Analysis of a Fast Control Allocation approach for nonlinear over-actuated systems.

Autonomous Robots with multiple directional thrusters are normally over-actuated systems that require nonlinear control allocation methods to map the forces that drive the robot's dynamics and act as virtual control variables to the actuators. This process demands computational efforts that, sometimes, are not available in small robotic platforms. The present paper introduces a new control allocation approach with fast convergence, high accuracy, and dealing with complex nonlinear problems, especially in embedded systems. The adopted approach divides the desired nonlinear system into coupled linear problems. For that purpose, the Real Actions (RAs) and Virtual Control Variables (VCVs) are broke in two or more sets each. While the RA subsets are designed to linearize the system according to different input subspaces, the VCV is designed to be partially coupled to overlap the output subspaces. This approach generates smaller linear systems with fast and robust convergence used sequentially to solve nonlinear allocation problems. This methodology is assessed in mathematical tutorial cases and over-actuated UAV simulations.

Effect of feed characteristics on the organic matter, nitrogen and phosphorus removal in an activated sludge system treating piggery slurry.

Piggery wastewater is characterized by its high content in nitrogen and phosphorus, as well as by a low C/N ratio. This type of wastewater is traditionally spread to croplands (with its subsequent leaching to groundwater) or rarely discharged into natural water bodies, which ultimately cause severe episodes of eutrophication in aquatic ecosystems. In this context, activated sludge systems constitute a robust and efficient treatment option. The performance of an activated sludge process using a pre-denitrification configuration treating both sieved and flocculated swine slurry at a hydraulic retention time (HRT) of 7.7 days was evaluated. In order to avoid bacterial wash-out, sludge from the settler was recirculated to the anoxic tank to accomplish denitrification. Once the biomass was acclimatized, the reactor was fed with swine slurry containing 19, 2.6, and 0.27 g/L of total chemical oxygen demand (COD), total Kjeldhal nitrogen (TKN), and soluble P, respectively. Nitrogen removal showed a clear dependency on the influent composition. When the influent TKN/total COD and soluble COD/total COD ratios were respectively 0.12-0.15 and 0.7, the reactor exhibited good removal efficiencies (up to 99 and 91 for N-NH(4)(+), TKN, respectively) while PO(4)(3-) was removed up to 65%. However, when the influent TKN/total COD ratio rose to 0.26 and soluble COD/total COD decreased to 0.3, the denitrification process was severely hindered concomitant with and accumulation of nitrite. Nevertheless, organic matter degradation was not affected by influent composition. At the last stage of the experiment, removals of dissolved phosphorus fell to 40% when the redox potential (ORP) profile showed a constant value of -400 mV, likely due to phosphate released from bacterial sludge.

Flocculants effect in biomass retention in a UASB reactor treating dairy manure.

The performance and biomass retention of an upflow anaerobic sludge bed (UASB) reactor treating liquid fraction of dairy manure has been investigated at several organic loading rates. Two identical UASB reactors were employed. The biomass of one UASB reactor (FBR) had previously been treated with a cationic polyacrylamide, the other reactor was operated as a control reactor (CR). At 3 and 2 days of HRT both reactors functioned similarly, but at 1.5 days HRT some differences were observed between both effluents. Mean COD(T) removal percentages were 83.4% and 76.5%; COD(VFA) values in effluents were 977 and 2682 mg l(-1) for the FBR and the CR respectively. The VSS initial value in both reactors was 25.66 g VSS, whereas after the experiment the quantities were 31.83 g VSS in the FBR and 23.18 g VSS in the CR reactors. Polymer addition resulted in a higher degree of biomass retention and better performance in the FBR reactor.

Efficient nutrient removal from swine manure in a tubular biofilm photo-bioreactor using algae-bacteria consortia.

