Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers

Fault-tolerant control design of wheeled planetary rovers is described. This paper covers all steps of the design process, from modeling/simulation to experimentation. A simplified contact model is used with a multibody simulation model and tuned to fit the experimental data. The nominal mode controller is designed to be stable and has its parameters optimized to improve tracking performance and cope with physical boundaries and actuator saturations. This controller was implemented in the real rover and validated experimentally. An impact analysis defines the repertory of faults to be handled. Failures in steering joints are chosen as fault modes; they combined six fault modes and a total of 63 possible configurations of these faults. The fault-tolerant controller is designed as a two-step procedure to provide alternative steering and reuse the nominal controller in a way that resembles a crab-like driving mode. Three fault modes are injected (one, two, and three failed steering joints) in the real rover to evaluate the response of the nonreconfigured and reconfigured control systems in face of these faults. The experimental results justify our proposed fault-tolerant controller very satisfactorily. Additional concluding comments and an outlook summarize the lessons learned during the whole design process and foresee the next steps of the research

Glucosylpolyphenols as Inhibitors of Aβ-Induced Fyn Kinase Activation and Tau Phosphorylation: Synthesis, Membrane Permeability, and Exploratory Target Assessment within the Scope of Type 2 Diabetes and Alzheimer's Disease

Despite the rapidly increasing number of patients suffering from type 2 diabetes, Alzheimer's disease, and diabetes-induced dementia, there are no disease-modifying therapies that are able to prevent or block disease progress. In this work, we investigate the potential of nature-inspired glucosylpolyphenols against relevant targets, including islet amyloid polypeptide, glucosidases, and cholinesterases. Moreover, with the premise of Fyn kinase as a paradigm-shifting target in Alzheimer's drug discovery, we explore glucosylpolyphenols as blockers of Aβ-induced Fyn kinase activation while looking into downstream effects leading to Tau hyperphosphorylation. Several compounds inhibit Aβ-induced Fyn kinase activation and decrease pTau levels at 10 μM concentration, particularly the per-O-methylated glucosylacetophloroglucinol and the 4-glucosylcatechol dibenzoate, the latter inhibiting also butyrylcholinesterase and β-glucosidase. Both compounds are nontoxic with ideal pharmacokinetic properties for further development. This work ultimately highlights the multitarget nature, fine structural tuning capacity, and valuable therapeutic significance of glucosylpolyphenols in the context of these metabolic and neurodegenerative disorders

Rarity of monodominance in hyperdiverse Amazonian forests.

Tropical forests are known for their high diversity. Yet, forest patches do occur in the tropics where a single tree species is dominant. Such "monodominant" forests are known from all of the main tropical regions. For Amazonia, we sampled the occurrence of monodominance in a massive, basin-wide database of forest-inventory plots from the Amazon Tree Diversity Network (ATDN). Utilizing a simple defining metric of at least half of the trees ≥ 10 cm diameter belonging to one species, we found only a few occurrences of monodominance in Amazonia, and the phenomenon was not significantly linked to previously hypothesized life history traits such wood density, seed mass, ectomycorrhizal associations, or Rhizobium nodulation. In our analysis, coppicing (the formation of sprouts at the base of the tree or on roots) was the only trait significantly linked to monodominance. While at specific locales coppicing or ectomycorrhizal associations may confer a considerable advantage to a tree species and lead to its monodominance, very few species have these traits. Mining of the ATDN dataset suggests that monodominance is quite rare in Amazonia, and may be linked primarily to edaphic factors

Brazilian consensus on the treatment of fibromyalgia

UNIFESP Ambulatório de FibromialgiaUFPR HC ambulatório de fibromialgiaUNIFESPUNIFESP Setor de reumatismos de partes molesPUC-SP Departamento de MedicinaPUC-Campinas Hospital Universitário Serviço de ReumatologiaSociedade Brasileira de ReumatologiaSanta Casa de Belo Horizonte Ambulatório de Fibromialgia Programa de Residência Médica em ReumatologiaFMUSP HC Serviço de ReumatologiaSanta Casa de Campo Grande Setor de Reumatologia programa de Residência em Clínica MédicaUniversidade Federal de Ciências da Saúde de Porto AlegreUNiSULUniversidade Federal do Espírito Santo Hospital Universitário serviço de ReumatologiaSociedade Brasileira de Clínica MédicaSociedade Brasileira para o Estudo da DorAssociação Brasileira de Medicina Física e ReabilitaçãoUniversidade de São Paulo Faculdade de MedicinaUniversidade Federal FluminenseAcademia Brasileira de Neurologia Departamento de DorEuropean Neurological Society Subcomitê de DorPeripheral Nerve SocietyFMUSP Grupo de MãoSociedade Brasileira de ortopedia e TraumatologiaAxia.Bio farmacoeconomia e pesquisa em saúdeUNIFESP Núcleo de Gestão de PesquisasUNIFESP, Ambulatório de FibromialgiaUNIFESP, Setor de reumatismos de partes molesUNIFESP, Núcleo de Gestão de PesquisasSciEL

