This article investigates the problem of simultaneous attitude and vibration control of a flexible spacecraft to perform high precision attitude maneuvers and reduce vibrations caused by the flexible panel excitations in the presence of external disturbances, system uncertainties, and actuator faults. Adaptive integral sliding mode control is used in conjunction with an attitude actuator fault iterative learning observer (based on sliding mode) to develop an ACTIVE fault tolerant algorithm considering rigid-flexible body dynamic interactions. The discontinuous structure of fault-tolerant control led to discontinuous commands in the control signal, resulting in chattering. This issue was resolved by introducing an adaptive rule for the sliding surface. Furthermore, the utilization of the sign function in the iterative learning observer for estimating actuator faults has not only enhanced its robustness to external disturbances through a straightforward design, but has also led to a decrease in computing workload. The strain rate feedback control algorithm has been employed with the use of piezoelectric sensor/actuator patches to minimize residual vibrations caused by rigid-flexible body dynamic interactions and the effect of attitude actuator faults. Lyapunov's law ensures finite-time overall system stability even with fully coupled rigid-flexible nonlinear dynamics. Numerical simulations demonstrate the performance and advantages of the proposed system compared to other conventional approaches.

Background: A major hurdle to improved in vitro fertilization (IVF) success rate is defective endometrial receptivity and implantation. Various techniques have been advocated to increase implantation while reducing side effects. Currently, EMBRYO transfer (ET) is performed blindly without direct visualization. As such, we sought to develop a technique utilizing a flexible minihysteroscope with a flexible catheter for direct implantation of the blastocyst (s).Materials and Methods: This was a case study performed at West Coast IVF Clinic, Inc., Beverly Hills, California 90212. A total of 15 IVF Cycles in 13 patients (average age = 29) underwent visually directed ET and endometrial implantation. All women received luteal support. The main outcome measure in this study, both clinically and procedurally, was the relevant development and assessment of a novel surgical technology.Results: In this study, eight (60%) pregnancies ensued [5 (62.5%) clinical and 3 (37.5%) biochemical]. Of note, there was no uterine scratching, uterine bleeding, or ectopic pregnancies. Significantly, high-order pregnancies were decreased; only one twin was conceived.Conclusion: Preliminary data suggest mechanically assisting implantation with a hysteroscopic blastocyst ET (SEED) offers a viable option for improving pregnancy outcome.

Many women undergoing an Assisted Reproductive Technology (ART) cycle will not achieve a live birth. Failure at the EMBRYO transfer stage may be due to poor EMBRYO quality, lack of uterine receptivity, or the transfer technique itself. EMBRYO transfer (ET) is the least successful step in ART. Many factors have been proposed to increase the success of this step. The ultimate goal of a successful EMBRYO transfer is to deliver the EMBRYOs a traumatically to the uterine fundus in a location where implantation is maximized, without pain, bleeding, trauma to the endometrium or EMBRYOs, and with the absence of uterine contractions.

Many cellular changes have been reported to play a role in the aging process of oocyte; however, few studies have been performed on the appropriate time and temperature for the storage. The main problem is the distance and time available for the transfer of oocytes to the laboratory, and protection of immature oocytes without reducing their ability to fertilize in vitro is very critical. The aim of this study was to compare the EMBRYO Holding (EH-Syngro) and HTCM-199 medium to store immature oocytes at room temperature without incubation. A total of 5268 oocytes were tested. The oocytes were stored at three temperature degrees including 4, 22 and 38 ° C for 6, 12, 18, and 24 hours.  After spending the storage time, they were entered to the standard maturation environment and finally IVF was performed.There was no statistically significant difference between the experimental and control groups  in terms of blastocyst production  at storage of 6h. At 12 hours, oocyte maturation and blastocyst production in all groups were significantly lower than that of the standard group. EHT and HTCM-199 medium in our experiment showed that they can be useful for storing immature oocyte for up to 6 hours at room temperature and have no adverse effect on maturation of oocyte and blastocyst production, and most importantly do not need an incubator to transport the oocytes to the laboratory.

So far, more than 2 million babies have been born worldwide through assisted reproductive technologies (ART). For many couples there is no treatment except joining a third party to the family. Recently, EMBRYO donation law has been approved by Iran’s parliament and now it is legal in Iran. But there is a misunderstanding in the source of EMBRYOs: from surplus frozen EMBRYOs of infertile couples and sperm and egg donation from fertile married couples followed by donation of the resulting EMBRYOs. Here in this paper we discussed ethical, religious and legal aspects of these two procedures and present the advantages and disadvantages of them. Meanwhile, the new term "both gamete donations" was defined for the misplaced program instead of "EMBRYO donation". In conclusion we can say: 1) Iranian law means only EMBRYO donation and covers only surplus EMBRYOs from other infertile couples and not both gamete donation. 2) As gamete donation is practiced in Iran upon decrees of clergy leaders, there is nothing against both gamete donations. 3) There are so many ethical, legal and religious questions about "both gamete donation" to be answered. 4) Ethical and religious questions are very fewer about "EMBRYO donation" comparing to "both gamete donation" program, and 5) Embro sharing is a good way for donation of fresh EMBRYOs.