Concentrated animals feeding operations (CAFOs) often pose a negative environmental impact due to the uncontrolled spreading of manure into soils that ends up in the release of organic matter and nutrients into water bodies. Conventional aerobic methods treating CAFOs wastewater require intensive oxygenation, which significantly increases the operational costs. The alternative proposed in this research is the application of micro-algae based systems by taking advantage of the cost-effective in situ oxygenation via photosynthesis. A 4.9 L enclosed tubular biofilm photo-bioreactor was inoculated with an algal-bacterial consortium formed by the micro-algae Chlorella sorokiniana and a mixed bacterial culture from an activated sludge process. C. sorokiniana delivers the O(2) necessary to accomplish both organic matter and ammonium oxidation. The reactor was fed with diluted swine wastewater containing 180, 15 and 2,000 mg/L of NH(4) (+)-N, soluble P and total COD, respectively. The photo-bioreactor exhibited good and sustained nutrient removal efficiencies (up to 99% and 86% for NH(4) (+) and PO(4) (3-), respectively) while total COD was removed up to 75% when the biofilm was properly established. Liquid superficial velocities up to 0.4 m/s (achieved by culture broth recirculation) hindered the formation of a stable biofilm, while operation at velocities lower than 0.1 m/s supported stable process performance. The high shear stress imposed by the centrifugal recirculation pump disintegrated the large aggregates detached from the biofilm, which resulted in a poor settling performance and therefore poor COD removal efficiencies. Enclosed biofilm photo-bioreactors therefore offer a potentially more economical alternative to conventional tertiary treatments process.

[Delayed recurrence of a phaechromocytoma with metastasis as a cause of severe hypertension in a woman with a surgically intervened retroperitoneal tumour]. / Recidiva tardía de feocromocitoma con metástasis como causa de hipertensión arterial severa en mujer intervenida quirúrgicamente de tumor retroperitoneal.

We present the case of a woman with a previous history of hypertension and retroperitoneal tumour. The histology was reported as a paraganglioma. There was no clinical follow-up. Years later, there was a recurrence of the phaeochromocytoma after presenting with a difficult to control hypertension, along with elevation of urinary catecholamines. The case aims to highlight the importance of performing a clinical follow-up in these patients, due to the risk of recurrence.

Sulfide removal by moderate oxygenation of anaerobic sludge environments.

Introduction of a limited amount of oxygen to anaerobic bioreactors is proposed as a simple technique to lower the level of sulfide in the biogas. This paper presents the results of a bioreactor study and of batch experiments that were performed to obtain better insight into the fate of sulfur compounds and oxygen during micro-aerobic sulfide oxidation. Introduction of a low airflow (0.7-0.9 m(3)m(-3)d(-1), corresponding to an O(2)/S molar ratio of 8-10) to a fluidized bed reactor fed with low-sulfate vinasse was sufficient to reduce the biogas H(2)S-content to an undetectable level. Sulfide was initially oxidized to elemental sulfur, thiosulfate and - most probably - polysulfide. Significant sulfate production did not occur. Bioreactor sludge sampled from the reactor after three weeks' micro-aerobic operation was much faster in oxidizing sulfur than bioreactor sludge sampled during fully anaerobic reactor operation. The reaction proceeded faster with increasing O(2)/sulfide ratios.

Using a Novel Microfabricated Model of the Alveolar-Capillary Barrier to Investigate the Effect of Matrix Structure on Atelectrauma.

The alveolar-capillary barrier is composed of epithelial and endothelial cells interacting across a fibrous extracelluar matrix (ECM). Although remodeling of the ECM occurs during several lung disorders, it is not known how fiber structure and mechanics influences cell injury during cyclic airway reopening as occurs during mechanical ventilation (atelectrauma). We have developed a novel in vitro platform that mimics the micro/nano-scale architecture of the alveolar microenvironment and have used this system to investigate how ECM microstructural properties influence epithelial cell injury during airway reopening. In addition to epithelial-endothelial interactions, our platform accounts for the fibrous topography of the basal membrane and allows for easy modulation of fiber size/diameter, density and stiffness. Results indicate that fiber stiffness and topography significantly influence epithelial/endothelial barrier function where increased fiber stiffness/density resulted in altered cytoskeletal structure, increased tight junction (TJ) formation and reduced barrier permeability. However, cells on rigid/dense fibers were also more susceptible to injury during airway reopening. These results indicate that changes in the mechanics and architecture of the lung microenvironment can significantly alter cell function and injury and demonstrate the importance of implementing in vitro models that more closely resemble the natural conditions of the lung microenvironment.

