Means, SDs and CV% of fiber properties [25].
\r\n\tThis book will be a collection of state-of-the-art chapters in methods and numerous applications of robot motion planning. Motion planning is a fundamental key-function for all navigational modalities of rolling, walking, flying and swimming robots, as well as trajectory generation and control of robotic arms. Motion, path and tasks planning are correlated tasks that are critical for industrial, manufacture and service robotic missions. Those tasks depend on their cyber-physical planning interactions of the robot's mechanisms, actuators motion, and end-effector tasks.
\r\n\r\n\tThis book will collect different approaches to robot motion planning in artificial intelligence algorithms and dynamic modeling and control methods. The intelligent robotics approach includes traditional AI methods grouped in Graph search, Machine Learning and Reinforcement Learning algorithms. Moreover, the methods based on dynamic modeling and control include geometric and algebraic models, differential ordinary/partial equations, Kalman filters for state estimation and sensory-motor feedback approaches. Likewise, this book will provide the point of views developed for path generation and motion tracking in both, deterministic and probabilistic perspectives.
",isbn:"978-1-83969-774-6",printIsbn:"978-1-83969-773-9",pdfIsbn:"978-1-83969-775-3",doi:null,price:0,priceEur:0,priceUsd:0,slug:null,numberOfPages:0,isOpenForSubmission:!0,hash:"bf915895c5372e30c213b65ad1a62322",bookSignature:"Dr. Edgar Alonso Martínez García",publishedDate:null,coverURL:"https://cdn.intechopen.com/books/images_new/10655.jpg",keywords:"Navigation, Path-Tracking, Trajectory-Generation, Task-Planning, Bio-Mechanisms, Actuator-Motion, Path-Planning, Deep-Learning, Motion-Control, Trajectory-Control, Manufacture, Service-Robotics",numberOfDownloads:null,numberOfWosCitations:0,numberOfCrossrefCitations:null,numberOfDimensionsCitations:null,numberOfTotalCitations:null,isAvailableForWebshopOrdering:!0,dateEndFirstStepPublish:"April 13th 2021",dateEndSecondStepPublish:"May 11th 2021",dateEndThirdStepPublish:"July 10th 2021",dateEndFourthStepPublish:"September 28th 2021",dateEndFifthStepPublish:"November 27th 2021",remainingDaysToSecondStep:"22 days",secondStepPassed:!1,currentStepOfPublishingProcess:2,editedByType:null,kuFlag:!1,biosketch:"Dr. Martínez García is a founder and head of the Robotics Laboratory and the academic body of Mechatronics at the Universidad Autonoma de Ciudad Juarez, he is an author and creator of a distributed heterogeneous multi-robot system architecture deployed for academic and scientific purposes.",coeditorOneBiosketch:null,coeditorTwoBiosketch:null,coeditorThreeBiosketch:null,coeditorFourBiosketch:null,coeditorFiveBiosketch:null,editors:[{id:"84958",title:"Dr.",name:"Edgar",middleName:"Alonso",surname:"Martínez García",slug:"edgar-martinez-garcia",fullName:"Edgar Martínez García",profilePictureURL:"https://mts.intechopen.com/storage/users/84958/images/system/84958.jpg",biography:"Dr. Edgar A. Martínez García (PhD Eng) is Full Professor at the Universidad Autónoma de Ciudad Juárez, Mexico; founder and head of the Robotics Laboratory and leader of the academic body of Mechatronics at the Institute of Engineering and Technology, since 2007. He obtained his Ph.D. degree in Robotics Engineering from the University of Tsukuba, Japan (2005). He worked as Research Fellow at Nanyang Technological University, Singapore (2005-2007). Subsequently, he worked as postdoctoral fellow at the Advanced Materials Research Center, Mexico (2007-2008). Prof. Martínez teaches different graduate and undergraduate courses such as Robotics, Robot Modeling and Control, Sensors and Actuators, Vision Systems, Scientific Computing, Mechanisms and Applied control. He has supervised over 100 theses including all levels Ph.D., Master and Undergraduate. He has published and registered numerous technical papers and patents. His academic interests are mathematical modeling and dynamic control of robots, sensing and actuating models in all robots locomotion modalities.",institutionString:"Universidad Autónoma de Ciudad Juárez",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"3",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"Universidad Autónoma de Ciudad Juárez",institutionURL:null,country:{name:"Mexico"}}}],coeditorOne:null,coeditorTwo:null,coeditorThree:null,coeditorFour:null,coeditorFive:null,topics:[{id:"22",title:"Robotics",slug:"physical-sciences-engineering-and-technology-robotics"}],chapters:null,productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"},personalPublishingAssistant:{id:"252211",firstName:"Sara",lastName:"Debeuc",middleName:null,title:"Ms.",imageUrl:"https://mts.intechopen.com/storage/users/252211/images/7239_n.png",email:"sara.d@intechopen.com",biography:"As an Author Service Manager my responsibilities include monitoring and facilitating all publishing activities for authors and editors. From chapter submission and review, to approval and revision, copyediting and design, until final publication, I work closely with authors and editors to ensure a simple and easy publishing process. I maintain constant and effective communication with authors, editors and reviewers, which allows for a level of personal support that enables contributors to fully commit and concentrate on the chapters they are writing, editing, or reviewing. I assist authors in the preparation of their full chapter submissions and track important deadlines and ensure they are met. I help to coordinate internal processes such as linguistic review, and monitor the technical aspects of the process. As an ASM I am also involved in the acquisition of editors. 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In tumor cells, autophagy is activated in response to various cellular stresses, including nutrient and growth factor starvation, as well as hypoxia [1]. It is now well established that autophagy can act as tumor suppressor and tumor promoter. The different roles of autophagy in cancer cells seem to depend on tumor type, stage, and genetic context. Indeed, autophagy clearly suppresses the initiation and development of tumors, however, it is considered as a key survival pathway in response to stress, and many established tumors require autophagy to survive. In this section, we will summarize the different mechanisms involved in the activation of autophagy in tumor and discuss recent reports about the dual role of autophagy in carcinogenesis and tumor progression.
Several lines of indirect evidence indicate that autophagy acts as a tumor suppressor. Indeed in various cases, oncogenic transformations, such as activation of the PI3K/Akt pathway
Beside the indirect evidences outlined above, there are more direct ones supporting the tumor suppressing properties of autophagy. Thus, the autophagy execution protein Beclin1 is a haplo-insufficient tumor suppressor protein. Monoallelic deletions of
The tumor suppressive functions of autophagy have been extensively investigated. Below we will provide mechanistic insights into the tumor-suppressive functions of autophagy.
