We present a hydro-elastic actuator that has a linear spring intentionally placed in series between the hydraulic piston and actuator output. The spring strain is measured to get an accurate estimate of force. This measurement alone is used in PI feedback to control the force in the actuator. The spring allows for high force fidelity, good force control, minimum impedance, and large dynamic ran...

.............................................................................................................................................................. II TABLE OF CONTENTS .............................................................................................................................................. III LIST OF FIGURES .........................................................

BACKGROUND Malaria is a major public health problem in the world which is responsible for death of millions particularly in sub-Saharan Africa. Today, the control of malaria has become gradually more complex due to the spread of drug-resistant parasites. Medicinal plants are the unquestionable source of effective antimalarials. The present study aimed to evaluate antiplasmodial activity and acu...

background: phytoestrogens are some plant compounds with estrogenic biological effects which are found in many nutritional sources as soybean, flaxseed and sesame. vitex agnus-castus, also called vitex, owns phytoestrogenic properties. studies have showed that phytoestrogens have different impacts on the gestation process and reproduction indices. the present study is aimed at investigating the...

This study was conducted to evaluate the effect of Purslane hydro alcoholic extract on blood urea nitrogen (BUN), creatinine (Cr) and kidney histopathology of kidney aging model induced by D-galactose in female mice. In this experimental study, 72 female Naval Medical Research Institute (NMRI) mice (30-35 g) were randomly divided into six groups including: control, Purslane, D-galactose, D-gala...

In the title compound, C15H18N2O3S, the hydro-pyrimidine ring adopts a sofa conformation with the methine C atom as the flap. The benzene ring is almost perpendicular to the mean plane of the hydro-pyrimidine ring, making a dihedral angle of 85.51 (8)°, and the meth-oxy O atom lies over the centre of the pyrimidine ring. In the crystal, weak N-H⋯S inter-actions form a zigzag chain running along...

In the title compound, tetra-hydro-seselin, C14H16O3, a pyran-ocoumarin [systematic name: 8,8-dimethyl-3,4,9,10-tetra-hydro-2H,8H-pyrano[2,3-f]chromen-2-one] obtained from the hydrogenation of seselin in the presence of Pd/C in MeOH at room temperature, the dihedral angle between the central benzene ring and the best planes of the outer fused ring systems are 6.20 (7) and 10.02 (8)°. In the cry...

In the title compound [Ca(C(12)H(25)O(4)S)(2)](n), the unique Ca(II) ion lies on an inversion center and is coordinated in a slightly distorted octa-hedral environment by six O atoms from dodecyl sulfate anions. The crystal structure is based on hydro-carbon (dodecyl sulfate) layers which sandwich the Ca(II) ions. Within the layers, the hydro-carbon zigzag chains are parallel to one another and...

In the title compound, C29H37NO3 {systematic name: (E)-1-(4-meth-oxy-phen-yl)ethanone O-[(1R,4aS,10aR)-7-isopropyl-1,4a-dimethyl-1,2,3,4,4a,9,10,10a-octa-hydro-phenanthrene-1-carbon-yl]oxime}, a new derivative of de-hydro-abietic acid, the two cyclo-hexane rings exhibit a trans-ring junction and are in chair and half-chair conformations. The C=N double bond exhibits an E conformation.

The title compound, C(25)H(19)NO was synthesized by a Pd-catalysed intra-molecular Diels-Alders reaction. The dihedral angle between the two benzene rings is 82.33 (5)° and the dihedral angles between the hydro-naphtho[2,3-c]furan plane and the two benzene rings are 89.50 (3) and 77.64 (2)°. The O atom is displaced by 0.5929 (3) Å from the hydro-naphtho[2,3-c]furan plane.