Papel da Cirurgia Bucomaxilofacial na Reabilitação de Pacientes com Câncer de Cabeça e Pescoço

The aim of this article is to investigate and elucidate the impact and relevance of oral and maxillofacial surgery in the rehabilitation process of individuals facing the challenge of head and neck cancer. The indexes SciVerse Scopus, Scientific Electronic Library Online (Scielo), U.S. National Library of Medicine (PUBMED) and ScienceDirect were used as search engines. The articles were contemplated between the years 2000 to 2023. The rehabilitation approach in oral and maxillofacial surgery for patients facing head and neck cancer represents a crucial pillar in the journey of treatment and recovery. The complexity of the functional, aesthetic and psychosocial implications of this type of cancer requires a multidisciplinary and integrated approach that goes beyond the medical aspect. The results demonstrate that this rehabilitation technique can effectively improve the quality of life of patients, allowing restoration of function, recovery of self-image and social reintegration. Collaboration between oral and maxillofacial surgeons, physical therapists, speech therapists and mental health professionals plays a vital role in this process, providing a holistic and comprehensive approach.O objetivo deste artigo é investigar e elucidar o impacto e a relevância da cirurgia bucomaxilofacial no processo de reabilitação de indivíduos que enfrentam o desafio do câncer de cabeça e pescoço. Foram utilizados como motores de busca os indexadores SciVerse Scopus, Scientific Eletronic Library Online (Scielo), U.S. National Library of Medicine (PUBMED) e ScienceDirect. Os artigos foram contemplados entre os anos de 2000 a 2023. A abordagem de reabilitação na cirurgia bucomaxilofacial para pacientes que enfrentam câncer de cabeça e pescoço representa um pilar crucial na jornada de tratamento e recuperação. A complexidade das implicações funcionais, estéticas e psicossociais desse tipo de câncer exige uma abordagem multidisciplinar e integrada que vá além do aspecto médico. Os resultados demonstram que essa técnica de reabilitação pode efetivamente melhorar a qualidade de vida dos pacientes, permitindo a restauração da função, a recuperação da autoimagem e a reintegração social. A colaboração entre cirurgiões bucomaxilofaciais, fisioterapeutas, fonoaudiólogos e profissionais de saúde mental desempenha um papel vital nesse processo, fornecendo uma abordagem holística e abrangente

Pervasive gaps in Amazonian ecological research

Biodiversity loss is one of the main challenges of our time,1,2 and attempts to address it require a clear un derstanding of how ecological communities respond to environmental change across time and space.3,4 While the increasing availability of global databases on ecological communities has advanced our knowledge of biodiversity sensitivity to environmental changes,5–7 vast areas of the tropics remain understudied.8–11 In the American tropics, Amazonia stands out as the world’s most diverse rainforest and the primary source of Neotropical biodiversity,12 but it remains among the least known forests in America and is often underrepre sented in biodiversity databases.13–15 To worsen this situation, human-induced modifications16,17 may elim inate pieces of the Amazon’s biodiversity puzzle before we can use them to understand how ecological com munities are responding. To increase generalization and applicability of biodiversity knowledge,18,19 it is thus crucial to reduce biases in ecological research, particularly in regions projected to face the most pronounced environmental changes. We integrate ecological community metadata of 7,694 sampling sites for multiple or ganism groups in a machine learning model framework to map the research probability across the Brazilian Amazonia, while identifying the region’s vulnerability to environmental change. 15%–18% of the most ne glected areas in ecological research are expected to experience severe climate or land use changes by 2050. This means that unless we take immediate action, we will not be able to establish their current status, much less monitor how it is changing and what is being lostinfo:eu-repo/semantics/publishedVersio