Robust adaptive controller for wheel mobile robot with disturbances and wheel slips

In this paper an observer based adaptive control algorithm is built for wheel mobile robot (WMR) with considering the system uncertainties, input disturbances, and wheel slips. Firstly, the model of the kinematic and dynamic loops is shown with presence of the disturbances and system uncertainties. Next, the adaptive controller for nonlinear mismatched disturbance systems based on the disturbances observer is presented in detail. The controller includes two parts, the first one is for the stability purpose and the later is for the disturbances compensation. After that this control scheme is applied for both two loops of the system. In this paper, the stability of the closed system which consists of two control loops and the convergence of the observers is mathematically analysed based on the Lyapunov theory. Moreover, the proposed model does not require the complex calculation so it is easy for the implementation. Finally, the simulation model is built for presented method and the existed one to verify the correctness and the effectiveness of the proposed scheme. The simulation results show that the introduced controller gives the good performances even that the desired trajectory is complicated and the working condition is hard

Alterations of lipid-related genes during anti-tuberculosis treatment: insights into host immune responses and potential transcriptional biomarkers

BackgroundThe optimal diagnosis and treatment of tuberculosis (TB) are challenging due to underdiagnosis and inadequate treatment monitoring. Lipid-related genes are crucial components of the host immune response in TB. However, their dynamic expression and potential usefulness for monitoring response to anti-TB treatment are unclear. MethodologyIn the present study, we used a targeted, knowledge-based approach to investigate the expression of lipid-related genes during anti-TB treatment and their potential use as biomarkers of treatment response. Results and discussionThe expression levels of 10 genes (ARPC5, ACSL4, PLD4, LIPA, CHMP2B, RAB5A, GABARAPL2, PLA2G4A, MBOAT2, and MBOAT1) were significantly altered during standard anti-TB treatment. We evaluated the potential usefulness of this 10-lipid-gene signature for TB diagnosis and treatment monitoring in various clinical scenarios across multiple populations. We also compared this signature with other transcriptomic signatures. The 10-lipid-gene signature could distinguish patients with TB from those with latent tuberculosis infection and non-TB controls (area under the receiver operating characteristic curve > 0.7 for most cases); it could also be useful for monitoring response to anti-TB treatment. Although the performance of the new signature was not better than that of previous signatures (i.e., RISK6, Sambarey10, Long10), our results suggest the usefulness of metabolism-centric biomarkersConclusionsLipid-related genes play significant roles in TB pathophysiology and host immune responses. Furthermore, transcriptomic signatures related to the immune response and lipid-related gene may be useful for TB diagnosis and treatment monitoring

Compensation of DC offset and scaling errors in voltage and current measurements of three-phase AC/DC converters

The dc offset and scaling errors in the voltage and current measurements cause the injection of undesired dc and unbalanced currents into the three-phase input currents and subsequently lead to voltage ripple at the dc output voltage of the ac/dc converter. This paper proposes a compensation scheme for current measurement error where the dc offset and scaling errors in the current measurement are estimated from the voltage ripple characteristics of the dc output voltage ripple combining with simple band-pass and low-pass filters. Meanwhile, the dc offset and scaling errors in the voltage measurement can be rejected by using an advanced current controller developed with a proportional resonant plus a repetitive controller designed in the synchronous (d-q) reference frame. The proposed control algorithm is able to effectively reject the impact of both voltage and current measurement error so that the three-phase input currents are regulated to be balanced and sinusoidal with ultralow dc current component. Meanwhile, the dc output voltage is also well regulated to be pure dc with a negligibly small voltage ripple. The proposed compensation method is developed without the need of extra hardware circuit, sensor, or precise information of system parameters so that it can be considered as more cost effective and robust solution. The effectiveness of the proposed solution is verified by experimental results.NRF (Natl Research Foundation, S’pore

Comparison of the Treatment Efficiency of Bone Marrow-Derived Mesenchymal Stem Cell Transplantation via Tail and Portal Veins in CCl4-Induced Mouse Liver Fibrosis

Because of self-renewal, strong proliferation in vitro, abundant sources for isolation, and a high differentiation capacity, mesenchymal stem cells are suggested to be potentially therapeutic for liver fibrosis/cirrhosis. In this study, we evaluated the treatment effects of mouse bone marrow-derived mesenchymal stem cells (BM-MSCs) on mouse liver cirrhosis induced by carbon tetrachloride. Portal and tail vein transplantations were examined to evaluate the effects of different injection routes on the liver cirrhosis model at 21 days after transplantation. BM-MSCs transplantation reduced aspartate aminotransferase/alanine aminotransferase levels at 21 days after injection. Furthermore, BM-MSCs induced positive changes in serum bilirubin and albumin and downregulated expression of integrins (600- to 7000-fold), transforming growth factor, and procollagen-α1 compared with the control group. Interestingly, both injection routes ameliorated inflammation and liver cirrhosis scores. All mice in treatment groups had reduced inflammation scores and no cirrhosis. In conclusion, transplantation of BM-MSCs via tail or portal veins ameliorates liver cirrhosis in mice. Notably, there were no differences in treatment effects between tail and portal vein administrations. In consideration of safety, we suggest transfusion of bone marrow-derived mesenchymal stem cells via a peripheral vein as a potential method for liver fibrosis treatment

Protective Effect of Willow (<i>Salix babylonica</i> L.) on Fish Resistance to <i>Vibrio parahaemolyticus</i> and <i>Vibrio alginolyticus</i>

