Qhali: A Humanoid Robot for Assisting in Mental Health Treatment.

In recent years, social assistive robots have gained significant acceptance in healthcare settings, particularly for tasks such as patient care and monitoring. This paper offers a comprehensive overview of the expressive humanoid robot, Qhali, with a focus on its industrial design, essential components, and validation in a controlled environment. The industrial design phase encompasses research, ideation, design, manufacturing, and implementation. Subsequently, the mechatronic system is detailed, covering sensing, actuation, control, energy, and software interface. Qhali's capabilities include autonomous execution of routines for mental health promotion and psychological testing. The software platform enables therapist-directed interventions, allowing the robot to convey emotional gestures through joint and head movements and simulate various facial expressions for more engaging interactions. Finally, with the robot fully operational, an initial behavioral experiment was conducted to validate Qhali's capability to deliver telepsychological interventions. The findings from this preliminary study indicate that participants reported enhancements in their emotional well-being, along with positive outcomes in their perception of the psychological intervention conducted with the humanoid robot.

Nonlinear Robust Control by a Modulating-Function-Based Backstepping Super-Twisting Controller for a Quadruple Tank System.

In this paper, a robust nonlinear approach for control of liquid levels in a quadruple tank system (QTS) is developed based on the design of an integrator backstepping super-twisting controller, which implements a multivariable sliding surface, where the error trajectories converge to the origin at any operating point of the system. Since the backstepping algorithm is dependent on the derivatives of the state variables, and it is sensitive to measurement noise, integral transformations of the backstepping virtual controls are performed via the modulating functions technique, rendering the algorithm derivative-free and immune to noise. The simulations based on the dynamics of the QTS located at the Advanced Control Systems Laboratory of the Pontificia Universidad Católica del Perú (PUCP) showed a good performance of the designed controller and therefore the robustness of the proposed approach.

Non Linear Control System for Humanoid Robot to Perform Body Language Movements.

In social robotics, especially with regard to direct interactions between robots and humans, the robotic movements of the body, arms and head must make an adequate displacement to guarantee an adequate interaction, both from a functional and social point of view. To achieve this, the use of closed-loop control techniques that consider the complex nonlinear dynamics and disturbances inherent in these systems is required. In this paper, an implementation of a nonlinear controller for the tracking of trajectories and a profile of speeds that execute the movements of the arms and head of a humanoid robot based on the mathematical model is proposed. First, the design and implementation of the arms and head are initially presented, then the mathematical model via kinematic and dynamic analysis was performed. With the above, the design of nonlinear controllers such as nonlinear proportional derivative control with gravity compensation, Backstepping control, Sliding Mode control and the application of each of them to the robotic system are presented. A comparative analysis based on a frequency analysis, the efficiency in polynomial trajectories and the implementation requirements allowed selecting the non-linear Backstepping control technique to be implemented. Then, for the implementation, a centralized control architecture is considered, which uses a central microcontroller in the external loop and an internal microcontroller (as internal loop) for each of the actuators. With the above, the selected controller was validated through experiments performed in real time on the implemented humanoid robot, demonstrating proper path tracking of established trajectories for performing body language movements.

Extracts of Fruits and Plants Cultivated In Vitro of Aristotelia chilensis (Mol.) Stuntz Show Inhibitory Activity of Aldose Reductase and Pancreatic Alpha-Amylase Enzymes.

