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This paper aims to present the design and prototype of an inspection robot that can perform both horizontal and vertical locomotion in ferromagnetic pipelines. The proposed robot applies to a range from 5-inch (127 mm) diameter pipes to flat plates. The train-like robot is mainly composed of three sealed modules with omnidirectional driving wheels for longitudinal and transverse movements. Permanent magnets were designed to provide sufficient magnetic adhesion between the robot and the ferromagnetic surface of the pipes. The internal condition of the pipe can be monitored visually through cameras and sensors. Specific experimental conditions have been carried out to validate the robot’s capabilities, including maximum speed, payload capacity, and vertical climbing distance. The experimental results also show that the robot is capable of passing through a straight pipe and elbow fitting in both upward and downward directions.

In path following control, the forward velocity can be seen as an additional degree of freedom. However, many path following control laws assume that the forward velocity is a constant and actuators are ideal, i.e., no actuator constraints. Unfortunately, these controllers cannot be realized in real-world implementation. Thus, we propose an extension to an existing path following controller in order that the forward velocity can be varied according to the robot’s posture errors and the desired forward velocity. This can be done by adopting a receding horizon scheme, where the optimization problem is solved online along some look-ahead time intervals. Furthermore, we treat boundaries of wheel speed and acceleration as constraints in the optimization problem. As a result, a mobile robot can slow down when making a sharp turn and it can speed up when being behind a reference point. Simulation tests have been conducted in order to illustrate the effectiveness of our proposed scheme.

In this paper, the path following problem of an omnidirectional mobile robot (OMR) has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocities are coupled through the OMR's orientation angle. Therefore, a combination of a virtual-vehicle concept and a model predictive control (MPC) strategy is proposed in this work to handle both robot constraints and the path following problem. Our proposed control scheme allows the OMR to follow the reference path successfully and safely, as illustrated in simulation experiments. The forward velocity is close to the desired one and the desired orientation angle is achieved at a given point on the path, while the robot's wheel velocities are maintained within boundaries.

In this paper, we focus on a combination of path following and trajectory tracking for a mobile robot. Both are basic motion control schemes for a robot. The advantages of path following over trajectory tracking are that path following can avoid the use of large control signals for large path errors; therefore, it can eliminate aggressiveness by converging to the path smoothly, and control inputs are less likely to be forced to saturation. However, there is no temporal specification for path following. Therefore, in this work, we propose to add a time-convergence penalty term into the optimization problem of model predictive control (MPC) that we use to control robot motion. MPC can handle the saturation of control signals explicitly. As a result, the robot can move safely. However, the major concern in the use of MPC is whether such an open-loop control scheme can guarantee system stability. To solve this problem, we apply the idea of a contractive constraint to guarantee the stability of our MPC framework. To illustrate its effectiveness, numerous simulation scenarios have been conducted. Furthermore, we depict remarkable advantages of path following over trajectory tracking. doi:10.14456/WJST.2015.11

Airborne particulate matter (PM) contains polycyclic aromatic hydrocarbons (PAHs) as primary toxic components, causing oxidative damage and being associated with various inflammatory skin pathologies such as premature aging, atopic dermatitis, and psoriasis. Coffee cherry pulp (CCS) extract, rich in chlorogenic acid, caffeine, and theophylline, has demonstrated strong antioxidant properties. However, its specific anti-inflammatory effects and ability to protect macrophages against PAH-induced inflammation remain unexplored. Thus, this study aimed to evaluate the anti-inflammatory properties of CCS extract on RAW 264.7 macrophage cells exposed to atmospheric PAHs, compared to chlorogenic acid (CGA), caffeine (CAF), and theophylline (THP) standards. The CCS extract was assessed for its impact on the production of nitric oxide (NO) and expression of tumor necrosis factor-alpha (TNF- α ), interleukin-6 (IL-6), inducible nitric oxide synthase (iNOS), and cyclooxygenase-2 (COX-2). Results showed that CCS extract exhibited significant antioxidant activities and effectively inhibited protease and lipoxygenase (LOX) activities. The PAH induced the increase in intracellular reactive oxygen species, NO, TNF- α , IL-6, iNOS, and COX-2, which were markedly suppressed by CCS extract in a dose-dependent manner, comparable to the effects of chlorogenic acid, caffeine, and theophylline. In conclusion, CCS extract inhibits PAH-induced inflammation by reducing pro-inflammatory cytokines and reactive oxygen species (ROS) production in RAW 264.7 cells. This effect is likely due to the synergistic effects of its bioactive compounds. Chlorogenic acid showed strong antioxidant and anti-inflammatory activities, while caffeine and theophylline enhanced anti-inflammatory activity. CCS extract did not irritate the hen's egg chorioallantoic membrane. Therefore, CCS extract shows its potential as a promising cosmeceutical ingredient for safely alleviating inflammatory skin diseases caused by air pollution.

