A system for programming the UMS-7 industrial robot

The paper gives an overview of some characteristic features of the software support of the controller for the UMS-7 industrial robot. The software is intended for textual robot programming and is implemented on a microprocessor based system

THE RELATIONS BETWEEN POWER AND FORCE VARIABLES REALIZED DURING THE SQUAT JUMP WITH START PERFORMANCE IN NATIONAL LEVEL MALE SPRINT SWIMMERS

The primary purpose of this study was to determine the relation between muscle contractile potential of the leg extensor muscles and starting performance, and to determine whether the level of average power, peak power, maximal force, relative power, average relative power, relative force, jump height and jump velocity measured with the Squat Jump without the arm swing (SJ) are related to the efficiency of start performance (t10m). Twenty-seven male competitive swimmers performed one trial of the SJ test and two swimming start trials corresponding to a 10m distance. The results of Pearson’s correlation showed a statistically significant relation between start efficiency (t10m) and the variables of average power (r = -0.403, p = 0.037), peak power (r = - 0.391, p = 0.044), maximal force (r = -0.420, p = 0.029), relative power (r = - 0.547, p = 0.027), average relative power (r = -0.588, p = 0.023), relative force (r = -0.644, p = 0,007). However, jump height and jump velocity did not show a statistically significant correlation. Regression equation for t10m prediction was defined by the following variables: maximal force (Fmax) and relative force (Frel). The best model to predict starting time on the 10m included consideration of two variables, SJ maximal force and SJ relative force (R = 0.640, R2 adjusted = 0.410). Additionally, the results of this study suggest that swimmers, with higher maximal force values and higher relative force values of leg extensors, should be able to be faster on the 10m-mark than swimmers with lower maximal and relative values

Phenotypic and Genetic Variation of an Interspecific Centaurium Hybrid (Gentianaceae) and Its Parental Species.

Interspecific hybridization is one of the major actuators of evolutionary changes in plants. As the result of allopolyploid hybridization, offspring may gain different ploidy levels in comparison to parental species, which can provide them instant reproductive isolation. Two tetraploid sister species, Centaurium erythraea and C. littorale, readily cross-fertilize, resulting in hybrids of various ploidy. In northern Serbia, two stable populations of a hexaploid taxon C. pannonicum have been documented. It has been proposed previously that this taxon emerged after an interspecific hybridization event between two tetraploid sister-species: C. erythraea and C. littorale subsp. compressum. The existing populations of the hybridogenic taxon, as well as neighboring populations of the two parental taxa were here characterized by both morphometrics and molecular markers (EST-SSR and trnL-F). Three leaf and two flower characteristics were found to be informative in delimitation of the parental taxa and in their discernment from hybrid individuals, the latter having intermediate values. Eight microsatellite markers were found to have good ability to distinguish studied taxa, placing C. pannonicum in closer relationship with C. erythraea. Conversely, trnL-F plastid marker nominated C. littorale subsp. compressum to be the donor of the C. pannonicum plastid DNA. Reproductive isolation of the hexaploid hybrid individuals from the parental species should be examined as the next logical step in describing the new species

The clinical importance of biochemical bone markers in patients with alcoholic and viral liver cirrhosis

Background: Metabolic bone disease in patients with chronic liver disease is called hepatic osteodystrophy and is primarily a sequel to osteopenia/osteoporosis, and rarely secondary to osteomalacia: The aim of this work was to define the influence of vitamin D-3 and parathyroid hormone (PTH) in the pathogenesis of hepatic osteodystrophy, as well as the predictive significance of biochemical bone markers. Methods: This prospective study included 58 male patients with alcoholic (49) and viral (9) cirrhosis. The concentrations of serum vitamin D-3, PTH, osteocalcin and beta-carboxy-terminal cross-linked telopeptide of type I collagen (beta-CTX) were determined. Bone density was measured by dual energy X-ray absorptiometry in the L1 -L4 spinal segment and the femoral neck. Results: Lower bone mineral density (BMD) was measured in 41 patients (70.7%). There was no significant correlation between PTH and vitamin D3 values and T score in the femoral neck (p=0.51; p=0.063) and lumbar spine (p=0.49; 0.064). Also, no significant correlation was found between the osteocalcin values in lumbar spine BMD (p=0.944) and femoral neck (p=0.161), or with beta-CTX values and BMD in the lumbar spine (p=0.347) and femoral neck (p=0.73). Statistically significant difference was confirmed between the stage A osteocalcin (p=0.000) and beta-CTX (p=0.008) values in relation to advanced stages B and C. Conclusions: PTH and vitamin D3 do not influence the development of hepatic osteodystrophy. In patients with cirrhosis, osteocalcin and beta-CTX are not valid indicators of decreased BMD, but their values correlate with the degree of liver insufficiency

