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ABSTRACT: Adding milk replacer powder (MRP) to whole milk during the entire preweaning period can increase growth but raises concern because of low starter feed intake and slumps in ADG at weaning and postweaning. In the current study, effects of adding MRP to pasteurized whole milk (PWM) during d 10 to 41 or d 10 to 59 of age were investigated in comparison with PWM. Calves (24 females and 21 males; 39.8 ± 1.85 kg BW) were randomly allocated to 1 of 3 treatments: (1) conventional protocol, 5 L/d PWM from d 3 to 56, and 2.5 L/d from d 57 to 59 of age (CONV; TS intake = 31.9 kg), (2) short duration of adding MRP to PWM protocol, 5 L/d PWM from d 3 to 9, 5 L/d PWM + MRP (18% TS) from d 10 to 41, 5 L/d PWM from d 42 to 56, and 2.5 L/d PWM from d 57 to 59 (SHD; TS intake = 42.3 kg), (3) long duration of adding MRP to PWM protocol, 5 L/d PWM from d 3–9, 5 L/d PWM + MRP from d 10–56, 2.5 L/d PWM + MRP from d 57–59 (LD; TS intake = 47.7 kg). The osmolality of PWM and PWM + MRP was 278 and 519 mOsm/L, respectively. Calves were weaned on d 60, and the study terminated on d 75. There was a treatment × time interaction for starter intake, where intake was greater for CONV than other treatments from d 14–41 and was greater in CONV than LD during d 42 to 48 and d 56 to 62 of age. Final BW was lower in CONV calves than LD calves. Weaning BW and overall hip height were lower in CONV calves than other treatments. The CONV calves had lower ADG at d 14 to 27 and d 35 to 41, and SHD calves had lower ADG at d 42 to 48 than other treatments. Calves fed CONV treatment had lower ruminal acetate and greater propionate than SHD calves during preweaning. Calves fed LD treatment had lower total VFA and tended to have greater ruminal pH than other treatments. Calves fed CONV had greater neutrophils and neutrophils/lymphocytes ratio and lower lymphocytes than other treatments. Glucose concentration was greater for LD versus other treatments at d 56, and lower for SHD versus other treatments at d 70 of study. Insulin concentration and homeostatic model assessment of insulin resistance index were greater in LD compared with other treatments during preweaning but were not different postweaning. Serum BHB was greater in CONV than other treatments. Albumin was greater for CONV versus other treatments at d 56, however, it was greater in LD-fed calves at d 70 of study. Results indicate that feeding a PWM + MRP to the calves during the entire preweaning period resulted in lower starter feed intake around weaning, but overall starter intake was similar with a greater final BW and fewer health-related issues throughout the study. Shifting a PWM + MRP to the conventional whole milk at d 40 of age decreased the ADG of calves.

ABSTRACT: This study evaluated the effects of replacing cereal grains and soybean meal with by-products (BY) on production performance, nutrient digestibility, ruminal fermentation, nutrient recovery, and eating and chewing behavior of moderate-producing dairy cows under heat-stress conditions. Twelve multiparous Holstein cows (116.7 ± 12.01 d in milk; 42.7 ± 5.06 kg/d milk yield; 665 ± 77 kg body weight; mean ± SD) were used in a replicated 3 × 3 Latin square with 28-d periods (21 d for diet adaptation and 7 d for sampling and data collection). Cows were fed a total mixed ration containing a 39.2:60.8 ratio of forage to concentrate throughout the experiment. All diets were formulated to be isoenergetic and isonitrogenous, with different concentrates. Diets were (1) control diet based on cereal grains (CON: ground corn and ground barley, plus soybean meal); (2) sugar-rich BY diet (S-BY-CM: beet pulp, citrus pulp, and liquid molasses, plus canola meal); and (3) cereal grain BY diet (CG-BY: rice bran, corn germ meal, wheat bran, barley sprout, and broken corn). Our results showed that replacing grains with BY increased neutral detergent fiber intake and digestibility but decreased starch intake, human-edible energy, and human-edible protein. Milk yield and dry matter intake (DMI) decreased more in cows fed the CG-BY diet compared with the other 2 treatments. In contrast, no significant differences were observed between the CON and S-BY-CM diets in terms of milk yield and DMI. The S-BY-CM diet increased energy-corrected milk production compared with the CG-BY diet (36.2 vs. 34.3 kg/d), but CG-BY enhanced feed conversion efficiency compared with the other 2 treatments. Although the S-BY-CM diet prolonged the eating and sorting of small particles, neither of the dietary treatments affected chewing activity or ruminal pH 4 h after feeding. Furthermore, both diets containing BY contributed to an increase in milk fat content in comparison to the CON group. Additionally, the CG-BY and S-BY-CM diets demonstrated better performance than the CON diet in terms of human-edible feed conversion efficiency for protein and energy. The results indicated that S-BY-CM can completely replace barley and corn grain in the diet of mid-lactating dairy cows exposed to heat-stress conditions without any negative effect on production and ruminal pH. However, the inclusion of CG-BY did impair DMI, milk yield, and digestibility of nutrients and is not recommended during heat-stress conditions.

