This paper presents the control of a quadrotor with a cable-suspended payload. The proposed control structure is a hierarchical scheme consisting of an energy-based control (EBC) to stabilize the vehicle translational dynamics and to attenuate the payload oscillation, together with a nonlinear state feedback controller based on an linear matrix inequality (LMI) to control the quadrotor rotational dynamics. The payload swing control is based on an energy approach and the passivity properties of the system’s translational dynamics. The main advantage of the proposed EBC strategy is that it does not require excessive computations and complex partial differential equations (PDEs) for implementing the control algorithm. We present a new methodology for using an LMI to synthesize the controller gains for Lipschitz nonlinear systems with larger Lipschitz constants than other classical techniques based on LMIs. This theoretical approach is applied to the quadrotor rotational dynamics. Stability proofs based on the Lyapunov theory for the controller design are presented. The designed control scheme allows for the stabilization of the system in all its states for the three-dimensional case. Numerical simulations demonstrating the effectiveness of the controller are provided. Full article

In this paper, we consider the recently introduced $CA{T}_p\left(0\right)$ , where the comparison triangles belong to ${\ell }_p$ , for $p\ge 2$ . We first establish an inequality in these nonlinear metric spaces. Then, we use it to prove the existence of fixed points of asymptotically nonexpansive mappings defined in $CA{T}_p\left(0\right)$ . Moreover, we discuss the behavior of the successive iteration introduced by Schu for these mappings in Banach spaces. In particular, we prove that the successive iteration generates an approximate fixed point sequence. Full article

Recently, the partially degenerate Bell polynomials and numbers, which are a degenerate version of Bell polynomials and numbers, were introduced. In this paper, we consider the new type degenerate Bell polynomials and numbers, and obtain several expressions and identities on those polynomials and numbers. In more detail, we obtain an expression involving the Stirling numbers of the second kind and the generalized falling factorial sequences, Dobinski type formulas, an expression connected with the Stirling numbers of the first and second kinds, and an expression involving the Stirling polynomials of the second kind. Full article

In mobile ad-hoc networks (MANETs), nodes are mobility naturally which renders a great challenge in topology controls. Connected dominating set (CDS) has been considered as an efficient solution to solve such a problem by constructing a virtual backbone network to achieve the scalability and efficiency of wireless networks. In this paper, we propose an efficient connected dominating set clustering based routing protocol with dynamic channel selection (CRD) in multi-channel cognitive radio MANETs to obtain high packet delivery ratio (PDR), low control overheads, low delay and low energy consumption when node is moving in high speed. Moreover, CRD protocol can apply for Vehicular Ad Hoc Network, IoT and 5G. The proposed CRD protocol includes clustering and routing phases under multi-channel cognitive radio approach. In the clustering phase, we propose CDS selection, CDS size reduction and CDS based clustering algorithms to formulate clusters and provide a set of intermediate nodes which is latter used as a route searching space for the routing phase. In the routing phase, a sending channel based focus region selection (CFS) algorithm is adopted dynamically to establish an efficient route from a set of intermediate nodes that avoids the affected region of a primary user. The CRD routing protocol is then implemented in environmental conditions close to reality (OMNET++ platform) to demonstrate its superiority over the conventional AODV protocol in terms of PDR, control overhead, delay and energy consumption. Full article

(1) Background: Metallo-β-lactamases (MBLs) have raised concerns due to their ability to inactivate carbapenems and newer generation cephalosporins and the absence of clinically available MBL inhibitors. Their genes are often transferred horizontally, and the number of MBL variants has grown exponentially, with many newer variants showing enhanced enzyme activity or stability. In this study, we investigated a closely related group of variants from the IMP family that all contain the combination of mutations S115T and S119G relative to IMP-1. (2) Methods: The effects of each individual mutation and their combination in the IMP-1 sequence background in comparison to IMP-1 were investigated. Their ability to confer resistance and their in-cell expression levels were determined. All enzymes were purified, and their secondary structure and thermal stability were determined with circular dichroism. Their Zn(II) content and kinetic constants with a panel of β-lactam antibiotics were determined. (3) Results: All four enzymes were viable and conferred resistance to all antibiotics tested except aztreonam. However, the single-mutant enzymes were slightly deficient, IMP-1S115T due to decreased enzyme activity and IMP-1-S119G due to decreased thermal stability and expression, while the double mutant did not show these defects. (4) Conclusions: These observations suggest that S119G was acquired due to its increased enzyme activity and S115T to suppress the thermal stability and expression defect introduced by S119G. Full article

