Approximate feedback linearization of discrete-time non-linear systems using virtual input direct design

The design of feedback-linearization and poles-placement controllers for discrete-time non-linear plants, using Input/Output/State measurements only, is typically addressed via indirect design. In this paper we propose the use of a new technique, based on a Virtual Input Direct Design (VID²) approach. The main feature of such a technique is to reduce the control design problem into a standard non-linear mapping approximation problem, without calling for the preliminary construction of an appropriate model of the plant. As compared with the existing methods, the new one requires less computational effort, while taking full advantage of the non-linear approximation software tools already available. In this paper, the new method is described, a simple theoretical analysis is given, and some numerical examples are presented.     

Visual model‐predictive localization for computationally efficient autonomous racing of a 72‐g drone

Drone racing is becoming a popular e‐sport all over the world, and beating the best human drone race pilots has quickly become a new major challenge for artificial intelligence and robotics. In this paper, we propose a novel sensor fusion method called visual model‐predictive localization (VML). Within a small time window, VML approximates the error between the model prediction position and the visual measurements as a linear function. Once the parameters of the function are estimated by the RANSAC algorithm, this error model can be used to compensate the prediction in the future. In this way, outliers can be handled efficiently and the vision delay can also be compensated efficiently. Theoretical analysis and simulation results show the clear advantage compared with Kalman filtering when dealing with the occasional large outliers and vision delays that occur in fast drone racing. Flight tests are performed on a tiny racing quadrotor named “Trashcan,” which was equipped with a Jevois smart camera for a total of 72 g. An average speed of 2 m/s is achieved while the maximum speed is 2.6 m/s. To the best of our knowledge, this flying platform is currently the smallest autonomous racing drone in the world, while still being one of the fastest autonomous racing drones.     

Portability of executable service-oriented processes: metrics and validation

A key promise of process languages based on open standards, such as the Web Services Business Process Execution Language, is the avoidance of vendor lock-in through the portability of processes among runtime environments. Despite the fact that today various runtimes claim to support this language, every runtime implements a different subset, thus hampering portability and locking in their users. It is our intention to improve this situation by enabling the measurement of the portability of executable service-oriented processes. This helps developers to assess their implementations and to decide if it is feasible to invest in the effort of porting a process to another runtime. In this paper, we define several software quality metrics that quantify the degree of portability of an executable, service-oriented process from different viewpoints. When integrated into a development environment, such metrics can help to improve the portability of the outcome. We validate the metrics theoretically with respect to measurement theory and construct validity using two validation frameworks. The validation is complemented with an empirical evaluation of the metrics using a large set of processes coming from several process libraries.     

The production of hydrogen peroxide is not a common mechanism by which olive oil phenols induce apoptosis on HL60 cells

We have recently demonstrated that hydroxytyrosol (3,4-DHPEA), the most representative olive oil phenol, induces apoptosis on HL60 cells through the production of considerable amount of extracellular hydrogen peroxide (H₂O₂). The aims of the present investigation were first to assess the ability of different phenolic compounds to both produce extracellular H₂O₂ and induce apoptosis on HL60 cells, and second to elucidate whether the pro-apoptotic activity was mediated by the production of H₂O₂ in the cell culture medium. Based on the results phenols can be classified as follows: (1) those which were not able to induce both apoptosis and H₂O₂ accumulation (tyrosol, homovanillic alcohol and protocatechuic, o-coumaric, vanillic, homovanillic, ferulic and syringic acids); (2) those which showed a pro-apoptotic activity mediated, at least in part, by the production of H₂O₂, as evidenced by the ability of catalase to inhibit apoptosis (3,4-DHPEA, dopamine, 3,4-dihydroxyphenylacetic, 3,4-dihydroxy-hydrocinnamic, caffeic and gallic acids); and (3) those which induced apoptosis without the involvement of H₂O₂ (the secoiridoid derivatives of both hydroxytyrosol and tyrosol). Oleuropein showed a peculiar behaviour since, and although it caused an abundant production of H₂O₂ in the cell culture medium, it exerted a weak pro-apoptotic effect. From these results we may conclude that the cathecol moiety of the phenol molecule is necessary for the H₂O₂ producing activity, and that the 3,4-DHPEA metabolism to homovanillic alcohol and homovanillic acid may significantly reduce its pro-apoptotic potential. The real in vivo meaning of the phenol-induced H₂O₂ production remains to be investigated.     

Chemical composition,antimicrobial potential against cariogenic bacteria and cytotoxic activity of Tunisian Nigella sativa essential oil and thymoquinone

We investigate in this work the chemical composition by GC–EIMS, the antibacterial and the cytotoxic activities of Tunisian Nigella sativa essential oil and its bioactive compound, thymoquinone, were tested against various clinical cariogenic bacteria (n = 30). Eighty-four compounds were identified in the essential oil. The major one was p-cymene (49.48%) whereas thymoquinone represented only 0.79%. The essential oil (2.43 mg/disc) containing only 3.35 μg of thymoquinone showed pronounced dose dependant antibacterial activity against Streptococcus mitis, Streptococcus mutans, Streptococcus constellatus and Gemella haemolysans (15.5 ± 0.707 mm). However, pure thymoquinone compound (150 μg/disk) was active against all the studied strains especially S. mutans and S. mitis (24.5 ± 0.71 and 22 ± 1.41 mm inhibition zones, respectively).     

