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Ziegler-Nichols Customization for Quadrotor Attitude Control under Empty and Full Loading Conditions

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Computer Modeling in Engineering & Sciences 2020年第10期125卷 65-75页

作者： Ivan Paulo Canal manuel martin Pérez reimbold Maurício de Campos Federal Institute of Education Science and Technology FarroupilhaCampus PanambiPanambiBrazil Regional University of the Northwest of the State of Rio Grande do Sul IjuíBrazil

An aircraft quadrotor is a complex control system that allows for great flexibility in *** multirotor aerial systems such as quadrotors is complex because the variables involved are not always available,known,and *** inclusion of payload changes the dynamic characteristics of the aircraft,making it necessary to adapt the control system for this *** the various control methods that have been investigated,proportional-integralderivative(PID)control offers good results and simplicity of application;however,achieving stability and high performance is challenging,with the most critical task being tuning the controller *** Ziegler-Nichols(ZN)theory was used to tune the controller gains for pitch and roll attitude command;however,the performance results were not *** response of this system was refined,resulting in an improvement in the reference tracking and the rejection of *** particular refinement was applied to the quadrotor,and via a reverse calculation,the parameters that allow the tuning of PID gains were obtained,based on *** particularization of the ZN theory applied to a quadrotor with and without a load(termed ZNAQ and ZNAQL,respectively)is proposed and results in a significant improvement in the control system response performance(up to 75%),demonstrating that ZNAQ and ZNAQL are valid for tuning the controller PID gains and are more efficient than the original ZN theory approach.

关键词： Ziegler-Nichols quadrotor control PID tuning multirotor

Induction of Defensive Responses in <i>Eucalyptus globulus</i>(Labill) Plants, against <i>Ctenarytaina eucalypti</i>(Maskell) (Hemiptera: Psyllidae)

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American Journal of Plant Sciences 2012年第5期3卷 589-595页

作者： Christian Troncoso Jose Becerra Claudia perez Victor Hernandez Aurelio San martin manuel Sanchez-Olate Darcy Rios Centro de Biotecnologia Laboratorio de Cultivo de Tejidos Vegetales Universidad de Concepcion Concepcion Chile Departamento de Botanica Facultad de Ciencias Naturales y Oceanograficas Universidad de Concepcion Concepcion Chile Departamento de Quimica Facultad de Ciencias Universidad de Chile Santiago Chile Facultad de Ciencias Forestales Universidad de Concepcion Concepcion Chile

This study evaluated the expression of defense compounds from the secondary metabolism of Eucalyptus globulus plants, subjected to direct and indirect stimuli by the insect Ctenarytaina eucalypti (blue gum Psyllid). Results showed that defense responses were activated in plants in all tested cases. Were detected and identified thirty-two compounds in the leaves of treated plants, of which five compounds differed with the control, and all are part of the chemical defenses from the plants, three of them were oxygenated monoterpenes (borneol, exo-2-hydroxy cineole and thymol), a aromatic carboxylic acid (benzoic acid) and a quinone (6-acethyl-flaviolin). The plants induced by volatile compounds and by indirect entomological manner, showed its capability to synthesize defensive compounds without a wound that promotes these responses. Were also found some constitutive secondary metabolites over expressed in the different inductions compared with the control.

关键词： Chemical Defense E. globules Secondary Metabolites Terpenes

Effectiveness and safety of first-generation protease inhibitors in clinical practice:Hepatitis C virus patients with advanced fibrosis

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World Journal of Gastroenterology 2015年第30期21卷 9163-9174页

作者： Javier Salmeron Carmen Vinaixa Ruben Berenguer Juan manuel Pascasio Juan Jose Sanchez Ruano Miguel angel Serra Ana Gila Moises Diago manuel Romero-Gomez Jose Maria Navarro Milagros Testillano Conrado Fernandez Dolores Espinosa Isabel Carmona Jose Antonio Pons Francisco Jorquera Francisco Javier Rodriguez Ramon perez Jose Luis Montero Rafael Granados Miguel Fernandez Ana Belen martin Paloma Munoz de Rueda Rosa Quiles CIBERehd Instituto de Salud Carlos Ⅲ28029 MadridSpain Unit for Clinical Management of Digestive Diseases Complejo Hospitalario Universitario de Granada Instituto de Investigacion Biosanitaria de Granada University Hospital Politecnico La Fe Unit for Clinical Management of Digestive Diseases University Hospital Virgen Del Rocio Hospital Toledo University Clinic Hospital of Valencia University General Hospital of Valencia Unit for Clinical Management of Digestive Diseases University Hospital Nuestra Senora de Valme Department of Gastroenterology and Hepatology Agencia Sanitaria Costa del Sol University Hospital Cruces Gastroenterology Unit University Hospital Fundacion Alcorcon University Hospital Virgen Macarena University Hospital Virgen de la Arrixaca Hospital of Leon University General Hospital Reina Sofia Department Gastroenterology and Hepatology University Hospital Central de Asturias University Hospital Reina Sofia University Hospital De Gran Canaria Dr. Negrin Hospital San Pedro de Alcantara