During the last decade, strong evidence supported that the inflammatory microenvironment plays a major role in tumor development. Indeed, chronic inflammation is a common future of early cancer development. In this regards, it has been proposed that autophagy can modulate those inflammatory reactions through different mechanisms, as autophagy-deficient tumors display an increased level of necrosis and inflammation.
First, it has been reported that activation of autophagy in tumor cells can inhibit necrotic cell death. Unlike apoptotic cell death, cells dying by necrosis stimulate a robust inflammatory response
Several studies have confirmed that autophagy is able to prevent the two forms of necrotic cell death (i) necroptosis and (ii) poly-(ADP-ribose) polymerase (PARP)-mediated cell death. Necroptosis is a form of caspase-independent cell death mediated by cell death ligands (
Autophagy acts also through different mechanisms to decrease inflammation. Autophagy is essential for the maintenance of intracellular ATP level, which in turn is required for the secretion of lysophosphatidylcholine (LPC). Secretion of LPC is associated with the acute phase of the inflammatory response and is involved in the development of chronic inflammation. It also has been shown that autophagy-deficient cells fail to generate phosphatidylserine on the outer membrane surface – an important anti-inflammatory pro-apoptotic marker. This explains how defect in autophagy can stimulate inflammatory response subsequently to insufficient clearance of dead cells [19]. Accumulation of p62 in autophagy-deficient cells activates the pro-inflammatory transcription factor NF-κB and the stress-responsive transcription factor NRF2, thus favoring inflammation and tissue injury [20]. Transcription factors of NF-κB family regulate the expression of a broad range of genes involved in the development, the proliferation, and the survival of tumor cells. Moreover, these transcription factors are important in regulation of inflammation and innate and adaptive immune responses [21]. Activation of NF-κB is mediated by the IκB kinase (IKK) complexes. It has been shown that IKK complexes are targets for degradation by autophagy when the heat shock protein 90 (Hsp90) function is inhibited [22]. Another mechanism of regulation of NF-κB by autophagy is mediated by the Kelch-like ECH-associated protein 1 (Keap1). Keap1 interacts with the kinase domain of IKKβ through its C-terminal domain. This domain is also required for the binding of Keap1 to the transcription factor NRF2, which controls expression of certain antioxidant genes. In response to tumor necrosis factor (TNF), Keap1 negatively regulates activation of NF-κB through inhibition of the IKKβ phosphorylation and induction of IKKβ degradation by autophagy pathway [23]. The E3 ubiquitin ligase Ro52 is another signaling molecule that targets IKKβ for degradation through the autophagy pathway. In response to distinct stimuli, specific interactions of Hsp90, Keap1 and Ro52 with IKKs regulate NF-κB activity through their ability to activate or repress the degradation of IKKs by autophagy [24]. It has been shown that the crosstalk between NF-κB and autophagy regulates inflammasome activity leading to the modulation of the activation of caspase-1 and subsequently the secretion of potent pro-inflammatory cytokines [25]. Overall, it appears that autophagy exerts a significant impact on the regulation of inflammation, and is an important modulator of cancer pathogenesis.
Over the last years, the link between autophagy and suppression of cancer development has been confirmed by several
Autophagy is also able to mitigate the accumulation of genomic alteration by inducing the mitotic senescence transition. Senescence is an irreversible cell cycle arrest associated with an active metabolism, which can limit the proliferation of abnormal cells. Young
The induction of autophagic cell death has been proposed as a possible tumor suppression mechanism. This statement is based on the observation that apoptosis occurs concomitantly with features of autophagy [38] and that prolonged stress and progressive autophagy can lead to cell death [1].
Autophagic cell death was first described in 1973 based on the morphological features as a modality of cell death with the presence of autophagosomes and was subsequently named as type II cell death, together with apoptosis (type I) and necrosis (type III) [39]. The relevance of autophagic cell death in development has been established in lower eukaryotes and invertebrates like
The immune system plays an important role in controlling cancer progression. It is now well established that immune cells can mediate the destruction of mutated, aberrant or over-expressing self-antigens tumor cells. However, evasion of immune-mediated killing has recently been recognized as an universal hallmark of cancer [49]. It has become increasingly clear that hypoxic tumor microenvironment plays a crucial role in the control of immune protection [50]. On one hand, tumor cells have evolved to utilize hypoxic stress to their own advantage by activating key biochemical and cellular pathways that are important for tumor progression, survival, and metastasis. Autophagy is one of these pathways activated under hypoxia that may be exploited to modulate the responsiveness of tumor cells to immune system. On the other hand, immune cells that infiltrate tumor microenvironment also encounter hypoxia, resulting in hypoxia-induced autophagy. It is now clearly established that autophagy impacts on the immune system as this process is crucial for immune cell proliferation as well as for their effector functions such as antigen presentation and T-cell-mediated killing of tumor cells [51]. In the subsequent section we will discuss the role of autophagy activation in both tumor and immune cells in the context of cancer immune response. Indeed, understanding how tumor cells evade effective immunosurveillance represents a major challenge in the field of tumor immunotherapy.
Despite the inhospitable hypoxic microenvironment, multiple cell types within the innate and adaptive immune system are capable to recognize and eliminate tumor cells. This was attributed to the ability of immune cells to adjust their metabolic dependency once they have reached the tumor and enhance their survival by activating autophagy. Here we will discuss how autophagy impacts specific immune subsets.
The effect of autophagy induction by hypoxia was investigated in neutrophils as this type of immune cells are the first to migrate to the inflammatory site of the tumor where they promote inflammation and activate macrophages and dendritic cells (DCs) [52]. Neutrophils display high glycolytic rate making them resistant to hypoxia. Autophagy activation in neutrophils has been reported to mediate neutrophil cell death. This will decrease inflammation and ultimately lead to limit tumor growth under these circumstances [53].
