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71.
    
Global asymptotic stabilization of underactuated surface vessels is generally achieved only by designing complicated controllers. This paper proposes a very simple control law that globally asymptotically stabilizes the position of underactuated surface vessel to a desired constant location and its velocities to zero. The proposed controller is independent of velocity signals and is robust to model parameters. It neither includes an observer nor an adaptive/sliding‐mode law. Controller development and stability analysis rely on a novel Lyapunov function and LaSalle's theorem. Furthermore, by extending the proposed control strategy, a saturated control law is also obtained ensuring the semiglobal asymptotic stability of position error system. Effectiveness of the proposed control schemes is demonstrated by simulation examples. Copyright © 2017 John Wiley & Sons, Ltd.  相似文献   
72.
The proliferation of human bone marrow stromal fibroblasts depends on the growth factors. Xenogenic bone marrow cells, previously radiated in a dose of 3000 Gy, are shown to be a source of such factors. The human bone marrow cells contain both stimulators and inhibitors of the fibroblast proliferation. The inhibitory activity of the bone marrow cells increases with their concentration in explants. The optimal culture conditions are developed. The efficiency values of the fibroblast cloning in children and adults are presented and compared.  相似文献   
73.
It has been determined that prostaglandins E2 and F2 alpha being exogenously inoculated during the premetastatic period to mice with metastatic Lewis lung carcinoma in equal degree activate neurocytes of supraoptic and paraventricular hypothalamus nuclei, playing the important role in secretion of peptidergic hypophysial adrenal gland complex, but they exert unequal influence on pituitary body, adrenal cortex and thyroid apparatus. F2 alpha stimulates the pituitary body corticotrophic function, secretory function of spongiocytes and thyrocytes, identifies the thyroxin and triiodothyronine utilization, E2, on the contrary, does not influence these indices or reduces them. Obviously, the mentioned above differences between E2 and F2 alpha may be explained by their different influences on antimetastatic resistance.  相似文献   
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Aspiration biopsy of the mucosa from the beginning of the jejunum was conducted in 43 patients with duodenal ulcer (during exacerbation) and in 15 normal subjects (control group). The biopsy sample was used to study the jejunum activity in providing the initial stages of triglyceride hydrolysis in the area of membrane and intestinal digestion. Monoglyceride lipase activity of biopsy sample homogenate was studied that provided the final stages of triglyceride hydrolysis. As a result of histological investigations of biopsy samples from 34 patients, chronic jejunitis (without atrophy) was diagnosed in 32 of them. Increased lipolytic activity providing the initial stages of triglyceride hydrolysis in the area of intestinal and membrane digestion, and decreased production of monoglyceride lipase by the jejunum have been recorded.  相似文献   
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Actual nutrition and health state were investigated in 406 males of pre-pension and pension age (40-70 years) engaged in physical work (III category of difficulty) at an engineering plant. The chemical composition of their food was evaluated with respect to 74 chemical elements. The state of the workers' health was evaluated by the data obtained from the registers kept at the Plant medical unit. A relationship has been established between the character of the actual nutrition and the presence of an age-dependent disease, as well as the role of certain nutrients in the development of this or that disease in different age periods. A conclusion has been made on the necessity of the development of differential physiological requirements in the nutrients and energy for elder subjects engaged in the social industry, and inclusion of the rational nutrition into the complex of measures for prevention of age-dependent diseases.  相似文献   
79.
The phase G1-tumour cells of 76 lung clones obtained from rat transplantable rhabdomyosarcoma had near triploid mean DNA content (the diploid index (DI) = 1.46-2.05) and the phase G1/o-stromal cells was characterized by the diploid DNA content. The percent of tumour cells in lung clones determined by flow cytometry varied from 19.7 to 70.9. A correlation is found between the following items: DI; coefficients of variability of DNA content in tumour and stromal cells; the share of the tumour cells in clones and the coefficient of variability of the DNA content in stromal cells; percentage of the tumour cells in the So+ (G2 + M) phase and percentage of the stromal cells etc. Positive correlation is revealed between the coefficient of variability of the DNA content in tumour cells and coefficients of variability of the DNA content in stromal cells (r = 0.83), the negative one (r = 0.38)--between the coefficient of variability of the DNA content of stromal cells of clones and percentage of tumour cells which produce artificial lung metastasis.  相似文献   
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