Nested saturation based control of an actuated knee joint orthosis

Wearable robots have opened a new horizon for assistance and rehabilitation of dependent/elderly persons. The present study deals with the control of an actuated lower limb orthosis at the knee joint level. The dynamics of the shank–foot–orthosis system are expressed through a nonlinear second order model taking into account viscous, inertial and gravitational properties. Shank–foot–orthosis system parameters are identified experimentally. Since the underlying dynamic model is nonlinear, a robust control strategy is needed to guarantee an accurate and precise movement generation. The proposed control strategy ensures, at the same time, the stability of the closed-loop system. A bounded control torque is applied to guarantee the asymptotic stability of the shank–foot–orthosis. The generated control respects the physical constraints imposed by the system. The effectiveness of the proposed control strategy is shown in real-time in terms of stability, position tracking performances and robustness with respect to identification errors and external disturbances.     

Bicriteria sequencing for just-in-time mixed-model assembly lines

Under a Just-In-Time (JIT) pull system the sequencing of products requires the satisfaction of two main goals: (1) keeping a constant rate of usage of parts, and (2) smoothing the workload at work stations to avoid line stoppages. By using a practical observation related to JIT delivery systems we propose a two-step approach, where in the first step we consider only goal (1) by applying a benchmark heuristic. In the second step we focus on goal (2), by investigating the effectiveness of a spacing-constraint based approach, commonly used in the automotive industry, in comparison with a more general time-based one. We designed and conducted a simulation experiment based on the practical situation of final assembly lines and we found that the benchmark heuristic represents an appropriate choice for step one (based on a new performance measure that represents a lower bound on variation in parts utilization). For the second step, related to workload smoothing, the spacing-constraint based method presents better achievement than the time-based one.     

Palynostratigraphical studies on some subsurface middle Albian–early Cenomanian sediments from North Western Desert,Egypt

The Kharita and Bahariya formations are of great importance for Egyptian economy. They are the target of the oil and gas exploration in the Egyptian Western Desert. The present study investigated the palynostratigraphy, palynofacies and spore coloration of samples from these two formations in Negelah-1 Borehole. The investigations were used to evaluate their thermal maturity and potentiality to generate the hydrocarbons. The identified palynozones are Afropollis jardinus Acme Zone (late Albian–early Cenomanian) and Araucariacites australis Acme Zone (middle Albian). The first zone is differentiated into two subzones, which are Elaterosporites klaszii Interval Subzone and Cretacaeiporites densimurus Interval Subzone. The palynofacies analysis revealed that the Kharita Formation was deposited in proximal near shore marine environment under oxic conditions. Whereas the lower part of the Bahariya Formation was initially deposited in proximal near shore dysoxic marine conditions and the environment of deposition getting more distal to inner shelf dysoxic to anoxic marine conditions in the younger upper part. The samples from both formations include gas prone type III and IV. The spore color observations indicated that the samples from both formations are immature to yield gas and are not effective hydrocarbon source.     

Development of Isatin-Based Schiff Bases Targeting VEGFR-2 Inhibition: Synthesis,Characterization, Antiproliferative Properties,and QSAR Studies

Three sets of isatin-based Schiff bases were synthesized utilizing the molecular hybridization approach. Some of the synthesized Schiff bases show significant to moderate antiproliferative properties against MCF7 (breast), HCT116 (colon), and PaCa2 (pancreatic) cancer cell lines with potency compared to reference drugs 5-fluorouracil (5-FU) and Sunitinib. Among all, compound 17 f (3-((1,5-dimethyl-3-oxo-2-phenyl-2,3-dihydro-1H-pyrazol-4-yl)imino)-1-((1-(2-methoxyphenyl)-1H-1,2,3-triazol-4-yl)methyl)-5-methylindolin-2-one) exhibits promising antiproliferative properties against the MCF7 cancer cell line with 2.1-fold more potency than Sunitinib. However, among all the synthesized compounds, three (5-methylisatin derivatives) were the most effective against HCT116 in comparison to 5-FU. Compound 17 f exhibited the highest anti-angiogenic effect on the vasculature as it significantly reduced BV from 43 mm to 2 mm in comparison to 5.7 mm for Sunitinib and flow cytometry supports the arrest of the cell cycle at G1/S phases. In addition, compound 17 f also showed high VEGFR-2 inhibition properties against breast cancer cell lines. Robust 2D-QSAR studies supported the biological data.     

