In cable-driven parallel robots (CDPRs), the cable tension must be in an admissible positive range. The positive tension distribution (PTD) in CDPR is generally guaranteed using optimization-based ...methods, limiting their real-time applications due to the unpredictable worst-case computation time of such methods. In this study, we consider the PTD to be an integral part of the control system and introduce a computationally efficient control-based approach for generating positive tensions. This innovative approach offers several benefits for controlling redundant CDPRs. It significantly improves computation time compared to existing iterative methods, eliminates high sensitivity to kinematic uncertainties, and enhances trajectory tracking performance. Additionally, the proposed method keeps the robot on the boundary of the workspace when the trajectory exits the wrench-feasible workspace. To this end, we introduce a novel representation of CDPR dynamics as a nonaffine form, considering the tension of the cables as state variables. A robust unilateral constrained control structure is proposed using a third-order model, ensuring control efforts remain within a prescribed positive range. The computational efficiency of the method is investigated in a hyper-redundant CDPR and is compared with the conventional methods. It is also shown that for the desired trajectory out of the workspace, the proposed method keeps the robot at the boundary of the workspace while maintaining positive tensions.
Investigations demonstrated that magnetic fields (MFs) change cytokine production and expression of some immune system genes. This alteration can affect the immune system function and may lead to ...some diseases. Therefore, this study investigated two important inflammatory cytokines,
i.e.
, IL-1β and IL-23 at two phases of pre- and post-immunization of the immune system. In addition, the expressions of three important genes in the humoral immunity,
i.e.
, B lymphocyte-induced maturation protein-1 (BLIMP-1), X-box-binding protein-1 (XBP-1), and interferon regulatory factor-4 (IRF-4) were evaluated at post-immunization phase. Eighty adult male rats were divided into four experimental groups and a control. The experimental groups were exposed to 50 -Hz MFs with magnetic flux densities of 1, 100, 500, and 2000 μT, 2 h/day for 2 months. The animals were injected by human serum albumin (100 μg/rat) on days 31, 44, and 58 of exposure. The cytokine levels in serum were measured with enzyme-linked immunosorbent assay (ELISA), and the expression of genes was evaluated with reverse transcription quantitative polymerase chain reaction (RT-qPCR). Serum IL-1β was decreased at pre-immunization phase after exposure to 1 and 100 μT of 50-Hz MFs. In contrast, serum IL-23 was increased at post-immunization phase in 100 μT group. No change was observed in serum IL-1β and IL-23 in each group at pre-immunization phase compared with post-immunization. Furthermore, exposure to 100 μT downregulated expression of
BLIMP-1
,
XBP-1
, and
IRF-4
. In conclusion, exposure to 50-Hz MFs may decrease inflammation at short time and increase it at longer time exposures. In addition, 50-Hz MF exposure may decrease the humoral immune responses. It seems that 50-Hz MFs cause more alteration in immune system function at lower densities (100 μT).
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EMUNI, FIS, FZAB, GEOZS, GIS, IJS, IMTLJ, KILJ, KISLJ, MFDPS, NLZOH, NUK, OBVAL, OILJ, PNG, SAZU, SBCE, SBJE, SBMB, SBNM, UKNU, UL, UM, UPUK, VKSCE, ZAGLJ
Chronic infection with hepatitis B (CHB) virus is one of the most important risk factors for Hepatocellular carcinoma (HCC). Hepatitis B virus (HBV) causes liver cancer in various ways. One of these ...ways is increasing the expression of the signal transducer and activator of transcription 3 (STAT3) in Hepatocytes by HBV. The purpose of this research is to evaluate the single nucleotide polymorphism (SNP) rs1053004 in the STAT3 gene in CHB patients and individuals who suffer from HCC. In this research, 33 patients CHB-related HCC, 50 patients infected with chronic hepatitis B infection (CHB) without HCC and 50 healthy individuals were investigated for the presence of rs1053004 in the STAT3 gene according to the PCR-based differentiation of alleles test. Data analysis presented a different and significant distribution of alleles and genotypes (p<0.05). When the HCC and CHB groups were compared from the point of the frequency of alleles, the frequency of the C allele and CC genotype in the HCC group were higher CHB and control groups. Analysis of our data in the genotype model (CC vs. TT + TC) showed, this meaningful relationship remained between the HCC group and the three groups of CHB, healthy and all controls. These results illustrate that perhaps rs1053004 polymorphisms in the STAT3 gene participated in the progression of hepatitis B to HCC in Iranian people.
