The uptake and transport of dietary antioxidants remains the most important setback for their application in therapy. To overcome the limitations, a PEGylated-based platform was developed to improve the delivery properties of two dietary hydroxycinnamic (HCA) antioxidants-caffeic and ferulic acids. The antioxidant properties of the new polymer-antioxidant conjugates (PEGAntiOxs), prepared by linking poly(ethylene glycol) (PEG) to the cinnamic acids by a one-step Knovenagel condensation reaction, were evaluated. PEGAntiOxs present a higher lipophilicity than the parent compounds (caffeic and ferulic acids) and similar, or higher, antioxidant properties. PEGAntiOxs were not cytotoxic at the tested concentrations in SH-SY5Y, Caco-2, and hCMEC/D3 cells. By contrast, cytotoxic effects in hCMEC/D3 and SH-SY5Y cells were observed, at 50 and 100 μM, for caffeic and ferulic acids. PEGAntiOxs operate as antioxidants against several oxidative stress-cellular inducers in a neuronal cell-based model, and were able to inhibit glycoprotein-P in Caco-2 cells. PEGAntiOxs can cross hCMEC/D3 monolayer cells, a model of the blood-brain barrier (BBB) endothelial membrane. In summary, PEGAntiOxs are valid antioxidant prototypes that can uphold the antioxidant properties of HCAs, reduce their cytotoxicity, and improve their BBB permeability. PEGAntiOxs can be used in the near future as drug candidates to prevent or slow oxidative stress associated with neurodegenerative diseases.

In this work, we address the modeling and control problems in the domain of underwater vehicles. We focus on a prototype of an autonomous underwater vehicle. Although the work presented here is applied to a particular vehicle with four controllable degrees of freedom, the method may be easily extended to several submerged bodies. In the engineering area, modeling of systems is done frequently, as it yields a mathematical translation of their behavior. Since models can become an important tool to solve problems related to its motion or even to the design of controllers, we obtain a model with six degrees of freedom for such a vehicle.Robust control of underwater vehicles is an area in which many efforts were applied over the last two decades. However, due to nonlinear dynamics, it may be hard to design robust controllers that yield the expected behavior, and there is no general procedure to develop them. Here, we propose an approach that combines nonlinear controllers based on the deduced model and on the Lyapunov theory to control the velocities of the vehicle with linear controllers that control the vehicle’s position. We derive control laws to perform several maneuvers, both in the vertical and the horizontal planes, in a decoupled way, which is made possible through the configuration of thrusters. Finally, we present realistic simulations and experimental results that validate the proposed approach in the definition of the control laws.

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A new and fast methodology is discussed as a solution to pinpointing the location of a robot, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power. The methodology is a threedimensional map based approach, which uses the 3D map of the surrounding environment and data acquired by a tilting Laser Range Finder (LRF), to pinpoint the robot pose. Experimental results about the accuracy of the proposed method are presented in this paper. 

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Osteoporosis therapies leveraging bisphosphonates and mineral components (e.g., magnesium, calcium, and strontium) have been raising attention because of their potential for managing this ever-growing disease. The administration of multicomponent therapeutics (combined therapy) in elderly patients is complex and suffers from low patient adherence. Herein, we report an all-in-one combination of four antiosteoporotic components into a new family of coordination complexes: [M2(H4alen)4(H2O)2]·1.5H2O [where M2+ = Mg2+ (1), (Mg0.535Ca0.465)2+ (2) and (Mg0.505Ca0.450Sr0.045)2+ (3)]. These solid-state complexes were prepared, for the first time, through microwave-assisted synthesis. It is demonstrated that the compounds are capable of releasing their antiosteoporotic components, both in conditions that mimic the path along the gastrointestinal tract and in long periods under physiological conditions (pH ∼7.4). More importantly, when administered in low concentrations, the compounds did not elicit a cytotoxic effect toward liver, kidney, and osteoblast-like cell lines. Besides, it is important to highlight the unique coordination complex with four bone therapeutic components, [(Mg0.505Ca0.450Sr0.045)2(H4alen)4(H2O)2]·1.5H2O (3), which significantly promoted osteoblast metabolic activity up to ca. 1.4-fold versus the control group. These findings bring this type of compounds one-step closer to be considered as an all-in-one and more effective treatment for managing chronic bone diseases, prompting further research on their therapeutic properties.

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