In contrast to neutrophils, APCs such as macrophages and dendritic cells (DCs) must metabolically adapt to hypoxia through stabilization of hypoxia-inducible factor-1α (HIF-1α) to induce the expression of glucose transporters and glycolytic enzymes as well as limiting oxygen consuming oxidative phosphorylation [54]. As a consequence of hypoxia, macrophages and DCs have decreased phagocytosis, reduced migratory capacity, and increased production of proangiogenic and proinflamatory cytokines. While, hypoxia is involved in dampening APC activity, autophagy may contribute to survival of APCs under these conditions. It has been proposed that culturing DCs under hypoxia resulted in the stabilization of HIF-1α which initiates BNIP3 expression and promotes survival of mature DCs, possibly due to induction of autophagy [55]. It has been proposed that autophagy induction in APCs infiltrating tumor occurs
The effect of autophagy on the activity of T cells was also investigated. Indeed, autophagy is activated in these cells upon T cell receptor engagement in both CD4+ and CD8+ subtypes [62-64]. Targeting autophagy by silencing ATG5 or ATG7 during T cell receptor stimulation leads to a significant decrease in cellular proliferation, highlighting the importance of autophagy during T cell activation [63, 64]. Evidence has been recently provided showing that autophagy is upregulated at the immunological synapse during DC and T cell contact. Suppression of autophagy in DCs resulted in hyper-stable contacts between the DC and CD4+ T cells and increased T-cell activation [65]. Autophagy is upregulated in Th2 CD4+ T cells compared with Th1 CD4+ T cells and was shown to be important for the survival of a Th2 cell line upon growth factor withdrawal [66]. In addition, cells cultured under Th1-polarizing conditions rely more heavily on autophagy for survival compared to the Th17 subset. These findings indicate that the role of autophagy is dependent on the cell type and stimuli and that blocking autophagy can skew the balance of immune subsets [67]. Once T cells mature and traffic to the periphery, autophagy is required for survival [63, 67-70]. The role of autophagy in promoting mature T-cell survival has been attributed to autophagy degrading essential components of the apoptotic cell death machinery [67] and maintaining mitochondrial turnover [68-70]. In addition, it has been demonstrated that activated CD4+ T cells exhibit reduced cytokine secretion, adenosine triphosphate (ATP) production, fatty acid utilization, and glycolytic activity when autophagy is inhibited [64]. These findings support the notion that autophagy is required for cellular function by providing metabolism through the liberation of biosynthetic precursors. It has been shown that during sustained growth factor withdrawal, autophagy supplies the metabolites necessary to generate ATP production in bone marrow hematopoietic cells [71] supporting the hypothesis that immune cells use autophagy to generate metabolites required for cell survival. More recently, it has been shown that autophagy is involved in the liberation of the ubiquitous protein puromycin-sensitive aminopeptidase epitope, thereby creating a CTL epitope that mimic tumor-associated antigens [72].
Autophagy has been found activated in many tumors and its inhibition can lead to either increased death or increased survival, depending on tissue type, tumor grade and any concomitant therapy used [73, 74]. The role of autophagy induction in the anti-tumor immune response has recently received widespread attention. We have investigated the role of autophagy induction under hypoxia in tumor response to CTL-mediated lysis. Using non-small cell lung carcinoma and their autologous CTL, we clearly showed that the activation of autophagy under hypoxia in tumor cells is associated with resistance to CTL-mediated lysis (Figure 1).
Effect of hypoxia-induced autophagy in CTL-mediated tumor cell killing
Targeting autophagy in hypoxic tumor cells restores CTL-mediated killing [75]. The mechanism by which hypoxia-induced autophagy leads to tumor resistance to CTL was investigated. We provided evidence that hypoxia-inducible factor (HIF)-1α and autophagy coordinately operate to induce and stabilize a survival pathway involving the activated signal transducer and activator of transcription-3 (STAT-3) [76]. Furthermore, we also showed that targeting autophagy
Since autophagy can also promote the survival of tumor cells through nutrients recovered from degrading and recycling damaged organelles, it has been recently proposed that chemotherapy-induced autophagy causes the release of ATP from tumor cells, thereby stimulating antitumor immune response. Targeting autophagy blunted the release of ATP by tumor cells in response to chemotherapy without affecting that of other damaged signals. Autophagy-dependent extracellular ATP recruits DCs into tumors and activates a T cell response to tumor cells [77]. Based on this study, it seems that the activation of autophagy in the context of DNA damage-induced apoptosis, causes ATP release which subsequently recruits immune cells.
It is now well established that immune effector cells integrate signals that define the nature and magnitude of the subsequent response. In this context, it has been shown that at high effector-to-target ratios, autophagy was induced in several human tumors by natural killer (NK) cells. Importantly, cell-mediated autophagy promoted resistance from treatment modalities designed to eradicate tumor. Thus, the lymphocyte-induced cell-mediated autophagy promotes cancer cell survival and may represent an important target for development of novel therapies [78].
The complexity of cancer immune response is related to the fact that different immune subsets cooperatively and coordinately act through the secretion of cytokines and other soluble factors. Thus, it stands to reason that antitumor immune responses are not entirely dependent on the presence or absence of any particular subset, but rather on the stoichiometry of immune effectors versus immune suppressors. As a result, any anti-cancer therapies that skew the immune effector to suppressor ratio by impacting autophagy may exert a large effect on overall patient survival [79]. While mounting evidence suggest that autophagy induction enhances immune cell function, autophagy seems to operate as a tumor cells resistance mechanism against immune response. In spite of this, inhibition of autophagy in the clinic can behave as a double-edged sword because it can enhance or suppress cancer immune response. Thus, therapeutic strategies targeting autophagy in tumor cells must consider the potential negative impact on antitumor immunity. The key question that emerged is: what is the net outcome of the autophagy inhibitor in clinic? There are numerous studies supporting that immunotherapy of cancer should focus on inducing and reprogramming cells of the innate and adaptive immune system. Therefore, it is tempting to speculate that combined therapy based on autophagy inhibitor and reprograming immune cells could significantly improve cancer immunotherapy.
Metastases are responsible for most cancer-related deaths. Metastatic cascade involves several steps, including: i) invasion from the primary tumor site, ii) intravasation and survival in the systemic circulation, iii) extravasation at the secondary tissue site and, iv) colonization of this target tissue [80]. Autophagy has been found to either promote or prevent the metastatic progression, depending on the step in which it is activated (Figure 2 adapted from [81]). In this section, we will focus on the anti-metastatic activity of autophagy, while its pro-metastatic properties will be overview in the section 1.2.2.