In the present, whitening products are most popular in the cosmetics market, and nanoemulsions are effective drug delivery systems through the skin. The objective of this study was to investigate multiple nanoemulsion formulations for lightning skin effects. The method of this study was the selection of active compounds based on synergistic tyrosinase inhibition activity, formulation preparation by low and high energy methods, physicochemical property determination, stability test, cell toxicity, and anti-melanogenesis in cell culture. From the results, it was found that tyrosinase inhibition with substrate l-tyrosine from the mixture of curcumin and alpha-arbutin gave the highest activity with an IC 50 of 63.58 ± 4.99 μM, showed a synergistic effect at a CI value of 0.99, and selected these compounds to develop formulations by the low energy method. However, the most formulations prepared by this method were unstable and phase separated, while the high energy method gave the most formulations with good properties, which were selected for further investigation. The best formulation was 2DS which showed internal droplet morphology in the range of nanometers under a TEM microscope. For 3 months stability test, the formulations had no phase separation and gave the slightly changed values of particle size, polydispersity index (PDI), zeta potentials, and pH values. In addition, multiple nanoemulsions also enhanced the stability of active compounds, with the highest percentage of remaining content of curcumin and arbutin at 94.69 and 90.45 %, respectively at 4 °C for 3 months. In a cell culture test on B 16 F 10 , 2DS at 0.05 g/ml gave no cell cytotoxicity and anti-melanogenesis at 57.75 ± 5.74 %, the same potency as kojic acid at a concentration of 20 μg/ml. Therefore, this study will be useful to prepare multiple nanoemulsions for further development into novel health care products., Competing Interests: 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., (© 2024 The Authors.)

Cuscuta chinensis ( C. chinensis ) presents many pharmacological activities, including antidiabetic effects, and antioxidant, anti-inflammatory, and antitumor properties. However, the wound care properties of this plant have not yet been reported. Therefore, this research aimed to evaluate the antioxidant, anti-inflammatory, and antibacterial activities of ethanol and ethyl acetate C. chinensis extracts. The phytochemical markers in the extracts were analyzed using high-performance liquid chromatography (HPLC). Then, the selected C. chinensis extract was developed into a nanoemulsion-based gel for wound care testing in rats. The results showed that both of the C. chinensis extracts exhibited antioxidant activity when tested using 2,2-Diphenyl-1-picrylhydrazyl (DPPH), ferric reducing antioxidant power (FRAP), and lipid peroxidation inhibition assays. They reduced the expression of IL-1β, IL-6, and TNF-α in RAW264.7 cells induced with lipopolysaccharide (LPS). The ethyl acetate extract also had antibacterial properties. Kaempferol was found in both extracts, whereas hyperoside was found only in the ethanol extract. These compounds were found to be related to the biological activities of the extracts, confirmed via molecular docking. The C. chinensis extract-loaded nanoemulsions had a small particle size, a narrow polydispersity index (PDI), and good stability. Furthermore, the C. chinensis extract-loaded nanoemulsion-based gel had a positive effect on wound healing, presenting a better percentage wound contraction Fucidin cream. In conclusion, this formulation has the potential for use as an alternative wound treatment and warrants further study in clinical trials., Competing Interests: The authors declare no conflicts of interest.