Aristotelia chilensis is a plant whose fruit is considered a powerful natural antioxidant. During the last years, some investigations of the fruit have been carried out, finding antioxidant properties in the juice or the phenolic fraction. The antioxidant properties of the plant are useful in the inhibition of enzymes related to diabetes such as pancreatic aldose reductase and alpha-amylase. Because many synthetic drugs used today have limitations and potentially harmful side effects, the use of naturally occurring compounds, such as flavonoids, is clinically attractive. In this study, the characterization of aqueous extracts of fruits and in vitro plants of A. chilensis was carried out based on their content of anthocyanins and total phenols, the antioxidant capacity by the antiradical activity 2,2-diphenyl-1-picrilhydrazil (DPPH), and the profile of anthocyanins and other phenolic compounds by liquid chromatography coupled to mass spectrometry (LC-MS/MS). Subsequently, the effect of these extracts on the inhibition of bovine aldose reductase and pancreatic alpha-amylase enzymes was determined. According to our results, extracts of fruits and in vitro plants of A. chilensis achieved inhibition of the bovine aldose reductase enzyme of 85.54 ± 1.86% and 75.67 ± 1.21%, respectively. Likewise, the percentage of inhibition of the pancreatic alpha-amylase enzyme for fruit extracts was 29.64 ± 0.63%, while for in vitro plant extracts it was 47.66 ± 0.66%. The antioxidant and enzymatic inhibition activity of the extracts were related to the content of anthocyanins, such as delphinidin and cyanidin glycosides as well as the phenols derived from quercetin, myricetin, and kaempferol. The results obtained allow us to suggest that the in vitro culture of plants of A. chilensis represents a viable biotechnological alternative to obtain phenolic compounds for the inhibition of aldose reductase and pancreatic alpha-amylase enzymes.

State Estimation for Coupled Reaction-Diffusion PDE Systems Using Modulating Functions.

Many systems with distributed dynamics are described by partial differential equations (PDEs). Coupled reaction-diffusion equations are a particular type of these systems. The measurement of the state over the entire spatial domain is usually required for their control. However, it is often impossible to obtain full state information with physical sensors only. For this problem, observers are developed to estimate the state based on boundary measurements. The method presented applies the so-called modulating function method, relying on an orthonormal function basis representation. Auxiliary systems are generated from the original system by applying modulating functions and formulating annihilation conditions. It is extended by a decoupling matrix step. The calculated kernels are utilized for modulating the input and output signals over a receding time window to obtain the coefficients for the basis expansion for the desired state estimation. The developed algorithm and its real-time functionality are verified via simulation of an example system related to the dynamics of chemical tubular reactors and compared to the conventional backstepping observer. The method achieves a successful state reconstruction of the system while mitigating white noise induced by the sensor. Ultimately, the modulating function approach represents a solution for the distributed state estimation problem without solving a PDE online.

Sustainable Production of Insecticidal Compounds from Persea indica.

In this work, we have investigated the accumulation of ryanoids in different plant parts (leaves, stems and roots) of aeroponically grown Persea indica cloned trees (one-year-old cloned individuals) and a selected mature, wild tree. We tested the insect antifeedant (against Spodoptera littoralis, Myzus persicae and Rhopalosiphum padi) and nematicidal (against Meloidogyne javanica) effects of ethanolic extracts from these different plant parts. The HPLC-MS analysis of P. indica extracts showed that mature tree (wild) leaves had two times more chemical diversity than stems. Aeroponic plants showed fewer differences in chemical diversity between leaves and stems, with the lowest diversity found in the roots. Ryanodane epiryanodol (1) was present in all the plant parts, with the mature stems (wild) containing the highest amount. The aeroponic stems also accumulated ryanoids including 1, cinnzeylanol (2) and cinnzeylanone (4). The insect Spodoptera littoralis was strongly affected by the stem extracts, while leaf extracts were moderately active. Based on predicted vs. real antifeedant values, we concluded that the ryanoid content (1 or a combination of 2, 4 and 1) explained the antifeedant effects of the stem extracts, while additional components contributed to the activity of the leaf extracts. Therefore, careful individual selection of P. indica seedlings should be carried out prior to proceeding with aeroponic cultivation in order to obtain ryanodane-rich stem or leaf extracts with strong antifeedant effects on S. littoralis.

Reduction of ethylene biosynthesis in sugarcane induces growth and investment in the non-enzymatic antioxidant apparatus.