Combined advanced oxidation and biological treatment processes for the removal of pesticides from aqueous solutions

Advanced oxidation processes were combined with biological treatment processes in this study to remove both pesticides and then the COD load from aqueous solutions. It was found that O(3) and O(3)/UV oxidation systems were able to reach 90 and 100%, removal of the pesticide Deltamethrin, respectively, in a period of 210 min. The use of O(3) combined with UV radiation enhances pesticides degradation and the residual pesticide reaches zero in the case of Deltamethrin. The combined O(3)/UV system can reduce COD up to 20% if the pH of the solution is above 4. Both pesticide degradation and COD removal in the combined O(3)/UV system follow the pseudo-first-order kinetics and the parameters of this model were evaluated. The application of the biological treatment to remove the bulk COD from different types of feed solution was investigated. More than 95% COD removal was achieved when treated wastewater by the O(3)/UV system was fed to the bioreactor. The parameters of the proposed Grau model were estimated.     

New Magnetic Phase Transitions in the Tetragonal Compounds PrBa2Cu3O6+x at Low Temperature

The anomalous magnetic properties of Pr ions in the PrBa₂Cu₃O_6+x system are investigated at low temperature. Measurements of the specific heat C _P(T) and the magnetic susceptibility χ(T) are performed on ceramic samples in the tetragonal structure with x=0.44 and x=0. Two new magnetic transitions are observed below the Néel temperature of the Pr antiferromagnetic ordering $T_{\mathrm{N}}^{\mathrm{Pr}} \sim 9\mbox{--}10~\mathrm{K}$ . The first one is observed at the low-critical temperature T _cr～4–5?K and the second one is observed at $T_{2}^{\mathrm{Pr}\text{--}\mathrm{Cu}} \sim 6\mbox{--}7~\mathrm{K}$ , respectively. Assuming that ΔC _P(T) can be used to represent the Pr contribution to the specific heat C _P(T), the data are well fitted for T<T _cr by using the development of ΔC _P(T)/T=ΔA(T ²)^?3/2 +Δγ+M(T ²) ¹ +m(T ²) ² . The values of the electronic coefficient Δγ are found much lower than all previous results obtained in compounds of the orthorhombic structure, and this is, in good agreement with the insulating character of our non-superconducting samples. The high values obtained for the coefficient M, permits us to confirm the existence of strong Pr–Pr exchange interactions. Some non-linear effects attributed to the values of the coefficient m are revealed and discussed in terms of the previous Pr–Cu coupling with a spin reorientation phase transition of both spin sublattices around $T_{2}^{\mathrm{Pr}\text{--}\mathrm{Cu}}$ . The appearance of a weak ferromagnetic tendency in the magnetic susceptibility analysis below T _cr, could be associated with the reordering of the Pr subsystem.     

Food consumption frequency and perceived stress and depressive symptoms among students in three European countries

Background  

Certain foods might be more frequently eaten under stress or when higher levels of depressive symptoms are experienced. We examined whether poor nutritional habits are associated with stress and depressive symptoms and whether the relationships differ by country and gender in a sample from three European countries collected as part of a Cross National Student Health Survey.     

A new reactive,distortion and non-active power measurement method for nonstationary waveforms using wavelet packet transform

The definitions of power components that are contained in the IEEE Standard 1459-2000 [IEEE Std. 1459-2000, Definitions for the measurement of electric quantities under sinusoidal, non-sinusoidal, balanced or unbalanced conditions, 2000] are based on the Fourier transform (FT) which is suitable only for the case of stationary waveforms. However, for nonstationary waveforms, the FT produces large errors. Therefore, the power components based on this transform become inaccurate. A new approach based on the wavelet packet transform (WPT) for defining these power components is developed in this paper. The advantages of using the wavelet transform are that it can accurately represent and measure nonstationary waveforms, providing uniform frequency bands while preserving both time and frequency information. In addition, this paper addresses the problem of choosing the most appropriate mother wavelet for power components measurements. The results of applying both approaches to stationary and nonstationary waveforms show that the currently used definitions according to the IEEE Standard 1459-2000 result in large errors for the case of nonstationary waveforms while the proposed approach (WPT based) gives more accurate results in this situation.