The targeted delivery of a hydrophilic Tripeptide-3 to the skin using microemulsions or nanoemulsions for facial oil reduction was the focus of this study. The impact factors affecting oil/water transparent dispersion formation, such as the surfactant system, HLB value, and co-solvent, were identified through the water titration method and pseudoternary phase diagram plots. The interfacial tension between caprylic/capric triglyceride (CCT oil) and water was significantly reduced by the surfactant/co-surfactant combination (S mix ) of Cremophore ® RH40 and a double-tails co-surfactant, polyglycerol-3-diisostearate, at an HLB of 13 together with a water-to-co-solvent (PG) ratio of 1:1. A two-level full factorial design of experiment (FFD-DoE) emphasized the independent variables of the HLB value, co-solvent, and CCT oil contents affecting the optimal compositions for micro- or nanoemulsion formation. The low-energy spontaneous emulsification of the optimized combination at a low S mix content (10%) yielded the translucent oil-in-water Tripeptide-3 nanoemulsions with an internal droplet size of 25.7 ± 1.20 nm, a narrow polydispersity index of 0.237 ± 0.129, and 70.6 ± 0.58% transmittance. The in vitro skin permeation study revealed a significantly higher skin penetration and retention of the Tripeptide-3 nanoemulsions compared to the high surfactant microemulsions and coarse emulsions. Skin irritation and oil control efficacy were evaluated in healthy volunteers before and after product application for 28 days. The obtained nanoemulsions not only decreased sebum production but also enhanced skin moisture levels. In conclusion, the meticulously designed nanoemulsions, incorporating suitable excipients, show a promising delivery system for hydrophilic peptides to control sebum overproduction in oily facial skin.

Capsaicin and curcumin, the active components of chili and turmeric, are prone to instability when exposed to light. Therefore, this research aimed to enhance the photostability of both extracts via the use of antioxidants, natural sunscreen, and nanostructured lipid carriers (NLCs). NLCs were chosen for this this study due to their advantages in terms of stability, drug loading capacity, occlusive effect, skin penetration, and controlled release. The photostability of each extract and extracts mixed with antioxidants, including grape seed extract, tea extract, and chlorogenic acid, were determined. Chlorogenic acid can enhance the photostability of capsaicin from 6.79 h to 16.50 h, while the photostability of curcumin increased from 9.63 h to 19.25 h. In addition, the use of natural sunscreen (sunflower oil) also increased the photostability of capsaicin and curcumin. The mixed extracts were then loaded into NLCs. The particle size of the formulation was 153.73 nm with a PDI value of 0.25. It exhibited high entrapment efficiency (more than 95%). In addition, it effectively reduced the decomposition of capsaicin and curcumin. Importantly, the natural stabilizers chosen for NLC fabrication significantly improved the photostability of curcumin and capsaicin by 600% and 567% compared to the unstabilized counterparts. This improvement contributes to the sustainability and bioavailability of these compounds in both cosmeceutical and pharmaceutical products.

Polycyclic aromatic hydrocarbons (PAHs) are the main toxic components of ambient air particulate matter (PM), causing oxidative damage to the skin and ultimately resulting in skin aging. This study was conducted to determine the anti-oxidant, anti-aging properties and protective effects of the extracts of coffee cherry pulp ( Coffea arabica L.), which is a by-product of the coffee industry, against the oxidative damage induced by PAH exposure in human epidermal keratinocytes (HaCaT). Three different techniques were used to extract the coffee cherry pulp: maceration, Soxhlet and ultrasonication to obtain CCM, CCS and CCU extract, respectively, which were then compared to investigate the total phenolic content (TPC) and total flavonoid content (TFC). The chemical compositions were identified and quantified using high-performance liquid chromatography (HPLC). The results demonstrated that Soxhlet could extract the highest content of chlorogenic acid, caffeine and theophylline. CCS showed the significantly highest TPC (324.6 ± 1.2 mg GAE/g extract), TFC (296.8 ± 1.2 mg QE/g extract), anti-radical activity against DPPH free radicals (98.2 ± 0.8 µM Trolox/g extract) and lipid peroxidation inhibition (136.6 ± 6.2 µM Trolox/g extract). CCS also showed the strongest anti-aging effects based on collagenase, elastase, hyaluronidase and tyrosinase inhibitory enzymes. In addition, CCS can protect human keratinocyte cells from PAH toxicity by increasing the cellular anti-oxidant capacity. This study suggests that CCS has the potential to be used as a cosmetic material that helps alleviate skin damage caused by air pollution.