KEY MESSAGE: Lower ethylene production in sugarcane results in plants with higher stature, expression of growth-promoting genes, higher photosynthetic rate, and increased antioxidant compounds. The hormone ethylene is involved in critical processes in sugarcane, such as the growth and accumulation of sucrose. The lack of mutants for ethylene biosynthesis or signaling genes makes it difficult to understand the role of this phytohormone throughout sugarcane development. This study aimed to evaluate the physiology and development of sugarcane plants with low ethylene production. To achieve this goal, we used RNA interference to silence three genes, ScACS1, ScACS2, and ScACS3, encoding 1-aminocyclopropane-1-carboxylic acid synthases (ACS), responsible for a limiting step of the ethylene biosynthesis pathway. Sugarcane plants with reduced ethylene levels presented increased growth, faster germination of lateral gems, and activation of non-enzymatic antioxidant mechanisms. We observed an augmentation in the expression of ScACO5, which encodes the final enzyme regulating ethylene biosynthesis, and ScERF1, encoding a transcription factor, linked to the ethylene response. The increase in plant height was correlated with higher expression of ScPIF3, ScPIF4, and ScPIF5, which encode for transcription factors related to growth induction. Interestingly, there was also an increase in the expression of the ScGAI gene, which encodes a DELLA protein, a growth repressor. The final content of sucrose in the stems was not affected by the low levels of ethylene, although the rate of CO2 assimilation was reduced. This study reports for the first time the impacts of low endogenous production of ethylene in sugarcane and provides helpful insights on the molecular mechanisms behind ethylene responses.

Heat Shock Tolerance in Deschampsia antarctica Desv. Cultivated in vitro Is Mediated by Enzymatic and Non-enzymatic Antioxidants.

Deschampsia antarctica Desv, is the most successful colonizing species of a cold continent. In recent years due to climate change, the frequency of heat waves has increased in Antarctica, registering anomalous high temperatures during the summer of 2020. However, the populations of D. antarctica are responding positively to these events, increasing in number and size throughout the Antarctic Peninsula. In this work, the physiological and biochemical responses of D. antarctica plants grown in vitro (15 ± 1°C) and plants subjected to two heat shock treatments (23 and 35°C) were evaluated. The results obtained show that D. antarctica grown in vitro is capable of tolerating heat shock treatments; without showing visible damage to its morphology, or changes in its oxidative state and photosynthetic performance. These tolerance responses are primarily mediated by the efficient role of enzymatic and non-enzymatic antioxidant systems that maintain redox balance at higher temperatures. It is postulated that these mechanisms also operate in plants under natural conditions when exposed to environmental stresses.

Super-Alarms with Diagnosis Proficiency Used as an Additional Layer of Protection Applied to an Oil Transport System.

In automated plants, particularly in the petrochemical, energy, and chemical industries, the combined management of all of the incidents that can produce a catastrophic accident is required. In order to do this, an alarm management methodology can be formulated as a discrete event sequence recognition problem, in which time patterns are used to identify the safe condition of the process, especially in the start-up and shutdown stages. In this paper, a new layer of protection (a Super-Alarm), based on the diagnostic stage to industrial processes is presented. The alarms and actions of the standard operating procedures are considered to be discrete events involved in sequences; the diagnostic stage corresponds to the recognition of the situation when these sequences occur. This provides operators with pertinent information about the normal or abnormal situations induced by the flow of the alarms. Chronicles Based Alarm Management (CBAM) is the methodology used in this document to build the chronicles that will permit us to generate the Super-Alarms; in addition, a case study of the petrochemical sector using CBAM is presented in order to build one chronicle that represents the scenario of an abnormal start-up of an oil transport system. Finally, the scenario's validation for this case is performed, showing the way in which, a Super-Alarm is generated.

Evaluation of zeolite, nanomagnetite, and nanomagnetite-zeolite composite materials as arsenic (V) adsorbents in hydroponic tomato cultures.

There is a growing interest in the use of adsorbent nanoparticles to mitigate the toxic effects of pollutants in natural matrices. However, due to their small size, nanoparticles have the potential to transport and disseminate contaminants adsorbed on their surfaces into environmental compartments with greater risk to human, animal, or plant health. This potential consequence of nanoparticle application remains largely unstudied. Here, we studied the application of three adsorbents, including zeolite (Z, micrometric size), nanomagnetite (Mt), and a nanomagnetite-zeolite composite (MtZ) intended to mediate arsenic toxicity in hydroponic tomato cultures. Adsorption studies showed an arsenate adsorption sequence of MtZ (6.2 mg g-1) ≥ Mt (4.7 mg g-1) â‰« Z (0.3 mg g-1). Tomatoes grown under the Mt condition demonstrated the lowest growth rate (4.2 cm), corresponding to a 45% decrease compared to the control (7.6 cm), as well as the highest oxidative stress level (0.024 µmol g-1) as indicated by malondialdehyde (MDA) concentration, almost twice the control (0.014 µg g-1). Tomatoes grown under MtZ conditions showed a 22% decreased growth (5.9 cm) but MDA levels (0.012 µmol g-1) were comparable to the control. Together, these results suggest that Mt at the nanometric size could obstruct channels in the plant and prevent absorption of water and nutrients. Anchoring nanomaterials in larger composites of micrometer size presents a promising alternative that would retain their super-adsorbent properties while avoiding toxicity due to nanometric size.

