Search Results (18)

With the development of inspection robot control technology, wheel-legged robots are increasingly used in complex underground space inspection. To address low stability during obstacle crossing in unstructured terrains, a motion control strategy integrating an improved CPG algorithm and a biological reflex mechanism is proposed. It introduces an adaptive coupling matrix, augmented with the Lyapunov function, and vestibular/stumbling reflex models for real-time motion feedback. Simulink–Adams virtual prototypes and single-wheeled leg experiments (on the left front leg) were used to verify the system. Results show that the robot’s turning oscillation was ≤±0.00593 m, the 10° tilt maintained a stable center of mass at 10.2° with roll angle fluctuations ≤±5°, gully-crossing fluctuations ≤±0.01 m, and pitch recovery ≤2 s. The experiments aligned with the simulations, proving that the strategy effectively suppresses vertical vibrations, ensuring stable and high-precision inspection. Full article

This survey provides a review of the theoretical research on the classic system of matrix equations $AX=C$ and $XB=D$, which has wide-ranging applications across fields such as control theory, optimization, image processing, and robotics. The paper discusses various solution methods for the system, focusing on specialized approaches, including generalized inverse methods, matrix decomposition techniques, and solutions in the forms of Hermitian, extreme rank, reflexive, and conjugate solutions. Additionally, specialized solving methods for specific algebraic structures, such as Hilbert spaces, Hilbert $C^{\ast }$-modules, and quaternions, are presented. The paper explores the existence conditions and explicit expressions for these solutions, along with examples of their application in color images. Full article

Drug delivery to the ocular system is affected by anatomical factors like the corneal epithelium, blinking reflex, aqueous blood barrier, and retinal blood barrier, which lead to quick removal from the site and inefficient drug delivery. Developing a drug delivery mechanism that targets specific eye tissue is a major hurdle for researchers. Our study examines the challenges of drug absorption in these pathways. Hydrogels have been researched as a suitable delivery method to overcome some obstacles. These are developed alone or in conjunction with other technologies, such as nanoparticles. Many polymer hydrogel nanoparticle systems utilizing both natural and synthetic polymers have been created and investigated; each has pros and cons. The complex release mechanism of encapsulated agents from hydrogel nanoparticles depends on three key factors: hydrogel matrix swelling, drug-matrix chemical interactions, and drug diffusion. This mechanism exists regardless of the type of polymer. This study provides an overview of the classification of hydrogels, release mechanisms, and the role of controlled release systems in pharmaceutical applications. Additionally, it highlights the integration of nanotechnology in ocular disease therapy, focusing on different types of nanoparticles, including nanosuspensions, nanoemulsions, and pharmaceutical nanoparticles. Finally, the review discusses current commercial formulations for ocular drug delivery and recent advancements in non-invasive techniques. The objective is to present a comprehensive overview of the possibilities for enhancing ocular medication delivery through hydrogel nanoparticle systems. Full article

The therapeutic usage of physical stimuli is framed in a highly heterogeneous research area, with variable levels of maturity and of translatability into clinical application. In particular, electrostimulation is deeply studied for its application on the autonomous nervous system, but less is known about the anti- inflammatory effects of such stimuli beyond the inflammatory reflex. Further, reproducibility and meta-analyses are extremely challenging, owing to the limited rationale on dosage and experimental standardization. It is specifically to address the fundamental question on the anti-inflammatory effects of electricity on biological systems, that we propose a series of controlled experiments on the effects of direct and alternate current delivered on a standardized 3D bioconstruct constituted by fibroblasts and keratinocytes in a collagen matrix, in the presence or absence of TNF-$\alpha$ as conventional inflammation inducer. This selected but systematic exploration, with transcriptomics backed by metabolomics at specific time points allows to obtain the first systemic overview of the biological functions at stake, highlighting the differential anti-inflammatory potential of such approaches, with promising results for 5 V direct current stimuli, correlating with the wound healing process. With our results, we wish to set the base for a rigorous systematic approach to the problem, fundamental towards future elucidations of the detailed mechanisms at stake, highlighting both the healing and damaging potential of such approaches. Full article

