Symmetry Method for Limit Cycle Walking of Legged Robots.

Dynamic steady-state walking or running gaits for legged robots correspond to periodic orbits in the dynamic model. The common method for obtaining such periodic orbits is conducting a numerical search for fixed points of a Poincare map. However, as the number of degrees of freedom of the robot grows, such numerical search becomes computationally expensive because in each search trial the dynamic equations need to be integrated. Moreover, the numerical search for periodic orbits is in general sensitive to model errors, and it remains to be seen if the periodic orbit which is the outcome of the search in the domain of the dynamic model corresponds to a periodic gait in the actual robot. To overcome these issues, we have presented the Symmetry Method for Limit Cycle Walking, which relaxes the need to search for periodic orbits, and at the same time, the limit cycles obtained with this method are robust to model errors. Mathematically, we describe the symmetry method in the context of so-called Symmetric Hybrid Systems, whose properties are discussed. In particular, it is shown that a symmetric hybrid system can have an infinite number of periodic orbits that can be identified easily. In addition, it is shown how control strategies need to be selected so that the resulting reduced order system still possesses the properties of a symmetric hybrid system. The method of symmetry for limit cycle walking is successfully tested on a 12-DOF 3D model of the humanoid robot Romeo.PhDApplied and Interdisciplinary MathematicsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/133356/1/razavi_1.pd

The Effect Of Brand Awareness And Brand Image On Consumer Purchase Intention In The Malaysian Fashion Industry

This study examines the effect of Brand awareness and Brand image on purchase intention in the fashion industry in Malaysia. Consumers use Brand awareness and Brand image in order to have a wider choice of better judgment and alternatives to make their decision. The impact of brand awareness and brand image on perceived quality and brand loyalty is of a great importance since brand loyalty is the most precious asset for a brand. The goal of this research id to identify the impact of brand awareness and brand image on purchase intentio

Modeling and simulation of membrane separation process using computational fluid dynamics

Separation of CO2 from air was simulated in this work. The considered process for removal of CO2 was a hollow-fiber membrane contactor and an aqueous solution of 2-amino-2-metyl-1-propanol (AMP) as absorbent. The model was developed based on mass transfer as well as chemical reaction for CO2 and solvent in the contactor. The equations of model were solved using finite element method. Simulation results were compared with experimental data, and good agreement was observed. The results revealed that increasing solvent velocity enhances removal of CO2 in the hollow-fiber membrane contactor. Moreover, it was found that counter-current process mode is more favorable to achieve the highest separation efficiency

Proposing a New Approach to Generate the Differential Trajectory of the Differential Relays Using COMTRADE Files

The differential relay is subject to transient events such as inrush current, which may affect its correct operation. Therefore, evaluating the reliable and accurate operation of differential relays is important, which is only possible by mapping the relay’s differential trajectory on its setting curve. However, except for the SIGRA software, creating a differential trajectory only for Siemens relays, there is a gap in developing a method to extract this trajectory for other commercial differential relays. Hence, in this paper, a new method for generating the differential trajectory of the differential relay from their six input currents and mapping it on the relay setting curve is presented. The proposed method uses the differential relay COMTRADE files to access the relay input currents during an incident. The currents recorded in the COMTRADE files belong to the secondary sides of the current transformers (CTs). Accordingly, the impacts of the current transformers’ connections and the protected transformer’s connection type should be considered in the proposed study. The ability of the proposed method to generate the differential trajectory for different incidents that occurred on the power transformers is evaluated using simulation studies and also according to the experimental tests. The results illustrate the efficiency of the proposed method in generating the differential trajectory from the COMTRADE files. In addition, comparing the results of the proposed method with the results created in SIGRA software shows the higher accuracy of the proposed method in producing the differential trajectory of the differential relay

GD2-Targeted Immunotherapy and Potential Value of Circulating microRNAs in Neuroblastoma

Neuroblastoma (NB) with various clinical presentation is a known childhood malignancy. Despite significant progress in treatment of NB afflicted patients, high risk disease is usually associated with poor outcome, resulting in long-term survival of less that 50%. Known as a disease most commonly originated form the nerve roots, the variants involved in NB imitation and progression remain to be elucidated. The outcome of low to intermediate risk disease is favorable whereas the high risk NB disease with dismal prognosis, positing the necessity of novel approaches for early detection and prognostication of advanced disease. Tailored immunotherapy approaches have shown significant improvement in high-risk NB patients. It has found a link between Gangliosides and progression of NB. The vast majority of neuroblastoma tumors express elevated levels of GD2, opening new insight into using anti-GD2 drugs as potential treatments for NBs. Implication of anti-GD2 monoclonal antibodies for treatment of high risk NBs triggers further investigation to unearth novel biomarkers as prognostic and response biomarker to guide additional multimodal tailored treatment approaches. A growing body of evidence supports the usefulness of miRNAs to evaluate high risk NBs response to anti-GD2 drugs and further prevent drug-related toxicities in refractory or recurrent NBs. miRNAs and circulating proteins in body fluids (plasma, and serum) present as potential biomarkers in early detection of NBs. Here, we summarize various biomarkers involved in diagnosis, prognosis and response to treatment in patients with NB. We further attempted to overview prognostic biomarkers in response to treatment with anti-GD2 drugs

