A systematic analytical and experimental method of identification of Two Input Two Output (TITO) Quadruple-Tank Process (QTP), operated at non-minimum phase condition has been presented. Parameters of the process transfer function matrix have been validated on an experimental laboratory-scale physical setup of the process. Appropriate input-output pairing and interaction among control loops have been studied based on the Relative Gain Array (RGA) analysis. Inverted decoupling Internal Model Control (IMC) based Proportional Integral Derivative (PID) controller has been designed for the TITO process. The effect of changes in controller tuning parameters on the closed-loop response for servo problem has been reported in terms of quantitative performance indices such as Integral of Square of Error (ISE), Integral of Absolute Error (IAE), percentage overshoot and offset. The simulation results have been compared with the literature.

decoupling of dynamic equations in robotic mechanisms has attracted many researchers in the recent years. This kind of decoupling can be achieved by modifying the original kinematic structure through the use of counterweights attached to the moving links. Therefore, the robotic control becomes easier due to reducing the coupling disturbances. In this paper, different methods of decoupling including the static balancing, Coriolis and centripetal force eliminating and dynamic balancing are introduced and their concepts are described based on Lagrange-Euler equations. The systematic adaptive approach is proposed for any open-chain planar robots whose links are connected by revolute joints. The method is tested for two-link and three-link manipulator. The results indicate that the system is fully-decoupled and simple classical approach is sufficient to control it.

A 65 years' woman was admitted in the operating room for discectomy surgery. The laboratory tests were normal, BP: 150/90, HR: 85; O2 Sat 95% in room air, with a history of hypertension, treated with losartan, with a normal ejection fraction. After admitting the patient, routine monitoring was established. The anesthesia machine was checked before anesthesia and the circuit system was connected correctly. . .

Inverted papillomas of the nose and paranasal sinuses are uncommon neoplasms, characterized by their tendency to occur and by their association with malignancy. In the past decade there has been a trend toward the use of endoscopic surgical techniques in the management of these tumors. This article presents the results of a prospective study of 24 patients with Inverted papilloma resected by the endoscopic approach. 21 patients had unilateral disease and three patients had bilateral involvement.None of the patients had orbital or cranial extension. No association with malignancy was seen.Following endoscopic surgery, four patients had recurrences that required surgery. No complication occurred in any of the patients. The result of endoscopic surgery for Inverted papilloma is much better than nonendoscopic transnasal approaches and compares favorably with radical extranasal approaches.Endoscopic surgery is an effective surgical option for Inverted papilloma removal.