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1.
Rev Esp Enferm Dig ; 2024 Feb 12.
Article in English | MEDLINE | ID: mdl-38345520

ABSTRACT

Diphyllobothrium spp., also known as fish tapeworms, is the largest human tapeworm, reaching up to 25 meters of length. Human are considered the definitive host in the Diphyllobothrium lifecycle. Adult tapeworms attach to human intestinal mucosa with to bilateral grooves. There are at least 14 different species of Diphyllobothrium spp. Capable of causing Dyphyllobothriosis, being D. latum and D. nihonkaiense the most frequent etiologic agents in humans. We present the clinical picture and endoscopic images on a patient with incidental finding of Dyphyllobothriosis in a colonoscopy.

2.
Rev Esp Enferm Dig ; 2024 Jan 11.
Article in English | MEDLINE | ID: mdl-38205716

ABSTRACT

Dear Editor: Mesalamine is a medication used widely in the treatment of patients with inflammatory bowel disease. Although mesalamine is considered safe, hepatotoxicity has been reported with an incidence of 0-4%. We present the clinical picture of a patient with hepatotoxicity due to mesalamine. A 79-year-old woman in the context of chronic diarrhea, a left-sided ulcerative colitis diagnosis was made, and treatment was initiated with oral mesalamine 4 g per day, and mesalamine suppositories. Before starting treatment, she had normal liver test results. After three months, she presented with headache, fatigue, and intermittent low fever. Her laboratory tests showed a liver profile with a cholestatic pattern, and elevation of inflammatory parameters. Mesalamine was suspended, and an extensive study was performed. Cholangioresonance reported intra and extrahepatic bile duct dilation without obstruction, and thickening of the intrahepatic bile duct. She progressed with worsening of the liver profile without signs of liver failure. A liver biopsy was performed, which showed chronic non-suppurative cholangitis with granulomas and focal concentric fibrosis related to medium-caliber bile ducts, and IgG4 stain was negative.

3.
Proc Natl Acad Sci U S A ; 110(22): 9112-7, 2013 May 28.
Article in English | MEDLINE | ID: mdl-23650398

ABSTRACT

Respiratory syncytial virus (RSV) is the major cause of respiratory illness in infants worldwide. Neurologic alterations, such as seizures and ataxia, have been associated with RSV infection. We demonstrate the presence of RSV proteins and RNA in zones of the brain--such as the hippocampus, ventromedial hypothalamic nucleus, and brainstem--of infected mice. One month after disease resolution, rodents showed behavioral and cognitive impairment in marble burying (MB) and Morris water maze (MWM) tests. Our data indicate that the learning impairment caused by RSV is a result of a deficient induction of long-term potentiation in the hippocampus of infected animals. In addition, immunization with recombinant bacillus Calmette-Guérin (BCG) expressing RSV nucleoprotein prevented behavioral disorders, corroborating the specific effect of RSV infection over the central nervous system. Our findings provide evidence that RSV can spread from the airways to the central nervous system and cause functional alterations to the brain, both of which can be prevented by proper immunization against RSV.


Subject(s)
Brain/metabolism , Learning Disabilities/etiology , RNA, Viral/metabolism , Respiratory Syncytial Virus Infections/complications , Respiratory Syncytial Virus Infections/immunology , Viral Proteins/metabolism , Animals , Brain/pathology , Learning Disabilities/prevention & control , Learning Disabilities/virology , Long-Term Potentiation/physiology , Maze Learning/physiology , Mice , Mice, Inbred BALB C , Mycobacterium bovis/immunology , Rats , Rats, Sprague-Dawley , Respiratory Syncytial Virus Infections/metabolism , T-Lymphocytes/immunology , Viral Vaccines/immunology
4.
Appl Microbiol Biotechnol ; 99(15): 6417-29, 2015 Aug.
Article in English | MEDLINE | ID: mdl-25805342