Dual role of autophagy in metastasis (adapted from [
At early steps, autophagy is able to limit the metastatic progression from the primary tumor site by restricting inflammatory response. Indeed, infiltrated immune cells can supply some signals within the tumor microenvironment that influence tissue remodeling, angiogenesis, tumor cell survival and spreading. Clinical and experimental data have confirmed the dual role of the immune system in tumor metastasis. As example, Lin
Autophagy can modulate inflammation during metastasis by different ways. On one hand, autophagy may lead to a direct activation of antitumor immunity through the release of high-mobility group box protein 1 (HMGB1) from tumor cells that are destined to die [86]. When released, HMGB1 stimulates the Toll-Like Receptor 4 on dendritic cells and, subsequently, promotes the tumor cell killing by inducing T-cell immunity [87]. On the other hand, autophagy can indirectly attenuate the macrophage infiltration by inhibiting tumor cell necrosis (see section 1.1.1.). Indeed, tumor-associated macrophages (TAMs) are important components of the leukocyte infiltrate and their involvement in metastasis progression have been extensively studied. TAMs positively influence tissue remodeling, angiogenesis, tumor invasion and intravasation through the production of growth factors, cytokines and matrix metalloproteases [88] [85] [89].
Many studies have shown that the acquisition of mesenchymal feature by carcinoma cells promotes cancer invasion and metastasis. Epithelial to Mesenchymal Transition (EMT) is a process that leads to the complete loss of epithelial characteristics to achieve a mesenchymal cell phenotype. Initiation and completion of EMT requires the expression of specific transcription factors, microRNAs, cell surface proteins and matrix-degrading proteases [90]. Once undergoing EMT, cancer cells acquire invasive properties that enhance their ability to detach from the primary tumor site and to colonize distant tissues. Recently, two studies have pointed out that autophagy may modulate EMT. Lv
Cancer recurrence is a determinant element for patient life expectancy because this disease presents a high risk of relapse after therapy or a long period of remission. Presence of residual dormant cells in the primary tumor site or in distant organs is one of the major causes of cancer relapse. Tumor dormancy is characterized by a prolonged, but reversible, growth arrest in G0-G1, by which tumor cells survive in a quiescent state. However, dormant tumor cells have to re-activate their proliferative activity to allow the development of micro- or macro-metastasis. Lu
It has been well documented that tumor cells activate autophagy in response to stress, which enables long-term survival when apoptosis is defective [94]. Autophagy must be a highly selective process to allow extensive cellular degradation while retaining functional integrity. This section will address how autophagy confers tumor cells with superior stress tolerance, which limits damage, maintains viability, sustains dormancy and facilitates recovery.
Cancer cells need to adapt their metabolism to ensure the demands of proliferation enhanced in the microenvironment. The oncogenes affect signaling pathways important in regulation of metabolism, which support cancer growth and proliferation [95]. Autophagy is activated in response to multiple stresses, such as hypoxia, nutrient starvation, and the endoplasmic reticulum (ER) stress [96], during cancer progression. Under metabolic stress, inhibition of autophagy could lead to accelerated apoptosis, thus limiting further tumor progression. In this section, we discuss the role of autophagy regulation in tumor microenvironment and tumor growth [97].
Tumor cells are subjected to elevated metabolic stresses (
Mechanistically, Bellot
Furthermore, Denko
It is now well known that the metabolic stress induced by starvation in tumor microenvironment activates autophagy. Moreover, this metabolic stress is also dependent on autophagy as it allows organelles and proteins recycling in order to provide energy for cell survival. It has been shown that cancer cell lines with Ras activation display elevated levels of basal autophagy essential for survival through starvation and tumor growth [109]. Autophagy induced by starvation (
As mentioned in the section 1.1.5., autophagy may also promote different steps of metastatic cascade, mainly by favoring the survival of cancer cells in inhospitable environments (
During the metastatic progression, cancer cells activate mechanisms to resist to anoikis. Anoikis is a form of apoptotic cell death induced by the detachment from the surrounding extracellular matrix (ECM) [117]. Activation of autophagy during anoikis may be a survival strategy developed by the cells to overcome the stress of ECM detachment. Fung
Although autophagy prevents cancer progression by maintaining tumor cells in a dormant state, initiation of dormancy may also promote tumor progression by favoring survival of cancer cells. In this regard, it has been shown that breast cancer cells that lack β1 integrin are in a dormant state, suggesting that dormancy may help cancer cells to overcome the stress of ECM detachment, and subsequently resist to anoikis [121].
Autophagy may function to remove proteins or organelles that are damaged by cancer treatments or, through the degradation of cellular components, may provide nutrients for the rapidly growing cells. Indeed, inhibitors of autophagy can produce different outcomes: cell survival or cell death. Obviously, autophagic cell survival confers tumor cells with superior stress tolerance, which limits damage, maintains viability, sustains dormancy, and facilitates recovery. The dual role of autophagy highlights the need to carefully define its role in tumor cells before applying autophagy-based therapy. It will be important for clinical oncologists and cancer researchers to determine which cancer cell types most commonly undergo autophagy in response to therapy, and whether increased autophagy is a sign of responsiveness or resistance.
Nevertheless, several studies have shown that tumor cells can survive anti-cancer treatment by activating autophagy. This statement was validated using genetic or pharmacological inhibitors of autophagy which led to sensitize tumor cells to cancer therapies. In this context, it has been reported that inhibition of autophagy sensitizes cancer cells to DNA damaging anticancer agents. Evidence has been provided that inhibition of autophagy by 3-methyladenine (3-MA) or by targeting Atg7 enhances the cytotoxicity of 5-fluorouracil in human colorectal cancer cells [122]. Autophagy inhibition also enhances the therapeutic efficacy of cisplatin and 5-fluorouracil in esophageal and colon cancer cells, respectively [122, 123]. Targeting autophagy by genetic approaches using Beclin1, Atg3, and Atg4b siRNA sensitizes resistant cancer cells to ionizing radiation [124]. These studies strongly argue that autophagy operates as a mechanism through which cancer cells acquire resistance to radiotherapy and chemotherapy. There are numerous studies supporting the involvement of autophagy in cancer stem cells resistance to ionizing radiation and other anti- cancer treatments [125]. Thus, in malignant gliomas, the CD133+ cancer stem cells express higher levels of the autophagic proteins LC3, Atg5, and Atg12. In addition, ionizing radiation seems to induce autophagy only in CD133+ cancer stem cells compared to CD133- counterpart [126]. Furthermore, glioma cells treated with autophagy inhibitors exhibit more extensive DNA double-strand breaks than cells treated with radiation alone [127]. We have recently demonstrated that autophagy induction in tumor cells under hypoxia decrease the tumor cell killing by cytotoxic T lymphocytes. Furthermore, we provided evidence that simultaneously boosting the immune system by vaccination and inhibiting autophagy may improve cancer immunotherapy [75, 76].