The corrosion of the reflective layer is one of the main degradation mechanisms of solar reflectors. However, the appropriate assessment of the corroded reflector samples is not accomplished by the current analysis techniques. On the one hand, the reflectance measurement protocol of non-damaged solar reflectors for concentrating solar thermal technologies is widely addressed in the SolarPACES reflectance guideline. However, this methodology is not adequate for reflectors whose surface is partially corroded by many kind of corrosion agents. In this work, a new measurement technique to properly assess corroded samples was developed. To check the usefulness of the method, several damaged samples (subjected to two accelerated aging tests) were evaluated with the conventional technique and with the improved one. The results showed that a significant discrepancy is observed between the two methods for heavily corroded samples, with average reflectance differences of 0.053 ppt. The visualization of the reflector images illustrated that the improved method is more reliable. On the other hand, both the corrosion products formed and the corrosion rates were identified after each corrosive test. The chemical atmosphere significantly affects the products formed, whereas the corrosion rates are influenced by the test conditions and the reflector quality. Full article

NiCrAlY and NiCrAlY-Mo coatings were fabricated by atmospheric plasma spraying (APS). The corrosion-wear performance of the coatings was investigated in artificial seawater and the synergistic mechanism between wear and corrosion were evaluated in detail. Results showed that the diffraction peaks of Ni₃Al shifted to the right and the microhardness of the coating was improved from 329.8 HV to 342.5 HV with adding the Mo element. Meanwhile, the NiCrAlY-Mo coating had a lower friction coefficient, with a wear rate of 0.26 and 3.69 × 10⁻⁶ mm³/Nm, compared to the NiCrAlY coating with a wear rate of 0.37 and 4.67 × 10⁻⁶ mm³/Nm. The NiCrAlY coating had severe corrosion and the corrosion mainly occurred in grain boundary. Adding the Mo element, the Mo element was distributed in the grain boundary and the coating had a lower corrosion rate and visibly slighter corrosion. The NiCrAlY-Mo coating had excellent corrosion-wear properties in artificial seawater. Full article

Metal-insulator-semiconductor-insulator-metal (MISIM) heterostructures, with rectifying current-voltage characteristics and photosensitivity in the visible and near-infrared spectra, are fabricated and studied. It is shown that the photocurrent can be enhanced by adding a multi-walled carbon nanotube film in the contact region to achieve a responsivity higher than $100\mathrm{mA}{\mathrm{W}}^{-1}$ under incandescent light of $0.1{\mathrm{mW}\mathrm{cm}}^{-2}$ . The optoelectrical characteristics of the MISIM heterostructures are investigated at lower and higher biases and are explained by a band model based on two asymmetric back-to-back Schottky barriers. The forward current of the heterojunctions is due to majority-carrier injection over the lower barrier, while the reverse current exhibits two different conduction regimes corresponding to the diffusion of thermal/photo generated carriers and majority-carrier tunneling through the higher Schottky barrier. The two conduction regimes in reverse bias generate two plateaus, over which the photocurrent increases linearly with the light intensity that endows the detector with bias-controlled photocurrent. Full article

In the present work, membrane resistance was estimated and analyzed, and the results showed that total membrane resistance increased sharply when membrane pores were wetted. For further study, a two-dimensional (2D) mathematical model was developed to predict the chemical absorption of CO₂ in aqueous methyldiethanolamine (MDEA)-based carbon nanotubes (CNTs) in a hollow fiber membrane (HFM) contactor. The membrane was divided into wet and dry regions, and equations were developed and solved using finite element method in COSMOL. The results revealed that the existence of solid nanoparticles enhanced CO₂ removal rate. The variables with more significant influence were liquid flow rate and concentration of nanoparticles. Furthermore, there was a good match between experimental and modeling results, with the modeling estimates almost coinciding with experimental data. Solvent enhanced by solid nanoparticles significantly improved the separation performance of the membrane contactor. There was around 20% increase in CO₂ removal when 0.5 wt% CNT was added to 5 wt% aqueous MDEA. Full article