ABSTRACT

The effect of pH and dilution rate on the production of extracellular metabolites of Lactobacillus salivarius UCO_979 was studied. The experiments were carried out in continuous mode, with chemically defined culture medium at a temperature of 37 °C, 200 rpm agitation and synthetic air flow of 100 ml/min. Ethanol, acetic acid, formic acid, lactic acid and glucose were quantified through HPLC, while exopolysaccharide (EPS) was extracted with ethanol and quantified through the Dubois method. The results showed no linear trends for the specific production of lactic acid, EPS, acetic acid and ethanol, while the specific glucose consumption and ATP production rates showed linear trends. There was a metabolic change of the strain for dilution rates below 0.3 h(-1). The pH had a significant effect on the metabolism of the strain, which was evidenced by a higher specific glucose consumption and increased production of ATP at pH 6 compared with that obtained at pH 7. This work shows not only the metabolic capabilities of L. salivarius UCO_979C, but also shows that it is possible to quantify some molecules associated with its current use as gastrointestinal probiotic, especially regarding the production of organic acids and EPS.


Subject(s)
Culture Media/chemistry , Lactobacillus/growth & development , Lactobacillus/metabolism , Metabolism/drug effects , Adenosine Triphosphate/metabolism , Aerobiosis , Carboxylic Acids/analysis , Chromatography, High Pressure Liquid , Glucose/analysis , Hydrogen-Ion Concentration , Polysaccharides/analysis , Temperature
5.
Int J Pharm ; 662: 124507, 2024 Sep 05.
Article in English | MEDLINE | ID: mdl-39048041

ABSTRACT

Epigallocatechin-3-gallate (EGCG) exhibits several pharmacological activities with potential benefits for human health, however, it has low oral bioavailability. A promising approach is to transport EGCG in a nanostructured system to protect it until it reaches the site of action and also allow combining chemotherapy with phototherapy to improve its therapeutic efficiency. The aim of this work was to synthesize GNR@mSiO2-NH2/EGCG and characterize the adsorption process, its antioxidant activity, properties and photothermal stability, for its potential use in chemo-photothermal therapy. The nanosystem presented good encapsulation efficiency (19.2 %) and EGCG loading capacity (6.0 %). The DPPH• free radical scavenging capacity (RSA) and chelating activity of the nanosystem was 60.7 ± 6.9 % and 71.0 ± 6.4 % at an EGCG equivalent concentration of 1 µg/mL and 30 µg/mL, respectively. The core-shell NPs presented a good photothermal transduction efficiency of 17 %. EGCG free, as well as its RSA and chelating activity, remained stable after NIR irradiation (808 nm, 7 W/cm2). The morphology of GNR@mSiO2 remained intact after being irradiated with NIR, however, ultrasmall gold NPs could be observed, probably a product of photocracking of GNR. In summary, the nanosystem has good antioxidant activity, photothermal stability, and photothermal transduction ability making it potentially useful for chemo-photothermal therapy.


Subject(s)
Antioxidants , Catechin , Gold , Nanotubes , Silicon Dioxide , Catechin/analogs & derivatives , Catechin/chemistry , Gold/chemistry , Antioxidants/chemistry , Antioxidants/pharmacology , Antioxidants/administration & dosage , Silicon Dioxide/chemistry , Adsorption , Nanotubes/chemistry , Nanoparticles/chemistry , Photothermal Therapy/methods , Porosity , Phototherapy/methods
6.
Acta Psychol (Amst) ; 228: 103624, 2022 Aug.
Article in English | MEDLINE | ID: mdl-35667244

