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Ali Acar,Emine Yalcin,Kultigin Cavusoglu 한국식품영양과학회 2018 Journal of medicinal food Vol.21 No.11
In this study, the protective role of β-carotene against ammonium sulfate-induced toxicity has been evaluated in Mus musculus var. albino mice, along with biochemical and histopathological parameters. Some biochemical parameters such as aspartate transaminase (AST), alanine transaminase (ALT), blood urea nitrogen (BUN), creatinine and oxidative stress parameters, malondialdehyde (MDA), and glutathione (GSH) levels in kidney and liver tissues were investigated. The mice were randomly divided into six groups. Group I received intraperitoneal injections of 0.9% NaCl; group II received orally administered 250 mg kg−1 bw β-carotene, group III received orally administered 500 mg kg−1 bw β-carotene; group IV received 320 mg kg−1 bw ammonium sulfate; group V was given 250 mg kg−1 bw β-carotene +320 mg kg−1 of bw ammonium sulfate; and group VI received orally administered 500 mg kg−1 of bw β-carotene +320 mg kg−1 of bw ammonium sulfate. As a result, it was determined that the ammonium sulfate treatment causes significant changes in the biochemical and oxidative stress parameters and also in histological examinations. In group IV, significant increases in ALT, AST, BUN, MDA, and creatinine levels, and a significant decrease in GSH levels were observed compared with control group. In histopathological examinations, different pathological findings such as proteinaceous deposits, thickening of basement membrane, hyaline cast in kidney tissue and stellate cell, karyomegaly, and binucleated cells in liver tissue were observed. β-carotene treatment in group V and VI ameliorated the elevated levels of liver enzymes and improved oxidative stress and histopathological findings, and so, it could be concluded that β-carotene offered remarkable protection against ammonium sulfate-induced toxicity.
Keehoon Kim,Wan Kyun Chung,Cavusoglu, M.C. IEEE 2009 IEEE transactions on robotics Vol.25 No.5
<P>This paper investigates a novel position-sensor-based force reflection framework for multi-degree-of-freedom (DOF) bilateral teleoperation systems in unstructured environments. The conventional position-sensor-based force reflection method, which is known as position error feedback, may generate grossly inaccurate force reflection directions during collisions involving the slave manipulator links. The proposed restriction space projection framework calculates the instantaneous restriction space to provide the accurate force reflection, regardless of kinematic dissimilarity (KDS) conditions of bilateral teleoperation systems. Simulation results confirmed the validity of the proposed framework in a KDS bilateral teleoperation system under various constraint conditions.</P>