It Is Hot in the Sun: Antarctic Mosses Have High Temperature Optima for Photosynthesis Despite Cold Climate.

The terrestrial flora of Antarctica's frozen continent is restricted to sparse ice-free areas and dominated by lichens and bryophytes. These plants frequently battle sub-zero temperatures, extreme winds and reduced water availability; all influencing their ability to survive and grow. Antarctic mosses, however, can have canopy temperatures well above air temperature. At midday, canopy temperatures can exceed 15°C, depending on moss turf water content. In this study, the optimum temperature of photosynthesis was determined for six Antarctic moss species: Bryum pseudotriquetrum, Ceratodon purpureus, Chorisodontium aciphyllum, Polytrichastrum alpinum, Sanionia uncinata, and Schistidium antarctici collected from King George Island (maritime Antarctica) and/or the Windmill Islands, East Antarctica. Both chlorophyll fluorescence and gas exchange showed maximum values of electron transport rate occurred at canopy temperatures higher than 20°C. The optimum temperature for both net assimilation of CO2 and photoprotective heat dissipation of three East Antarctic species was 20-30°C and at temperatures below 10°C, mesophyll conductance did not significantly differ from 0. Maximum mitochondrial respiration rates occurred at temperatures higher than 35°C and were lower by around 80% at 5°C. Despite the extreme cold conditions that Antarctic mosses face over winter, the photosynthetic apparatus appears optimised to warm temperatures. Our estimation of the total carbon balance suggests that survival in this cold environment may rely on a capacity to maximize photosynthesis for brief periods during summer and minimize respiratory carbon losses in cold conditions.

Phenotypic Analysis of Mutants of Ergosterol Biosynthesis Genes (ERG3 and ERG4) in the Red Yeast Xanthophyllomyces dendrorhous.

Xanthophyllomyces dendrorhous synthesizes astaxanthin, a carotenoid used in aquaculture. Astaxanthin is synthesized from metabolites of the mevalonate pathway, which are also precursors for sterols biosynthesis. The interruption of the CYP61 gene, which is involved in the synthesis of ergosterol (mutant CBS.cyp61 -), resulted in a phenotype that overproduces carotenoids due to the activation of the SREBP pathway. In this work, we constructed other mutants of ergosterol biosynthesis in this yeast to evaluate whether they have the same phenotype as mutant CBS.cyp61 -. By bioinformatic analysis, the ERG3 and ERG4 genes of X. dendrorhous were identified, and each gene was deleted in the wild-type strain. Mutants CBS.Δerg3 and CBS.Δerg4 did not produce ergosterol; CBS.Δerg3 primarily accumulated episterol, and CBS.Δerg4 primarily accumulated ergosta-5,7,22,24(28)-tetraenol. The transcription levels of the HMGS gene of the mevalonate pathway were evaluated by RT-qPCR, which showed a slight increase in CBS.Δerg4, but the transcription levels were still 10-fold lower than in strain CBS.cyp61 -. Both CBS.Δerg3 and CBS.Δerg4 did not overproduce carotenoids, even though they do not produce ergosterol. Thus, the results of this study indicate that the absence of ergosterol does not activate the SREBP pathway in X. dendrorhous, but rather it depends on other alterations in sterol composition.

The 2019/2020 summer of Antarctic heatwaves.