ABSTRACT

This study investigated the spontaneous co-speech gestures produced by speakers who were talking about the concepts of addition and subtraction in a television news setting. We performed a linguistic and co-speech gesture analysis of expressions related to the concepts of addition (N plus N, addition, add) and subtraction (N minus N, subtraction, subtract). First, we compared the linguistic frequency of these structures across several corpora. Second, we performed a multimodal gesture analysis, drawing data from a television news repository. We analyzed 423 co-speech gestures (169 for subtraction and 254 for addition) in terms of their axis (e.g., lateral, sagittal) and their direction (e.g., leftwards, away from their body). Third, we examined the semantic properties of the direct object that was added or subtracted. There were two main findings. First, low-frequency linguistic expressions were more likely to be accompanied by co-speech gestures. Second, most gestures about addition and subtraction were produced along the lateral or sagittal axes. When people spoke about addition, they tended to produce lateral, rightwards movements or movements away from the body. When people spoke about subtraction, they tended to produce lateral, leftwards movements or movements towards the body. This co-speech gesture data provides evidence that people activate two different metaphors for arithmetic in spontaneous behavior: arithmetic is motion along a path and arithmetic is collecting objects.


Subject(s)
Gestures , Metaphor , Humans , Linguistics , Semantics , Speech/physiology
7.
ISA Trans ; 129(Pt A): 687-700, 2022 Oct.
Article in English | MEDLINE | ID: mdl-35131094

ABSTRACT

In this study, a novel Lyapunov function-based robust nonlinear proportional-integral (PI)-type controller for regulating the output voltage of the direct current to direct current (DC-DC) inverting buck-boost power converter operating in continuous conduction mode (CCM) is presented. The control scheme guarantees global asymptotic stability of the closed-loop system even in case of parameter uncertainty. The analysis of the closed-loop trajectories is carried out using Lyapunov method and LaSalle's invariance principle. Robustness to additive disturbances is shown and simple gain tuning guidelines are given. Real-time experiments support the theoretical results. Experimental tests are presented where the proposed PI-type control design is compared with other PI-type schemes found in the literature. The proposed scheme presents very good consistent performance under line and load disturbance.

8.
Glob Heart ; 17(1): 35, 2022.
Article in English | MEDLINE | ID: mdl-35837364

ABSTRACT

Non-communicable diseases, particularly cardiovascular diseases, are the leading cause of decreased life expectancy and death in Latin America and the Caribbean. Although a lifestyle, which includes no tobacco use, good nutrition, and regular physical activity is touted as key to health, the environmental, racial, social and economic conditions, which underpin lifestyle are often ignored or considered only secondarily. Placing the main responsibility on a patient to change their lifestyle or to simply comply with pharmacological treatment ignores the specific conditions in which the individual lives. Furthermore, there are major disparities in access to both healthy living conditions as well as access to medical care. There is sufficient evidence to support advocating for policies that support healthy living, particularly healthy food choices. Progress is being made to improve the food environment with enactment of front of package nutritional labels. However, policies were enacted only after intense regional research and advocacy supporting their implementation. Government officials must rise above the pressures of commercial interests and support health-promoting policies or be exposed as self-interest groups themselves. Strong advocacy is required to persuade officials that all policies should take health into consideration both to improve lives and economies.


Subject(s)
Cardiovascular Diseases , Cardiovascular Diseases/epidemiology , Cardiovascular Diseases/prevention & control , Caribbean Region/epidemiology , Health Policy , Humans , Latin America/epidemiology , Life Expectancy
9.
Front Pediatr ; 10: 957273, 2022.
Article in English | MEDLINE | ID: mdl-36523397