Diabetic neuropathy and nephropathy are common complications of type 1 diabetes (T1D). The symptoms are often elusive in the early stages, and available diagnostic methods can be improved using biomarkers. Matrix metalloproteinase 3 (MMP-3) has been identified in the kidneys and is thought to be involved in diabetic nephropathy. Growth differentiation factor 15 (GDF-15) has been suggested to have positive effects in diabetes, but is otherwise associated with adverse effects such as cardiovascular risk, declined kidney function, and neurodegeneration. This study aims to investigate plasma MMP-3 and GDF-15 as systemic biomarkers for diabetic neuropathy and nephropathy in T1D. The study involves patients with childhood-onset T1D (n = 48, age 38 ± 4 years) and a healthy control group (n = 30, age 38 ± 5 years). Neurophysiology tests, evaluations of albuminuria, and measurements of routine biochemical markers were conducted. The neuropathy impairment assessment (NIA) scoring system, where factors such as loss of sensation and weakened reflexes are evaluated, was used to screen for symptoms of neuropathy. MMP-3 and GDF-15 concentrations were determined in heparinized plasma using ELISA kits. In total, 9 patients (19%) had albuminuria, and 25 (52%) had diabetic neuropathy. No significant differences were found in MMP-3 concentrations between the groups. GDF-15 levels were higher in T1D, with median and interquartile range (IQR) of 358 (242) pg/mL in T1D and 295 (59) in controls (p < 0.001). In the merged patient group, a positive correlation was found between MMP-3 and plasma creatinine, a negative correlation was found between MMP-3 and estimated glomerular filtration rate (eGFR; rho = −0.358, p = 0.012), and there was a positive correlation between GDF-15 and NIA (rho = 0.723, p < 0.001) and high-sensitive C-reactive protein (rho = 0.395, p = 0.005). MMP-3 was increased in macroalbuminuria and correlated positively with NIA only in the nine T1D patients with albuminuria (rho = 0.836, p = 0.005). The present study indicates that high MMP-3 is associated with low eGFR, high plasma creatinine, and macroalbuminuria, and that GDF-15 can be a biomarker for diabetic neuropathy in T1D. MMP-3 may be useful as biomarker for neuropathy in T1D with albuminuria. Full article

Chronic pain is a pathological state defined as daily pain sensation over three consecutive months. It affects up to 30% of the general population. Although significant research efforts have been made in the past 30 years, only a few and relatively low effective molecules have emerged to treat chronic pain, with a considerable translational failure rate. Most preclinical models have focused on sensory neurotransmission, with particular emphasis on the dorsal horn of the spinal cord as the first relay of nociceptive information. Beyond impaired nociceptive transmission, chronic pain is also accompanied by numerous comorbidities, such as anxiety–depressive disorders, anhedonia and motor and cognitive deficits gathered under the term “pain matrix”. The emergence of cutting-edge techniques assessing specific neuronal circuits allow in-depth studies of the connections between “pain matrix” circuits and behavioural outputs. Pain behaviours are assessed not only by reflex-induced responses but also by various or more complex behaviours in order to obtain the most complete picture of an animal’s pain state. This review summarises the latest findings on pain modulation by brain component of the pain matrix and proposes new opportunities to unravel the mechanisms of chronic pain. Full article

Targeted synthesis of C/composite Ni-based material was carried out by the method of matrix isolation. The composite was formed with regard to the features of the reaction of catalytic decomposition of methane. The morphology and physicochemical properties of these materials have been characterized using a number of methods: elemental analysis, scanning electron microscopy (SEM), transmission electron microscopy (TEM), X-ray diffraction (XRD), Fourier transform infrared spectroscopy (FTIR), Raman spectroscopy, temperature programmed reduction (TPR-H₂), specific surface areas (SSA), thermogravimetric analysis, and differential scanning calorimetry (TGA/DSC). It was shown by FTIR spectroscopy that nickel ions are immobilized on the polymer molecule of polyvinyl alcohol, and during heat treatment, polycondensation sites are formed on the surface of the polymer molecule. By the method of Raman spectroscopy, it was shown that already at a temperature of 250 °C, a developed conjugation system with sp2-hybridized carbon atoms begins to form. The SSA method shows that the formation of the composite material resulted in a matrix with a developed specific surface area of 20 to 214 m²/g. The XRD method shows that nanoparticles are essentially characterized by Ni, NiO reflexes. The composite material was established by microscopy methods to be a layered structure with uniformly distributed nickel-containing particles 5–10 nm in size. The XPS method determined that metallic nickel was present on the surface of the material. A high specific activity was found in the process of catalytic decomposition of methane—from 0.9 to 1.4 g_H2/g_cat/h, X_CH4, from 33 to 45% at a reaction temperature of 750 °C without the stage of catalyst preliminary activation. During the reaction, the formation of multi-walled carbon nanotubes occurs. Full article

