A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV

Campos, E.,Monroy, J.,Abundis, H.,Chemori, A.,Creuze, V.,Torres, J. The Society of Naval Architects of Korea 2019 International Journal of Naval Architecture and Oc Vol.11 No.1

This paper deals with a nonlinear controller based on saturation functions with variable parameters for set-point regulation and trajectory tracking control of an Autonomous Underwater Vehicle (AUV). In many cases, saturation functions with constant parameters are used to limit the input signals generated by a classical PD (Proportional-Derivative) controller to avoid damaging the actuators; however this abrupt bounded harms the performance of the controller. We, therefore, propose to replace the conventional saturation function, with constant parameters, by a saturation function with variable parameters to limit the signals of a PD controller, which is the base of the nonlinear PD with gravitational/buoyancy compensation and the nonlinear PD + controllers that we propose in this paper. Consequently, the mathematical model is obtained, considering the featuring operation of the underwater vehicle LIRMIA 2, to do the stability analysis of the closed-loop system with the proposed nonlinear controllers using the Lyapunov arguments. The experimental results show the performance of an AUV (LIRMIA 2) for the depth control problems in the case of set-point regulation and trajectory tracking control.

Momordica charantia Administration Improves Insulin Secretion in Type 2 Diabetes Mellitus

Marisol Cortez-Navarrete,Esperanza Martınez-Abundis,Karina G. Perez-Rubio,Manuel Gonzalez-Ortiz,Miriam Mendez-del Villar 한국식품영양과학회 2018 Journal of medicinal food Vol.21 No.7

An improvement in parameters of glycemic control has been observed with Momordica charantia in patients with type 2 diabetes mellitus (T2DM). It is unknown whether this improvement is through a modification of insulin secretion, insulin sensitivity, or both. We hypothesized that M. charantia administration can improve insulin secretion and/or insulin sensitivity in patients with T2DM, without pharmacological treatment. The objective of the study was to evaluate the effect of M. charantia administration on insulin secretion and sensitivity. A randomized, double-blinded, placebo-controlled, clinical trial was carried out in 24 patients who received M. charantia (2000 mg/day) or placebo for 3 months. A 2-h oral glucose tolerance test (OGTT) was done before and after the intervention to calculate areas under the curve (AUC) of glucose and insulin, total insulin secretion (insulinogenic index), first phase of insulin secretion (Stumvoll index), and insulin sensitivity (Matsuda index). In the M. charantia group, there were significant decreases in weight, body mass index (BMI), fat percentage, waist circumference (WC), glycated hemoglobin A1c (A1C), 2-h glucose in OGTT, and AUC of glucose. A significant increase in insulin AUC (56,562 ± 36,078 vs. 65,256 ± 42,720 pmol/L/min, P = .043), in total insulin secretion (0.29 ± 0.18 vs. 0.41 ± 0.29, P = .028), and during the first phase of insulin secretion (557.8 ± 645.6 vs. 1135.7 ± 725.0, P = .043) was observed after M. charantia administration. Insulin sensitivity was not modified with any intervention. In conclusion, M. charantia administration reduced A1C, 2-h glucose, glucose AUC, weight, BMI, fat percentage, and WC, with an increment of insulin AUC, first phase and total insulin secretion.

Effect of Berberine Plus Bezafibrate Administration on the Lipid Profile of Patients with Mixed Dyslipidemia: A Pilot Clinical Trial

Juan M. León-Martínez,Esperanza Martínez-Abundis,Manuel González-Ortiz,Karina G. Pérez-Rubio 한국식품영양과학회 2021 Journal of medicinal food Vol.24 No.2