ABSTRACT

Background: SARS-CoV-2 is an emerging virus that has mainly affected adults; hence, most clinical information has been derived from that population. Most pediatric cases are mild and with nonspecific symptoms requiring outpatient management. Children are a major source of spread for most traditional respiratory viruses. Their role in SARS-CoV-2 transmission was thought to be relevant. Children under the age of two comprise a group that is more susceptible to infection since vaccines have not been approved for them until recently. The knowledge of clinical manifestation of COVID-19 in young children is scarce. Objectives: To describe the clinical, epidemiological, and demographic characteristics of children under 2 years old with confirmed COVID-19, who did not require hospitalization. Methods: This descriptive study was performed from May, 2020 to June, 2021. Children ages 0-2 years with COVID-19, confirmed by transcriptase-polymerase chain reaction assay that were performed in laboratories of the Red de Salud UC CHRISTUS Health Network, were selected to be contacted. If the parents accepted participating and their children were not hospitalized, a survey was sent to the patients' caregivers. Results: Of the 242 cases, 159 caregivers answered the survey (65.7%). The median age of the subjects was 14 months, and 53.5% were males. Fifty percent had comorbidities, of which one third corresponded to atopy. Ninety eight percent were secondary cases. Most of them were infected within their households (81%). The most frequent sources were their parents, followed by their grandparents. The most common symptom was fever (78%) followed by irritability (67.3%), rhinorrhea (66%), and fatigue (64.8%). Infants less than 6 months old more often presented with conjunctival congestion and less loss of appetite compared to older children (p < 0.05). Conclusions: This study provides valuable insights regarding COVID-19 in ambulatory young children. Most cases of SARS-CoV-2 infection in children under 2 years old do not require hospitalization. There was a slight male predominance, and the majority had been infected within their households. SARS-CoV-2 infection should be suspected in children under 2 years old presenting with fever, irritability, fatigue, and rhinorrhea. Children with positive household contacts and fever should also be tested for COVID-19.

10.
Arch Cardiol Mex ; 91(Suplemento COVID): 079-085, 2021 Dec 20.
Article in English | MEDLINE | ID: mdl-33459727

ABSTRACT

In severe coronavirus disease (COVID)-19 patients, an extraordinary systemic inflammatory response is seen. It could impact in multiple organ disorders, specially a severe myocardial injury, an acute myocarditis results in focal or global myocardial inflammation and necrosis. Those events can be present in healthy subjects or cardiovascular (CV) patients. It is clinically associated with ventricular dysfunction exacerbation or worsening and tachyarrhythmias. It is also related to a poor outcome for CV patients with ischemic heart disease, hypertensión, and heart failure. COVID-19 patients require multiple and complex treatment that alleviates symptoms, the vast variety of agents interacts with diseases and CV drugs. Our purpose is to correlate in guidance synopsis: Adverse effects, pharmacological interactions, and CV drugs in COVID-19 treatment.


En pacientes con COVID-19 grave se ha observado una extraordinaria respuesta inflamatoria sistémica. Este impacto se traduce en múltiples trastornos de órganos, especialmente cardíacos, por lesión miocárdica grave, miocarditis aguda que resulta en inflamación focal o miocárdica global, necrosis cardiaca. Estos tremendos eventos son observados en sujetos sanos como pacientes cardiovasculares. Clínicamente asociados con nueva presentación o empeoramiento de la disfunción ventricular y taquiarritmias. Relacionado a un predictor principal de malos resultado en pacientes cardiovasculares (CV), especialmente en aquellos con cardiopatía isquémica, hipertensión e insuficiencia cardíaca. Los enfermos con COVID-19 requieren múltiples y complejos tratamientos que alivien los síntomas, esta gran variedad de agentes interactúa con enfermedades y medicamentos CV. Nuestro propósito es correlacionar, en una guía sinóptica: efectos adversos, interacciones farmacológicas y fármacos cardiovasculares en el tratamiento del COVID-19.


Subject(s)
COVID-19 Drug Treatment , Cardiovascular Agents , Cardiovascular Diseases , Myocarditis , Cardiovascular Agents/adverse effects , Cardiovascular Agents/therapeutic use , Cardiovascular Diseases/drug therapy , Cardiovascular Diseases/virology , Drug Interactions , Humans , Myocarditis/drug therapy , Myocarditis/virology
11.
Front Psychol ; 11: 543933, 2020.
Article in English | MEDLINE | ID: mdl-33192788