Automated equipment for anaerobic sludge parameters determination.

Methanogenic activity, anaerobic biodegradability and toxicity are key parameters in the design and operation of anaerobic bioreactors. A large variety of methods exist for the determination of these parameters but a normalized method has not been established so far. This paper presents the development of an automated manometric system for the determination of these anaerobic sludge parameters. The system is based on monitoring the production of methane by using a pressure transducer that measures the pressure in a gas-collecting chamber of known adjustable volume, which is independent of the space where biogas production takes place. The evolution of pressure generated by the accumulation of methane relates to the conversion of COD. In this way, the methanogenic activity of the sludge can be determined, as well as the biodegradability of solids and liquid, as well as the methanogenic toxicity of compounds. The equipment permits gas sampling, as well as extraction and introduction of liquid, without losing the anaerobic conditions. Various assays have been conducted to test the reliability and reproducibility of the obtained results, showing a high level of both. The methanogenic activities obtained in the assays ranged between 0.1 and 1.8 g COD g(-1) VSS d(-1), and the biodegradability of the organic compounds tested ranged between 20 and 90%.

Laparoscopic incisional hernia repair in an ambulatory surgery-extended recovery centre: a review of 259 consecutive cases.

PURPOSE: The high prevalence of incisional hernias and an average stay of 3-10 days for open procedures have made this pathology both a health problem and an economic issue. A protocol was developed for performing this procedure in an Ambulatory Surgery Center (ASC) with extended recovery. METHODS: From January 2000 to December 2011, data about all laparoscopic incisional hernia repairs were gathered prospectively. The patients' clinical features, hernia type, intraoperative and postoperative complications and reasons for hospital admission are studied. RESULTS: A total of 259 patients have been operated for incisional hernia (185) or recurrent hernioplasty (74) in our ASC. Laparoscopic repair was successful in 254 patients (98.07 %). Conversion to open surgery was necessary in five patients (1.93 %). A total of 50 patients (19.69 %) in whom surgery was completed laparoscopically were discharged the same day of surgery, 179 (70.47 %) at 24 h and 25 (9.84 %) required a stay of over 24 h. Postoperative pain was severe in 10 % of patients, moderate in 40 %, and mild in 50 %. Complications, mostly minor and self-limiting, were observed in 25 patients (9.84 %) during hospital stay. Five major complications that occured were: bile peritonitis, an acute peritonitis, due to an inadvertent intestinal perforation, and one intestinal obstruction by partial detachment of the mesh, an intra-abdominal hematoma and a colo-cutaneous fistula. There were no deaths in the series. The mean follow-up of patients was 29.35 months (range 12-129 months). The recurrence rate was 7.03 % (n = 18). Four trocar-site hernias were detected. CONCLUSIONS: It is essential to create a protocol with selection criteria that take into account the patient, his entourage, the anesthetic-surgical procedure, and a team dedicated to surgical laparoscopic surgery in an ASC with extended recovery to achieve good results in terms of morbidity and patient safety.

The prognostic value of postoperative seizures following epilepsy surgery.

Among 55 patients undergoing temporal lobectomy for refractory epilepsy, patients with seizures in the week following surgery had a poor long-term, seizure-free outcome compared with patients without seizures. Outcome for patients with single seizures or seizures restricted to the first postoperative day seemed favorable compared with patients with multiple or later seizures. Seizure type and similarity to preoperative events did not predict outcome.

The frontal N30 component of the median-derived SEP in patients with predominantly unilateral Parkinson's disease.

