Control of an Underactuated Double-Pendulum Overhead Crane using Improved Model Reference Command Shaping: Design, Simulation and Experiment

This paper presents a new control scheme based on model reference command shaping (MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach has an advantage in achieving an accurate trolley positioning, with low hook and payload oscillations, under various desired trolley positions and parameter uncertainties, without the requirement for measurement or estimation of system parameters. These are challenging in practice. The previously developed MRCS algorithm is improved in order to reduce its design complexity, as well as to ensure that it can be augmented with a feedback controller so that a concurrent controller tuning can be realised. The combined MRCS and feedback controller is used to achieve both, precise trolley positioning, and low hook and payload oscillations. To evaluate the effectiveness and the robustness of the approach, simulations and experiments using a nonlinear model and a laboratory double-pendulum crane are carried out. Under various desired positions and parameter uncertainties that involve varying the cable lengths (payload hoisting) and the payload mass variations, the superiority of the proposed approach is confirmed by achieving higher hook and payload oscillation reductions when compared with a recently proposed feedback controller. In addition, the desired trolley positions are achieved with smoother responses

Efficient control of a nonlinear double-pendulum overhead crane with sensorless payload motion using an improved PSO-tuned PID controller

This paper proposes an efficient PID control of a highly nonlinear double-pendulum overhead crane without the need for a payload motion feedback signal. Optimal parameters of the PID controllers are tuned by using an improved particle swarm optimisation (PSO) algorithm based on vertical distance oscillations and potential energy of the crane. In contrast to a commonly used PSO algorithm based on a horizontal distance, the approach resulted in an efficient performance with a less complex controller. To test the effectiveness of the approach, extensive simulations are carried out under various crane operating conditions involving different payload masses and cable lengths. Simulation results show that the proposed controller is superior with a better trolley position response, and lower hook and payload oscillations as compared to the previously developed PSO-tuned PID controller. In addition, the controller provides a satisfactory performance without the need for a payload motion feedback signal

Eco-efficiency measurement and material balance principle:an application in power plants Malmquist Luenberger Index

Incorporating Material Balance Principle (MBP) in industrial and agricultural performance measurement systems with pollutant factors has been on the rise in recent years. Many conventional methods of performance measurement have proven incompatible with the material flow conditions. This study will address the issue of eco-efficiency measurement adjusted for pollution, taking into account materials flow conditions and the MBP requirements, in order to provide ‘real’ measures of performance that can serve as guides when making policies. We develop a new approach by integrating slacks-based measure to enhance the Malmquist Luenberger Index by a material balance condition that reflects the conservation of matter. This model is compared with a similar model, which incorporates MBP using the trade-off approach to measure productivity and eco-efficiency trends of power plants. Results reveal similar findings for both models substantiating robustness and applicability of the proposed model in this paper

IL-22 Is Produced by Innate Lymphoid Cells and Limits Inflammation in Allergic Airway Disease

Interleukin (IL)-22 is an effector cytokine, which acts primarily on epithelial cells in the skin, gut, liver and lung. Both pro- and anti-inflammatory properties have been reported for IL-22 depending on the tissue and disease model. In a murine model of allergic airway inflammation, we found that IL-22 is predominantly produced by innate lymphoid cells in the inflamed lungs, rather than TH cells. To determine the impact of IL-22 on airway inflammation, we used allergen-sensitized IL-22-deficient mice and found that they suffer from significantly higher airway hyperreactivity upon airway challenge. IL-22-deficiency led to increased eosinophil infiltration lymphocyte invasion and production of CCL17 (TARC), IL-5 and IL-13 in the lung. Mice treated with IL-22 before antigen challenge displayed reduced expression of CCL17 and IL-13 and significant amelioration of airway constriction and inflammation. We conclude that innate IL-22 limits airway inflammation, tissue damage and clinical decline in allergic lung disease

Missense mutation of Brain Derived Neurotrophic Factor (BDNF) alters neurocognitive performance in patients with mild traumatic brain injury: a longitudinal study