ABSTRACT

This study investigates how typological and metaphorical construal differences may affect the use and frequency of temporal expressions in English and Spanish. More precisely, we explore whether there are any differences between English, a satellite-framed language, and Spanish, a verb-framed language, in the use of certain temporal linguistic expressions that include a spatial, deictic component (Deictic Time), a purely temporal relation between two events (Sequential Time) or the expression of the duration of an event (Duration). To achieve this, we perform two different types of studies. First, we conduct an informational gain or loss analysis of 1,650 of English-to-Spanish translations extracted from parallel corpora. Secondly, we compare the frequency of 33 English and 27 Spanish temporal expressions in two similar written online corpora (EnTenTen and EsTenTen, respectively) and a television news spoken corpus (NewsScape). Our results suggest that English uses "deictic expressions with directional language" (explicitly stating the spatial location of the temporal event, e.g., back in those days/in the future ahead) much more frequently than Spanish, to the extent that such directional information is often excluded in English-to-Spanish translations. Also, sequential expressions (such as before that/later than) and duration expressions (during the whole day) are much more frequent in Spanish. These usage differences, explained by the variability in motion typology and metaphoric construal, open up the interesting question of how these differences in linguistic usage could affect the conceptualization of time of English and Spanish speakers.

12.
PLoS One ; 15(6): e0233892, 2020.
Article in English | MEDLINE | ID: mdl-32484842

ABSTRACT

The development of large-scale corpora has led to a quantum leap in our understanding of speech in recent years. By contrast, the analysis of massive datasets has so far had a limited impact on the study of gesture and other visual communicative behaviors. We utilized the UCLA-Red Hen Lab multi-billion-word repository of video recordings, all of them showing communicative behavior that was not elicited in a lab, to quantify speech-gesture co-occurrence frequency for a subset of linguistic expressions in American English. First, we objectively establish a systematic relationship in the high degree of co-occurrence between gesture and speech in our subset of expressions, which consists of temporal phrases. Second, we show that there is a systematic alignment between the informativity of co-speech gestures and that of the verbal expressions with which they co-occur. By exposing deep, systematic relations between the modalities of gesture and speech, our results pave the way for the data-driven integration of multimodal behavior into our understanding of human communication.


Subject(s)
Language , Linguistics , Speech Perception/physiology , Speech/physiology , Communication , Facial Expression , Gestures , Humans , Semantics , Signal Processing, Computer-Assisted , Video Recording
13.
ISA Trans ; 100: 495-509, 2020 May.
Article in English | MEDLINE | ID: mdl-31980208

ABSTRACT

Input saturation appears in a physical system when a large power dissipation is requested. In this situation, and specifically for unicycle-type wheeled mobile robots, actuators only can deliver a finite amount of power. Thus, in practice the linear and angular velocity input of this class of mobile robots is limited and this should be considered in the control design. In this paper, a family of controllers that produce saturated velocity input for unicycle-type wheeled mobile robots is presented. The proposed family of controllers is designed to satisfy the trajectory tracking control goal. Sufficient conditions to prove the closed-loop system global asymptotic stability are established by using Lyapunov's theory. Already reported schemes and original designs are shown to satisfy the properties of the given family of controllers. By using two different motion tasks, experimental tests in real-time with five saturated control schemes are presented in order to validate the proposed theory. In order to show the ability of the family of controllers to produce limited control action, experiments have also been carried out with an unsaturated algorithm. Better tracking accuracy is obtained with the original design derived from the proposed class of algorithms.

14.
J Am Acad Orthop Surg ; 28(5): 214-219, 2020 Mar 01.
Article in English | MEDLINE | ID: mdl-31842063

ABSTRACT

INTRODUCTION: It is undetermined whether patients with inflammatory bowel diseases (IBDs) have increased prevalence of vertebral compression fractures (VCFs) since many VCFs are asymptomatic and radiographs may overlook them. We compared the prevalence of VCFs in patients older than 60 years with and without IBDs. METHODS: We studied 55 patients with IBDs and 165 controls who underwent CT scans for nonspinal conditions. We evaluated the presence of VCFs, fracture severity using the Genant score, and we determined whether age, sex, diagnosis of IBD, treatment, and time since diagnosis were associated with VCFs. Using logistic regression analysis, we assessed the independent effect of each variable. RESULTS: Mean age was 72.7 years; 165 patients (75%) were women. Thirty-five patients (16%) had at least one VCF (16.4% IBD; 15.8% controls, P = 0.92); both groups exhibited similar fracture severity. Patients with VCFs were older than patients without VCFs (79.8 versus 70.2, P < 0.01 IBD; 76.4 versus 72.4, P = 0.02 controls). No other clinical variables were different in patients with and without VCFs in either cohort. Only age was independently associated with VCFs in both cohorts. DISCUSSION: VCFs were not more frequent or severe in patients older than 60 years with IBD presented than in age-matched controls.