To evaluate the effect of berberine (BBR) plus bezafibrate administration on the lipid profile of patients with mixed dyslipidemia. A double-blind randomized pilot clinical trial with parallel groups was carried out in 36 patients, aged 30–60 years with mixed dyslipidemia [triglycerides (TG) ≥1.7 mM and total cholesterol (TC) ≥5.2 mM]. Patients were assigned to 3 groups of 12 patients each, receiving oral administration during 90 days of BBR 500 mg t.i.d., bezafibrate 400 mg b.i.d., or BBR 500 mg t.i.d. plus bezafibrate 400 mg b.i.d, respectively. Clinical evaluation, lipid profile, glucose, creatinine, and uric acid levels were measured before and after the pharmacological intervention. Kruskal–Wallis, Wilcoxon, Mann–Whitney U, and χ2 tests were used for statistical analyses; a P ≤ .05 was considered statistically significant. BBR reduced TC levels. Bezafibrate decreased TG, TC, low-density lipoprotein cholesterol (LDL-C), and very low-density lipoprotein (VLDL) concentrations. BBR plus bezafibrate decreased TG (2.6 ± 0.8 vs. 1.3 ± 0.7 mM, P = .007), TC (6.3 ± 0.7 vs. 4.6 ± 1.2 mM, P = .005), LDL-C (3.4 ± 0.6 vs. 2.2 ± 1.3 mM, P = .037), and VLDL (0.5 ± 0.2 vs. 0.2 ± 0.1 mM, P = .007) levels. Bezafibrate and BBR plus bezafibrate significantly decreased TG, TC, LDL-C, and VLDL concentrations, and thus, remitting the diagnosis of mixed dyslipidemia in 90% of the patients.

Effect of Fucoidan Administration on Insulin Secretion and Insulin Resistance in Overweight or Obese Adults

Diana M. Hernández-Corona,Esperanza Martínez-Abundis,Manuel González-Ortiz 한국식품영양과학회 2014 Journal of medicinal food Vol.17 No.7

The aim of this article is to evaluate the effect of fucoidan administration on insulin secretion and insulin sensitivity in overweight or obese adults. A randomized, double-blind, placebo-controlled clinical trial was carried out in 25 obese or overweight volunteers. Thirteen patients received an oral dose of 500 mg of fucoidan once daily before breakfast and 12 patients received placebo for 3 months. Before and after the intervention, fasting glucose and 2-h postload, total cholesterol, high-density lipoprotein cholesterol, triglycerides, and insulin levels were measured. Low-density lipoprotein cholesterol (LDL-C) and homeostasis model analysis formulas (HOMA) for b-cell function and insulin resistance were calculated. The results showed a significant decrease in diastolic blood pressure (71.7 – 12.2 vs. 67.8 – 13.8 mmHg; P < .05) and LDL-C (3.1 – 0.5 vs. 2.7 – 0.6 mmol/l; P < .01) with increase in insulin levels (60.6 – 24.0 vs. 78.6 – 32.4 pmol/l; P < .05), HOMA b-cell (35.0 – 20.8 vs. 50.6 – 18.7; P < .05) and HOMA IR (1.9 – 1.2 vs. 2.6 – 1.8; P < .05) were observed after fucoidan administration. We conclude that fucoidan administration during a 3-month period in overweight or obese adults decreased diastolic blood pressure and LDL-C concentrations, increasing insulin secretion and insulin resistance.

A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV

E. Campos,J. Monroy,H. Abundis,A. Chemori,V. Creuze,J. Torres 대한조선학회 2019 International Journal of Naval Architecture and Oc Vol.11 No.1

This paper deals with a nonlinear controller based on saturation functions with variable parameters for set-point regulation and trajectory tracking control of an Autonomous Underwater Vehicle (AUV). In many cases, saturation functions with constant parameters are used to limit the input signals generated by a classical PD (Proportional-Derivative) controller to avoid damaging the actuators; however this abrupt bounded harms the performance of the controller. We, therefore, propose to replace the conventional saturation function, with constant parameters, by a saturation function with variable parameters to limit the signals of a PD controller, which is the base of the nonlinear PD with gravitational/ buoyancy compensation and the nonlinear PD þ controllers that we propose in this paper. Consequently, the mathematical model is obtained, considering the featuring operation of the underwater vehicle LIRMIA 2, to do the stability analysis of the closed-loop system with the proposed nonlinear controllers using the Lyapunov arguments. The experimental results show the performance of an AUV (LIRMIA 2) for the depth control problems in the case of set-point regulation and trajectory tracking control.

