Geometric Tracking Control of a Multi-rotor UAV for Partially Known Trajectories

This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the state-of-the-art geometric controller, effectively addressing challenges related to the non-existence of the desired attitude and ensuring positive total thrust input for all time. We tackle the additional challenge of the non-availability of the higher derivatives of the trajectory by introducing novel nonlinear filter structures. We formalize theoretically the effect of these filter structures on the system error dynamics. Subsequently, through a rigorous theoretical analysis, we demonstrate that the proposed controller leads to uniformly ultimately bounded system error dynamics

EXPERIMENTAL EVALUATION OF ANTIDEPRESSANT ACTIVITY OF AQUEOUS AND CHLOROFORM LEAF AND SHOOT EXTRACTS OF EICCHORNIA CRASSIPES LINN IN MICE

Objective: To investigate antidepressant activity of aqueous and chloroform extract of Eicchornia crassipes plant leaves and shoots in mice.Methods: The antidepressant activity of aqueous and chloroform extract of Eicchornia crassipes plant leaves and shoots were tested by forced swimtest (FST) and tail suspension test (TST) in albino mice and the results were compared for the both extracts. Imipramine was used as the standardrug for comparison. Results: Phytochemical screening showed presence of carbohydrates, alkaloids, flavanoids, steroids, saponins, amino acids, gums and mucilage.aqueous extract of Eicchornea crassipes (AEEC) and chloroform extract of E. crassipes (CEEC) did not produce any lethal effect even upto 2000 mg/kp.o during acute oral toxicity study. In FST and TST, CEEC showed diminution of duration of immobility time in 200 mg/kg but not in 100 mg/kg. Conclusion: From the above finding concluding that, shortening of immobility time in the FST and TST indicating, CEEC showed more antidepressantactivity acting either by the enhancement of central 5-HT or catecholamine neurotransmission compared to AEEC in mice.Keywords: Eicchornia crassipes, Aqueous extract of Eicchornia crassipes, Chloroform extract of Eicchornia crassipes, Forced swim test,Tail suspension test

Synthesis, structure and molecular Hirshfeld surface analysis of polymeric cadmium(II) complex involving tetradentate N3S-donor ligand and dicyanamide as bridging ligand

663-668One new polymeric cadmium(II) complex {[Cd(bdmpe)(µ1,5-dca)]ClO4.CH3OH}n has been synthesized by the reaction of cadmium perchlorate with ligand N,N-bis((3,5-dimethyl-1H-pyrazol-1-yl)methyl)-2-(phenylthio)ethan-1-amine (bdmpe) in presence of dca (dicyanamide, N(CN)2-) as bridging ligand in methanol and characterized by spectroscopic techniques. Single crystal X-ray diffraction study of the complex confirmed that it has polymeric 1D chain and each cadmium centre has distorted octahedral geometry with N5S coordination and is bonded through two terminal nitrile group of the dca ligand using m1,5 coordination modes. Intermolecular interactions and packing modes of the compound are described by Hirshfeld surface analysis and two dimensional finger print plots

Biofunctional Attributes and Storage Study of Soy Milk Fermented by Lactobacillus rhamnosus and Lactobacillus helveticus

