In this investigation, ROS-based robust attitude control is designed for a two-wheeled self-balancing mobile robot (TWSBR) using the active disturbance rejection control (ADRC) technique. The ...designed ROS framework contemplates communication between topics for the desired robot commands and distributed framework design. This open architecture allows the integration of sensors, actuators, and processors. The architecture includes User-Friendly Interface, storage, navigation, control, and drivers. The low-cost robot was designed for educational purposes. It uses an Arduino Mega as a low-level processing unit, a Raspberry Pi 4 as a companion computer where high-level commands are processed, an MPU6050 Inertial Measurement Unit sensor, DC motors GW4058-555 with quadrature type encoder with two phases, the VNH2SP30 controller module used as the power stage and a Lithium Polymer (Li-Po) battery (11.1 V, 2200 mah) is used as the power source. The robust control algorithm is designed through the ADRC methodology based on the extended state observer (ESO). The ESO simultaneously estimates external disturbances, model uncertainties, and unmodeled dynamics such as friction, engine wear, and tire slippage. The stability of the developed controller is analyzed via the Lyapunov stability theory. Real-time experimental results are carried out under the regulation and rejection of external disturbances. The control algorithm is light and easy to implement and adjust in integrated systems with low computer resources.
Total fruit consumption is important for cardiovascular disease prevention, but also the variety and form in which is consumed. The aim of the study was to assess the associations between total ...fruit, subgroups of fruits based on their color and fruit juices consumption with different cardiometabolic parameters.
A total of 6633 elderly participants (aged 55–75 years) with metabolic syndrome from the PREDIMED-Plus study were included in this analysis. Fruit and fruit juice consumption was assessed using a food frequency questionnaire. Linear regression models were fitted to evaluate the association between exposure variables (total fruit, subgroups based on the color, and fruit juices) and different cardiometabolic risk factors. Individuals in the highest category of total fruit consumption (≥3 servings/d) had lower waist circumference (WC) (β = −1.04 cm; 95%CI:-1.81, −0.26), fasting glucose levels (β = −2.41 mg/dL; 95%CI(-4.19, −0.63) and LDL-cholesterol (β = −4.11 mg/dL; 95%CI:-6.93, −1.36), but, unexpectedly, higher systolic blood pressure (BP) (β = 1.84 mmHg; 95%CI: 0.37, 3.30) and diastolic BP (β = 1.69 mmHg; 95%CI:0.83, 2.56) when compared to those in the lowest category of consumption (<1 servings/d). Participants consuming ≥1 serving/day of total fruit juice had lower WC (β = −0.92 cm; 95%CI:-1.56, −0.27) and glucose levels (β = −1.59 mg/dL; 95%CI:-2.95, −0.23) than those consuming <1 serving/month. The associations with cardiometabolic risk factors differed according to the color of fruits.
Fruit consumption is associated with several cardiometabolic risk factors in Mediterranean elders with metabolic syndrome. The associations regarding BP levels could be attributed, at least partially, to reverse causality bias inherent to the cross-sectional design of the study.
•Total fruit consumption is inversely associated with cardiometabolic risk factors.•At least 1 serving/day of fruit juice is associated with low waist circumference.•At least 1 serving/day of fruit juice is associated with low glucose levels.•Cardiometabolic risk factors differed according to the color of fruits.
The new neutron time-of-flight facility (n_TOF) has been built at CERN and is now operational. The facility is intended for the measurement of neutron induced cross-sections of relevance to ...Accelerator Driven Systems (ADS) and to fundamental physics. Neutrons are produced by spallation of the
20
GeV/c
proton beam, delivered by the Proton Synchrotron (PS), on a massive target of pure lead. A measuring station is placed at
≈185
m
from the neutron producing target, allowing high-resolution measurements. The facility was successfully commissioned with two campaigns of measurements, in November 2000 and April 2001. The main interest was concentrated in the physical parameters of the installation (neutron fluence and resolution function), along with the target behavior and various safety-related aspects. These measurements confirmed the expectations from Monte Carlo simulations of the facility, thus allowing to initiate the foreseen physics program.