Effect of Ursolic Acid on Metabolic Syndrome, Insulin Sensitivity, and Inflammation

Alejandra M. Ramırez-Rodrıguez,Manuel Gonzalez-Ortiz,Esperanza Martınez-Abundis,Natalhie Acuna Ortega 한국식품영양과학회 2017 Journal of medicinal food Vol.20 No.9

To evaluate the effect of ursolic acid on metabolic syndrome, insulin sensitivity, and inflammation, a randomized, double-blind, placebo-controlled clinical trial was carried out in 24 patients (30–60 years) with a diagnosis of metabolic syndrome without treatment. They were randomly assigned to two groups of 12 patients, each to receive orally 150 mg of ursolic acid or homologated placebo once a day for 12 weeks. Before and after the intervention, the components of metabolic syndrome, insulin sensitivity (Matsuda index), and inflammation profile (interleukin-6 and C-reactive protein) were evaluated. After ursolic acid administration, the remission of metabolic syndrome occurred in 50% of patients (P = .005) with significant differences in body weight (75.7 ± 11.5 vs. 71 ± 11 kg, P = .002), body mass index (BMI) (29.9 + 3.6 vs. 24.9 ± 1.2 kg/m2, P = .049), waist circumference (93 ± 8.9 vs. 83 + 8.6 cm, P = .008), fasting glucose (6.0 ± 0.5 vs. 4.7 ± 0.4 mmol/L, P = .002), and insulin sensitivity (3.1 ± 1.1 vs. 4.2 ± 1.2, P = .003). Ursolic acid administration leads to transient remission of metabolic syndrome, reducing body weight, BMI, waist circumference and fasting glucose, as well as increasing insulin sensitivity.

Effect of Momordica charantia Administration on Anthropometric Measures and Metabolic Profile in Patients with Obesity: A Pilot Clinical Trial

Marisol Cortez-Navarrete,Miriam Mendez-del Villar,Esperanza Martınez-Abundis,Luis D. Lo´pez-Murillo,Miriam de J. Escobedo-Gutie´rrez,Lizet Y. Rosales-Rivera,Karina G. Perez-Rubio 한국식품영양과학회 2022 Journal of medicinal food Vol.25 No.6

The aim of this study was to evaluate the effect of Momordica charantia (MC) administration on anthropometric measures in patients with obesity. A randomized, double-blind, placebo-controlled pilot clinical trial was carried out in 24 patients with obesity. Twelve patients randomly received MC (2000 mg/day) for 12 weeks, and 12 patients received placebo. Body weight (BW), body mass index (BMI), waist circumference (WC), body fat percentage, as well as clinical and laboratory determinations, were evaluated before and after the intervention. Results showed that while reductions in BW, BMI, WC, and body fat percentage were observed in the MC group, these differences did not reach statistical significance. Significant decreases in triglycerides (TG) (1.9 ± 0.6 mM vs. 1.7 ± 0.7 mM, P ≤ .05) and very low-density lipoprotein (VLDL) (0.4 ± 0.1 mM vs. 0.3 ± 0.1 mM, P ≤ .05) levels were found after the intervention with MC. In contrast, significant increases in BW (83.0 ± 10.7 kg vs. 84.6 ± 9.1 kg, P ≤ .05) and BMI (31.9 ± 1.5 kg/m2 vs. 33.0 ± 1.3 kg/m2, P ≤ .05) were observed in the placebo group. In conclusion, no significant reductions in BW, BMI, WC, and body fat percentage were observed after MC administration; however, MC significantly decreased TG and VLDL levels. The protocol was registered at ClinicalTrials.gov with the identifier NCT04916379.

Effect of Gymnema sylvestre Administration on Metabolic Syndrome, Insulin Sensitivity, and Insulin Secretion

Laura Y. Zuniga,Manuel Gonzalez-Ortiz,Esperanza Martınez-Abundis 한국식품영양과학회 2017 Journal of medicinal food Vol.20 No.8

