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Methanol extracts of the root of Dipsacus asper Wall (Dipsacaceae) were found to exhibit apoptosis-inducing activities in U937 (human monocyte-like histiocytic) cells. Investigation of the active n-BuOH fraction led to the isolation of akebia saponin D (ASD). Structure was established by spectroscopic methods. Treatment of U937 cells with ASD induced apoptosis in a dose dependent manner. ASD exerted strong cytotoxicity against human and murine leukemia cells. It is significantly increased the subG1 cell population and expression of p53 and Bax gene. And also ASD enhanced NO production from RAW264.7 macrophage cells. Taken together, these results strongly indicate that ASD may exert apoptosis-inducing activity via induction of apoptosis through activation chiefly via the nitric oxide and apoptosis-related p53 and Bax gene expression. These data provide scientific evidence that Dipsacus asper Wall can be useful as a chemopreventive agent.

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The minimum-energy trajectory planning and control algorithm on a straight line with rotation is proposed for battery-powered three-wheeled omni-directional mobile robots (TOMRs). In order to lengthen the operation time of a mobile robot with carried batteries, we have chosen a practical cost function as the energy from the batteries to actuation motors. The optimal control theory using a Hamiltonian function is used to solve the minimum-energy trajectory, which gives the rotational velocity profile in analytic form and the translational velocity profile by numerical method. We also establish search algorithm to find the minimum-energy trajectory. These minimum-energy velocity trajectories are compared to the conventional trapezoidal velocity profiles via simulation to analyze actuation energy consumption, which reveal energy savings up to 4.76 %. Also a trajectory following control system is implemented to validate the actual performance.

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We suggest that reduction of oxidative stress may play a role in this anti-inflammatory effect.

We report the effects of Nafion thickness on the performance of ionic polymer–metal composite (IPMC) actuators.