From Rousettus aegyptiacus (bat) Landing to Robotic Landing: Regulation of CG-CP Distance Using a Nonlinear Closed-Loop Feedback

Bats are unique in that they can achieve unrivaled agile maneuvers due to their functionally versatile wing conformations. Among these maneuvers, roosting (landing) has captured attentions because bats perform this acrobatic maneuver with a great composure. This work attempts to reconstruct bat landing maneuvers with a Micro Aerial Vehicle (MAV) called Allice. Allice is capable of adjusting the position of its Center of Gravity (CG) with respect to the Center of Pressure (CP) using a nonlinear closed-loop feedback. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through variations in CG-CP distance. To design the model-based nonlinear controller, the Newton-Euler dynamic model of the robot is considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. The performance of the proposed control architecture is validated by conducting several experiments

Equilibrium, Thermodynamic, and Kinetic Studies

Publisher Copyright: © 2022 Razia Sulthana et al.The economic viability of adsorbing crystal violet (CV) using pepper seed spent (PSS) as a biosorbent in an aqueous solution has been studied. A parametrical investigation was conducted considering parameters like initial concentration of dye, time of contact, pH value, and temperature variation. The analysis of experimental data obtained was carried out by evaluating with the isotherms of Freundlich, Sips, Tempkin, Jovanovic, Brouers-Sotolongo, Toth, Vieth-Sladek, Radke-Prausnitz, Langmuir, and Redlich-Peterson. The adsorption kinetics were studied by implementing the Dumwald-Wagner, Weber-Morris, pseudo-first-order, pseudo-second-order, film diffusion, and Avrami models. The experimental value of adsorption capacity (Qm=129.4 mg g-1) was observed to be quite close to the Jovanovic isotherm adsorption capacity (Qm=82.24 mg g-1) at (R2), coefficient of correlation of 0.945. The data validation was found to conform to that of pseudo-second-order and Avrami kinetic models. The adsorption process was specified as a spontaneous and endothermic process owing to the thermodynamic parametrical values of ΔG0, ΔH0, and ΔS0. The value of ΔH0 is an indicator of the process's physical nature. The adsorption of CV to the PSS was authenticated from infrared spectroscopy and scanning electron microscopy images. The interactions of the CV-PSS system have been discussed, and the observations noted suggest PSS as a feasible adsorbent to extract CV from an aqueous solution.publishersversionpublishe

Comparative studies of ultrasound and membrane emulsification for the production of stable Perfluorocarbon-in-water nanoemulsions

Low-molecular weight perfluorocarbons (PFCs) are usually chemically and biologically inert, clear, colorless liquids, presenting a high affinity for many gases, namely for O2, NO and CO2, which turn them particularly suitable in various biomedical applications involving gas capture, transport and release. In fact, PFC-in-Water emulsions were one of the two major classes of systems proposed as blood substitutes and for O2/NO therapeutics. However there are still some important issues concerning this type of systems which have limited their efficiency, approval and commercial success, namely those related to emulsion stability, hydrodynamic size distribution and reduced shelf-lives. Stability issues can easily lead to PFC diffusion in water, to aggregation and to the consequent hydrodynamic size increase and emulsion degradation [1]. Nanoemulsions (typically within a range of hydrodynamic sizes of 10-100 nm) exhibit various advantages over typical microemulsions [2]. Hence, our aim is to produce monodisperse PFC nanoemulsions presenting larger surface-to-volume ratios, enhanced stabilities and more efficient gas capture/delivery properties. A first approach to achieve these goals is to prepare and to study a mixed surfactant system based on Tween 80 and on a perfluorinated surfactant (perfluorooctyl phosphocholine) at different relative compositions. PFC-in-Water nanoemulsions were produced by using the traditional ultrasound emulsification method (500W). The effects of co-surfactants relative compositions on CMC values, on the kinetics of emulsion formation and on the corresponding stabilities of prepared nanoemulsions were evaluated. Hydrodynamic sizes and Zeta-potentials were also assessed, being able to obtain stable nanoemulsions with hydrodynamic sizes between 150 and 200 nm. In a comparative study, PFC-in-Water nanoemulsions were also produced by membrane emulsification. This low energy-intensive technique has received increasing interest as it allows more flexible operating conditions. Regenerated cellulose membranes such as Nadir UC500 and Millipore Ultracel RC100, polyethersulphone membranes such as Nadir UP150 and Millipore PBHK04310, and a promising polycarbonate Whatman Track-ethched 30 nm Nuclepore membrane, were employed to produce nanoemulsions, and using the same mixed surfactant system and relative compositions. The energy inputs of these two methods were compared and discussed along with their efficiencies in terms of producing nanoemulsions presenting improved stabilities, smaller hydrodynamic sizes and narrower hydrodynamic size distributions. References [1] M.P. Krafft, A. Chittofrati, J.G. Riess, Curr Opin in Colloid Interface Sci., 8 (2003) 251–258 [2] E. Piacentini, E. Drioli, L. Giorno, J. of Membr. Sci., 468 (2014) 410–42

Identification of Risk Factors for Scoliosis in Elementary School Children Using Machine Learning

Scoliosis is an abnormal curvature of the spine and often diagnosed in childhood or early adolescence. In this study, the risk factors for scoliosis in elementary school children is investigate based on age, backpack weight and gender. There are 260 children participated in this study from aged 7 up to 12 years old. Scoliometer is used to measure the angle of trunk rotation (ATR) on Adam Forward Bending Test. Statistical analysis of analysis of variance (ANOVA) is used to determine the characteristic difference of ATR readings on the risk factors for scoliosis. Significant results with P-value less than 0.001 are found among ATR readings on a linear combination of risk factors for scoliosis of age and backpack weight. Then, the risk factors for scoliosis are classified among elementary school children using Decision Tree and K-Nearest Neighbor. The classification results shown that both Decision Tree method produced highest classification percentage up to 98.08%. This finding indicates that age and backpack weight are significant as the risk factors for scoliosis