Benincasa hispida peel, a type of postconsumer waste, is considered a source of beneficial phytochemicals. Therefore, it was subjected to investigation for biological activities in this study. B. hispida peel was extracted using 95% v / v , 50% v / v ethanol and water. The obtained extracts were B95, B50 and BW. B95 had a high flavonoid content (212.88 ± 4.73 mg QE/g extract) and phenolic content (131.52 ± 0.38 mg GAE/g extract) and possessed high antioxidant activities as confirmed by DPPH, ABTS and lipid peroxidation inhibition assays. Moreover, B95 showed inhibitory effects against collagenase and hyaluronidase with values of 41.68 ± 0.92% and 29.17 ± 0.66%, which related to anti-aging activities. Via the HPLC analysis, one of the potential compounds found in B95 was rutin. Molecular docking has provided an understanding of the molecular mechanisms underlying the interaction of extracts with collagenase and hyaluronidase. All extracts were not toxic to fibroblast cells and did not irritate the hen's egg chorioallantoic membrane, which indicated its safe use. In conclusion, B . hispida peel extracts are promising potential candidates for further use as antioxidant and anti-aging agents in the food and cosmetic industries.

Objective: Larvae of Hermitia illucens , or black soldier fly larvae (BSFL), have been recognized for their high lipid yield with a remarkable fatty acid profile. BSFL oil (SFO) offers the added value of a low environmental footprint and a sustainable product. In this study, the characteristics and cosmetic-related activities of SFO were investigated and compared with rice bran oil, olive oil and krill oil which are commonly used in cosmetics and supplements. Methods: The physicochemical characteristics were determined including acid value, saponification value, unsaponifiable matter and water content of SFO. The fatty acid composition was determined using GC-MS equipped with TR-FAME. The in vitro antioxidant properties were determined using DPPH, FRAP and lipid peroxidation inhibition assays. Antihyaluronidase (anti-HAase) activity was measured by detecting enzyme activity and molecular docking of candidate compounds toward the HAase enzyme. The safety assessment towards normal human cells was determined using the MTT assay and the UVB protection upon UVB-irradiated fibroblasts was determined using the DCF-DA assay. The whitening effect of SFO was determined using melanin content inhibition. Results: SFO contains more than 60% polyunsaturated fatty acids followed by saturated fatty acids (up to 37%). The most abundant component found in SFO was linoleic acid (C18:2 n-6 cis). Multiple anti-oxidant mechanisms of SFO were discovered. In addition, SFO and krill oil prevented hyaluronic acid (HA) degradation via strong HAase inhibition comparable with the positive control, oleanolic acid. The molecular docking confirmed the binding interactions and molecular recognition of major free fatty acids toward HAase. Furthermore, SFO exhibited no cytotoxicity on primary human skin fibroblasts, HaCaT keratinocytes and PBMCs (IC 50 values > 200 μg/mL). SFO possessed significant in-situ anti-oxidant activity in UVB-irradiated fibroblasts and the melanin inhibition activity as effective as well-known anti-pigmenting compounds (kojic acid and arbutin, p < 0.05). Conclusion: This study provides scientific support for various aspects of SFO. SFO can be considered an alternative oil ingredient in cosmetic products with potential implications for anti-skin aging, whitening and UVB protection properties, making it a potential candidate oil in the cosmetic industry., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2023 Phongpradist, Semmarath, Kiattisin, Jiaranaikulwanitch, Chaiyana, Chaichit, Phimolsiripol, Dejkriengkraikul and Ampasavate.)