This summer, a heatwave across Antarctica saw temperatures soar above average. Temperatures above zero are especially significant because they accelerate ice melt. Casey Station had its highest temperature ever, reaching a maximum of 9.2°C and minimum of 2.5°C. The highest temperature in Antarctica was 20.75°C on 9 February. Here we discuss the biological implications of such extreme events.

Desiccation tolerance in the Antarctic moss Sanionia uncinata.

BACKGROUND: One of the most extreme environments on our planet is the Maritime Antarctic territory, due to its low-water availability, which restricts the development of plants. Sanionia uncinata Hedw. (Amblystegiaceae), the main colonizer of the Maritime Antarctic, has effective mechanisms to tolerate this environment. It has been described that the tolerance to desiccation is mediated by the hormone abscisic acid (ABA), antioxidants systems, accumulation of compatible solutes and proteins of the late embryogenesis abundant (LEA). However, to date, these mechanisms have not been described in S. uncinata. Therefore, in this work, we postulate that the tolerance to desiccation in the Antarctic moss S. uncinata is mediated by the accumulation of ABA, the osmolytes proline and glycine betaine, and dehydrins (an LEA class 11 proteins). To demonstrate our hypothesis, S. uncinata was subjected to desiccation for 24 h (loss in 95% of water content), and the effects on its physiological, photosynthetic, antioxidant and biochemical parameters were determined. RESULTS: Our results showed an accumulation of ABA in response to water loss, and the activation of protective responses that involves an increment in levels of proline and glycine betaine, an increment in the activity of antioxidant enzymes such as SOD, CAT, APX and POD, and the accumulation of dehydrins proteins. CONCLUSION: The results showed, suggest that S. uncinata is a  desiccation-tolerant moss, property mediated by high cellular plasticity regulated by ABA.

Oligo-carrageenan kappa increases glucose, trehalose and TOR-P and subsequently stimulates the expression of genes involved in photosynthesis, and basal and secondary metabolisms in Eucalyptus globulus.

BACKGROUND: It has been previously shown that oligo-carrageenan (OC) kappa increases growth, photosynthesis and activities of enzymes involved in basal and secondary metabolisms in Eucalyptus globulus. However, it is not known whether OC kappa may induce the activation of TOR pathway and the increase in expression of genes encoding proteins involved in photosynthesis and enzymes of basal and secondary metabolisms. RESULTS: E. globulus trees were sprayed on leaves with water (control) or with OC kappa 1 mg mL- 1, once a week, four times in total, and cultivated for 17 additional weeks (21 weeks in total). Treated trees showed a higher level of net photosynthesis than controls, beginning at week 3, a higher height, beginning at week 9, and those differences remained until week 21. In addition, treated trees showed an increase in the level of glucose beginning at week 1, trehalose at weeks 1-3, and in TOR-P level at week 1-2. On the other hand, transcripts encoding proteins involved in photosynthesis, and enzymes involved in glucose accumulation, C, N and S assimilation, and synthesis of secondary metabolites began at weeks 3-4 and with additional peaks at weeks 5-6, 8-11,13-14 and 17-19. Thus, OC kappa induced initial increases in glucose, trehalose and TOR-P levels that were followed by oscillatory increases in the level of transcripts coding for proteins involved in photosynthesis, and in basal and secondary metabolisms suggesting that initial increases in glucose, trehalose and TOR-P may trigger activation of gene expression. CONCLUSIONS: The stimulation of growth induced by OC kappa in E. globulus trees is due, at least in part, to activation of TOR pathway and the increase in expression of genes encoding proteins involved in photosynthesis and enzymes of basal metabolism.

Water deficit and abscisic acid treatments increase the expression of a glucomannan mannosyltransferase gene (GMMT) in Aloe vera Burm. F.

