Sarcoidosis is a granulomatous disorder of unknown cause, affecting multiple organs, but mainly the lungs.The exact order of immunological events remains obscure.Reviewing current literature, combined with careful clinical observations, we propose a model for granuloma formation in pulmonary sarcoidosis.A tight collaboration between macrophages, de
This research addresses the obstacle avoidance problem in wheeled mobile robots powered by renewable energy by considering all subsystems involved.A three-tier hierarchical controller is developed, integrating the technique of artificial potential fields.The proposed controller incorporates the dynamics of the three key subsystems typically found i
ABSTRACT Background: Racial variation in the clinical presentation of rheumatoid arthritis (RA) and its response to treatment is well known.Ethnicity and associated socioeconomic factors make it necessary to study the effectiveness of the antirheumatic drugs such as sulfasalazine (SSZ) in our RA patients, and to what extent it interacts with the no