Asymptotic stability in a flexible-joint robot with model uncertainty and multiple time delays in feedback

This study considers the stability problem of a flexible-joint robot in case time delays are involved in the feedback loop. We assume in our analysis that the controller uses only position measurements. The single and multiple time-delay cases, are considered. By using some useful structural properties of the robot model, sufficient conditions for asymptotic (exponential) stability of the system under consideration have been established. An estimate to the system rate of convergence is given and a procedure for evaluating the region of attraction, is given.     

Therapy in Parkinson’s disease: Some recent developments

Even though research is going on throughout the world, it is clear that at the present time there is really no cure for Parkinson’s disease. Treatment with drugs, with physiotherapy can slow down the progress of this disease. Treatment through brain grafting or reparative therapy using different nerve growth factors may be the only alternative for this disease. Researchers are still hoping that the newly discovered substances could one day help doctors treat this invincible disease and possibly cure it also.     

Levels of plasma soluble complement receptor 1 (sCR1) in normal Indian adult population

A decrease in the membrane anchored erythrocyte complement receptor 1 (CR1) is reported as an acquired phenomenon in a number of inflammatory and autoimmune diseases with concomitant rise in soluble CR1 (sCR1) levels in plasma. There is a need to establish the normal range of sCR1 in Indian adults to assess the function and disease association of this protein. The plasma sCR1 levels of 50 healthy individuals have been estimated by an indigenously developed sandwich ELISA. sCR1 levels from 26 patients suffering from nephropathies had also been assayed which was much higher than the normal controls. This observation suggests sCR1 as a potential market for the assessment of disease activity in nephropathies.     

The (amorphous) anatomy of an invention: the case of magnetic resonance imaging (MRI)

The priority dispute between Raymond Damadian and Paul Lauterbur over the 'invention' of magnetic resonance imaging (MRI) has attracted the attention of social and natural scientists for more than 30 years. In this paper, I have used this priority dispute to analyze the complex socio-epistemic processes through which a claim for an invention is made and strengthened. I argue that a tension exists because techno-scientific practices are embedded within a particular disciplinary regime of authorship: even though techno-scientific practices occur through distributed cognition and are contingent upon particular socio-epistemic contexts, a claim for an invention requires assigning authorship to a particular person, company, or institution in order to clearly define the origin and the novelty of that particular techno-scientific event. Nevertheless, the outcomes of socio-epistemic practices for making and strengthening priority claims are shifting, open-ended, and contingent upon particular socio-epistemic contexts.     

Great experiments in physics

In 1965, Arno Penzias and Robert Wilson of Bell Telephone Laboratories in USA discovered weak microwave radiation coming from all directions which was soon realised to be a relic from a hot dense early phase of our Universe—the ‘big bang’. This article focuses on the key experimental techniques and innovations which made this momentous—and accidental!—discovery possible. Amit Roy is at the Nuclear Science Centre, New Delhi, building a superconducting linac booster for the pelletron accelerator. He spent over two decades at the Tata Institute of Fundamental Research, Mumbai investigating nuclei using accelerators and probing symmetries in physics. His hobbies are books and music.     

Utility of serum LDH isoforms in the assessment of mycobacterium tuberculosis induced pathology in TB patients of Sahariya tribe

The present study was carried out in the Sahariya tribe of Central India, which reportedly have high prevalence of pulmonary tuberculosis. Total serum LDH and its tissue specific isoforms were estimated in TB patients and matched healthy controls to test the utility of LDH as diagnostic marker for tuberculosis. About 210 sputum positive cases and 328 age and sex matched sputum negative controls were recruited. The spectrophotometeric and densitometric analysis of each LDH isoform was carried out in both cases and controls. The mean values of serum LDH were estimated and compared for each class by t-test. The statistical comparisons were made between sputum negative controls and sputum positive cases by Mann-Whitney’s U test. The spectrophotometric estimation of serum LDH revealed significant (P=0.0016) increase in its level in cases (290 IU/L) as compared to controls (248 IU/L). The densitometric analysis of individual LDH isoforms in cases and controls demonstrated significant elevation in LDH1 (P>0.05), LDH2 (P>0.05) and LDH3 (P<0.005) in sputum positive cases in comparison to sputum negative controls. Our study revealed a positive correlation between serum LDH level and the presence of mycobacteria and their load, suggesting utility of LDH as an important diagnostic marker of tuberculosis induced stress, at least in tribal areas lacking access to modern clinical tests.     

Great experiments in physics

Tunneling between two superconductors was first predicted theoretically and then observed experimentally. The discovery ofthis effect has led to measurements of extremely tiny magnetic fields, new standard measurements of volt amongst other things. The experiments in which Josephson effect was first observed is described.     

Quantitative Assessment of Expression of Lactate Dehydrogenase and its Isoforms 3 and 4 may Serve as Useful Indicators of Progression of Gallbladder Cancer: A Pilot Study

We have studied the expression of lactate dehydrogenase and its isoforms in gall bladder cancer, cholelithiasis and chronic cholecystitis. Quantitative and qualitative assays of lactate dehydrogenase and its various isoforms were carried out in the blood sera of patients and healthy controls along with parallel estimation of various liver function test enzymes. Statistical analysis was done using the software Graph Pad Prism. Significantly high expression of lactate dehydrogenase along with alkaline phosphatase and total bilirubin (P ≤ 0.05) was observed in all the three clinical conditions as compared to controls. LDH showed an increasing trend from stage I to stage IV of GBC indicating a significant positive association with the disease progression. The levels of LDH 3 and 4 isoforms appeared significantly more elevated in GBC than cholelithiasis or chronic cholecystitis. We suggest that a careful estimation of total LDH and its isoforms 3 and 4 alone or along with alkaline phosphatase and total bilirubin during different clinical stages, like chronic cholecystitis, cholelithiasis and GBC, may prove to be a potentially useful biomarker in the prognostic management of gall bladder diseases, specifically GBC.     

Association of Resistin with Insulin Resistance and Factors of Metabolic Syndrome in North Indians

Metabolic syndrome (MetS) is a cluster of interrelated common clinical disorders. The role of resistin in insulin sensitivity and MetS is controversial till date. So, the aim of the present study was to investigate the relationship of plasma resistin levels with markers of the MetS in Indian subjects. In a case control study, total 528 subjects were selected for the study. 265 (194 male and 71 female) were cases (with MetS) and 263 (164 male and 99 female) were controls (without MetS). Required anthropometric measurements and calculations were carried out accordingly. All the Biochemical estimations were carried out according to standard protocol. Resistin level was measured by the standard protocol (By ELISA i.e. enzyme linked immunosorbent assay) as illustrated in the kit. Insulin level was also measured by the standard protocol as illustrated in the kit and insulin resistance was calculated by the standard procedures. Plasma resistin levels were significantly higher in cases compared with controls (male = 13.05 ± 4.31 vs. 7.04 ± 2.09 ng/ml; p ≤ 0.001 and female = 13.53 ± 4.14 vs. 7.42 ± 2.30 ng/ml; p ≤ 0.001). Plasma resistin levels were well correlated with waist circumference, glucose, triglycerides, waist/hip ratio, systolic and diastolic blood pressure, high density lipoprotein, total cholesterol, serum low density lipoprotein, serum very low density lipoprotein, insulin and insulin resistance. Plasma resistin levels were elevated in presence of the MetS and were associated with increased metabolic risk factors.