Vibrio spp. cause vibriosis in many saltwater and freshwater aquatic species, such as fish, crustaceans, and mollusks. Vibrio parahaemolyticus and Vibrio alginolyticus are among the few Vibrio species commonly found in infections in fish. This study aimed at investigating the chemical composition and evaluating the antibacterial activities of Salix babylonica L. The ethyl acetate (LL2) and methanolic (LL3) extracts were used to evaluate the resistance of strains as V. parahaemolyticus LBT6 and VTCC 12233, and two strains of V. alginolyticus, NG20 and ATCC 17749, and compared their efficacy with cefotaxime in order to find an alternative to antibiotics in the treatment of vibriosis. The obtained results show that the LL2 extract, with its major components identified as chrysoeriol, luteolin, and β-sitosterol, exhibited a bacteriostatic effect against all the tested strains. In parallel, the LL3 extract, with the four major compounds luteolin-7-O-β-D-glucopyranoside, salicin, p-hydroxy benzoic acid, and β-sitosterol-3-O-β-D-glucopyranoside, showed significant bactericidal activity against these four strains; the minimal inhibitory concentration (MIC) and minimal bactericidal concentration (MBC) varied from 2.0 to 3.0 μg/mL and from 3.5 to 5.0 μg/mL, respectively. Moreover, the LL3 extract could effectively increase the survival rate of the challenged fish at a dose of 5% (w/w) for the zebrafish (Danio rerio) and 3% (w/w) for the sea bass (Lates calcarifer). The LL3 extract showed a potential application of S. babylonica L. in the prevention and treatment of vibriosis in fish

Usefulness of Hospital Admission Chest X-ray Score for Predicting Mortality and ICU Admission in COVID-19 Patients

We aimed to investigate the performance of a chest X-ray (CXR) scoring scale of lung injury in prediction of death and ICU admission among patients with COVID-19 during the 2021 peak pandemic in HCM City, Vietnam. CXR and clinical data were collected from Vinmec Central Park-hospitalized patients from July to September 2021. Three radiologists independently assessed the day-one CXR score consisting of both severity and extent of lung lesions (maximum score = 24). Among 219 included patients, 28 died and 34 were admitted to the ICU. There was a high consensus for CXR scoring among radiologists (κ = 0.90; CI95%: 0.89–0.92). CXR score was the strongest predictor of mortality (tdAUC 0.85 CI95% 0.69–1) within the first 3 weeks after admission. A multivariate model confirmed a significant effect of an increased CXR score on mortality risk (HR = 1.33, CI95%: 1.10 to 1.62). At a threshold of 16 points, the CXR score allowed for predicting in-hospital mortality and ICU admission with good sensitivity (0.82 (CI95%: 0.78 to 0.87) and 0.86 (CI95%: 0.81 to 0.90)) and specificity (0.89 (CI95%: 0.88 to 0.90) and 0.87 (CI95%: 0.86 to 0.89)), respectively, and can be used to identify high-risk patients in needy countries such as Vietnam

Synthesis and Biological Evaluation of New (−)-Gossypol-Derived Schiff Bases and Hydrazones

A series of 14 new (-)-gossypol Schiff bases and hydrazones have been synthesized via an in situ procedure in high yields. Structural data showed that all target compounds exist as the enamine tautomer. Bioassays showed that several compounds exhibited cytotoxic effects against three human cancer cell lines. Compound 8a showed the greatest cytotoxic effect against hepatocellular carcinoma (HepG2), lung carcinoma (LU-1), and breast cancer (MCF-7) cell lines with IC50 values of 20.93, 13.58, and 9.40 μM, respectively. However, in an antibacterial test, compounds 8a and 8b inhibited Staphylococcus aureus and Bacillus cereus and compound 8e inhibited only Staphylococcus aureus at the same MIC values of 1024 μg/ml

Procarcinogens – Determination and Evaluation by Yeast-Based Biosensor Transformed with Plasmids Incorporating RAD54 Reporter Construct and Cytochrome P450 Genes

International audienceIn Vietnam, a great number of toxic substances, including carcinogens and procarcinogens, from industrial and agricultural activities, food production, and healthcare services are daily released into the environment. In the present study, we report the development of novel yeast-based biosensor systems to determine both genotoxic carcinogens and procarcinogens by cotransformation with two plasmids. One plasmid is carrying human CPR and CYP (CYP3A4, CYP2B6, or CYP2D6) genes, while the other contains the RAD54-GFP reporter construct. The three resulting coexpression systems bearing both CPR-CYP and RAD54-GFP expression cassettes were designated as CYP3A4/CYP2B6/CYP2D6 + RAD54 systems, respectively and used to detect and evaluate the genotoxic potential of carcinogens and procarcinogens by selective activation and induction of both CPR-CYP and RAD54-GFP expression cassettes in response to DNA damage. Procarcinogens were shown to be predominantly, moderately or not bioactivated by one of the CYP enzymes and thus selectively detected by the specific coexpression system. Aflatoxin B-1 and benzo(a) pyrene were predominantly detected by the CYP3A4 + RAD54 system, while N-nitrosodimethylamine only moderately activated the CYP2B6 + RAD54 reporter system and none of them was identified by the CYP2D6 + RAD54 system. In contrast, the genotoxic carcinogen, methyl methanesulfonate, was detected by all systems. Our yeast-reporter system can be performed in 384-well microplates to provide efficient genotoxicity testing to identify various carcinogenic compounds and reduce chemical consumption to about 53% as compared with existing 96-well genotoxicity bioassays. In association with a liquid handling robot, this platform enables rapid, cost-effective, and high-throughput screening of numerous analytes in a fully automated and continuous manner without the need for user interaction

Occurrence and risk assessment of multiple classes of antibiotics in urban canals and lakes in Hanoi, Vietnam

10.1016/j.scitotenv.2019.07.092Science of The Total Environmen