Chronic infection with hepatitis B (CHB) virus is one of the most important risk factors for Hepatocellular carcinoma (HCC). Hepatitis B virus (HBV) causes liver cancer in various ways. One of these ...ways is increasing the expression of the signal transducer and activator of transcription 3 (STAT3) in Hepatocytes by HBV. The purpose of this research is to evaluate the single nucleotide polymorphism (SNP) rs1053004 in the STAT3 gene in CHB patients and individuals who suffer from HCC. In this research, 33 patients CHB-related HCC, 50 patients infected with chronic hepatitis B infection (CHB) without HCC and 50 healthy individuals were investigated for the presence of rs1053004 in the STAT3 gene according to the PCR-based differentiation of alleles test. Data analysis presented a different and significant distribution of alleles and genotypes (p<0.05). When the HCC and CHB groups were compared from the point of the frequency of alleles, the frequency of the C allele and CC genotype in the HCC group were higher CHB and control groups. Analysis of our data in the genotype model (CC vs. TT + TC) showed, this meaningful relationship remained between the HCC group and the three groups of CHB, healthy and all controls. These results illustrate that perhaps rs1053004 polymorphisms in the STAT3 gene participated in the progression of hepatitis B to HCC in Iranian people.
Background and Objectives: Chronic viral hepatitis B is a global health problem, which, if not treated, can lead to some serious complications, such as liver cirrhosis and hepatocellular carcinoma. ...In this study, the effect of antiviral therapy with tenofovir, was investigated on reduction of liver fibrosis and improvement of liver function in patients with chronic hepatitis C. Methods: In this clinical trial, 40 patients with chronic hepatitis B underwent antiviral therapy with tenofovir 300 mg daily. Demographic information and results of laboratory tests (before treatment and 6 months after the start of treatment), were collected using a checklist. Liver stiffness was measured and recorded using a fibroscan device (before and 6 months after the treatment). Data were analyzed using Wilcoxon and paired t- tests. The level of significance was considered to be p<0.05. Results: Among 40 patients, one person was excluded from the project due to lack of follow-up. Of remaining 39 patients, 27 subjects (69.2%) were male and 12 subjects (30.8%) were female. The mean age of the patients was 47.53±13.68 years. The mean levels of AST, ALT, Child score, and liver stiffness did not show significant improvement during a 6-month follow-up according to Wilcoxon and paired t- tests. Conclusion: This study showed that although hepatic fibrosis and liver function in patients with chronic hepatitis B are reversible after treatment, changes require long-term treatment and follow-up.
Objectives: This study was conducted to evaluate the efficacy of a combination therapy using aspirin (also known as acetylsalicylic acid (ASA)) and atorvastatin in comparison with atorvastatin alone ...to improve liver fibrosis and function in patients with cryptogenic cirrhosis. Methods: In this randomized double-blinded clinical trail, 40 patients with cryptogenic cirrhosis were randomly allocated to the intervention group (atorvastatin + ASA) and the control group (atorvastatin) treated for six months. Then liver function and stiffness (based on transient electrography) were compared. A checklist was used for data collection and the results were analyzed by SPSS 24 using chi-square test and paired t-test at the 0.05 significance level. Results: A total of 33 cases, including16 patients in group A (atorvastatin + ASA) and 17 in group B (atorvastatin + placebo) with a mean age of 50.3 ± 11.2 and 47.9 ± 10.6 years and BMI of 30.7 ± 4.2 and 30.8± 3.1 in groups A and B, were studied, respectively. Twelve patients (75%) in group A and 14 cases (82%) in group B were male. Both groups were homogenized in terms of demographic information at baseline. A significant improvement in Child score (P = 0.001 and P = 0.002 for groups A and B, respectively) and liver stiffness (P < 0.0001 and P = 0.007 for groups A and B, respectively) were observed in both groups after the intervention, however there was no significant improvement in child score (P = 0.982) and liver stiffness (P = 0.611) in comparing both groups. Conclusions: Although atorvastatin is effective in improvement of liver fibrosis and function in cryptogenic cirrhosis, adding ASA cannot improve its effects.
