Abstract: Vitamin D deficiency is a public health concern affecting many individuals as it is highly prevalent in

all parts of the world. Recent studies have reported an association of vitamin D deficiency with cardiometabolic

alterations such as dyslipidemia. The study aimed to evaluate vitamin D and lipid profile levels among the Libyan

adult population and investigate the correlation of vitamin D deficiency with the alteration of lipid profile levels.

A cross-sectional study was conducted at Janzour Hospital among 193 subjects (107 males and 86 females) whose

ages ranged between 20 and 50 years over three months from Sept to Dec 2023. Vitamin D, cholesterol,

triglyceride, low-density lipoprotein, and high-density lipoprotein levels were estimated. The total mean vitamin

D levels were 8.31±4.74, 23.83±2.78, and 42.67±7.95 ng/dl for deficiency, insufficiency, and sufficiency,

respectively. The findings revealed significant alterations in cholesterol (increase), triglyceride (increase), LDLcholesterol

(increase), and HDL-cholesterol (decrease) among subjects who had vitamin D deficiency or

insufficiency as compared to subjects having vitamin D sufficiency. Vitamin D levels were negatively correlated

with cholesterol, triglyceride, and LDL cholesterol, and they were positively associated with HDL cholesterol.

The incidence of dyslipidemia is higher in the vitamin D deficiency group than in the insufficiency and sufficiency

groups. It is essential to frequently monitor lipid profiles among vitamin D-deficient individuals to avoid

subsequent disorders or damages associated with the alterations of lipid profile patterns.

Energy drinks are widely consumed by teenagers and young adults to enhance focus and energy.

However, excessive consumption may lead to negative health effects, especially when they contain

preservatives like sodium benzoate. In this study, the concentration of sodium benzoate was

determined in four imported energy drink samples available in Asb'ah markets. The analysis was

conducted using a UV spectrophotometric method, which proved to be both simple and accurate. The

concentration of sodium benzoate in the samples ranged from 1361 to 1424.55 mg/L. The results

indicated that all tested samples contained sodium benzoate levels within the upper safety limits

established by the FDA

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Abstract:- This paper introduces a technique for modeling and effectively controlling the trajectory tracking of a robotic manipulator through an LQG controller optimized by the IPSO algorithm. Extensive simulations have been conducted within the MATLAB simulation environment. The LQG, which combines a Kalman Filter (KF) and a Linear Quadratic Regulator (LQR), is developed to follow the desired input for the robotic manipulator while minimizing the impact of process and measurement noise on its performance. The parameters of the LQG controller, which include the elements of the state and control weighting matrices for the LQR and KF, are optimally adjusted using the IPSO method. The validation of the proposed hybrid LQG-IPSO controller is conducted based on the control criteria parameters. The findings demonstrate that the proposed hybrid LQGIPSO controller can achieve excellent movement performance. To fully leverage the capabilities of the IPSO algorithm, careful adjustment and determination of IPSO parameters such as inertia weight, iteration count, acceleration constants, and particle quantity are essential. Therefore, The initial focus of this study is to conduct a comparative analysis of various fitness functions; simulation results indicate that the proposed hybrid LQGIPSO control method achieves commendable fitness outcomes with minimal steady-state error (ess). Following this, a comparison of the performances of a robotic manipulator using the hybrid LQG-IPSO controller, hybrid LQR-IPSO controller, LQG controller, and LQR controller is also presented. Based on the analysis, it can be concluded that superior performance parameters are attained with the hybrid LQG-IPSO controller when compared to its counterparts—the hybrid LQR-IPSO controller, LQG controller, and LQR controller—offering enhanced performance.

Keyw Keywords: Linear Quadratic Gaussian (LQG) controller, Linear Quadratic Regulator (LQR) controller, Improved Particle Swarm Optimization (IPSO) algorithm, Particle Swarm Optimization (PSO) algorithm and MATLAB etc