While the general consensus is that autophagy inhibition is an effective strategy for cancer therapy, some drugs that are being used in the clinic induce autophagy. In most cases, however, it has not been proven that these drugs induce death
Evidence indicated that the modulation of autophagy is an important component of tumorigenesis, making it a possible therapeutic target. Pharmacological inhibitors of autophagy can be broadly classified as early- or late-stage inhibitors of the pathway. Early-stage inhibitors include 3-methyadenine, wortmannin, and LY294002, which target the class III PI3K (Vps34) and interfere with its recruitment to the membranes. Late-stage inhibitors include the antimalarial drugs chloroquine (CQ), hydroxychloroquine (HCQ), bafilomycin A1, and monensin. Bafilomycin A1 is a specific inhibitor of vacuolar-ATPase [128], and monensin and CQ/HCQ are lysosomotropic drugs that prevent the acidification of lysosomes, whose digestive hydrolases depend on low pH. Since autophagosomes and lysosomes move along microtubules, microtubule-disrupting agents (taxanes, nocodazole, colchicine, and vinca alkaloids) can also inhibit the fusion of autophagosomes with lysosomes. Other inhibitors of autophagy that block autophagosome degradation include the tricyclic antidepressant drug clomipramine and the anti-schistome agent lucanthone [129, 130]. Of the known autophagy inhibitors outlined above, only CQ and HCQ have been evaluated in humans, because they are commonly used as antimalarial drugs and in autoimmune disorders. These drugs cross the blood-brain barrier, and HCQ is preferred to CQ in humans because of its more favorable side-effects profile [131]. Quinacrine, which also has been used in patients as an anti-malarial, has been shown to inhibit autophagy similarly to CQ. In fact, quinacrine showed greater cytotoxicity in gastrointestinal stromal tumor (GIST) cell lines treated with imatinib than CQ [132], and therefore this may be a promising anti-autophagy agent for future clinical trials.
Currently, there are nearly 20 clinical trials registered in the National Cancer Institute (www.cancer.gov/clinicaltrials) exploring anti-autophagy strategies in a variety of human cancers. Most of these trials are ongoing, with minimal published results available, and nearly all use HCQ. It is worthy to note that CQ or HCQ are lysosomotropic agents that act at the level of the lysosome by inhibiting acidification, thereby impairing autophagosome degradation. These clinical trials were initiated based on the fact that autophagy is induced in a variety of tumor cells and preclinical models by several types of chemotherapeutic agents as a survival mechanism. Because only a subpopulation of tumor cells undergo autophagy, it is unlikely that autophagy inhibitors are used in cancer therapy as single agent. Indeed, most of these clinical trials used HCQ in combination with other anti-cancer therapies. While these preclinical data are generally supportive of incorporating anti-autophagy therapies in cancer treatment trials, it has been observed, in some circumstances, that inhibition of autophagy decreases therapeutic efficacy. Understanding the circumstances in which autophagy inhibition impairs the therapeutic effect will be of great importance. Importantly, while CQ and HCQ are effective inhibitors of autophagy
CQ inhibits the last step of autophagy at the level of the lysosome, thereby impacting lysosomal function. Therefore, its effects are not entirely specific to autophagy. Currently, there is a great deal of interest in developing new inhibitors of autophagy. In this regards, and given the complexity of the autophagic process, multiple proteins involved in this process could be good candidates for developing others autophagy inhibitors. It is likely that kinases would be prime candidates for inhibition such as Vps34, a class III PI3K, which has a critical early role in autophagosome development. This is particularly attractive, as there has been significant success in designing effective class I PI3K inhibitors [138]. However, one potential issue which needs to be considered is that Vps34 has roles in other aspects of endosome trafficking, and this may lead to unwanted effects and toxicity [139]. The mammalian orthologs of yeast ATG1, ULK1/2, which acts downstream from AMPK and the TOR complex, have been recently shown as critical proteins for autophagy activation [140-142]. Others potential targets for autophagy inhibitors would be LC3 proteases such as ATG4b, which are necessary for LC3 processing. However, whichever approach is taken, the delicate balance between potency and toxicity must be determined to achieve a clinical success. While there are still uncertainties of how autophagy inhibition will fare as an anti-cancer therapy, the preclinical data generally support this approach. The current clinical trials will hopefully provide insight into whether this will be a viable therapeutic paradigm [135].
Textile engineering comprises manufacturing of apparel and home textiles used in daily life together with technical textiles. Nevertheless which kind of textile it is, from the point of view of textile production, quality control is very important in entire of them. The product has to possess properties in accordance to the areas where that textile product will be used and have to be welcomed by the people using them. In order to end up with a textile product with the properties preferred in the area of its usage, at the very beginning, the raw material chosen has to conform such properties to achieve the preferred properties at the end product. Quality control is performed in raw material, in every step of production downstream, and in the end product to guarantee the preferred properties of the end product keeping them in tolerances via various statistical methods. It should also be indicated here that quality control gained more importance in due time with the shortage of raw material, and lowering the costs because of high competitiveness in the market.
To succeed the end product to own the preferred properties, the properties of the raw material and the semi-products, production steps and machine setting are all very important and needs to be known in detail since they totally affect the properties of the end product. On the other hand, many research is practiced in textile engineering to predict the preferred properties of the end product from the known properties of the raw material and semi-products in the production downstream. The known properties are generally called variables and the predicted property is called a response(s) (Figure 1). Many distinct evaluative quality control tools in graphical, statistical, mathematical, and simulation methods are developed to investigate the relationships between variables and response(s). To name a few of these methods are histograms, data charts, analysis of variance, regression, correlation, control charts, artificial neural networks, discriminant analysis, principal component analysis, varimax, design of experiments, etc.
Variables to response(s).