Oxidative stress is one of the major causes of skin aging. In this study, the shape memory gels containing phytosomes were developed as a delivery system for Nicotiana tabacum var. Virginia fresh (VFL) and dry (VDL) leaf extracts. The extracts were loaded in the phytosomes by a solvent displacement method. The physical and chemical characteristics and stability of phytosomes were evaluated by dynamic light scattering and phytochemistry, respectively. The in vitro antioxidant activity and intracellular reactive oxygen species reduction of phytosomes and/or extracts were investigated by the DPPH and ABTS radical scavenging assays, FRAP assay, and DCFH-DA fluorescent probe. The cytotoxicity and anti-inflammatory activity of VDL and VFL phytosomes were studied by an MTT and a nitric oxide assay, respectively. Here, we first reported the total phenolic content in the dry leaf extract of N. tabacum var. Virginia was significantly greater than that of the fresh leaf extract. The HPLC analysis results revealed that VDL and VFL extracts contained 4.94 ± 0.04 and 3.13 ± 0.01 µg/mL of chlorogenic acid and 0.89 ± 0.00 and 0.24 ± 0.00 µg/mL of rutin, respectively. The phytosomes of the VDL and VFL extracts displayed stable size, polydispersity index, zeta potential values, and good chemical stability. VDL and VDL phytosomes showed higher phenolic and flavonoid contents which showed stronger DPPH and ABTS radical scavenging effects and reduced the intracellular ROS. The results suggested that the phenolic compounds are the main factor in their antioxidant activity. Both VDL and VFL phytosomes inhibited nitric oxide production induced by LPS, suggesting the anti-inflammatory activity of the phytosomes. The shape memory gel containing VDL and VFL phytosomes had good physical stability in terms of pH and viscosity. The VDL and VFL phytosomes dispersed in the shape memory gels can be considered as a promising therapeutic delivery system for protecting the skin from oxidation and reactive oxygen species., Competing Interests: The authors declare no conflict of interest.

Lycopene is one of naturally occurring carotenoids in plants including watermelon (Citrullus lanatus) . Heat, light, and oxygen effect on lycopene isomerization and degradation. Nanostructured lipid carriers (NLCs) are drug delivery system which can enhance the stability of active compound. Therefore, this study aimed to develop watermelon extract loaded in NLCs for lycopene stability improvement. The NLCs were prepared using a hot homogenization technique. Cocoa butter was used as solid lipid. Grape seed oil was used as liquid lipid. Span ® 80 and Plantasens ® HE20 were used as an emulsifier. The selected unloaded NLCs contained solid lipid to liquid lipid at the ratio of 3:1 and 10% (w/w) of total lipid. The particle size of watermelon extract-loaded NLCs (WH-loaded NLCs) was 130.17 ± 0.72 nm with low PDI and high zeta potential. It also presented high entrapment efficiency. For stability study, the WH-NLC3 could enhance stability and maintain lycopene content after stability test. It exhibited the highest values of lycopene content (83.26 ± 2.30%) when stored at 4°C. It also possessed a prolonged release pattern over 48 hr. Therefore, the NLCs could improve stability and release profile of lycopene from watermelon extract., Competing Interests: The authors declare that there is no conflict of interest regarding the publication of this paper., (© 2021 The Authors. Food Science & Nutrition published by Wiley Periodicals LLC.)

This study aimed to investigate the potential usage of Thunbergia laurifolia Lindl. leaf extracts in the cosmetic industry. Matrix metalloproteinases (MMPs) and hyaluronidase inhibition of T. laurifolia leaf extracts, prepared using reflux extraction with deionized water (RE) and 80% v/v ethanol using Soxhlet's apparatus (SE), were determined. Rosmarinic acid, phenolics, and flavonoids contents were determined using high-performance liquid chromatography, Folin-Ciocalteu, and aluminum chloride colorimetric assays, respectively. Antioxidant activities were determined by 1,1-diphenyl-2-picrylhydrazyl (DPPH) and linoleic acid-thiocyanate assays. MMP-1 inhibition was investigated using enzymatic and fluorescent reactions, whereas MMP-2, MMP-9, and hyaluronidase inhibition were investigated using gel electrophoresis. Cytotoxicity on human fibroblast cell line was also investigated. The results demonstrated that SE contained significantly higher content of rosmarinic acid (5.62% ± 0.01%) and flavonoids (417 ± 25 mg of quercetin/g of extract) but RE contained a significantly higher phenolics content (181 ± 1 mg of gallic acid/g of extract; p < 0.001). SE possessed higher lipid peroxidation inhibition but less DPPH • scavenging activity than RE. Both extracts possessed comparable hyaluronidase inhibition. SE was as potent an MMP-1 inhibitor as gallic acid (half maximal inhibitory concentration values were 12.0 ± 0.3 and 8.9 ± 0.4 mg/cm 3 , respectively). SE showed significantly higher MMP-2 and MMP-9 inhibition than RE ( p < 0.05). Therefore, SE is a promising natural anti-ageing ingredient rich in rosmarinic acid and flavonoids with antioxidant, anti-hyaluronidase, and potent MMPs inhibitory effects that could be applied in the cosmetic industry.