Subject(s)
Fractures, Compression/diagnostic imaging , Fractures, Compression/etiology , Inflammatory Bowel Diseases/complications , Spinal Fractures/diagnostic imaging , Spinal Fractures/etiology , Age Factors , Aged , Aged, 80 and over , Female , Humans , Male , Middle Aged , Prevalence , Prospective Studies , Tomography, X-Ray Computed
15.
Gastroenterol. latinoam ; 34(2): 66-69, 2023. ilus
Article in Spanish | LILACS | ID: biblio-1524724

ABSTRACT

Chronic diarrhea is a frequent cause of consultation in daily clinical practice. There are multiple diagnostic algorithms that allow a staggered approach to the most frequent pathologies, leaving out some lesser-known ones. This article reports the case of a 66-year-old female patient with a history of arterial hypertension, dyslipidemia and resected AB thymoma and a history of chronic diarrhea of 8 weeks of evolution. The etiological study ruled out infectious causes, celiac disease and negative viral serology. Due to a history of thymoma, immunoglobulin count was performed, showing severe pan-hypogammaglobulinemia. Good's Syndrome is the combination of thymoma and hypogammaglobulinemia, where patients may present with diarrhea secondary to immunodeficiency. Hypogammaglobulinemia associated with the presence of a thymoma is a rare cause but widely described in the literature as Good's Syndrome. Therefore, it seems relevant to describe a case, its approach and subsequent management.


La diarrea crónica constituye una causa frecuente de consulta en la práctica clínica diaria. Existen múltiples algoritmos diagnósticos que permiten realizar un abordaje escalonado de las patologías más frecuentes y permiten descartar algunas menos conocidas. En el presente artículo se reporta el caso de una paciente de género femenino de 66 años, antecedentes de hipertensión arterial, dislipidemia y timoma AB resecado con historia de diarrea crónica de 8 semanas de evolución. Dentro del estudio etiológico se descartan las causas infecciosas, enfermedad celíaca y serologías virales negativas. Por antecedente de timoma, se realizó recuento de inmunoglobulinas, evidenciando una severa pan-hipogammaglobulinemia. El Síndrome de Good es la combinación de timoma e hipogammaglobulinemia, donde los pacientes podrían presentar diarreas secundarias a inmunodeficiencia. La hipogammaglobulinemia asociada a la presencia de un timoma es una causa poco frecuente pero ampliamente descrita en la literatura como Síndrome de Good. Por lo antes señalado, nos parece relevante describir un caso, su abordaje y manejo posterior.


Subject(s)
Humans , Female , Aged , Thymoma/complications , Thymus Neoplasms/complications , Diarrhea/etiology , Chronic Disease , Immunocompromised Host
16.
ISA Trans ; 45(3): 407-18, 2006 Jul.
Article in English | MEDLINE | ID: mdl-16856636

ABSTRACT

In order to improve the tracking performance in the practical robot task of time-optimal point-to-point motion when torque limits and model uncertainty are present, in this paper is introduced an algorithm for on-line time-scaling of the desired trajectories, which is used along with a conventional trajectory tracking controller. Numerical examples for a two-degrees-of-freedom arm are provided, which illustrate the tracking accuracy of the proposed method.