The predictability of neurocognitive outcomes in patients with traumatic brain injury is not straightforward. The extent and nature of recovery in patients with mild traumatic brain injury (mTBI) are usually heterogeneous and not substantially explained by the commonly known demographic and injury-related prognostic factors despite having sustained similar injuries or injury severity. Hence, this study evaluated the effects and association of the Brain Derived Neurotrophic Factor (BDNF) missense mutations in relation to neurocognitive performance among patients with mTBI. 48 patients with mTBI were prospectively recruited and MRI scans of the brain were performed within an average 10.1 (SD 4.2) hours post trauma with assessment of their neuropsychological performance post full Glasgow Coma Scale (GCS) recovery. Neurocognitive assessments were repeated again at 6 months follow-up. The paired t-test, Cohen’s d effect size and repeated measure ANOVA were performed to delineate statistically significant differences between the groups [wildtype G allele (Val homozygotes) vs. minor A allele (Met carriers)] and their neuropsychological performance across the time point (T1 = baseline/ admission vs. T2 = 6th month follow-up). Minor A allele carriers in this study generally performed more poorly on neuropsychological testing in comparison wildtype G allele group at both time points. Significant mean differences were observed among the wildtype group in the domains of memory (M = -11.44, SD = 10.0, p = .01, d = 1.22), executive function (M = -11.56, SD = 11.7, p = .02, d = 1.05) and overall performance (M = -6.89 SD = 5.3, p = .00, d = 1.39), while the minor A allele carriers showed significant mean differences in the domains of attention (M = -11.0, SD = 13.1, p = .00, d = .86) and overall cognitive performance (M = -5.25, SD = 8.1, p = .01, d = .66).The minor A allele carriers in comparison to the wildtype G allele group, showed considerably lower scores at admission and remained impaired in most domains across the timepoints, although delayed signs of recovery were noted to be significant in the domains attention and overall cognition. In conclusion, the current study has demonstrated the role of the BDNF rs6265 Val66Met polymorphism in influencing specific neurocognitive outcomes in patients with mTBI. Findings were more detrimentally profound among Met allele carriers

Mortality from gastrointestinal congenital anomalies at 264 hospitals in 74 low-income, middle-income, and high-income countries: a multicentre, international, prospective cohort study

Background: Congenital anomalies are the fifth leading cause of mortality in children younger than 5 years globally. Many gastrointestinal congenital anomalies are fatal without timely access to neonatal surgical care, but few studies have been done on these conditions in low-income and middle-income countries (LMICs). We compared outcomes of the seven most common gastrointestinal congenital anomalies in low-income, middle-income, and high-income countries globally, and identified factors associated with mortality. // Methods: We did a multicentre, international prospective cohort study of patients younger than 16 years, presenting to hospital for the first time with oesophageal atresia, congenital diaphragmatic hernia, intestinal atresia, gastroschisis, exomphalos, anorectal malformation, and Hirschsprung's disease. Recruitment was of consecutive patients for a minimum of 1 month between October, 2018, and April, 2019. We collected data on patient demographics, clinical status, interventions, and outcomes using the REDCap platform. Patients were followed up for 30 days after primary intervention, or 30 days after admission if they did not receive an intervention. The primary outcome was all-cause, in-hospital mortality for all conditions combined and each condition individually, stratified by country income status. We did a complete case analysis. // Findings: We included 3849 patients with 3975 study conditions (560 with oesophageal atresia, 448 with congenital diaphragmatic hernia, 681 with intestinal atresia, 453 with gastroschisis, 325 with exomphalos, 991 with anorectal malformation, and 517 with Hirschsprung's disease) from 264 hospitals (89 in high-income countries, 166 in middle-income countries, and nine in low-income countries) in 74 countries. Of the 3849 patients, 2231 (58·0%) were male. Median gestational age at birth was 38 weeks (IQR 36–39) and median bodyweight at presentation was 2·8 kg (2·3–3·3). Mortality among all patients was 37 (39·8%) of 93 in low-income countries, 583 (20·4%) of 2860 in middle-income countries, and 50 (5·6%) of 896 in high-income countries (p<0·0001 between all country income groups). Gastroschisis had the greatest difference in mortality between country income strata (nine [90·0%] of ten in low-income countries, 97 [31·9%] of 304 in middle-income countries, and two [1·4%] of 139 in high-income countries; p≤0·0001 between all country income groups). Factors significantly associated with higher mortality for all patients combined included country income status (low-income vs high-income countries, risk ratio 2·78 [95% CI 1·88–4·11], p<0·0001; middle-income vs high-income countries, 2·11 [1·59–2·79], p<0·0001), sepsis at presentation (1·20 [1·04–1·40], p=0·016), higher American Society of Anesthesiologists (ASA) score at primary intervention (ASA 4–5 vs ASA 1–2, 1·82 [1·40–2·35], p<0·0001; ASA 3 vs ASA 1–2, 1·58, [1·30–1·92], p<0·0001]), surgical safety checklist not used (1·39 [1·02–1·90], p=0·035), and ventilation or parenteral nutrition unavailable when needed (ventilation 1·96, [1·41–2·71], p=0·0001; parenteral nutrition 1·35, [1·05–1·74], p=0·018). Administration of parenteral nutrition (0·61, [0·47–0·79], p=0·0002) and use of a peripherally inserted central catheter (0·65 [0·50–0·86], p=0·0024) or percutaneous central line (0·69 [0·48–1·00], p=0·049) were associated with lower mortality. // Interpretation: Unacceptable differences in mortality exist for gastrointestinal congenital anomalies between low-income, middle-income, and high-income countries. Improving access to quality neonatal surgical care in LMICs will be vital to achieve Sustainable Development Goal 3.2 of ending preventable deaths in neonates and children younger than 5 years by 2030