Detection of polioviruses and non-polio enteroviruses by acute flaccid paralysis and environmental surveillances in Sistan and Balouchestan Province

Background: In some countries, though wild poliovirus isolation from clinical specimens has not been done, evidences of silent circulation of wild virus in sewage system have been reported. On the other hand, based on WHO recommendations, if there is any probability of wild virus entrance from endemic countries, environmental surveillance is advised as a completion to Acute Flaccid Paralysis (AFP) surveillance. Methods: AFP and environmental surveillance were performed simultaneously in Sistan and Balouchestan province to confirm wild poliovirus eradication. To perform AFP surveillance, 21 stool specimens of AFP suspected cases were collected in a one year period and evaluated using L20B, RD and Hep-2 cell lines. To perform environmental surveillance, 86 samples from urban and hospital sewage disposal systems were collected. Using direct, Pellet and Two-phase methods for virus concentration, Enterovirus existence was investigated in above-mentioned cell lines. Results: Non-polio enteroviruses and polioviruses were isolated from 53.49% and 20.93% of sewage specimens, respectively. Sabin-Like polioviruses were isolated from 9.52% of AFP cases, and non-polio enteroviruses from 14.28% of them. Poliovirus type 2 was not isolated form stool specimens and there was no Poliovirus type 1 isolation from sewage specimens, either. Conclusion: The environmental surveillance as a completion to AFP in Sistan and Balouchestan Province in Iran confirms poliovirus eradication

The effects of vitamin D and omega-3 fatty acids co-supplementation on biomarkers of inflammation, oxidative stress and pregnancy outcomes in patients with gestational diabetes

Abstract Background This study was carried out to determine the effects of vitamin D and omega-3 fatty acids co- supplementation on biomarkers of inflammation, oxidative stress and pregnancy outcomes in gestational diabetes (GDM) patients. Methods This randomized, double-blind, placebo-controlled trial was conducted among 120 GDM women. Participants were randomly divided into four groups to receive: 1) 1000 mg omega-3 fatty acids containing 180 mg eicosapentaenoic acid (EPA) and 120 mg docosahexaenoic acid (DHA) twice a day + vitamin D placebo (n = 30); 2) 50,000 IU vitamin D every 2 weeks + omega-3 fatty acids placebo (n = 30); 3) 50,000 IU vitamin D every 2 weeks + 1000 mg omega-3 fatty acids twice a day (n = 30) and 4) vitamin D placebo + omega-3 fatty acids placebo (n = 30) for 6 weeks. Results Subjects who received vitamin D plus omega-3 fatty acids supplements compared with vitamin D, omega-3 fatty acids and placebo had significantly decreased high-sensitivity C-reactive protein (−2.0 ± 3.3 vs. -0.8 ± 4.4, −1.3 ± 2.4 and +0.9 ± 2.7 mg/L, respectively, P = 0.008), malondialdehyde (−0.5 ± 0.5 vs. −0.2 ± 0.5, −0.3 ± 0.9 and +0.5 ± 1.4 μmol/L, respectively, P < 0.001), and increased total antioxidant capacity (+92.1 ± 70.1 vs. +55.1 ± 123.6, +88.4 ± 95.2 and +1.0 ± 90.8 mmol/L, respectively, P = 0.001) and glutathione (+95.7 ± 86.7 vs. +23.0 ± 62.3, +30.0 ± 66.5 and −7.8 ± 126.5 μmol/L, respectively, P = 0.001). In addition, vitamin D and omega-3 fatty acids co-supplementation, compared with vitamin D, omega-3 fatty acids and placebo, resulted in lower incidences of newborns’ hyperbilirubinemiain (P = 0.037) and newborns’ hospitalization (P = 0.037). Conclusion Overall, vitamin D and omega-3 fatty acids co-supplementation for 6 weeks among GDM women had beneficial effects on some biomarkers of inflammation, oxidative stress and pregnancy outcomes