AIM:To evaluates the effectiveness and safety of the first generation,NS3/4A protease inhibitors(PIs) in clinical practice against chronic C virus,especially in patients with advanced fibrosis. METHODS:Prospective study and non-experimental analysis of a multicentre cohort of 38 Spanish hospitals that includes patients with chronic hepatitis C genotype 1,treatment-na?ve(TN) or treatment-experienced(TE),who underwent triple therapy with the first generation NS3/4A protease inhibitors,boceprevir(BOC) and telaprevir(TVR),in combination with pegylated interferon and ribavirin. The patients were treatment in routine practice settings. Data on the study population and on adverse clinical and virologic effects were compiled during the treatment period and during follow ***:One thousand and fifty seven patients were included,405(38%) were treated with BOC and 652(62%) with TVR. Of this total,30%(n = 319) were TN and the remaining were TE:28%(n = 298) relapsers,12%(n = 123) partial responders(PR),25%(n = 260) null-responders(NR) and for 5%(n = 57) with prior response unknown. The rate of sustained virologic response(SVR) by intention-to-treatment(ITT) was greater in those treated with TVR(65%) than in those treated with BOC(52%)(P < 0.0001),whereas by modified intention-to-treatment(m ITT) no were found significant differences. By degree of fibrosis,56% of patients were F4 and the highest SVR rates were recorded in the non-F4 patients,both TN and TE. In the analysis by groups,the TN patients treated with TVR by ITT showed a higher SVR(P = 0.005). However,by m ITT there were no significant differences between BOC and TVR. In the multivariate analysis by m ITT,the significant SVR factors were relapsers,IL28 B CC and non-F4; the type of treatment(BOC or TVR) was not significant. The lowest SVR values were presented by the F4-NR patients,treated with BOC(46%) or with TVR(45%). 28% of the patients interrupted the treatment,mainly by non-viral response(51%):this outcome was

关键词： Hepatitis C Boceprevir Telaprevir First-generation protease inhibitors Advanced fibrosis

CXCR5^(+)PD-1^(++)CD4^(+)T cells colonize infant intestines early in life and promote B cell maturation

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Cellular & Molecular Immunology 2023年第2期20卷 201-213页

作者： Ana Jordan-Paiz Glòria Martrus Fenja L.Steinert Max Kaufmann Adrian F.Sagebiel Renée R.C.E.Schreurs Anne Rechtien martin E.Baumdick Johannes M.Jung Kimberly J.Möller Lucy Wegner Cordula Grüttner Laura Richert Roland Thünauer Jennifer Schroeder-Schwarz Johannes Bvan Goudoever Teunis B.H.Geijtenbeek Marcus Altfeld Steven T.Pals Daniel perez Paul L.Klarenbeek Christian Tomuschat Guido Sauter Ingo Königs Udo Schumacher manuel A.Friese Nathaniel Melling Konrad Reinshagen Madeleine J.Bunders Department of Virus Immunology Leibniz Institute of VirologyHamburg20251Germany University Medical Center Hamburg-Eppendorf Hamburg20246Germany Institute of Neuroimmunology and Multiple Sclerosis Center for Molecular Neurobiology HamburgUniversity Medical Center Hamburg-EppendorfHamburg20251Germany Department of General Visceral and Thoracic SurgeryUniversity Medical Center Hamburg-EppendorfHamburg20246Germany Department of Experimental Immunology Amsterdam Infection&Immunity InstituteAmsterdam University Medical CenterUniversity of AmsterdamAmsterdam1105 AZThe Netherlands Department of Pediatrics Emma Children’s HospitalAmsterdam University Medical CenterUniversity of Amsterdam and Vrije Universiteit AmsterdamAmsterdam1105 AZThe Netherlands I.Department of Medicine University Medical Center Hamburg-EppendorfHamburg20246Germany Partner Site Hamburg-Lübeck-Borstel-Riems German Center for Infection Research(DZIF)Hamburg20246Germany University of Bordeaux Institut National de la Santéet de la Recherche MédicaleBordeaux Population Health Research Center UMR1219 and INRIA SISTM TeamBordeaux33000France Institute of Anatomy and Experimental Morphology University Medical Center Hamburg-EppendorfHamburg20246Germany Department of Pathology Amsterdam University Medical CenterUniversity of AmsterdamAmsterdam1105 AZThe Netherlands Department of Rheumatology and Clinical Immunology and Department of Experimental Immunology Amsterdam Infection&Immunity InstituteAmsterdam University Medical CenterUniversity of AmsterdamAmsterdam1007 MBThe Netherlands Amsterdam Rheumatology&Immunology Center Amsterdam University Medical CenterUniversity of AmsterdamAmsterdam1105 AZThe Netherlands Department of Pediatric Surgery University Medical Center Hamburg-EppendorfHamburg20246Germany Institute of Pathology University Medical Center Hamburg-EppendorfHamburg20246Germany Department of Pediatric Surgery Altona Children’s HospitalHamburg22763Germany III.Department of Medicine University M

Gastrointestinal infections are a major cause for serious clinical complications in *** induction of antibody responses by B cells is critical for protective immunity against infections and requires CXCR5+PD-1++CD4+T cells(TFH cells).We investigated the ontogeny of CXCR5+PD-1++CD4+T cells in human *** CXCR5+PD-1++CD4+T cells were absent in fetal intestines,CXCR5+PD-1++CD4+T cells increased after birth and were abundant in infant intestines,resulting in significant higher numbers compared to *** findings were supported by scRNAseq analyses,showing increased frequencies of CD4+T cells with a TFH gene signature in infant intestines compared to ***-cultures of autologous infant intestinal CXCR5+PD-1+/−CD4+T cells with B cells further demonstrated that infant intestinal TFH cells were able to effectively promote class switching and antibody production by B *** together,we demonstrate that functional TFH cells are numerous in infant intestines,making them a promising target for oral pediatric vaccine strategies.

关键词： TFH cells B cells Antibodies Intestine Pediatrics