The main polysaccharide of the gel present in the leaves of or Aloe vera Burm.F., (Aloe barbadensis Miller) a xerophytic crassulacean acid metabolism (CAM) plant, is an acetylated glucomannan named acemannan. This polysaccharide is responsible for the succulence of the plant, helping it to retain water. In this study we determined using polysaccharide analysis by carbohydrate gel electrophoresis (PACE) that the acemannan is a glucomannan without galactose side branches. We also investigated the expression of the gene responsible for acemannan backbone synthesis, encoding a glucomannan mannosyltransferase (GMMT, EC 2.4.1.32), since there are no previous reports on GMMT expression under water stress in general and specifically in Aloe vera. It was found by in silico analyses that the GMMT gene belongs to the cellulose synthase-like A type-9 (CSLA9) subfamily. Using RT-qPCR it was found that the expression of GMMT increased significantly in Aloe vera plants subjected to water stress. This expression correlates with an increase of endogenous ABA levels, suggesting that the gene expression could be regulated by ABA. To corroborate this hypothesis, exogenous ABA was applied to non-water-stressed plants, resulting in a significant increase of GMMT expression after 48 h of ABA treatment.

Desiccation tolerance in the Antarctic moss Sanionia uncinata

BACKGROUND: One of the most extreme environments on our planet is the Maritime Antarctic territory, due to its low-water availability, which restricts the development of plants. Sanionia uncinata Hedw. (Amblystegiaceae), the main colonizer of the Maritime Antarctic, has effective mechanisms to tolerate this environment. It has been described that the tolerance to desiccation is mediated by the hormone abscisic acid (ABA), antioxidants systems, accumulation of compatible solutes and proteins of the late embryogenesis abundant (LEA). However, to date, these mechanisms have not been described in S. uncinata. Therefore, in this work, we postulate that the tolerance to desiccation in the Antarctic moss S. uncinata is mediated by the accumulation of ABA, the osmolytes proline and glycine betaine, and dehydrins (an LEA class 11 proteins). To demonstrate our hypothesis, S. uncinata was subjected to desiccation for 24 h (loss in 95% of water content), and the effects on its physiological, photosynthetic, antioxidant and biochemical parameters were determined. RESULTS: Our results showed an accumulation of ABA in response to water loss, and the activation of protective responses that involves an increment in levels of proline and glycine betaine, an increment in the activity of antioxidant enzymes such as SOD, CAT, APX and POD, and the accumulation of dehydrins proteins. CONCLUSION: The results showed, suggest that S. uncinata is a desiccation-tolerant moss, property mediated by high cellular plasticity regulated by ABA.

Copper stress induces antioxidant responses and accumulation of sugars and phytochelatins in Antarctic Colobanthus quitensis (Kunth) Bartl.

BACKGROUND: In field, C. quitensis is subjected to many abiotic extreme environmental conditions, such as low temperatures, high UV-B, salinity and reduced water potentials, but not metal or metalloid high concentrations in soil, however, other members of Caryophyllaceae family have tolerance to high concentrations of metals, this is the case of Silene genre. In this work, we hypothesize that C. quitensis have the same mechanisms of Silene to tolerate metals, involving accumulation and induction of antioxidant systems, sugar accumulation and the induction of thiols such as phytochelatins to tolerate. RESULTS: The results showing an effective antioxidant defensive machinery involving non-enzymatic antioxidants such as phenolics, GSH and ascorbic acid, in another hand, GSH-related oligomers (phytochelatins) and sugars was induced as a defensive mechanism. CONCLUSIONS: Colobanthus quitensis exhibits certain mechanisms to tolerate copper in vitro demonstrating its plasticity to tolerate several abiotic stress conditions.

Contributions to the bryological knowledge of ASPA 125, Fildes Peninsula, King George Island.

BACKGROUND: With 29 Km2, the Fildes Peninsula is the largest ice free area in King George Island and probably in Antarctica. The region is house of six permanent bases including the only airport in the South Shetlands, which led to impacts on its original landscape and vegetation. In recognition for the need to protect natural values, an Antarctic Specially Protected Area (ASPA 125) was established in the region. Focused mostly on protecting the fossils, the ASPA also plays a role in protecting the vegetation but so far, the management plan for the area does not contain a list of moss species present there. RESULTS: We provided an updated study and checklist of mosses present in ASPA 125. A key to species identification and photographs of main morphological features are also available in this paper. Also, six new occurrences are reported for Fildes Peninsula. CONCLUSION: Considering the scarce knowledge about specific local floras in Antarctica associated with highly impacted area, of which only a fraction is protected, it is suggested the necessity to invest in detailed sampling studies, as well as in a better understanding of the local floras interactions in Antarctica.