The statistical method Design of Experiments (DoE) evaluates the variable data which affects the response data by taking into consideration the variations in the variable data assuming to reflect the variation in the response data. Multiple variables can be worked and their effects on the response are obtained together with the important interactions between the variables. The purpose in using DoE is to determine the optimum variable values for the examined response. With the key concepts blocking, randomization and replication, DoE can reach the response in less time and is less costly in material and energy consumption, ensures quality in the product and reduces the need for inspection in quality control. DoE
Response Surface Designs are a set of advanced DoE techniques in which the cause-and-effect relationships between known variables and response(s) are searched by a series of designed experiments to attain an optimized response(s) for robust manufacturing conditions. This modeling and analysis of problems method was introduced by George E. P. Box and K. B. Wilson in 1951 or around. Response surface designs are available for continuous factors, cover second-degree polynomial models, and consequently provide approximation, easy estimation and application even when variable data is small. There are two main types of response surface designs, Central Composite Designs (CCD) and Box–Behnken Designs. In this research, CCD is preferred because they can fit a full quadratic model, they are usually used when the plan of the design is appropriate for sequential experimentation, and they imply information from a factorial experiment. They have 5 levels/factor and they can include runs when all the variables are at their extreme settings [4, 5, 11, 12, 13, 14].
If the response is “y” and variables are “x1”, “x2”, …, “xk” and deviation is “e”, then the response is generally expressed by Eq. (1):
A linear model with two variables can be written as Eq. (2):
where; Y is the response for X1 and X2 variables, X1X2 term for interaction between X1 and X2, β’s for regression coefficients, β0 for the response of Y when both variables are zero;
where; Y is the response for X1, X2, and X3 variables,
where; Y is the response for k number of variables, does not include three-way interaction terms but adds three more terms to the linear model, which are:
The visual outputs of response surface designs are curved response surface drawings (Figure 2) and contour plots (Figure 3). They contribute to better interpretation of the behavior of the response and to clearly notice the conditions around the optimum response. Contour lines show the similar heights of x1-x2 couples at the same response value. In a response surface design study, both the response surface drawing and the contour lines support to understand the trend of a response in different values of variables effecting it.
Example of curved response surface drawing [
Example of contour lines [
A further approach to response surface designs is the feasible region.. If there are more than one response, then the different response surface drawings are put on top of each other and their intersection area is the feasible region which optimizes both response variable’s values as seen in Figure 4. In this research, feasible regions are studied from another point of view where different contour plots of variable couples are superposed to provide the response value range covering them all. The variables’ values are read backwards from the feasible region to reach the desired response. The variable values guarantee the desired response at the end of the production. So, the concept explained above to start with raw material possessing properties which will end up with the desired property will be succeeded. This overall information demonstrates that response surface designs are quick, practical, and effective tools for both manufacturing and quality control. Response surface designs are used in many industries like mechanical, automotive, medical, chemical, electronics, etc., but very few in textile engineering, and none in textile quality control, except our previously published article, where response surface design with feasible region was applied to yarn irregularity property, now it is applied to yarn breaking strength property [5, 20, 21, 22, 23, 24, 25].
Feasible region to optimize two response variable’s values [
Textile production downstream mainly consists of fibers, yarns, fabrics, and confection; finishing may well be in every step. Fibers may be natural (cotton, wool, etc.) (Figures 5-7) or man-made (polyester, polyamide, etc.) (Figure 8) and have properties like length, fineness, breaking strength and breaking elongation, elasticity, maturity, regain, trash, oil content, color, static electricity, etc. Yarns may be spun from one kind of fiber, being 100% or blends of different fibers, may be spun in different techniques (ring, Open-End, etc.) (Figure 9) and have properties like count (in Ne, tex, etc. units) and twist (in T/inch or T/m unit) which are adjusted on the spinning machine, and breaking strength and breaking elongation, elasticity, abrasion resistance, moist content, oil content, irregularity, hairiness, static electricity, etc. which are outcomes relative to various variables. To provide a short information, some properties mentioned above are specified here: Yarn irregularity is a measure of deviation of fibers’ orientation in the yarn from the orientation in the ideal yarn, which is expressed as the mean linear irregularity (U% unit) or coefficient of variation of the yarn mass (CVm% unit). Breaking strength for fibers and yarns is the maximum tensile force measured during the strength test which is expressed as BForce in cNs unit. Yarn breakages have many different causes like raw material, machine settings, climate conditions, human factors, etc., so it needs to be known before starting the production.
Cotton boll [
Cotton fiber [
Wool fiber [
Polyester fiber [
Ring spinning technique of yarns [
In this research, response surface designs with feasible region are applied to yarn breaking strength data which are considered as the response and fiber properties forming the same yarn are considered as the variables. The data for yarn breaking strength and fiber properties are real production data obtained from a company producing 100% cotton yarn in Uşak-Turkey. The fiber properties are fineness/micronaire index (Mic), maturity index (Mat), length (Len), fiber length uniformity index (Unf), short fiber index (SFI), fiber breaking strength (Str), fiber breaking elongation (Elg), moisture content (Moist), reflectance (Rd), yellowness (b), trash count (Tr_Cnt) and trash % area (Tr_Area), being twelve different ones. The lower the micronaire index (Mic) value the fibers are fine, the higher the Mic value the fibers are coarse. The higher the maturity index (Mat) value the cotton fibers constitute more cellulose layers in their cross-section. The higher the fiber length uniformity index (Unf) value the length distribution of the fibers in a lot are close to each other, in other words, the length difference is small. The lower the short fiber index (SFI) value the fiber lot contains less amount of short fibers. The higher the yellowness (b) value the cotton fibers are more mature. The trash count (Tr_Cnt) is the amount of trash counted on the measuring screen and is proportional with the lot, the trash % area (Tr_Area) is the area of the measuring screen the trash occupies and is proportional with the lot. In both Tr_Cnt and Tr_Area, and the rest length (Len), fiber breaking strength (Str), fiber breaking elongation (Elg), moisture content (Moist) and reflectance (Rd) the higher values indicate that property possesses high results in the tests.
The tests to obtain fiber property values were carried out in Uster®HVI Spectrum apparatus (Figure 10) in 20 ± 2 °C, 65 ± 2% relative humidity standard atmospheric conditions in the laboratory of the factory. The cotton fiber lots are from Adana region in Turkey. The production downstream is blowroom, carding, I.drawing, II.drawing, roving and ring spinning machines The yarn is 100% cotton, carded, ring spun, count Ne20, twist 19,21 turns per inch (T/inch), and in bobbin form. The yarn properties are irregularity (%U, %CVm), imperfections (Thin50, Thick50, Neps200), hairiness (H), yarn breaking strength (BForce), yarn breaking elongation (Elongation), tenasity (Rkm), work to break (Bwork), etc. The tests to obtain yarn breaking strength values were carried out in Uster Tensorapid 3 apparatus (Figure 11) which is used in the regular measurements of the factory. In this apparatus, breaking strength (BForce) in cNs unit, breaking strength (Tenacity) in cN/tex (Rkm) unit, breaking elongation (Elong) in %, and work to break (BWork) in cN.cm unit were also obtained but the yarn breaking strength (BForce) in cNs is processed with 114 repeats in this research. Yarn breaking strength testing is given in Figure 12 and a yarn at break is seen in Figure 13.