Coherent Culling and Shading for Large Molecular Dynamics Visualization

Molecular dynamics simulations are a principal tool for studying molecular systems. Such simulations are used to investigate molecular structure, dynamics, and thermodynamical properties, as well as a replacement for, or complement to, costly and dangerous experiments. With the increasing availability of computational power the resulting data sets are becoming increasingly larger, and benchmarks indicate that the interactive visualization on desktop computers poses a challenge when rendering substantially more than millions of glyphs. Trading visual quality for rendering performance is a common approach when interactivity has to be guaranteed. In this paper we address both problems and present a method for high‐quality visualization of massive molecular dynamics data sets. We employ several optimization strategies on different levels of granularity, such as data quantization, data caching in video memory, and a two‐level occlusion culling strategy: coarse culling via hardware occlusion queries and a vertex‐level culling using maximum depth mipmaps. To ensure optimal image quality we employ GPU raycasting and deferred shading with smooth normal vector generation. We demonstrate that our method allows us to interactively render data sets containing tens of millions of high‐quality glyphs.     

Gaucher Disease Diagnosis Using Lyso-Gb1 on Dry Blood Spot Samples: Time to Change the Paradigm?

For years, the gold standard for diagnosing Gaucher disease (GD) has been detecting reduced β-glucocerebrosidase (GCase) activity in peripheral blood cells combined with GBA1 mutation analysis. The use of dried blood spot (DBS) specimens offers many advantages, including easy collection, the need for a small amount of blood, and simpler transportation. However, DBS has limitations for measuring GCase activity. In this paper, we recount our cross-sectional study and publish seven years of experience using DBS samples and levels of the deacylated form of glucocerebroside, glucosylsphingosine (lyso-Gb1), for GD diagnosis. Of 444 screened subjects, 99 (22.3%) were diagnosed with GD at a median (range) age of 21 (1–78) years. Lyso-Gb levels for genetically confirmed GD patients vs. subjects negative to GD diagnosis were 252 (9–1340) ng/mL and 5.4 (1.5–16) ng/mL, respectively. Patients diagnosed with GD1 and mild GBA1 variants had lower median (range) lyso-Gb1, 194 (9–1050), compared to GD1 and severe GBA1 variants, 447 (38–1340) ng/mL, and neuronopathic GD, 325 (116–1270) ng/mL (p = 0.001). Subjects with heterozygous GBA1 variants (carrier) had higher lyso-Gb1 levels, 5.8 (2.5–15.3) ng/mL, compared to wild-type GBA1, 4.9 (1.5–16), ng/mL (p = 0.001). Lyso-Gb1 levels, median (range), were 5 (2.7–10.7) in heterozygous GBA1 carriers with Parkinson’s disease (PD), similar to lyso-Gb1 levels in subjects without PD. We call for a paradigm change for the diagnosis of GD based on lyso-Gb1 measurements and confirmatory GBA1 mutation analyses in DBS. Lyso-Gb1 levels could not be used to differentiate between heterozygous GBA1 carriers and wild type.     

Refining Genotypes and Phenotypes in KCNA2-Related Neurological Disorders

Pathogenic variants in KCNA2, encoding for the voltage-gated potassium channel K_v1.2, have been identified as the cause for an evolving spectrum of neurological disorders. Affected individuals show early-onset developmental and epileptic encephalopathy, intellectual disability, and movement disorders resulting from cerebellar dysfunction. In addition, individuals with a milder course of epilepsy, complicated hereditary spastic paraplegia, and episodic ataxia have been reported. By analyzing phenotypic, functional, and genetic data from published reports and novel cases, we refine and further delineate phenotypic as well as functional subgroups of KCNA2-associated disorders. Carriers of variants, leading to complex and mixed channel dysfunction that are associated with a gain- and loss-of-potassium conductance, more often show early developmental abnormalities and an earlier onset of epilepsy compared to individuals with variants resulting in loss- or gain-of-function. We describe seven additional individuals harboring three known and the novel KCNA2 variants p.(Pro407Ala) and p.(Tyr417Cys). The location of variants reported here highlights the importance of the proline(405)–valine(406)–proline(407) (PVP) motif in transmembrane domain S6 as a mutational hotspot. A novel case of self-limited infantile seizures suggests a continuous clinical spectrum of KCNA2-related disorders. Our study provides further insights into the clinical spectrum, genotype–phenotype correlation, variability, and predicted functional impact of KCNA2 variants.     

Targeting Serotonin 2A and Adrenergic α1 Receptors for Ocular Antihypertensive Agents: Discovery of 3,4‐Dihydropyrazino[1,2‐b]indazol‐1(2H)‐one Derivatives

Glaucoma affects millions of people worldwide and causes optic nerve damage and blindness. The elevation of the intraocular pressure (IOP) is the main risk factor associated with this pathology, and decreasing IOP is the key therapeutic target of current pharmacological treatments. As potential ocular hypotensive agents, we studied compounds that act on two receptors (serotonin 2A and adrenergic α₁) linked to the regulation of aqueous humour dynamics. Herein we describe the design, synthesis, and pharmacological profiling of a series of novel bicyclic and tricyclic N2‐alkyl‐indazole‐amide derivatives. This study identified a 3,4‐dihydropyrazino[1,2‐b]indazol‐1(2H)‐one derivative with potent serotonin 2A receptor antagonism, >100‐fold selectivity over other serotonin subtype receptors, and high affinity for the α₁ receptor. Moreover, upon local administration, this compound showed superior ocular hypotensive action in vivo relative to the clinically used reference compound timolol.     

A FT-IR assessment of iso-C4H8 reactivity with V2O5/TiO2 catalysts

Low-loaded vanadia-titania catalysts have been prepared by impregnation of titania P-25 (Degussa). The catalysts were characterized by X-ray diffraction, specific surface area and porosity assessment by nitrogen adsorption at 77 K. For very low vanadia contents the absence of surface acid Brønsted sites leads to dimerization on surface acid Lewis sites, whereas the presence of surface acid Bransted sites when the vanadia content is increased leads to oxidation to carbonyl and carboxylate species.