diabetes are hyperglycemia, hyperlipidemia and inflammation, all of which stimulate generation of reactive oxygen/nitrogen species which result in reduction of myocardial contractility and acceleration of fibrosis besides cellular DNA damage and cardiomyocyte apoptosis. In addition, advanced glycation end products (AGEs) indirectly exert their detrimental effect on the myocardium by interacting and up-regulating their receptors, including receptors of AGE and galectin-3. This results in activation of transcription factors, such as nuclear factor-kB (NF-kB). The NF-kB dependent genes, in turn, trigger several pathways that induce production of pro-inflammatory cytokines and cause myocardial damage. All these molecular events are potential therapeutic targets in DbCM.

Dokaz oštećenja miokarda u konja s kolikom

Development of endotoxemia associated with gastrointestinal injury is often observed in horses with colic. Such patients are likely to develop cardiovascular complications associated with endotoxemia, including myocardial injury. Few studies have investigated the prevalence of myocardial injury in horses with colic. Cardiac biomarkers such as cardiac troponin I (cTnI) have been extensively used in human and veterinary medicine for diagnosis of myocardial injury. The aim of the present study was to investigate the occurrence of myocardial injury in horses with colic by measuring serum cTnI concentrations. Myocardial tissue samples from non-surviving horses were also subjected to histopathological evaluation. Serum cTnI concentration was measured in 10 healthy horses and 39 horses with colic. Associations were determined of cTnI concentration, and variables such as health status (healthy and horses with colic), type of colic (inflammatory, impaction, and unknown), the severity of abdominal pain (mild, moderate and severe), and clinical outcome (survivor to discharge and non-survivor). As compared with healthy horses, cTnI concentrations were significantly elevated in horses with colic (P = 0.004). In horses with colic, an abnormal cTnI concentration was significantly associated with inflammatory colic (P<0.05), severe abdominal pain (P<0.01), and negative clinical outcome (P<0.0001). Further, histopathological evaluation of the myocardial muscles revealed a varying degree of myocardial degeneration and necrosis. The present study suggested that horses with severe colic and increased cTnI levels are more likely to develop myocardial injury. Elevated levels of cTnI may also be indicative of poor prognosis in horses with severe colic.U konja s kolikom čest je razvoj endotoksemije povezane s gastrointestinalnim ozljedama. Takvi bolesnici vjerojatno će razviti kardiovaskularne komplikacije, uključujući oštećenje miokarda. Manji broj istraživanja analizirao je prevalenciju oštećenja miokarda u konja s kolikama. Biomarkeri, kao što je srčani troponin I (cTnI), često su korišteni u humanoj i veterinarskoj medicini za dijagnosticiranje oštećenja miokarda. Cilj ovog istraživanja bio je mjerenjem koncentracije cTnI u serumu analizirati pojavu oštećenja miokarda u konja s kolikom. U istraživanje su uključeni i uginuli konji od kojih su uzeti uzorci tkiva miokarda i podvrgnuti histopatološkoj procjeni. Koncentracija cTnI u serumu mjerena je u 10 zdravih konja i 39 konja s kolikom. Analizirana je povezanost koncentacije cTnI s varijablama zdravstveni status (zdravi i konji s kolikom), vrsta kolike (upalna, zastojna, nepoznata), jačina abdominalne boli (blaga, umjerena i teška) i klinički ishod (preživjeli do otpuštanja i nepreživjeli). U usporedbi sa zdravim konjima, koncentracije cTnI bile su znakovito povišene u konja s kolikom (P = 0,004). U konja s kolikom, abnormalna koncentracija cTnI bila je znakovito povezana s upalnim tipom kolike (P < 0,05), teškom boli u abdomenu (P < 0,01) i nepreživljavanjem kao kliničkim ishodom (P < 0,0001). Nadalje, histopatološkom procjenom mišića miokarda utvrđeni su različiti stupanjevi degeneracije i nekroze. Ovo je istraživanje pokazalo da su konji s teškom kolikom i povišenim razinama cTnI skloniji razvoju oštećenja miokarda. Povišene razine cTnI mogu također ukazivati na slabu prognozu u konja s teškom kolikom

Impact of Ageratum conyzoides L. on the diversity and composition of vegetation in the Shivalik hills of Himachal Pradesh (Northwestern Himalaya), India

The flora of the Shivalik hills of Himachal Pradesh, India is under threat due to the rapid invasion of invasive species. Invasive species means an alien species, which becomes established in natural or semi-natural ecosystems and threatens native biological diversity. In their new regimes they show diverse life forms, habit, morphology, reproductive biology, grow fast, have the ability to grow under different habitats, produce enormous number of very small, light weight seeds that and can-survive in soil for years helping long distance dispersal and spread. They can out-compete native species, reduce wildlife habitat potential, alter natural ecosystem processes and limit overall biodiversity. Ageratum conyzoides is one such widely adaptive weed from sub-tropical America that has entered in the Shivalik hills of Hamrpur district of Himachal Pradesh. It has grown as monocultures, in grasslands, forests, agricultural, plantations and horticultural fields in Himachal Pradesh. Hence, it was decided to evaluate the impact of A. conyzoides on the diversity and floristic compositions of native species. It was found that as compared to control, in the Ageratum invaded area; the average number of plant species has reduced by 32.10%; the α diversity has reduced by 41.21% and the dry biomass of plants has also reduced significantly. It was concluded that invasion of A. conyzoides is drastically affecting the productivity and diversity of the invaded areas in Shivalik hills of Hamirpur district

Work in Progress: The WSU Model for Engineering Mathematics Education

This paper summarizes progress to date on the WSU model for engineering mathematics education, an NSF funded curriculum reform initiative at Wright State University. The WSU model seeks to increase student retention, motivation and success in engineering through application-driven, just-in-time engineering math instruction. The WSU approach involves the development of a novel freshman-level engineering mathematics course EGR 101, as well as a large-scale restructuring of the engineering curriculum. By removing traditional math prerequisites and moving core engineering courses earlier in the program, the WSU model shifts the traditional emphasis on math prerequisite requirements to an emphasis on engineering motivation for math, with a just-in-time structuring of the new math sequence. This paper summarizes the development to date of the WSU model for engineering mathematics education, including a preliminary assessment of student performance and perception during the initial implementation of EGR 101. In addition, an assessment of first-year retention results is anticipated in time for the conference