Transcutaneous spinal cord stimulation (tSCS) at the cervical level may facilitate improved upper-limb function in those with incomplete tetraplegia. While clinical trials are ongoing, there is still much debate regarding the transmission pathway as well as appropriate stimulation parameters. This study aimed to explore the extent to which cervical tSCS can induce mono-synaptic reflexes in discrete upper-limb motor pools and examine the effects of altering stimulus location and intensity. Methods: Fourteen participants with intact nervous systems completed two laboratory visits, during which posterior root-muscle reflexes (PRMRs) were evoked via a 3 × 3 cathode matrix applied over the cervical spine. An incremental recruitment curve at the C7 vertebral level was initially performed to attain resting motor threshold (RMT) in each muscle. Paired pulses (1 ms square monophasic with inter-pulse interval of 50 ms) were subsequently delivered at a frequency of 0.25 Hz at two intensities (RMT and RMT + 20%) across all nine cathode positions. Evoked responses to the 1st (PRMR₁) and 2nd (PRMR₂) stimuli were recorded in four upper-limb muscles. Results: A significant effect of the spinal level was observed in all muscles for PRMR₁, with greater responses being recorded caudally. Contralateral stimulation significantly increased PRMR₁ in Biceps Brachii (p < 0.05, F = 4.9, η2 = 0.29), Flexor Carpi Radialis (p < 0.05, F = 4.9, η2 = 0.28) and Abductor Pollicis Brevis (p < 0.01, F = 8.9, η2 = 0.89). Post-activation depression (PAD) was also significantly increased with contralateral stimulation in Biceps Brachii (p = 0.001, F = 9.3, η2 = 0.44), Triceps Brachii (p < 0.05, F = 5.4, η2 = 0.31) and Flexor Carpi Radialis (p < 0.001, F = 17.4, η2 = 0.59). Conclusions: A level of unilateral motor pool selectivity may be attained by altering stimulus intensity and location during cervical tSCS. Optimising these parameters may improve the efficacy of this neuromodulation method in clinical cohorts. Full article

We consider when the quaternion matrix equation $AXB+CXD=E$ has a reflexive (or anti-reflexive) solution with respect to a given generalized reflection matrix. We adopt a real representation method to derive the solutions when it is solvable. Moreover, we obtain the explicit expressions of the least-squares reflexive (or anti-reflexive) solutions. Full article

Corona discharges are a concern in high-voltage applications. It is of utmost importance to detect and locate the discharges at an early stage using simple methods for this purpose. This paper evaluates and compares the sensitivity of two methods for detecting and locating the source of discharges, which are based on a digital single-lens reflex (DSLR) camera and a portable wideband sonic camera incorporating a matrix of micro-electromechanical systems (MEMS) microphones. Both cameras can generate an image of the studied area where the discharge sites are identified. The study is carried out with different electrode geometries, 50 Hz alternating current (ac) and positive and negative direct current (dc) supplies, and the effect of the distance between the sensor and the discharge sites is also analyzed. The presented results show that the sonic camera enables fast, simple, and sensitive detection and localization of the source of corona discharges even at a very early stage in daylight conditions, regardless of the type of power supply, that is, ac or positive/negative dc, and at distance of several meters from the discharge source. Full article

Correlation between 3D surface roughness and characteristic features extracted from laser speckle pattern was done using an inexpensive laser pointer and a digital single lens reflex (DSLR) camera in previous research work. There had been no comparison work done between the experimental setup which uses a laser pointer, which has a diode laser as the laser source, and the experimental setup, which uses a He-Ne laser as the laser source. As such, in the current work, a comparison study between two experimental setups was carried out. One experimental setup was using a He-Ne laser, spatial filter, and charged coupled device (CCD) camera, while another experimental setup was using a laser pointer and DSLR camera. The laser beam was illuminated at angles of 30°, 45°, and 60° from the horizontal. When a laser beam falls on the surface, the beam gets scattered, and the scattered beam undergoes interference and produces speckle patterns which are captured using a camera. Using a Matlab program, the gray level co-occurrence matrix (GLCM) characteristic features, such as contrast (GLCM), correlation (GLCM), energy (GLCM), entropy (GLCM), homogeneity (GLCM), and maximum probability, and non-GLCM characteristic features, such as mean, standard deviation (STD), uniformity, entropy, normalized R, and white-to-black ratio (W/B), were extracted and correlated with 3D surface roughness parameters. The coefficient of determination (R²) was determined for each case. Compared to the setup using a laser pointer, the setup using a He-Ne laser gave better results. In the setup using the He-Ne laser, there were correlations with a coefficient of determination R² ≥ 0.7 at illumination angles of 30°, 45°, and 60°, whereas in the setup using a laser pointer, there were correlations with R² ≥ 0.7 at illumination angles of 30° and 45°. Mean characteristic features had more correlations with R² ≥ 0.7 in the case of the angle of illumination of 45° (7 out of 36 correlations) and 60° (11 out of 82 correlations), while R-normalized characteristic features had more correlations with R² ≥ 0.7 in the case of the angle of illumination of 30° (9 out of 38 correlations) for the setup using the He-Ne laser. Correlation (GLCM) had more correlations with R² ≥ 0.7 in the case of the setup using a laser pointer (2 out of 2 correlations for illumination angle of 30°, and 4 out of 19 correlations for an illumination angle of 45°). Roughness parameters S_a and S_q had more correlations with R² ≥ 0.7 for an illumination angle of 30° (1 out of 2 correlations each), and S_p and S_z had more correlations with R² ≥ 0.7 for an illumination angle of 45° (4 out of 19 correlations each) in the case of the setup using a laser pointer. The novelty of this work is (1) being a correlation study between 3D surface roughness and speckle pattern using a He-Ne laser and spatial filter, and (2) being a comparison study between two experimental setups on the correlation between 3D surface roughness and speckle pattern. Full article