Različiti proizvodi od soje smatraju se tradicionalnom funkcionalnom hranom za mongolsku populaciju na sjeveroistoku Indije. U ovom je radu ispitan utjecaj dodatka različitih aroma (mango, naranča, vanilija i bijela ruža), stupnja inokulacije bakterijama mliječno-kiselog vrenja Lactobacillus rham¬nosus K4E (KX950834) i Lactobacillus helveticus K14 (KU644578) i masenih udjela obranog mlijeka i šećera na senzorne značajke sojinog jogurta. Tijekom deset dana skladištenja u hladnjaku pri 6-8 °C ispitivana su fizikalno-kemijska (pH-vrijednost, titracijska kiselost), mikrobiološka (ukupni broj bakterija te broj koliformnih bakterija, kvasaca i plijesni), organoleptička (aroma, okus, boja, punoća, tekstura i ukupna prihvatljivost) i biofunkcionalna (inhibicija proizvodnje angiotenzin konvertirajućeg enzima, antioksidacijski i antimikrobni učinak, biotransformacija izoflavona) svojstva jogurta. Najbolje je ocijenjen jogurt s aromom bijele ruže, čija je pH-vrijednost tijekom skladištenja bila od 5,65 do 4,20, titracijska kiselost (izražena kao maseni udjel mliječne kiseline) od 0,33 do 0,51 % i ukupni broj bakterija vrsta Lactobacillus od 6.81 do 8,69 log CFU/mL. Inhibicija se angiotenzin konvertirajućeg enzima povećavala tijekom skladištenja s početnih 21,17 % na 81,03 % izmjerenih tijekom petog dana skladištenja, a zatim smanjivala sve do 38,85 % nakon desetog dana. Najveća je antioksidacijska aktivnost zabilježena tijekom petog dana skladištenja (87 %). Sojin jogurt s aromom bijele ruže imao je najizraženiji antimikrobni učinak na bakteriju Listeria monocytogenes, a zatim na bakterije Bacillus subtilis, Staphylococcus aureus, Salmonella typhi i Escherichia coli. Analiza RP-HPLC pokazala je da je u jogurtu nakon 18 sati fermentacije dobiveno 87,3 % aglikona sojinog izoflavona genisteina i 58,4 % daidzeina.Different soybean products are considered as traditional functional food among the Mongolian population in Northeast India. In the present study, the effect of different flavours (mango, orange, vanilla and white rose), inoculation rates of Lactobacillus rhamnosus K4E (KX950834) and Lactobacillus helveticus K14 (KU644578), and mass fractions of skimmed milk and sugar on the acceptability of soy yoghurts was studied. Physicochemical (pH, titratable acidity) and microbial analyses (total bacterial, total coliform, yeast and mould count) were conducted, and organoleptic (aroma, taste, colour, mouthfeel, texture and overall acceptability) and biofunctional properties (angiotensin-converting enzyme (ACE) inhibitory activity, antioxidant and antimicrobial activities and biotransformation of isoflavones) were evaluated during storage up to 10 days under refrigeration conditions (6–8 °C). Panellists preferred white rose soy yoghurt more than other flavours. The pH was from 5.65 to 4.20, the titratable acidity (expressed as mass fraction of lactic acid) was from 0.33 to 0.51 % and total Lactobacillus count ranged from 6.81 to 8.69 log CFU/mL during storage. The ACE inhibitory activity increased from 21.17 % on day 0 to 81.03 % on day 5, followed by a decrease of the activity after 10 days (38.85 %). The antioxidant activity was the highest on day 5 (87 %). White rose soy yoghurt had the highest antimicrobial activity against Listeria monocytogenes, followed by Bacillus subtilis, Staphylococcus aureus, Salmonella typhi and Escherichia coli. RP-HPLC analysis showed that after 18 h, the production of soy isoflavone aglycones genistein and daidzein in yoghurt was 87.3 and 58.4 %, respectivel

Bioethanol Production

In recent decades, usage of biofuels as fossil fuel substitutes has increased. One method for lowering both crude oil use and environmental pollution is the production of ethanol (bioethanol) from biomass. This report offers an examination of the existing state of affairs and future prospects for biomass-to-ethanol. We examine different conversion routes from a technological, economic, and environmental standpoint. The main focus of this study is on the yield of ethanol from molasses in relation to the dilution ratio and the quantity of yeast used for fermentation while maintaining a constant fermentation temperature and time. In this investigation, the feedstock is sugarcane molasses. A thick by-product of turning sugar cane into sugar is sugarcane molasses. Consequently, sugarcane molasses and other agricultural byproducts are desirable feedstock for the manufacture of bioethanol. Agricultural wastes are cheap, abundant, and renewable. The least expensive strain for the conversion of biomass substrate is Saccharomyces cerevisiae. As a conclusion, it was found that the ethanol yield increased with an increase in yeast quantity, reaching an optimal yeast quantity before ethanol yield started to drop. The ideal ratio of molasses to water was found to be 1:2. The amount of fermentable sugars contained in the biomass has a significant impact on the output of ethanol

Significance of fermented rice beverage on management of antibiotic associated diarrhea (AAD) on Wistar rats