ABSTRACT: Early life milk intake can influence the survival and future productivity of replacement heifers. The present study determined the effects of different amounts of milk through step-up/step-down or conventional feeding methods on the performance of dairy calves. Thirty-nine Holstein calves (18 male and 21 female) were used in a completely randomized design. Calves were randomly allocated to 1 of 3 treatments: (1) conventional milk feeding (CONV; 4.5 L/d of milk from d 1 to 50 and 2 L/d of milk at d 51 and 52 of the study; total milk intake = 229 L); (2) low milk intake with step-up/step-down method (L-SUSD, 4 L/d of milk from d 1 to 10, 6 L/d from d 11 to 20, 8 L/d from d 21 to 30, 6 L/d from d 31 to 40, 4 L/d from d 41 to 50, and 2 L/d milk at d 51 and 52 of the study, total milk intake = 284 L); (3) high milk intake with step-up/step-down method (H-SUSD, 6 L/d of milk from d 1 to 10, 8 L/d from d 11 to 20, 10 L/d from d 21 to 30, 8 L/d from d 31 to 40, 6 L/d from d 41 to 50, 4 L/d milk at d 51, and 2 L/d milk at d 52 of the study, total milk intake = 386 L). All calves were weaned at d 52 and followed until d 70. Performance data (every week), skeletal growth (d 52 and 70), and ruminal fermentation parameters and digestibility (d 35, 55, and 70) were analyzed as repeated measurements with PROC MIXED of SAS version 9.3 (SAS Institute Inc.). A treatment × time interaction was observed for total dry matter intake (TDMI) as follows: TDMI differed among all treatments where H-SUSD > L-SUSD > CONV from d 11 to 38 of study, greater for H-SUSD versus other treatments from d 3 to 10 and d 39 to 70 of study. Starter feed intake and average daily gain (ADG) were greater in H-SUSD calves than in CONV calves, and L-SUSD treatment was intermediate for those traits. The H-SUSD calves tended to have greater body weight (BW) and lower feed efficiency than calves fed CONV or L-SUSD treatments. The treatments did not affect structural growth parameters, except for hip width, which tended to be greater in H-SUSD calves than CONV calves. Regardless of treatments, ADG, starter feed intake, BW, and body measurements increased as calves aged, whereas feed efficiency increased from d 1 to 52 of study and decreased from d 52 to 70 of study. The treatments had no effect on digestibility, rumen parameters, or fecal score. Overall, in calves that were weaned at 52 d and fed milk 3 times daily, the high milk intake (386 L) through the SUSD method did not increase diarrhea or decrease digestibility but increased starter feed intake and ADG.

