Angelica archangelica and Ginkgo biloba Extracts Recover Functional Blood Hemoglobin Derivatives in Rabbits Exposed to High Altitude

Background: Shortage of oxygen is a common condition for residents of high-altitude (HA) areas. In mammals, hemoglobin (Hb) has four derivatives: oxyhemoglobin (Hb-O2)‎, carboxyhemoglobin (Hb-CO), sulfhemoglobin (Hb-S), and methemoglobin (Met-Hb). In HA areas, aberrant physiological performance of blood hemoglobin is well-established. Objective: The study aimed to investigate the influence of 30 days of HA residence on rabbits' total Hb, Hb derivatives, Hb autooxidation rate, and antioxidant enzymes in comparison to low-altitude control rabbits. Further, the study aimed to investigate the effect of antioxidant-rich Angelica archangelica and/or Ginkgo biloba extracts on the same parameters in HA-resident rabbits. Methods: Rabbits subjected to 30 days of HA residence were compared to low-altitude control rabbits. HA-residence rabbits were then orally administered 0.11 g/kg b.wt. of Angelica archangelica and/or Ginkgo biloba extract for 14 days. Hb derivatives and Hb autooxidation rate were measured spectrophotometrically. Antioxidant enzymes were estimated using specialized kits. Results: Compared to low-altitude rabbits, 30-day HA-residence rabbits showed a noticeable increase (p<0.05) in Hb-O2‎ and Hb-CO concentration. In addition, Met-Hb concentration, autooxidation rate of Hb molecules, and activities of superoxide dismutase (SOD) and glutathione peroxidase (GPx) exhibited a remarkable increase in HA-residence rabbits (p<0.01), reflective of rapid ROS generation. In HA-residence rabbits, both individual and combined treatment with antioxidant-rich extracts for 14 days resulted in recovery to near-normal functional levels of Hb-O2‎ and Met-Hb, Hb autooxidation rate, and activities of SOD and GPx, while only combined treatment led to Hb-O2 recovery. Conclusion: The findings suggest that functional Hb levels may be recovered by oral administration of A. archangelica, G. biloba, or combined treatments. In conclusion, oxidative stress due to living in HA areas may be avoided by supplementation with natural antioxidants.

Adaptive altitude flight control of quadcopter under ground effect and time-varying load: theory and experiments

In recent years, the boom of the quadcopter industry resulted in a broad range of real-world applications which highlighted the urgent need to improve quadcopter control quality. Typically, external disturbances, such as wind, parameter uncertainties caused by payload variations, or the ground effect, can severely degrade the quadcopter’s altitude control performance. Meanwhile, widely used controllers like the proportional-integral-derivative control cannot guarantee control performance when the system is critically affected by factors that exhibit a high degree of variability with time. In this paper, an adaptive control algorithm is proposed to improve quadcopter altitude tracking performance in the presence of both the ground effect and a time-varying payload. First, we derive an adaptive altitude control algorithm using the sliding mode control technique to account for these uncertainties in the quadcopter dynamics model. Second, we apply Lyapunov theory to analyze the stability of the closed-loop system. Finally, we conduct several numerical simulations and experiments to validate the effectiveness of the proposed method.

A robust control design approach for altitude control and trajectory tracking of a quadrotor

Introduction. Unmanned aerial vehicles as quadcopters, twin rotors, fixed-wing crafts, and helicopters are being used in many applications these days. Control approaches applied on the quadrotor after decoupling the model or separate altitude control and trajectory tracking have been reported in the literature. A robust linear H∞ controller has been designed for both altitude control and circular trajectory tracking at the desired altitude. Problem. The ability of the quadrotor system to hover at a certain height and track any desired trajectory makes their use in many industrial applications in both military and civil applications. Once a controller has been designed, it may not be able to maintain the desired performance in practical scenarios, i.e. in presence of wind gusts. Originality. This work presents the control strategy to ensure both altitude control and trajectory tracking using a single controller. Purpose. However, there is a need for a single controller that ensures both altitude control and trajectory tracking. Novelty. This paper presents a robust H∞ control for altitude control and trajectory tracking for a six degree of freedom of unmanned aerial vehicles quadrotor. Methodology. Multi input multi output robust H∞ controller has been proposed for the quadrotor for altitude control and tracking the desired reference. For the controller validation, a simulation environment is developed in which a 3D trajectory is tracked by the proposed control methodology. Results. Simulation results depict that the controller is efficient enough to achieve the desired objective at minimal control efforts. Practical value. To verify that the proposed approach is able to ensure stability, altitude control, and trajectory tracking under practical situations, the performance of the proposed control is tested in presence of wind gusts. The ability of the controller to cater to the disturbances within fractions of seconds and maintaining both transient and steady-state performance proves the effectiveness of the controller.

An innovative optical context to make honeybees crash repeatedly

To investigate altitude control in honeybees, an optical context was designed to make honeybees crash. It has been widely accepted that honeybees rely on the optic flow generated by the ground to control their altitude. However, identifying an optical context capable of uncorrelating forward speed from altitude in honeybees’ flight was the first step towards enhancing the optical context to better understand altitude control in honeybees. This optical context aims to put honeybees in the same flight conditions as an open sky flight above mirror-smooth water. An optical manipulation, based on a pair of opposed horizontal mirrors, was designed to remove any visual information coming from the floor and ceiling. Such an optical manipulation reproduced quantitatively the seminal experiment of Heran & Lindauer (1963), and revealed that honeybees control their altitude by detecting the optic flow with a visual field that extends to approximately 165°.