In this paper, two methods for directly identifying inertial parameters of manipulator are proposed, which solves the problem that inertial parameters are difficult to identify due to coupling. First, a Model Identification Method (MIM) is proposed based on multibody dynamics. MIM realizes the decoupling of inertial parameters by the mathematical description of graph theory, and has extremely high identification accuracy. Since complex modeling and calculation will affect the real-time performance of the algorithm, MIM is suitable for offline identification. Second, a numerical identification method (NIM) is proposed based on neural networks. NIM avoids complex mechanical modeling process and obtains the approximate value of inertial parameters by numerical fitting method. Compared with MIM, the identification results lose some accuracy. However, NIM has excellent real-time performance and is suitable for online identification. Finally, the effectiveness of the method is verified by simulation experiments. MIM and NIM have complementary characteristics and different application scenarios, which can meet the vast majority of identification needs. The obtained results shed light on achieving precise control of manipulators.

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AbstractEmploying nuclear spin hyperpolarization to enhance NMR sensitivity opens new horizons for metabolic studies and chemical reaction monitoring. Among the hyperpolarization techniques, Signal Amplification by Reversible Exchange (SABRE) is prominent for its ability to transfer spin order from parahydrogen to target nuclei, especially 13C and 15N, without the chemical modification of the substrate under study. Despite its power, existing implementations of SABRE require expensive equipment like radiofrequency (RF) hardware and magnetic shielding. This paper demonstrates the SLIC‐SABRE (Spin Lock Induced Crossing SABRE) method at low magnetic fields as a low‐cost and efficient technique for achieving high 15N polarization using a simple setup, consisting only of a small set of magnetic coils driven by a desktop PC sound card. The method yields from 5 up to 17 % polarization across various SABRE‐active molecules, outperforming the conventional SABRE‐SHEATH (SABRE in SHield Enables Alignment Transfer to Heteronuclei) approach and significantly enhancing the accessibility of hyperpolarization techniques.

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• Page : pp.101560-101560
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AbstractLorlatinib is approved in India for patients with previously treated anaplastic lymphoma kinase (ALK)–positive advanced or recurrent non-small-cell lung cancer (NSCLC). Owing to the limited number of Indian patients in phase I/II and III studies, a postapproval study was conducted to report the safety and efficacy of lorlatinib in this patient population. In this phase IV study, patients with unresectable advanced and/or recurrent ALK-positive NSCLC resistant or intolerant to ≥1 prior ALK inhibitor were treated with lorlatinib. The primary endpoint was investigator-assessed incidence of treatment-related adverse events (TRAEs). Secondary endpoints were investigator-assessed objective response rate (ORR), intracranial ORR, duration of response (DOR), and intracranial DOR. Among the 100 patients enrolled, the most frequently reported TRAEs were hypertriglyceridemia (57%), hypercholesterolemia (57%), and weight increase (38%). The confirmed ORR and intracranial ORR by the investigator were 41% (95% confidence interval [CI]: 31.9–50.8%) and 36% (95% CI: 24.5–48.8%), respectively. The median systemic and intracranial DORs were not reached. The safety profile of lorlatinib was consistent with that reported in the phase I/II study. Lorlatinib showed a clinically meaningful improvement in ORR and intracranial ORR in patients with unresectable advanced ALK-positive NSCLC. These results support the use of lorlatinib in India for patients with previously treated ALK-positive advanced NSCLC.ClinicalTrials.gov identifier: NCT04541706.

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BACKGROUND Cardiovascular diseases are the first cause of death in the world. Ischemic heart disease is the main cause of heart failure. New approaches are continuously sought to identify better therapeutic success. Thereby, current research has been drawn to identifying and completing the therapeutic profile of natural sources. Galium species are representatives exhibiting diuretic and antibacterial potential in living organisms and can treat burns, wounds, and skin diseases. Moreover, it was also observed that these plants manifest cardioprotective effects as well as having antihemolytic, antioxidant, antibacterial, anti-inflammatory, immunomodulatory, and antiproliferative potential. In ischemic heart disease, Galium verum (G. verum) extract manifested preservative properties in terms of contractility, systolic and diastolic function maintenance, and reduced damage to the heart after ischemia. In addition, G. verum extract upregulated the activity of antioxidant enzymes alleviating the production of pro-oxidants. AIM To test the ethanolic extract of G. verum on the H9C2(2-1) cell line by evaluating the in vitro biosafety profile and in ovo irritative potential. METHODS Cells were tested in vitro for viability (using the MTT test), cellular morphology, cell number, confluence, nuclear morphology (by immunofluorescence staining of cell nuclei and F-actin assay) and in ovo by the hen’s egg chorioallantoic membrane (CAM) test and CAM anti-irritant methods to study the irritation potential on the CAM. RESULTS The extract demonstrated a dose-dependent stimulatory activity. The viability increased to 170% for the dose of 55 µg/mL and decreased to 135% at 200 µg/mL. The results of cell number, confluence, and morphological analysis did not present significant changes compared with control untreated cells. The immunofluorescence assay showed insignificant apoptotic potential, and the hen’s egg CAM test revealed that the extract was in the weak to moderately irritating category with an irritation score of 5.3. When applying the sample to the CAM, only slight coagulation was observed (128 s). The anti-irritant test revealed the protective potential of the extract in the vascular plexus. CONCLUSION The ethanolic extract of G. verum manifests a stimulating effect on cardiomyocytes, enhancing cell viability, and maintaining a normal elongated shape, cell number, and confluence, without significant signs of apoptosis and with a weak irritative effect in ovo . In addition, the extract demonstrated a protective effect against hemorrhage, lysis, and coagulation of blood vessels induced by sodium dodecyl sulfate on the CAM.

• Book : 17(2)
• Pub. Date : 2025
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