In recent papers, it was shown that coupled chemical-topological reactions (CCRs) with both NaOH etchant and silver salts, performed in thin swift-heavy ion-irradiated polymers under the application ...of a test voltage across the polymer foils, eventually gave rise to characteristic current/voltage features and Bode plots that were tentatively attributed to the formation of Ag
2
O membranes within the etched tracks. The same was also found when replacing the silver ions by lithium ions, and adding fluoride ions to the NaOH etchant, to promote LiF membrane formation. Ion Transmission Spectrometry (ITS) enabled us to reconfirm the existence of these membranes beyond doubt. The membrane thickness was determined to be ∼0.2-0.4 µm in the best cases.
ITS also revealed that hitherto membrane formation occurs only in ∼1% of all tracks, or even less. The reason for this poor abundance seems to be that the decisive factor for membrane formation, which is the firm anchoring of the emerging solid Ag
2
O or LiF reaction products on the etched track walls, was hitherto rarely fulfilled. We attribute this tentatively to the too high test voltage applied for controlling the CCR process that might hinder the product anchoring on the walls by promoting nanofluidic electromigration. Indeed, voltage reduction seems to improve the situation.
Después de una visión general sobre la presencia del pronombre ἐγώ en el trímetro yámbico del teatro griego, analizamos su distribución por personajes en Antígona, Medea y Lisístrata para intentar ...descubrir similitudes y diferencias.
Background Reparation of large nasal septum perforations continues to be challenging. Bipedicled mucoperichondrial and inter-positional grafts currently show the most promising results. New implants ...have emerged to be used as a support membrane to carry on the mucosal cells, taking advantage of the innate proliferative properties of the mucosal tissue. Objective To compare the effectiveness of two kinds of material; non-absorbable dimethylsiloxane (silicone elastomers) and absorbable porcine small intestinal submucosa (Surgisis), both used as an inter-positional graft without neighbouring flaps to close nasal septal perforations in an experimental model. Methods Fifteen dogs were divided into three groups. One group received Surgisis, the other sheets of dimethylsiloxane and the last group a sham group. The dogs were followed for 6 weeks. Results The initial perforation of the nasal septum showed complete mucosal closure in the dimethylsiloxane group. The Surgisis group, on the other hand, had a smaller reduction than that at the beginning (final mean area = 23.0 ± 5.4 mm
2
(p < 0.05); however, complete closure was not achieved. Sham animals showed an inconstant and slight reduction in dimension from 100 mm
2
to 70 ± 16 mm
2
of mucosa and cartilage, but closure was not achieved. A significantly higher number of capillaries were observed in the Surgisis group compared to the dimethylsiloxane group (p < 0.05) without differences in inflammation, fibrosis, or necrosis. Conclusions The non-absorbable implant; dimethylsiloxane facilitates a better closure of the nasal septum.
To evaluate efficacy and safety of 60mg and 120mg Fimasartan (FMS) alone or combined with 12.5mg hydrochlorothiazide (HCTZ) in a Mexican population.
A six month, treat-to-target, open study was ...conducted on subjects with grade 1-2 hypertension. The subjects were initially treated with 60mg FMS once daily. In week 8, those with Diastolic Blood Pressure (DBP) <90mmHg continued on the same FMS dose during the rest of the study, while those with DBP ≥90mmHg were randomised to either 120mg FMS or 60mg FMS + 12.5mg HCTZ once daily. In week 12, randomised subjects with DBP ≥90mmHg received 120mg FMS+12.5mg HCTZ, while those achieving target continued with their assigned treatment until the end of the study.
FMS 60mg (n=272) decreased both DBP and Systolic Blood Pressure (SBP) by 11.3±8.9 (p<.0001) and 16.0±14.1 (p<.0001)mmHg, respectively, with 75.4% of subjects reaching the treatment target. Subjects assigned to FMS 120mg, FMS 60mg+HCTZ 12.5mg, or FMS 120mg+HCTZ 12.5mg once daily, showed significant reductions in DBP and SBP with their assigned treatment. At the end of the study, 237/272 subjects (87.1%) achieved a DBP<90mmHg and an SBP<140mmHg. The most frequently reported adverse reactions included headache (3.7%), dry mouth (1.1%), transient liver enzyme increase (1.1%), and dizziness (0.7%).
Fimasartan is safe and effective in Mexican subjects with grade 1-2 essential hypertension.