In the present paper, an iterative algorithm is proposed for solving the generalized $(P,Q)$-reflexive solution group of a system of quaternion matrix equations ${\displaystyle \sum _{l=1}^M}(A_{ls}{X}_l{B}_{ls}+C_{ls}\widetilde{X_l}{D}_{ls})=F_s,s=1,2,\dots ,N$. A generalized $(P,Q)$-reflexive solution group, as well as the least Frobenius norm generalized $(P,Q)$-reflexive solution group, can be derived by choosing appropriate initial matrices, respectively. Moreover, the optimal approximate generalized $(P,Q)$-reflexive solution group to a given matrix group can be derived by computing the least Frobenius norm generalized $(P,Q)$-reflexive solution group of a reestablished system of matrix equations. Finally, some numerical examples are given to illustrate the effectiveness of the algorithm. Full article

The generalized inverse has numerous important applications in aspects of the theoretic research of matrices and statistics. One of the core problems of generalized inverse is finding the necessary and sufficient conditions for the reverse (or the forward) order laws for the generalized inverse of matrix products. In this paper, by using the extremal ranks of the generalized Schur complement, some necessary and sufficient conditions are given for the forward order law for $A_1\{1,2\}{A}_2\{1,2\}\dots A_n\{1,2\}\subseteq (A_1{A}_2\dots A_n)\{1,2\}$. Full article

This article reports on the use of integrative career counselling to promote autobiographical reasoning in a purposively sampled gifted 16-year-old female learner with moratorium career identity status. I implemented an explanatory, mixed-methods (QUALITATIVE-quantitative; uppercase denoting the bigger weighting given to the qualitative aspect) research design and used qualitative and quantitative career construction counselling techniques and methods and quantitative career construction counselling techniques and methods and strategies to construct data. The Maree Career Matrix (MCM) was used to gather the participant’s career interests (“scores”) quantitatively, and the Career Interest Profile (CIP) was used to elicit her micro-narratives (“stories”) qualitatively. An adapted version of thematic data analysis was used to analyse the data. The intervention promoted the participant’s (self-)reflection and reflexivity, transformed her tension into intention, led to an increase in her career options, and helped her revitalise her sense of meaning, purpose, and positivity. While the findings are encouraging, future (longitudinal) research is needed to establish the long-term influence of the intervention espoused here. Full article

The way people travel, organise their time, and acquire information has changed due to information technologies. Artificial intelligence (AI) and machine learning (ML) are mechanisms that evolved from data management and developing processes. Incorporating these mechanisms into business is a trend many different industries, including education, have identified as game-changers. As a result, education platforms and applications are more closely aligned with learners’ needs and knowledge, making the educational process more efficient. Therefore, AI and ML have great potential in e-learning and higher education institutions (HEI). Thus, the article aims to determine its potential and use areas in higher education based on secondary research and document analysis (literature review), content analysis, and primary research (survey). As referent points for this research, multiple academic, scientific, and commercial sources were used to obtain a broader picture of the research subject. Furthermore, the survey was implemented among students in the Republic of Serbia, with 103 respondents to generate data and information on how much knowledge of AI and ML is held by the student population, mainly to understand both opportunities and challenges involved in AI and ML in HEI. The study addresses critical issues, like common knowledge and stance of research bases regarding AI and ML in HEI; best practices regarding usage of AI and ML in HEI; students’ knowledge of AI and ML; and students’ attitudes regarding AI and ML opportunities and challenges in HEI. In statistical considerations, aiming to evaluate if the indicators were considered reflexive and, in this case, belong to the same theoretical dimension, the Correlation Matrix was presented, followed by the Composite Reliability. Finally, the results were evaluated by regression analysis. The results indicated that AI and ML are essential technologies that enhance learning, primarily through students’ skills, collaborative learning in HEI, and an accessible research environment. Full article