This paper introduces a robust method for estimating states and switching signals in impulsive switched systems with unknown inputs. It uses a reduced-order estimator to handle inaccessible states and an output derivative-based method to address the effects of unknown inputs, even though this adds some impulsive effects. The method is divided into two main steps: first, dedicated estimators determine the switching signal and identify the active subsystem; then, state estimation is carried out. By incorporating the estimated switching signal, the method effectively eliminates impulsive effects caused by unknown inputs. The study also explores the key conditions needed to ensure that estimation errors decrease exponentially. It uses a common Lyapunov function and Linear Matrix Inequality techniques. Simulation results show that this method is both efficient and effective, outperforming single-estimator approaches., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2024 ISA. Published by Elsevier Ltd. All rights reserved.)

Background: We aimed to assess relative survival (RS) and determinants of excess mortality rate in patients with head and neck squamous cell carcinomas (HNSCC) and thyroid cancer in Golestan province, Northern Iran., Methods: We recruited new primary HNSCC and thyroid cancer cases from Golestan, 2006-2016. Five-year age-standardized RS with their 95% confidence intervals (CIs) were calculated. The relationships between different variables with excess mortality rates were assessed by estimating adjusted excess hazard ratios (aEHRs) with their 95% CIs., Results: Overall, 718 cases of HNSCC and 386 thyroid cancer cases were enrolled. Five-year age-standardized RS (95% CI) were 36% (31-41) and 61% (52-69) in HNSCC and thyroid cancer patients, respectively. There were significant relationship between excess mortality rates in HNSCC patients with metastasis (aEHR= 3.31; 95%CI: 2.26-4.84), treatment type (4.19; 2.54-6.91, for no treatment as compared to receiving both surgery and chemoradiotherapy), age (2.16; 1.57-2.96, for older age group) and smoking (2.00; 1.45-2.75, for smokers as compared to non-smokers). Determinant of the excess mortality in thyroid cancer patients included metastasis (19.65; 8.08-47.79), tumor morphology (12.27; 4.62-32.58, for anaplastic cancer as compared to papillary cancer), treatment type (8.95, 4.13-19.4, for no treatment as compared to receiving both surgery and iodine therapy) and age (2.31; 1.17-4.54, for older age group)., Conclusion: Our findings suggested low RS for thyroid cancer in our population, while the estimates for HNSCC were comparable with other population. Metastasis, treatment type and age were determinants of mortality both in thyroid and HNSCC patients., Competing Interests: Declaration of Competing Interest Authors had no conflict of interest to declare., (Copyright © 2022 Elsevier Ltd. All rights reserved.)

This paper investigates an event-triggered control method for a class of nonlinear multi-agent systems, in which a group of followers surround a group of leaders. Dynamics of leaders and followers are assumed to be heterogeneous and to have unknown parameters. To deal with this problem, some adaptive laws and also controllers including event-triggered estimator of leaders' geometric center are proposed. In order to reduce some dispensable data exchange among the follower agents and save the limited communication resources, event-triggered control protocols are used to attain better performance of resources. The proposed control scheme guarantees that all the closed loop signals are globally bounded and surrounding error converges toward a compact set, exponentially. Moreover, Zeno behavior is also excluded under certain conditions. Eventually, numerical simulations are provided to verify theoretical results and demonstrate that the triggering laws cause decrement of the number of controller updates and inter-agent communications., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2021 ISA. Published by Elsevier Ltd. All rights reserved.)

This paper develops the stability analysis for linear bilateral teleoperation systems exposed to communication constraints and multirate samplers. Dynamics of the master and slave robots are assumed to be continuous-time with discrete-time controllers. The proposed multirate design guarantees the exponential stability of the teleoperation system over a communication networks. Different sampling rates are imposed on position/velocity signals in both master and slave sides and by exerting input-delay approach, the multirate dynamics is transformed into a continuous-time system. Sufficient Krasovskii-based stability criteria are provided to preserve the exponential stability of the linear discrete-time system for asynchronously sampling intervals and update rates. This analysis is formulated as a convex optimization problem in terms of linear matrix inequalities (LMI) to calculate the longest interval between two successive sampling periods. The proposed multirate approach demonstrates that selecting adequate intervals for samplers and proper update rates for actuators has a considerable effect on the stability of the system. In order to validate the stability criteria and present the efficacy of the proposed multirate scheme, pair of two degree of freedom manipulators will be investigated and maximum allowable sampling periods and update rates are computed to preserve the exponential stability for different multirate cases., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2020 ISA. Published by Elsevier Ltd. All rights reserved.)