Health Care management in Laparoscopic and Classical Appendicitis Surgery

Upala slijepog crijeva predstavlja važan zdravstveni problem koji ima relativno visoku prevalenciju. Slijepo crijevo može se inficirati, a ako se ne liječi može prsnuti unutar 48 do 72 sata od simptoma zbog čega je upala slijepog crijeva hitno stanje. Upalu mogu uzrokovati virusi, bakterije, paraziti, zastoj stolice u crijevu ili tumorski procesi. Najčešći simptom koji ukazuje na upalu slijepog crijeva je bol. Ostali simptomi koji se mogu javiti su febrilnost, povraćanje, proljev, nadutost i opstipacija. Dijagnoza se postavlja na temelju anamneze, fizikalnog pregleda, laboratorijskih pretraga od kojih su značajni CRP i leukociti, ultrazvuka abdomena, kompjuterizirane tomografije i magnetske rezonancije. U liječenju slijepog crijeva najčešće se primjenjuje apendektomija, kirurška metoda odstranjenja slijepog crijeva. Minimalno invazivna kirurška tehnika koja se danas pretežno primjenjuje u liječenju upale slijepog crijeva je laparoskopska operacija. Laparoskopska kirurgija koristi dva do četiri mala reza od pola inča ili manje, oporavak bolesnika je brži, manji je ožiljak i manji intenzitet postoperativne boli, bolesnik se brže vraća normalnim životnim aktivnostima. Sve operacije nose odreĎeni stupanj rizika. Komplikacije apendicitisa i apendektomije su infekcija kirurške rane, produljeni ileus, stvaranje intraabdominalnog apscesa, enterokutana fistula i opstrukcija tankog crijeva. Naročito je važna uloga koju ima medicinska sestra u postupanju s pacijentima oboljelih od upale slijepog crijeva u preoperativnoj, intraoperativnoj i postoperativnoj skrbi

Health Care management in Laparoscopic and Classical Appendicitis Surgery

Upala slijepog crijeva predstavlja važan zdravstveni problem koji ima relativno visoku prevalenciju. Slijepo crijevo može se inficirati, a ako se ne liječi može prsnuti unutar 48 do 72 sata od simptoma zbog čega je upala slijepog crijeva hitno stanje. Upalu mogu uzrokovati virusi, bakterije, paraziti, zastoj stolice u crijevu ili tumorski procesi. Najčešći simptom koji ukazuje na upalu slijepog crijeva je bol. Ostali simptomi koji se mogu javiti su febrilnost, povraćanje, proljev, nadutost i opstipacija. Dijagnoza se postavlja na temelju anamneze, fizikalnog pregleda, laboratorijskih pretraga od kojih su značajni CRP i leukociti, ultrazvuka abdomena, kompjuterizirane tomografije i magnetske rezonancije. U liječenju slijepog crijeva najčešće se primjenjuje apendektomija, kirurška metoda odstranjenja slijepog crijeva. Minimalno invazivna kirurška tehnika koja se danas pretežno primjenjuje u liječenju upale slijepog crijeva je laparoskopska operacija. Laparoskopska kirurgija koristi dva do četiri mala reza od pola inča ili manje, oporavak bolesnika je brži, manji je ožiljak i manji intenzitet postoperativne boli, bolesnik se brže vraća normalnim životnim aktivnostima. Sve operacije nose odreĎeni stupanj rizika. Komplikacije apendicitisa i apendektomije su infekcija kirurške rane, produljeni ileus, stvaranje intraabdominalnog apscesa, enterokutana fistula i opstrukcija tankog crijeva. Naročito je važna uloga koju ima medicinska sestra u postupanju s pacijentima oboljelih od upale slijepog crijeva u preoperativnoj, intraoperativnoj i postoperativnoj skrbi