There are conflicting reports concerning attenuation of the frontal N30 component of the median-derived somatosensory evoked potential in patients with Parkinson's disease (PD). We found that the mean N30 latency (28.03 +/- 2.50 msec) and amplitude (2.30 +/- 1.58 microV) obtained with stimulation of the affected arm of 10 patients with predominantly unilateral PD were not significantly different from those obtained from the unaffected arm (mean latency, 28.14 +/- 2.47 msec; mean amplitude, 2.43 +/- 1.65 microV) or from 10 age-matched controls (mean latency, 29.01 +/- 1.88 msec; mean amplitude, 1.92 +/- 0.64 microV). Three patients had an N30 of abnormal amplitude; in two, responses were absent with stimulation of either side, and in one there was a response asymmetry exceeding the normal range, with the smaller response elicited from the affected arm. Thus, only one of 10 patients had a diminished N30 consistent with the clinical findings. We conclude that the N30 is unlikely to be clinically useful in the assessment of patients with PD.

Incidence and mortality of generalized convulsive status epilepticus in California.

BACKGROUND: Few population-based studies of status epilepticus have been performed in the United States. OBJECTIVE: To determine the incidence, case fatality, and demographics of generalized convulsive status epilepticus (GCSE) in the state of California. METHODS: Using a state-wide hospital discharge database, the authors identified all hospitalizations from 1991 through 1998 with a discharge diagnosis of convulsive status epilepticus. They identified the first admission for each individual to estimate the incidence of GCSE. In-hospital case fatality rates were calculated, and multivariate analysis was performed to determine predictors of death during hospitalization. Secondary diagnoses were analyzed by retrieving all discharge diagnoses accompanying the diagnosis of GCSE. RESULTS: The incidence rate of GCSE was 6.2/100,000 population and fell by 42% between the years 1991 and 1998 from 8.5 to 4.9/100,000. The rate of GCSE was highest among children under the age of 5 (7.5/100,000) and among the elderly (22.3/100,000). Blacks also demonstrated a relatively high incidence of GCSE (13.4/100,000). The case fatality for incident admissions was 10.7%, with increasing age being the only significant predictor in multivariate analysis. Case fatality was highest in patients who also carried a diagnosis of anoxia, CNS infection, or stroke. CONCLUSIONS: The incidence of GCSE requiring hospitalization has fallen over the last decade and is lower than that reported in previous studies. The case fatality is also lower than that reported previously. Further studies are needed to determine the cause of this decline in incidence and mortality of GCSE.

False lateralization by subdural electrodes in two patients with temporal lobe epilepsy.

The authors present two patients with medically refractory partial seizures who had invasive recordings with stereotactic depth EEG (SEEG) and subdural electrodes (SDE) as part of their presurgical workup. SDE recordings were falsely lateralizing in both of these patients with pathologically proven mesial temporal sclerosis. In temporal lobe epilepsy, SEEG electrodes should be considered when presurgical studies are discordant.

Deletions of the long arm of chromosome 6: two new cases and review of the literature.

Seven terminal deletions and four interstitial deletions of 6q have been reported. We present the clinical and cytogenetic findings of these cases and of two new patients with different interstitial deletions of 6q. Although there are too few cases of interstitial deletions to identify one or more clinical syndromes associated with monosomies of the more proximal regions of 6q, a terminal 6q deletion syndrome is proposed. Its major components are microcephaly with mental retardation, strabismus, apparently low-set malformed ears, a broad nasal bridge, micrognathia, apparently short neck, congenital heart defect, abnormal palmar creases, and various hand abnormalities.

Selective loss of cholinergic neurons projecting to the olfactory system increases perceptual generalization between similar, but not dissimilar, odorants.

The neuromodulator acetylcholine is thought to modulate information processing in the olfactory system. The authors used 192 IgG-saporin, a lesioning agent selective for basal forebrain cholinergic neurons, to determine whether selective lesions of cholinergic neurons projecting to the olfactory bulb and cortex affect odor perception in rats. Lesioned and sham-operated rats were tested in an olfactory generalization paradigm with sets of chemically related odorants (n-aliphatic aldehydes, acids, and alcohols). Lesioned rats generalized more between chemically similar odorants but did not differ from controls in their response to chemically unrelated odorants or in acquisition of the conditioned odor. Results show that cholinergic inputs to the olfactory system influence perceptual qualities of odorants and confirm predictions made by computational models of this system.