In this paper, the surrounding control problem of a group of non-identical agents is considered, where a team of followers achieves an equidistant distributed formation to surround a team of moving leaders. An adaptive design method is presented for multi-agent systems where the dynamics of agents are supposed to be nonlinear with unknown parameters. First, an estimator for the center of the leaders is introduced. Then, two distributed adaptive controllers based on the estimated center are proposed for each follower. The stability and parameter convergence of the proposed protocols are shown by using algebraic graph theory and Lyapunov theory. Finally, a numerical example is provided to validate the theoretical results., (Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.)

A novel trilateral control architecture for Dual-master/Single-slave teleoperation system with taking account of saturation in actuators, nonlinear dynamics for telemanipulators and bounded varying time delay which affects the transmitted signals in the communication channels, is proposed in this paper. In this research, we will address the stability and desired position coordination problem of trilateral teleoperation system by extension of (nP+D) controller that is used for Single-master/Single-slave teleoperation system. Our proposed controller is weighted summation of nonlinear Proportional plus Damping (nP+D) controller that incorporate gravity compensation and the weights are specified by the dominance factor, which determines the supremacy of each user over the slave robot and over the other user. The asymptotic stability of closed loop dynamics is studied using Lyapunov-Krasovskii functional under conditions on the controller parameters, the actuator saturation characteristics and the maximum values of varying time delays. It is shown that these controllers satisfy the desired position coordination problem in free motion condition. To show the effectiveness of the proposed method, a number of simulations have been conducted on a varying time delay Dual-master/Single-slave teleoperation system using 3-DOF planar robots for each telemanipulator subjected to actuator saturation., (Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.)

Porous NiO/Nb2O5 nanocomposites with Ni/Nb molar ratio of 0.4, 0.8 and 1.2 have been obtained via the EISA route using P123 copolymer as organic template, and are assigned as NiNb0.4, NiNb0.8 and NiNb1.2, respectively. For comparison, pure Nb2O5 sample assigned as NiNb0.0 was also synthesized by the same method. Structural and textural features of the as prepared samples were investigated by XRD, FTIR, FE-SEM, EDX, UV-vis DRS and BET techniques. The results indicated that the porous p-NiO/n-Nb2O5 junction nanocomposites were formed and coupling of NiO with Nb2O5 resulted a remarkable red shift in the optical response of the nanocomposite samples. The photocatalytic properties of the nanocomposite samples, and also synthesized pure Nb2O5 (NiNb0.0) and commercial Nb2O5 as reference catalysts were evaluated for the first time by simultaneous Cr(VI) reduction and MO decolorization in aqueous suspension under visible light irradiation at pH 2. NiNb0.4 was found to be the most active photocatalyst, which might be attributed to the extended absorption in the visible light region and the effective photogenerated electron-hole separation by the photosynergistic effects of the p-NiO/n-Nb2O5 composite powder. The photocatalytic efficiency of the most active photocatalyst, NiNb0.4, was found to be rather low for either single Cr(VI) solution or single MO solution. However, the photocatalytic reduction of Cr(VI) and photocatalytic decolorization of MO proceed more rapidly for the coexistence system of Cr(VI) and MO than for the single process, showing synergetic effect between the reduction and decolorization reactions. The effects of initial concentration of Cr(VI), MO and the initial pH value on the rate of simultaneous photoreactions over NiNb0.4 sample, were also investigated. The Cr(VI) and MO removal rates were further enhanced by increasing MO and Cr (VI) concentration to an optimal value, respectively, and/or decreasing solution pH., (Copyright © 2014 Elsevier B.V. All rights reserved.)