MIKROEKONOMSKI FAKTORI U FUNKCIJI NASTANKA BERZANSKIH OSCILACIJA

Na berzanske oscilacije odnosno promene cena akcija listiranih na berzi utiče veliki broj faktora. Prilikom pokušaja predviđanja kretanja cena na tržištu – berzi, neophodno je imati u vidu stanje i tendencije globalnih pokazatelja – makroekonomskih faktora, sa jedne strane, kao i stanje i tendencije sasvim određene kompanije, koja je predmet interesovanja – mikroekonomski faktori, s druge strane, ali i stanje i tendencije u okviru manipulativnih faktora, s treće strane, kako bi se lakše donela odluka o nameravanom trgovanju na berzi. Mikroekonomski faktori uticaja su definisani, a zatim podeljeni u osam osnovnih grupa uticaja, koje su kasnije pojedinačno razmatrane: zarade, dividende, prihodi od akcija, deoba akcija i dividendi, ponuda za preuzimanje akcija, emisija mladih akcija tzv. “mladica”, poslovne informacije i izveštaj o radu akcionarskog društva i koeficijent kapitalizacije akcije odnosno “Price-Earning Ratio - PER”. Upravljati mikroekonomskim faktorima je moguće. Reč je o nesistemskim ili specifičnim rizicima, koji su vezani za pojedinačne hartije od vrednosti i pojedinačne kompanije koje ih emituju, tako da se dobrom kombinacijom široko diverzifikovanog portfolia hartija od vrednosti mogu eliminisati. Specifični rizik se pojavljuje jer postoje mnogobrojne opasnosti koje okružuju određenu kompaniju, karakteristične za tu kompaniju i eventualno za njene direktne konkurente

Weed control in bean and green bean crops

Phaseolus vulgaris (pasulj; boranija) kao namirnica visoke nutritivne vrednosti zauzima značajno mesto u ljudskoj ishrani. Pored svih osnovnih uslova gajenja, jedan od ključnih zahteva za postizanje visokih prinosa je uspešna borba protiv korova. Kao najdominantije vrste u našim agroekološkim uslovima javljaju se korovi: Amaranthus retrofl exus, Chenopodium album, Datura stramonium, Abutilon theophrasti, Xanthium strumarium, Cirsium arvense, Ambrosia artemisiifolia, Sorghum halapense i dr. Primena koncepta integralnog suzbijanja korova podrazumeva primenu svih raspoloživih mera (plodored, pravilna i pravovremena obrada zemljišta, primena herbicida i dr.). Iako u svetu postoji širi dijapazon registrovanih herbicida za suzbijanje korova u usevu pasulja i boranije, u Srbiji su registrovani preparati na bazi aktivnih materija: kletodim, kvizalofop–P–tefuril, imazamoks i bentazon.Phaseolus vulgaris (beans; green beans) as a food of high nutritional value occupies an important place in the human diet. In addition to all the basic growing conditions, one of the key requirements for achieving high yields is successful weed control. Weeds such as Amaranthus retrofl exus, Chenopodium album, Datura stramonium, Abutilon theophrasti, Xanthium strumarium, Cirsium arvense, Ambrosia artemisiifolia, Sorghum halepense and others appear as the most dominant species in our agroecological conditions. The application of the concept of integrated weed control implies the application of all available measures (crop rotation, proper and timely tillage, application of herbicides, etc.). Although there is a wider range of registered herbicides for weed control in beans and green beans in the world, preparations based on active substances: clethodim, quizalofop-P-tefuril, imazamox and bentazone have been registered in Serbia

Uticaj drugih đubriva i specijalnih proizvoda na hortikulturne biljke - 1. Prinos i komponente prinosa jabuke i paradajza

From 2009 year in Serbian agricultural legislative and practice introduced new type of fertilizers, so called other fertilizers and special products. This new type of fertilizers comprise, for example, phytohormones, amino acids and plant extracts. But, because the comprehensive surveys of influence of this new type of fertilizers on horticultural plants is still lacking in Serbia, we established trials. In those trials we investigated influence of 10 different fertilizers of this type on harvest and components of harvest in apple and tomato. The results of those trials discussed in context of physiological function of active ingredients of those fertilizers.Od skora je ozvaničena u našoj poljoprivrednoj praksi upotreba tzv. drugih đubriva i specijalnih proizvoda, u koje spadaju i biljni hormoni, aminokiseline i biljni ekstrakti. Pošto još uvek u našoj praksi nema sistematskih i uporednih istraživanja dejstva ovih agrohemikalija na hortikulturne useve, postavljen je ogled u kome je ispitivano dejstvo 10 različitih đubriva ovog tipa na prinos i komponente prinosa jabuke i paradajza. Dobijeni rezultati komentarisani su obzirom na fiziološku funkciju jedinjenja, koja čine ovaj tip đubriva

Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System

This paper addresses the problem of application of fractional order Iterative learning control (FOILC) for complex human arm-support system which can be modelled as nonlinear singular system of fractional order. An algorithm of a new strategy for the FOILC implementation is proposed.Sufficient conditions for the convergence in the time domain of a proposed ILC schemes are given by the corresponding theorems and proved. Finally, a numerical simulations show the feasibility and effectiveness of the proposed approach