Antibiotic associated diarrhoea (AAD) is caused mostly by disruption of the physiological gut microflora. One potential strategy to prevent this is the concurrent use of probiotic bacteria or yeast. Tribal populations of West Garo Hill region of Meghalaya use locally available unique microflora to prepare fermented food products whichserve as a potential source of novel probiotic organisms and bioactive compounds.  In this context, here, we have evaluated the potentiality of laboratory made functional fermented rice beverage in mitigating AAD on animal models viz. Wistar rats. The animal models were administered with fermented rice beverage (test group A1), combination of indigenous Lactobacillus isolates (test group A2), a yeast isolate (test group A3), loperamide (test group STD), normal control (test group NC) and disease control (test group DC). Furthermore, various diarrhea assessment parameters were checked from each group followed by analysis of fecal microbiome, haematological parameters, histopathology of colon, liver and cecal short chain fatty acids (SCFAs) determination. NC and A1 was least affected by AAD induction with a faecal consistency score of 1 on the final day of the study. After day 10, a significant reduction (P <0.05) in the faecal water content was observed in A1, A2 and STD till day 15. Compared to the NC, a slight decrease in body weight was found in the rest of five test groups at day 5, 10 and 15. Except NC, the remaining five test groups showed a significant decrease of lactobacilli and yeast counts in faecal microbiota at 5th day. An increase in the enterococci and coliform counts indicated severe diarrheal condition but A1 reported with significant increase (P <0.05) in the population of Lactobacillus at day 15. An increase in red blood corpuscles, haemoglobin, packed cell volume, mean cell haemoglobin, mean corpuscular volume, mean corpuscular hemoglobin concentration was observed. During the histopathology analysis of colon and liver, normal layers of mucosa, submucosa, muscularis and serous with absence of any abnormal changes or lesions was seen in A1. The cecal concentrations of lactate, acetate and propionate were significantly higher in A1 as compared to the other test groups. Therefore, fermented rice beverage possesses potential to be used in inhibition of antibiotic associated diarrhea with further clinical investigations

Novel insights into breast cancer genetic variance through RNA sequencing

Using RNA sequencing of triple-negative breast cancer (TNBC), non-TBNC and HER2-positive breast cancer sub-types, here we report novel expressed variants, allelic prevalence and abundance, and coexpression with other variation, and splicing signatures. To reveal the most prevalent variant alleles, we overlaid our findings with cancer- and population-based datasets and validated a subset of novel variants of cancer-related genes: ESRP2, GBP1, TPP1, MAD2L1BP, GLUD2 and SLC30A8. As a proof-of-principle, we demonstrated that a rare substitution in the splicing coordinator ESRP2(R353Q) impairs its ability to bind to its substrate FGFR2 pre-mRNA. In addition, we describe novel SNPs and INDELs in cancer relevant genes with no prior reported association of point mutations with cancer, such as MTAP and MAGED1. For the first time, this study illustrates the power of RNA-sequencing in revealing the variation landscape of breast transcriptome and exemplifies analytical strategies to search regulatory interactions among cancer relevant molecules

Single-cell analysis of human glioma and immune cells identifies S100A4 as an immunotherapy target.

A major rate-limiting step in developing more effective immunotherapies for GBM is our inadequate understanding of the cellular complexity and the molecular heterogeneity of immune infiltrates in gliomas. Here, we report an integrated analysis of 201,986 human glioma, immune, and other stromal cells at the single cell level. In doing so, we discover extensive spatial and molecular heterogeneity in immune infiltrates. We identify molecular signatures for nine distinct myeloid cell subtypes, of which five are independent prognostic indicators of glioma patient survival. Furthermore, we identify S100A4 as a regulator of immune suppressive T and myeloid cells in GBM and demonstrate that deleting S100a4 in non-cancer cells is sufficient to reprogram the immune landscape and significantly improve survival. This study provides insights into spatial, molecular, and functional heterogeneity of glioma and glioma-associated immune cells and demonstrates the utility of this dataset for discovering therapeutic targets for this poorly immunogenic cancer

Arpc1b, a centrosomal protein, is both an activator and substrate of Aurora A

In addition to its function as an Arp2/3 complex subunit, Arp1cb interacts with and stimulates Aurora A at centrosomes, functioning in cell cycle progression