Chagas disease caused by infection with Trypanosoma cruzi Chagas (Kinetoplastida: Trypanosomatidae) is widespread in Mexico, transmitted by various triatomine bugs (Hemiptera: Reduviidae). The only ...domestic vector in Cuernavaca (population 650 000) is Triatoma pallidipennis (Stangstromhl) with T. cruzi seroprevalence ranging from 1% to 9% in the resident human population. We surveyed possible risk factors for T. pallidipennis infestation at Cuernavaca (altitude 1200-2200 m) on south-western slopes of the Sierra Madre Occidental. This metropolitan area (with five administrative counties) has rapid urbanization, forested environs and proliferation of 'weekend housing' for visitors from Mexico City, 60 km to the north. To assess factors associated with T. pallidipennis infestation, we first stratified Cuernavaca by altitude and by socio-economic status of population catchment units (PCUs). Within each PCU, one to three blocks were chosen for cluster sampling (three houses/block) and information about Chagas disease was distributed. After obtaining signed consent from householders, representative houses were routinely and opportunistically inspected for T. pallidipennis and surveyed for demographic, economic, physical and other potential risk factors. Of the 1129 houses assessed, T. pallidipennis was found in 4.1% (range 3.0-6.8% per county) and the T. cruzi infection rate was approximately 50% in bugs. Rates of house infestation in poor PCUs were double those in higher socio-economic strata (odds ratio 2.12, confidence interval 1.03-4.3), with >4-fold greater crowding index of T. pallidipennis. The bug density index was inversely correlated with PCU altitude and socio-economic category (altitude of homes being associated with prosperity), while the bug colonization index (presence of nymphs indicating breeding) did not vary significantly across the PCU categories, but did vary according to altitude. Multivariate regression analysis showed that the most significant risk factors associated with T. pallidipennis infestation were lower altitude (linked with lower socio-economic status), garden area >80 m2, dogs at liberty to enter the house, occurrence of squirrels and opossums around the house, presence of pigs in the surrounding area and having at least one of the adjacent lots empty (unconstructed). Householders who had received information about Chagas disease comprised 33% from infested houses (14/42) but only 15% from non-infested houses (148/984). Hence, the awareness of Chagas disease was significantly associated with having a bug-free house (P < 0.01). When shown specimens of T. pallidipennis, the proportions of householders who recognized them were 78% from infested houses but only 29% of those with uninfested houses. Given the low infestation rates and the high capacity of the population to act appropriately once they have received information regarding this disease and its vector, relevant health education is expected to have a significant impact on triatomine control in this metropolitan area.
Undifferentiated and dedifferentiated endometrial carcinomas are rare and highly aggressive subtypes of uterine cancer, not well characterized at a molecular level. To investigate whether ...dedifferentiated carcinomas carry molecular genetic alterations similar to those of pure undifferentiated carcinomas, and to gain insight into the pathogenesis of these tumors, we selected a cohort of 18 undifferentiated endometrial carcinomas, 8 of them with a well-differentiated endometrioid carcinoma component (dedifferentiated endometrioid carcinomas), and studied them by immunohistochemistry and massive parallel and Sanger sequencing. Whole-exome sequencing of the endometrioid and undifferentiated components, as well as normal myometrium, was also carried out in one case. According to The Cancer Genome Atlas classification, we distributed 95% of the undifferentiated carcinomas in this series as follows: (a) hypermutated tumors with loss of any mismatch repair protein expression and microsatellite instability (eight cases, 45%); (b) ultramutated carcinomas carrying mutations in the exonuclease domain of POLE (two cases, 11%); (c) high copy number alterations (copy-number high) tumors group exhibiting only TP53 mutations and high number of alterations detected by FISH (two cases, 11%); and (d) low copy number alterations (copy-number low) tumors with molecular alterations typical of endometrioid endometrial carcinomas (five cases, 28%). Two of the latter cases, however, also had TP53 mutations and higher number of alterations detected by FISH and could have progressed to a copy-number high phenotype. Most dedifferentiated carcinomas belonged to the hypermutated group, whereas pure undifferentiated carcinomas shared molecular genetic alterations with copy-number low or copy-number high tumors. These results indicate that undifferentiated and dedifferentiated endometrial carcinomas are molecularly heterogeneous tumors, which may have prognostic value.
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