Spatial- and locomotion-related neural representation in rat hippocampus following long-term survival from ischemia.

Spatial and locomotion-related behavioral correlates of hippocampal cell discharge were compared between ischemic and sham-control rats performing a spatial maze. Ischemic rats showed impaired choice accuracy during maze acquisition, but not during asymptote performance. Single-unit correlates during asymptote performance revealed enhanced spatial selectivity of CA2/3 complex-spike cells coincident with attenuated place-specific firing by hilar complex-spike or subicular cells. Responsivity to locomotion state by stratum granulosum interneurons was exaggerated, and locomotion-induced changes in firing of hilar and subicular interneurons was reduced. Ischemic rats showed recovered spatial learning abilities as evidenced by the fact that acquisition of the spatial task in a second environment was not impaired. Because representational reorganization was also observed in ischemic, maze-naive rats, brain injury per se appears to change information coding schemes.

Capsaicin does not attenuate bombesin-induced suppression of operant responding for food reward.

Systemic treatment with capsaicin, a neurotoxin which damages unmyelinated peptide-containing sensory neurons, has been shown to attenuate bombesin (BBS)-induced suppression of food intake. To determine whether capsaicin-sensitive fibers mediate the effect of BBS on appetitive motivation, we examined BBS-induced suppression of operant responding in rats pretreated neonatally with capsaicin (50 mg/kg; SC) or control vehicle. At 8-10 weeks of age, rats were trained to bar press for food. After achieving a stable level of performance, the animals were injected with BBS (10 micrograms/kg), normal saline, or prefed with 20 Noyes 45-mg pellets. Animals were then tested in an operant chamber on an FR 5 schedule of reinforcement for one hour. The results indicated that BBS suppressed bar pressing, regardless of whether animals were pretreated with capsaicin or control vehicle. These findings are inconsistent with the hypothesis that BBS induces satiety via capsaicin-sensitive neurons. The results suggest the possibility that more than one mechanism may mediate the effects of BBS: a neural mechanism involved in consummatory responses and a humoral mechanism involved in the operant response.

Podophyllotoxin: distribution, sources, applications and new cytotoxic derivatives.

Several podophyllotoxin derivatives modified in the A, B, C, D and E rings were prepared from podophyllotoxin and methyl isoxazopodophyllic acid and evaluated for their cytotoxicity on several neoplastic cell lines. Chemical transformations performed on these compounds have yielded derivatives more potent and more selective that the parent compound. Most of the compounds maintained their cytotoxicity at the microM level. Distribution, biosynthesis, production, biotechnology, applications and synthesis have also been reviewed.

Lipid profiles, serum immunoglobulins, dietary intake, and drug use of older rural Iowa women.

Serum lipid profiles, serum immunoglobulins, and serum proteins were investigated in 65 noninstitutionalized older women living in a rural community. All women were mentally and physically able to participate in the study. They did not have any overt disease nor were they taking any prescription or nonprescription drugs that would interfere with the study. Personal interview elicited medical history, drug usage, dietary information, height, and weight from 25 reference women (50 through 64 years old), 28 young-old women (65 through 84 years old), and 12 old-old women (85 through 92 years old). Blood samples were obtained from fasting participants and analyzed for total serum cholesterol, high-density-lipoprotein cholesterol, serum triglyceride, serum immunoglobulins (IgG, IgA, and IgM), serum albumin, and total serum protein. Serum lipids were not significantly affected by age, drug use, or age-by-drug use interaction. Effects of age were observed for IgA and serum albumin. Mean concentrations of serum immunoglobulins, serum albumin, and total serum proteins were within normal limits for all participants. Based on this small sample of rural older women, our results indicate that the normal levels of high-density-lipoprotein cholesterol and the healthy life-styles of these women may help offset any possible negative effects of elevated serum cholesterol concentrations.