Identification of Risk Factors for Scoliosis in Elementary School Children Using Machine Learning

Scoliosis is an abnormal curvature of the spine and often diagnosed in childhood or early adolescence. In this study, the risk factors for scoliosis in elementary school children is investigate based on age, backpack weight and gender. There are 260 children participated in this study from aged 7 up to 12 years old. Scoliometer is used to measure the angle of trunk rotation (ATR) on Adam Forward Bending Test. Statistical analysis of analysis of variance (ANOVA) is used to determine the characteristic difference of ATR readings on the risk factors for scoliosis. Significant results with P-value less than 0.001 are found among ATR readings on a linear combination of risk factors for scoliosis of age and backpack weight. Then, the risk factors for scoliosis are classified among elementary school children using Decision Tree and K-Nearest Neighbor. The classification results shown that both Decision Tree method produced highest classification percentage up to 98.08%. This finding indicates that age and backpack weight are significant as the risk factors for scoliosis

Percutaneous Mitral Valve Repair versus Optimal Medical Therapy in Patients with Functional Mitral Regurgitation: A Systematic Review and Meta-Analysis

Objectives. To compare percutaneous mitral valve repair (PMVR) with optimal medical therapy (OMT) in patients with heart failure (HF) and severe functional mitral regurgitation (FMR). Background. Many patients with HF and FMR are not suitable for surgical valve replacement and remain symptomatic despite maximal OMT. PMVR has recently emerged as an alternative solution. Methods. We performed a systematic review and a meta-analysis to address this question. Cochrane CENTRAL, MEDLINE, and Scopus were searched for randomized (RCT) and nonrandomized studies comparing PMVR with OMT in patients with HF and FMR. Primary endpoint was all-cause midterm mortality (at 1 and 2 years). Secondary endpoints were 30-day mortality and cardiovascular mortality and HF hospitalizations, at maximum follow-up. Studies including mixed cohort of degenerative and functional MR were allowed initially but were excluded in a secondary sensitivity analysis for each of the study’s end points. This meta-analysis was performed following the publication of two RCTs (MITRA-FR and COAPT). Results. Eight studies (six observational, two RCTs) comprising 3,009 patients were included in the meta-analysis. In comparison with OMT, PMVR significantly reduced 1-year mortality (RR: 0.70 [0.56, 0.87]; p=0.002; I2=47.6%), 2-year mortality (RR: 0.63 [0.55, 0.73]; p\u3c0.001; I2=0%), and cardiovascular mortality (RR: 0.32 [0.23, 0.44]; p\u3c0.001; I2=0%). No significant difference between PMVR+OMT and OMT was noted in HF hospitalization (HR: 0.69 [0.40, 1.20]; p=0.19; I2=85%) and 30-day mortality (RR: 1.13 [0.68, 1.87]; p=0.16; I2=0%). Conclusions. In comparison with OMT, PMVR significantly reduces 1-year mortality, 2-year mortality, and cardiovascular mortality in patients with HF and severe MR

Problem Management Plus (PM plus ) in the management of common mental disorders in a specialized mental healthcare facility in Pakistan; study protocol for a randomized controlled trial

Additional file 1. Appendix A

Evaluating effectiveness and cost-effectiveness of a group psychological intervention using cognitive behavioural strategies for women with common mental disorders in conflict-affected rural Pakistan: study protocol for a randomised controlled trial

The impact of humanitarian disasters upon mental health is well recognised. The evidence for psychological interventions for mental health is mounting, but few interventions have been rigorously tested in humanitarian settings. To be sustainable in humanitarian settings interventions need to be short, simple, deliverable by nonspecialists under supervision, and adopt a transdiagnostic approach where an array of mental health outcomes are addressed simultaneously. These elements have been incorporated into the newly developed WHO Problem Management Plus (PM+) Group intervention. The aim of this trial is to evaluate the locally adapted PM+ Group intervention for women in Swat, Pakistan. This PM+ Group trial is a two-arm, single-blind, cluster randomised controlled trial conducted in a community-based setting with women in rural Pakistan. PM+ is delivered in partnership with the Lady Health Worker (LHW) Programme which provides community-based health care to women in Pakistan. Thirty-four LHW clusters will be randomised in a 1:1 allocation ratio using a permuted-block randomisation method. Participants screened and found to meet the inclusion criteria will be allocated to either the PM+ intervention group (n = 306), or the control arm (n = 306). The manualised PM+ intervention involves five sessions, each lasting 3 h, and introduces four strategies applied by participants to problems that they are facing. It is delivered by local female facilitators with a minimum of 16 years of education who are provided with targeted training and supervision. The primary outcome is individual psychological distress, measured by levels of anxiety and depression on the Hospital Anxiety and Depression Scale at 20 weeks after baseline. Secondary outcomes include major depression, post-traumatic stress disorder, levels of social support, levels of functioning, and economic effectiveness. Intervention acceptability will be explored through an embedded qualitative study. The PM+ Group trial will provide important evidence on the effectiveness of an empirically supported psychological treatment delivered by nonspecialists in a humanitarian setting. If proven effective, the qualitative component will inform strategies for PM+ Group scale-up in health systems in other humanitarian settings. Australian New Zealand Clinical Trials Registry, identifier: ACTRN12616000037404. Registered on 19 January 2016; WHO Protocol ID RPC705, v.4, 2 November 2015