This study aims to explore how family firms pursue strategies that promote strategic flexibility and knowledge-management (KM) practices to respond to strategic-renewal goals. Specifically, based on a knowledge-based view of the firm, the following research question is proposed: Are there heterogeneous groups of family firms in terms of knowledge management, strategic flexibility and strategic renewal goals? To answer this question, an exploratory study using a two-step cluster analysis is developed. It reveals natural groupings from a sample of 288 small and medium-sized Spanish family enterprises (SMEs). The results obtained identified three distinctive clusters of family firms, namely proactive family firms, transitional or adaptive family firms, and rigid family firms. After two-step cluster analysis, we also conducted analysis of variance (ANOVA) to confirm that significant differences amongst the three clusters exist. After heterogeneity been confirmed, a further profile of the cluster solution was provided by using CEO and board characteristics, as well as the generational stage of the company. The findings offer some counterbalance for those studies that tend to study family businesses as a homogeneous entity, thus permitting researchers to access more information, providing rich explanations for renewal managerial decision-making purposes in family firm contexts. Full article

Natural and processed foods are fragile and can become unpalatable and/or rotten. The processed food industry uses preservatives to enable distribution, even to different continents, and to extend the useful life of their products. Preservatives impede oxidation, a mandatory step in rotting, either by aerobic or anaerobic mechanisms. From a functional point of view, these compounds are antioxidants, and, therefore, a kind of contradiction exists when a preservative is considered “bad” for human health while also thinking that antioxidants provide benefits. The basis of antioxidant action, the doses required for preservation, and the overall antioxidant action are revisited in this work. Finally, the bad and the good of food additives/preservatives are presented, taking into account the main mediator of antioxidant beneficial actions, namely the innate mechanisms of detoxification. Foods that strengthen such innate mechanisms are also presented. Full article

Endemic freshwater fish from semiarid environments are among the most threated species in the world due to water overexploitation and habitat fragmentation problems. Stepped or pool-type fishways are used worldwide to reestablish longitudinal connectivity and mitigate fish migration problems. Many of them are being installed or planned in rivers of semiarid environments, however, very few studies about fish passage performance through pool-type fishways has been carried out to date on these regions. The present work focuses on the passage performance of two potamodromous cyprinids endemic of these regions, with different ecological and swimming behavior: southern Iberian barbel (Luciobarbus sclateri) and Iberian straight-mouth nase (Pseudochondrostoma polylepis). These are assessed in two of the most common types of stepped fishways: vertical slot and submerged notch with bottom orifice fishways. Experiments were carried out during the spawning season in the Segura River (southeastern Spain), using a passive integrated transponder (PIT) tag and antenna system. Ascent success was greater than 80%, with a median transit time lower than 17 minutes per meter of height in all trials, and for both species and fishway types. Results show that both types of fishways, if correctly designed and constructed, provide interesting alternatives for the restoration of fish migration pathways in these regions. Full article

Intra-striatal transplantation of fetal ventral mesencephalic (VM) tissue has a therapeutic effect on patients with Parkinson’s disease (PD). Sertoli cells (SCs) possess immune-modulatory properties that benefit transplantation. We hypothesized that co-graft of SCs with VM tissue can attenuate rejection. Hemi-parkinsonian rats were generated by injecting 6-hydroxydopamine into the right medial forebrain bundle of Sprague Dawley (SD) rats. The rats were then intrastriatally transplanted with VM tissue from rats or pigs (rVM or pVM), with/without a co-graft of SCs (rVM+SCs or pVM+SCs). Recovery of dopaminergic function and survival of the grafts were evaluated using the apomorphine-induced rotation test and small animal-positron emission tomography (PET) coupled with [¹⁸F] DOPA or [¹⁸F] FE-PE2I, respectively. Immunohistochemistry (IHC) examination was used to determine the survival of the grafted dopaminergic neurons in the striatum and to investigate immune-modulatory effects of SCs. The results showed that the rVM+SCs and pVM+SCs groups had significantly improved drug-induced rotational behavior compared with the VM alone groups. PET revealed a significant increase in specific uptake ratios (SURs) of [¹⁸F] DOPA and [¹⁸F] FE-PE2I in the grafted striatum of the rVM+SCs and pVM+SCs groups as compared to that of the rVM and pVM groups. SC and VM tissue co-graft led to better dopaminergic (DA) cell survival. The co-grafted groups exhibited lower populations of T-cells and activated microglia compared to the groups without SCs. Our results suggest that co-graft of SCs benefit both xeno- and allo-transplantation of VM tissue in a PD rat model. Use of SCs enhanced the survival of the grafted dopaminergic neurons and improved functional recovery. The enhancement may in part be attributable to the immune-modulatory properties of SCs. In addition, [¹⁸F]DOPA and [¹⁸F]FE-PE2I coupled with PET may provide a feasible method for in vivo evaluation of the functional integrity of the grafted DA cell in parkinsonian rats. Full article