Gymnema sylvestre is a medicinal plant whose consumption has demonstrated benefits on lipid and glucose levels, blood pressure, and body weight (BWt). The aim of this study was to evaluate the effect of G. sylvestre administration on metabolic syndrome (MetS), insulin secretion, and insulin sensitivity. A randomized, double-blind, placebo-controlled clinical trial was carried out in 24 patients (without pharmacological treatment), 30–60 years old, with diagnosis of MetS in accordance with the modified International Diabetes Federation criteria. Patients were randomly assigned to receive G. sylvestre or placebo twice daily before breakfast and dinner in 300 mg capsules for a total of 600 mg per day for 12 weeks. Before and after the intervention, the components of MetS were evaluated as well as BWt, body mass index (BMI), total cholesterol, low-density lipoprotein cholesterol, and very low-density lipoprotein (VLDL). Area under the curve of glucose and insulin, phases of insulin secretion, and insulin sensitivity were calculated. Statistical analysis was performed using Wilcoxon signed-rank, Mann–Whitney U, and chi-square tests; P ≤ .05 was considered statistically significant. After G. sylvestre administration, significant decreases in BWt (81.3 ± 10.6 kg vs. 77.9 ± 8.4 kg, P = .02), BMI (31.2 ± 2.5 kg/m2 vs. 30.4 ± 2.2 kg/m2, P = .02), and VLDL levels (0.45 ± 0.15 mmol/dL vs. 0.35 ± 0.15 mmol/dL, P = .05) were observed, without modifying the components of MetS, insulin secretion, and insulin sensitivity. In conclusion, G. sylvestre administration decreased BWt, BMI, and VLDL levels in subjects with MetS, without changes in insulin secretion and insulin sensitivity.

The Effect of Agave tequilana Weber Inulin on Postprandial Ghrelin Concentration in Obese Patients

Betsabe Contreras-Haro,Jose A. Robles-Cervantes,Manuel Gonzalez-Ortiz,Esperanza Martinez-Abundis,Claudia Espinel-Bermudez,Martha P. Gallegos-Arreola,Karina C. Morgado-Castillo 한국식품영양과학회 2017 Journal of medicinal food Vol.20 No.2

This study was performed to investigate the effect of Agave tequilana Weber inulin on postprandial ghrelin levels in obese patients. A randomized, double-blind, cross-over design was performed. A total of 14 patients were allocated into two groups: one group received a drink that contained 500 mL lemon water, 24 g of A. tequilana Weber inulin, and 75 g glucose and the other group received a placebo drink with 500 mL lemon drink and 75 g of glucose. After a 7-day washout period, the groups were crossed. The primary outcome measure was postprandial ghrelin levels between minute 240 and minute 270. A. tequilana Weber inulin did not change postprandial ghrelin concentration in obese patients.

Effect of Irvingia gabonensis on Metabolic Syndrome, Insulin Sensitivity, and Insulin Secretion

Miriam Mendez-del Villar,Manuel Gonzalez-Ortiz,Esperanza Martınez-Abundis,Karina G. Perez-Rubio,Marisol Cortez-Navarrete 한국식품영양과학회 2018 Journal of medicinal food Vol.21 No.6

The aim of this study was to evaluate the effect of Irvingia gabonensis on metabolic syndrome (MetS), insulin sensitivity, and insulin secretion. A randomized, double-blind, placebo-controlled clinical trial was performed in 24 patients with MetS in accordance with the International Diabetes Federation criteria. Twelve patients received I. gabonensis (150 mg) twice a day during 90 days, and 12 patients received placebo. Glucose and insulin concentrations were measured during a 2-h oral glucose tolerance test. Also, lipid profile, creatinine, uric acid, and hepatic enzymes were determined. The area under the curve (AUC) of glucose and insulin, total insulin secretion, first phase of insulin secretion, and insulin sensitivity were calculated. Data were tested using non-parametric tests. The Ethics Committee approved the protocol. After I. gabonensis administration, significant decreases in waist circumference (WC) (94.0 ± 8.0 vs. 91.0 ± 8.2 cm, P < .01), glucose 90' (10.0 ± 2.5 vs. 8.6 ± 2.7 mmol/L, P < .05), glucose 120' (8.8 ± 2.4 vs. 7.6 ± 2.7 mmol/L, P < .05), triglycerides (2.5 ± 1.2 vs. 2.0 ± 1.1 mmol/L, P < .05), very low-density lipoproteins (VLDL) (0.5 ± 0.2 vs. 0.4 ± 0.2 mmol/L, P < .05), and AUC of glucose (694 ± 142 vs. 629 ± 172 mmol/L/min, P < .05) were found. Seven patients (58.3%) of the I. gabonensis group showed remission of MetS and two patients (16.7%) of the placebo group (P = .045). I. gabonensis lead to remission of MetS in 58.3% of the patients and significantly decreased WC, glucose 90', glucose 120', triglycerides, VLDL, and AUC of glucose.