Youth–adult partnership: exploring contributions to empowerment, agency and community connections in Malaysian youth programs

Youth–adult partnership (Y–AP) has emerged as a key practice for enacting two features of effective developmental settings: supportive adult relationships and support for efficacy and mattering. Previous studies have shown that when youth, supported by adults, actively participate in organizational and community decision-making they are likely to show greater confidence and agency, empowerment and critical consciousness, and community connections. Most of the extant research on Y–AP is limited to qualitative studies and the identification of organizational best practices. Almost all research focuses on Western sociocultural settings. To address these gaps, 299 youth, age 15 to 24, were sampled from established afterschool and community programs in Malaysia to explore the contribution of Y–AP (operationalized as having two components: youth voice in decision-making and supportive adult relationships) to empowerment, agency and community connections. As hypothesized, hierarchical regressions indicated that program quality (Y–AP, safe environment and program engagement) contributed to agency, empowerment and community connections beyond the contribution of family, school and religion. Additionally, the Y–AP measures contributed substantially more variance than the other measures of program quality on each outcome. Interaction effects indicated differences by age for empowerment and agency but not for community connections. The primary findings in this inquiry replicate those found in previous interview and observational-oriented studies. The data suggests fertile ground for future research while demonstrating that Y–AP may be an effective practice for positive youth development outside of Western settings

Evaluation of Mechanical and Thermal Properties of Carrageenan/Hydroxypropyl Methyl Cellulose Hard Capsule

The inherent source of gelatin used for commercial hard capsules causes a surging demand on vegetarian capsules. In this work, carrageenan is utilized in preparing hard capsules to meet consumer preferences. Hydroxypropyl methylcellulose (HPMC) was incorporated as a reinforcing agent to improve the low mechanical properties of hard capsules made of carrageenan. HPMC concentration was manipulated from 0.2 w/v% to 1.0 w/v% in the carrageenan matrix. Increasing concentration of HPMC exerts significant effects on the tensile strength and elongation at break, with an improvement of 59.1% and 46.9%, respectively, at the optimized HPMC concentration of 0.8 w/v%. The loop strength of the capsule is also increased by 56.4% with decreasing moisture content. A downfield movement around 3.20 ppm of the carrageenan proton to 3.33 ppm in 1H-NMR spectrum suggests the formation of intermolecular hydrogen bonding between carrageenan and HPMC, which correlates to the results of FTIR and zeta potential. The glass transition of the film is increased from 37.8°C to 65.3°C, showing an upgrade in thermal stability. The film possesses a major mass loss with an activation energy of 64.7 kJ/mol with an increment of 43.4% compared to the control carrageenan. These findings support the conclusion that HPMC enhanced the mechanical properties and thermal stability of the carrageenan film, and the comprehensive analysis of the molecular interaction and decomposition kinetics subsequently may expand the application fields of the carrageenan-HPMC hard capsule as an alternative to gelatin in the future

Norms for eating disorder examination questionnaire (EDE-Q) among secondary school students in Kuala Lumpur, Malaysia.

Introduction: The Eating Disorder Examination Questionnaire (EDE-Q) has been widely used as a tool to detect eating disorders. We aimed to identify the EDE-Q normative data among secondary school students in Kuala Lumpur, Malaysia. Methods: This is a cross-sectional study involving four secondary schools in an urban area. The respondents of secondary school students were selected using stratified sampling. Results: There were 298 teenagers 12 to 17 years of age who participated in the study. The EDE-Q mean scores ± standard deviation was 1.27 ± 1.08 for the total score (Global Score), 0.78 ± 0.95 for Restraint Domain, 1.02 ± 1.03 for Eating Concern, 1.76 ± 1.55 for Shape Concern and 1.54 ± 1.43 for Weight Concern. Conclusion: Mean values obtained from this study were relatively lower when compared to western populations. Shape Concern and Weight Concern had higher scores compared to the other domains. These values are useful for EDE-Q interpretation in Malaysia