Objective: This study examined the effects of treatment with Phyllanthus amarus nanoparticle gel applied by phonophoresis (PP) and ultrasound therapy (UT) in patients with symptomatic knee osteoarthritis (OA) using a randomized, double-blind, controlled trial., Methods: Patients with knee OA (n = 40; mean age ± SD, 64.30 ± 9.71 years), who had visual analogue scale (VAS) scores for knee pain intensity of 68.00 ± 9.58 (UT group) and 71.00 ± 8.74 (PP group, respectively) before treatment, were randomly allocated into two groups. Both groups were treated with an ultrasound program in continuous mode, 1.0 W/cm 2 , 10 min per session, for 10 sessions. Nanoparticles of P. amarus were used in the PP group, whereas a nondrug coupling gel was used in the UT group. The 6-min walk test (6-MWT) was performed to evaluate functional capacity. The VAS and the 6-MWT were evaluated before and after 10 treatment sessions in both groups using a double-blind procedure., Results: VAS and 6-MWT showed significant improvement after treatment in both groups (p < 0.05). The PP group showed more significant effects than the UT group, in terms of both reducing the VAS pain score (p < 0.05) and improving 6-MWT (p < 0.05)., Conclusions: PP is suggested as an effective method for the treatment of symptomatic knee OA for reducing pain and improving functional capacity., (Copyright © 2019 Elsevier Ltd. All rights reserved.)

Objective: To determine the changes in serum levels of inflammatory biomarkers and antioxidant levels among the knee osteoarthritis (OA) patients after treatment with Phyllanthus amarus (PP) by nanoparticle gel phonophoresis., Methods: This study was a randomized, double-blind, placebo-control, parallel-group, clinical trial involving 30 subjects with mild-to-moderate degree of knee OA. The patients were allocated to two groups using a computer-generated random numbers, and received conventional ultrasound therapy (control group, 15 cases) and PP (treatment group, 15 cases) once daily for 10 sessions. The pain was evaluated by visual analogue scale (VAS). Serum levels of tumor necrosis factor-α (TNF-α) were determined by enzyme-linked immunosorbnent assay (ELISA). Nitric oxide (NO) was determined by modified Griess reagent. The antioxidant effects, including superoxide dismutase (SOD) and total antioxidant capacity (TAC), were also measured by ELISA assay., Results: The VAS score was significantly decreased in the treatment group compared with the control group after treatment (P<0.01). The serum concentrations of TNF-α and NO were significantly reduced in the treatment group compared with the control group (P<0.01) after treatment. However, the serum concentrations of SOD and TAC in the treatment group were significantly higher after treatment compared with the control group (P<0.01)., Conclusion: PP could alleviate knee pain and significantly reduce systemic anti-inflammatory effects in knee OA patients.

The flowers of African marigold (Tagetes erecta L), a medicinal plant widely cultivated in Thailand, were subjected to evaluation for total phenolics, DPPH scavenging and thiobarbituric acid-reactive substance (TBARs) assays as well as tyrosinase inhibitory activity. In preliminary studies, the ethyl acetate (EA) extract obtained by continuous extraction showed the highest activities with highest phenolic content among all extracts. Bioassay-guided fractionation of EA extract led to isolation of a flavonoid identified as quercetagetin. Interestingly, it was found that quercetagetin exhibited potent DPPH scavenging activity with IC50 of 3.70 μg/ml which is about 2-3 times higher activity than standard quercetin (IC50 5.07 μg/ml) and trolox (IC50 9.93 μg/ml). Moreover, it exhibited tyrosinase inhibitory activity on L-tyrosine (IC50 89.31 μg/ml), higher than α- and β-arbutins (IC50 157.77 and 222.35 μg/ml) and slightly higher (IC50 128.41 μg/ml) than ellagic acid (IC50 151.1 μg/ml) when using L-DOPA as substrate. Testing with skin fibroblasts, all the extracts and quercetagetin demonstrated no toxic effect. These finding strongly indicate that African marigold flower is a promising source of natural antioxidative and tyrosinase inhibitory substances with safe to skin.