Uster®HVI Spectrum apparatus [
Uster Tensorapid 3 apparatus [
Yarn breaking strength testing [
A yarn at break [
Similar data of fibers and yarn was used in our previous research [25] where the yarn irregularity property in U% unit was studied via response surface designs with feasible region, but in this research yarn breaking strength property is studıed which is different from our former article.
The values for twelve fiber properties mentioned above consist of 98 different lots in bales with 5 repeats each. In this research, values in means are processed in order to get rid of the small differences between the lots, not to decline the power of response surfaces. The overall means, standard deviations and constant of variations are given in Table 1.
Mic | Mat | Len | Unf | SFI | Str | Elg | Moist | Rd | b | Tr_Cnt | Tr_Area | |
---|---|---|---|---|---|---|---|---|---|---|---|---|
Mean | 4,9781 | 0,9203 | 29,4522 | 85,5337 | 7,0765 | 30,3041 | 9,6827 | 7,9306 | 67,3531 | 8,2459 | 54,2449 | 1,5232 |
SD | 0,1377 | 0,0130 | 0,4465 | 0,7832 | 0,4681 | 1,0551 | 0,289 | 0,8858 | 1,7809 | 0,4424 | 12,4504 | 0,3567 |
%CV | 2,766 | 1,417 | 1,516 | 0,916 | 6,615 | 3,482 | 2,984 | 11,169 | 2,644 | 5,365 | 22,952 | 23,42 |
Means, SDs and CV% of fiber properties [25].
The values for yarn breaking strength consists of 30 lots in bobbin form with 10 repeats each. The values in means are also processed in order to get rid of the small differences between the lots, not to decline the power of response surfaces. The overall means, standard deviations and constant of variations are given in Table 2. Yarns given in Table 2 are produced from the fibers given in Table 1 in the factory from which the real production data are obtained.
%U | %CVm | H | Thin50 | Thick50 | Neps200 | BForce | Elongation | Rkm | BWork | ||
---|---|---|---|---|---|---|---|---|---|---|---|
Mean | 11,28400 | 14,46330 | 6,01670 | 1,75000 | 216,91700 | 285,16700 | 442,74700 | 5,25630 | 14,99270 | 626,86300 | |
Bobbin | SD | 0,22695 | 0,34045 | 0,28067 | 1,87430 | 66,99100 | 150,88520 | 24,01450 | 0,46158 | 0,81246 | 79,31180 |
%CV | 2,011 | 2,354 | 4,665 | 107,103 | 30,883 | 52,911 | 5,424 | 8,781 | 5,419 | 12,652 |
Means, SDs and CV% of yarn properties [25].
The response (BForce of %100 cotton carded yarn) and variables (cotton fiber properties) are summerized in Table 3.
Response | Variables | ||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|
BForce | Mic | Mat | Len | Unf | SFI | Elg | Rd. b | Tr_Cnt | Tr_Area | Str | Moist |
Summary of the Response and the Variables.
To elaborate the response and the variables considered for the experiments, they are implemented to Figure 1 as seen in Figure 14. The main goal is to predict a property of the end-product (response) from the known properties of the raw material (variables), where in this research yarn breaking strength (BForce, marked bold) is the response and the fiber properties are the variables. This information will help the manufacturer to be aware of what will be reached at the end-product with the known properties of the raw material before starting production, so will conduct the factory more efficiently.
Implemented variables to response(s).
Response surface designs with feasible region which are regarded as satisfactory tools in textile quality control are applied in MINITAB program with central composite design (CCD) method to obtain the relationship between the response (BForce) and the variables (fiber properties). The response is located in the Z axis, one variable (Mic) in the X axis and another variable in the Y axis, the variable in the Y axis being a different one every time. Eleven combinations of response surface drawings in 3D and contour plots are obtained and the combinations are listed in Table 4.
Response Z axis | X axis variable versus Y axis variable being a different one every time | |||
---|---|---|---|---|
BForce | Mic - Mat | Mic - Len | Mic - Unf | Mic - SFI |
Mic - Elg | Mic - Rd | Mic - b | (Seven combinations) | |
Mic - Tr_Cnt | Mic - Tr_Area | Mic - Str | ||
Mic - Moist | (Four combinations) | |||
Totally eleven combinations |
Combinations for response surface drawings and contour plots.
The area in the contour plots conforming greater than 450 cNs are colored in lilac and afterwards, the colored contour plots are put on top of each other by one by in PHOTOSHOP program and the intersection of the lilac colored areas are noted as the intersection of the desired areas, where finally the borders of the feasible region is acquired and it is painted in red color. The feasible region is where the same greater than 450 cNs BForce (yarn breaking strength) values’ areas are found for the most number of combinations because two feasible regions formed: One for the seven combinations in Table 4 and the other for the four combinations in the same table. By reading backwards from the feasible regions to the BForce response in the response surface drawings and contour plots, the value range of the fiber properties which conform the yarn breaking strength higher than 450 cNs BForce values are determined adequately. The same study can be done for other yarn properties, say in a computer program for example, and all of their combination would give the fiber properties suitable for the desired yarn properties required in the end product.
A visual observation always provides better knowledge about a process [21, 35, 36]. To accentuate the concept of this research, the steps of the experimental study followed is summerized as a flow chart in Figure 15.
The flow chart of the steps of the experimental study followed.
The results of response surface designs, applied to yarn breaking strength and the properties of fibers forming the same yarns, which consists of response surface drawings, contour plots, lilac colored contour plots, and feasible regions are given in this section and are discussed.
Yarn breaking strength (BForce) is taken as the response and response surface design with feasible region is applied as variables of cotton fiber properties which are fineness/micronaire index (Mic), maturity index (Mat), length (Len), fiber length uniformity index (Unf), short fiber index (SFI), fiber breaking strength (Str), fiber breaking elongation (Elg), moisture content (Moist), reflectance (Rd), yellowness (b), trash count (Tr_Cnt) and trash % area (Tr_Area). Eleven combinations formed which are Mic-Mat, Mic-Len, Mic-Unf, Mic-SFI, Mic-Str, Mic-Elg, Mic-Moist, Mic-Rd, Mic-b, Mic-Tr_Cnt, and Mic-Tr_Area. Response surface drawings (Figures 16 and 17 I. Colomns) and contour plots (Figures 16 and 17 II. Colomns) are obtained for all eleven combinations.