Subject(s)
Algorithms , Linear Models , Motion , Robotics/methods , Task Performance and Analysis , Computer Simulation , Feedback , Quality Control , Systems Theory
17.
ISA Trans ; 65: 262-274, 2016 Nov.
Article in English | MEDLINE | ID: mdl-27609524

ABSTRACT

In this paper, a new control scheme for motion control of quadrotors is presented. The proposed model based controller makes use of simple estimations of vehicle parameters. Besides, the controller is developed under properties of the vehicle model. A rigorous analysis is developed to prove that the closed-loop system trajectories are uniformly ultimately bounded. The validity of the proposed control scheme is tested by numerical simulations and experimental results. This validation shows that the proposed controller guarantees that the quadrotor performs tracking of a desired pose (position and orientation) trajectory with good accuracy. The new scheme has been compared with respect to other robust controllers. The results indicate better tracking accuracy for the new scheme.

18.
IEEE Trans Cybern ; 46(12): 3439-3452, 2016 Dec.
Article in English | MEDLINE | ID: mdl-28113230

ABSTRACT

The purpose of this paper is to introduce a novel adaptive neural network-based control scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system. Adaptation laws for the input and output weights are also provided. The proposed controller is able to guarantee tracking of a reference signal for the arm while the pendulum remains in the upright position. The key aspect of the derivation of the controller is the definition of an output function that depends on the position and velocity errors. The internal and external dynamics are rigorously analyzed, thereby proving the uniform ultimate boundedness of the error trajectories. By using real-time experiments, the new scheme is compared with other control methodologies, therein demonstrating the improved performance of the proposed adaptive algorithm.


Subject(s)
Computer Simulation , Mechanical Phenomena , Neural Networks, Computer , Robotics , Algorithms , Models, Theoretical , Robotics/instrumentation , Robotics/methods , Rotation
19.
ISA Trans ; 57: 286-94, 2015 Jul.
Article in English | MEDLINE | ID: mdl-25792518

ABSTRACT

In this paper, a new composite scheme is proposed, where the total control action is composed of the sum of a feedback-linearization-based controller and an energy-based compensation. This new proposition is applied to the rotary inverted pendulum or Furuta pendulum. The Furuta pendulum is a well-known underactuated mechanical system with two degrees of freedom. The control objective in this case is the tracking of a desired periodic trajectory in the actuated joint, while the unactuated link is regulated at the upward position. The closed-loop system is analyzed showing uniformly ultimately boundedness of the error trajectories. The design procedure is shown in a constructive form, such that it may be applied to other underactuated mechanical systems, with the proper definitions of the output function and the energy function. Numerical simulations and real-time experiments show the practical viability of the controller. Finally, the proposed algorithm is compared with a tracking controller previously reported in the literature. The new algorithm shows better performance in both arm trajectory tracking and pendulum regulation.

20.
J Neuroimmunol ; 287: 1-8, 2015 Oct 15.
Article in English | MEDLINE | ID: mdl-26439953

ABSTRACT

Autoantibodies from autistic spectrum disorder (ASD) patients react with multiple proteins expressed in the brain. One such autoantibody targets myelin basic protein (MBP). ASD patients have autoantibodies to MBP of both the IgG and IgA classes in high titers, but no autoantibodies of the IgM class. IgA autoantibodies act as serine proteinases and degrade MBP in vitro. They also induce a decrease in long-term potentiation in the hippocampi of rats either perfused with or previously inoculated with this IgA. Because this class of autoantibody causes myelin sheath destruction in multiple sclerosis (MS), we hypothesized a similar pathological role for them in ASD.


Subject(s)
Autistic Disorder/blood , Hippocampus/cytology , Immunoglobulin A/blood , Immunoglobulin A/pharmacology , Myelin Basic Protein/immunology , Synaptic Transmission/drug effects , Adolescent , Animals , Autistic Disorder/immunology , Autistic Disorder/physiopathology , Brain/drug effects , Brain/immunology , Brain/metabolism , Child , Child, Preschool , Cysteine Proteinase Inhibitors/pharmacology , Dose-Response Relationship, Drug , Female , Humans , Immunoglobulin A/drug effects , In Vitro Techniques , Leupeptins/pharmacology , Long-Term Potentiation/drug effects , Male , Patch-Clamp Techniques , Proteolysis/drug effects , Rats , Rats, Sprague-Dawley
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