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IZUM, KILJ, NUK, PILJ, PNG, SAZU, UL, UM, UPUK
Background: Liver fibrosis and related hepatic dysfunction are among major medical issues in patients with chronic hepatitis B (CHB). It finally may lead to cirrhosis, hepatocellular carcinoma (HCC), ...and liver-related death. Objectives: This study aimed to investigate the effects of adding atorvastatin to the standard antiviral therapy on the hepatic fibrosis and progression of cirrhosis in CHB patients. Methods: In this double-blinded clinical trial, 77 CHB patients referring to the gastroenterology and hepatology clinics in Qom, Iran, were selected by simple random sampling from 2016 to 2017. The participants were randomly divided into an intervention group that received tenofovir (300 mg) with atorvastatin (20 mg) daily and a control group that received tenofovir (300 mg) and placebo of atorvastatin daily. Results: According to the findings, changes in the aspartate aminotransferase (AST) level were not significant in the control (P = 0.771) and intervention (P = 0.266) groups. Changes in the alanine aminotransferase (ALT) level were non-significant in the control group (P = 0.893) but significant in the intervention group (P = 0.018). Changes in the liver fibrosis were significant in the intervention group (P = 0.001) and between the two groups (P < 0.001). Conclusions: According to the study results, adding atorvastatin to the standard antiviral regimen improves the liver function and reduces liver fibrosis in CHB patients. Therefore, it is suggested that atorvastatin be used as complementary therapy.
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IZUM, KILJ, NUK, PILJ, PNG, SAZU, UL, UM, UPUK
Summary Visceral leishmaniasis is one of the most important parasitic diseases that is endemic in some parts of Iran. This study aimed to determine current distribution of visceral leishmaniasis in ...four distinct geographical zones of Iran. A cross-sectional study was conducted using direct agglutination test (DAT) on 9396 and 2559 serum samples collected from humans and domestic dogs, respectively during the period of 2007 through 2009. Altogether, 403 (4.3%) out of 9396 human serum samples collected from 4 distinct geographical locations showed anti- Leishmania antibodies with titers ≥1:3200. Physical examinations performed on 142 sero-positive cases with anti- Leishmania antibodies at titers of 1: 3200 to 1:102400 among whom fever (94.4%), paleness (67.6%) and hepato-splenomegaly (42.2%) were the predominant clinical signs and symptoms. The highest sero-prevalence rate (1.55%) was found in children ≤5 years old. Out of 2559 serum samples collected from domestic dogs, 212 (8.3%) were DAT positive (≥1:320). Leishmania infantum is the principal causative agent of the disease was isolated from both infected humans and dogs in Iran. Our findings indicate that Mediterranean visceral leishmaniasis with different distribution occurs in different geographical locations of Iran.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK
Uncontrolled growth of cells, a main criterion of cancer, is merged with pathologic telomere length alteration. Thereby, measurement of telomere length could provide important information on cell ...proliferation and senescence in cancer tissues. Telomere shortening and its potential correlation with clinicopathological predictive markers in sporadic colorectal cancer (CRC) with normal expression of mismatch repair (MMR) proteins (including Mlh1, Msh2, Pms2, and Msh6) and normal p53 expression was completely explored. Relative telomere length (RTL) was quantitatively measured in a cohort of 164 samples (68 patients with sporadic CRC and 96 healthy unrelated controls). Our results demonstrated a significant shortening of RTL in the tumor-derived tissue of patients compared with the control group (p<0.001). Interestingly, significant telomere shortening was observed in tumors from an ascending and sigmoid colon in comparison with tumors located in a descending colon. Additionally, the telomere length was significantly shorter in those with lymph node metastasis (p<0.05). The results suggest that pathological telomere shortening, leading to genome instability and lymphatic transformation, could serve as a potential sensitive detection and also as a classification marker for facilitating diagnosis and management of CRC.
Background Hereditary nonpolyposis colorectal cancer (HNPCC) is the most common cause of early onset hereditary colorectal cancer. In the majority of HNPCC families, microsatellite instability (MSI) ...and germline mutation in one of the DNA mismatch repair (MMR) genes are found. Materials and methods The entire coding sequence of MMR genes (MLH1, MLH2, MLH6, and PMS2) was analyzed using direct sequencing. Also, tumor tests were done as MSI and immunohistochemistry testing. Results We were able to find three novel MLH1 and one novel PMS2 germline mutations in three Iranian HNPCC patients. The first was a transversion mutation c.346A>C (T116P) and happened in the highly conserved HATPase-c region of MLH1 protein. The second was a transversion mutation c.736A>T (I246L), which caused an amino acid change of isoleucine to leucine. The third mutation (c.2145,6 delTG) was frameshift and resulted in an immature stop codon in five codons downstream. All of these three mutations were detected in the MLH1 gene. The other mutation was a transition mutation, c.676G>A (G207E), which has been found in exon six of the PMS2 gene and caused an amino acid change of glycine to glutamic acid. MSI assay revealed high instability in microsatellite for two patients and microsatellite stable for one patient. Conclusion In all patients, an abnormal expression of the MMR proteins in HNPCC was related to the above novel mutations.
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EMUNI, FZAB, GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, SBMB, SBNM, UL, UM, UPUK, VKSCE, ZAGLJ
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