BForce as response and Mic, Mat, Len, Unf, SFI, Elg, Rd., and b as variables, seven combinations.
BForce as response and Mic, Mat, Tr_Cnt, Tr_Area, Str, and Moist as variables, four combinations.
In the contour plots, the different shades between contour lines implicate different value ranges for yarn breaking strength (Figures 16 and 17 II. Colomns) and it is noticed that all the eleven combinations have an area of contour line conforming yarn breaking strength higher than 450 cNs except combinations for Mic-Mat and Mic-Elg. being 448 cNs. Since the difference is small and the t-test gave p = 0,741 meaning the difference is insignificant, the desired yarn breaking strength value (response BForce) is taken as greater than 450 cNs for the response surface design with feasible region in this research. The condition of being 450 cNs is also tested with the mean value for BForce being 442,747 cNs in Table 2 which creates a normal distribution curve. p = 0,155 is obtained which is statistically insignificant and also proves that the data used is distributing normal.
In Figure 16, the response surface drawings in the I. Colomn, the contour plots in the II. Colomn, and the lilac colored contour plots in the III. Colomn are given for the seven combinations of eleven ones which are Mat, Len, Unf, SFI, Elg, Rd., and b versus Mic. In Figure 17, the response surface drawings in the I. Colomn, the contour plots in the II. Colomn, and the lilac colored contour plots in the III. Colomn are given for the four combinations of eleven ones which are Tr_Cnt, Tr_Area, Str, and Moist versus Mic. In Figure 18, the feasible region acquired by superposing the lilac colored contour plots in Figure 16 III. Colomn is seen in red color, and, in Figure 19, the feasible region acquired by superposing the lilac colored contour plots in Figure 17 III. Colomn is seen in red color, both conforming yarn breaking strength higher than 450 cNs. Two feasible regions formed because when all the colored contour plots were put on top of each other there occurred to be two regions. To get a better understanding of the feasible regions, they are separated into two figures.
Feasible region for BForce as response of seven combinations.
Feasible region for BForce as response of four combinations.
Examining the I. Colomns of Figures 16 and 17, it can be discussed that the behavior of each eleven combination is different from each other. This means each fiber property has a different influence on the yarn breaking strength, while one has an increasing impact at its high values the other possesses a decreasing one or increasing impact at both high and low values the other a decreasing one. General speaking; the curvature of response surface looks downwards in five combinations which are Mic-Mat, Mic-b, Mic-Tr_Cnt, Mic-Tr_Area, and Mic-Str, while upward looking curvature of response surfaces are in six combinations which are Mic-Len, Mic-Unf, Mic-SFI, Mic-Elg, Mic-Rd, and Mic-Moist. The downwards looking curvatures indicate high values of yarn breaking strength at their top sections, the upwards looking curvatures indicate high values of yarn breaking strength at their side sections. The relationship between the fiber properties outgiving downwards and upwards curvatures needs to be discussed. The downwards curvatures come from fiber properties fineness, maturity index, yellowness, fiber breaking strength, trash count, and trash % area. The first four properties are dependent on agricultural factors so it is reasonable to behave similar in their curvatures. The last two properties are dependent on harvesting factors and they also behave the same as agricultural factors. The relationship between the agricultural factors and the harvesting factors is another aspect of investigation aroused in this research. The upwards curvatures come from fiber properties fineness, length, fiber length uniformity index, short fiber index, fiber breaking elongation, reflectance, and moisture content. All properties except moisture content are dependent on agricultural factors so it is reasonable to behave similar in their curvatures. However, the opposite curvature behavior than the downwards curvature needs to be investigated. Moisture content property is dependent on storing and transporting factors. The relationship between the opposite observated agricultural factors and the storing and transporting factors is also another aspect of investigation. Another discussion of the response surface drawings is the attitude of the edges of the curvatures. The shape, length, height, inclination, and deflection of the curvatures seem to be important and should be evaluated. These arguments aroused in this research and will be analyzed in imminent investigations.
Examining the II. Colomns of Figures 16 and 17, it can be discussed that these impacts can apparently be seen in different shades of color in which different yarn breaking strength values are specified. Considering both the response surface drawings and the contour plots, it is attained that yarn breaking strength is higher than 450 cNs when;
Cotton fiber maturity (Mat) is inbetween 0,908–0,967 and cotton fiber fineness (Mic) is less than 4,63; meaning that cotton fibers are mature and fine;
Cotton fiber length (Len) starts to get longer than 30.02 mm and cotton fiber fineness is higher than 4,5, and, length starts to get shorter than 29,38 mm and fineness is less than 4,94; meaning that long and fine to coarse cotton fibers, and, short and fine cotton fibers have the similar impact on both sides;
Cotton fiber lot uniformity (Unf) starts to increase at 87,2 and cotton fiber fineness is higher than 4,5, and, uniformity is less than 83,1 and fineness is less than 48,4; meaning that uniformity other than 83,1–87,2 range with fine to coarse cotton fibers have the similar impact on both sides;
Cotton fiber lot short fiber index (SFI) is less than 7,0 and cotton fiber fineness is less than 5,25; meaning that cotton fiber lots should contain less short fibers and be fine;
Cotton fiber elongation (Elg) is inbetween 9,1–10,9 and cotton fiber fineness is higher than 4,5; meaning that cotton fibers should elongate and be fine unless coarse as in the middle of the contour plot;
Cotton fiber reflectance (Rd) starts to increase at 69,5 and less than 65,8 and cotton fiber fineness is higher than 4,5; meaning that cotton fibers should possess reflectance other than 65,8–69,5 range and be fine unless coarse as in the middle;
Cotton fiber yellowness (b) is other yellownesses that start to increase at 8,48 and cotton fiber fineness is higher than 5,02; meaning that cotton fibers should be slightly yellow and fine to coarse;
Cotton fiber lot trash count (Tr_Cnt) starts to increase at 68 and cotton fiber fineness is less than 4,87, and, trash count starts to decrease at 28 and fineness is higher than 4,98; meaning that trash count other than 28–68 range with fine and coarse cotton fibers, respectively, have the similar impact on both sides;
Cotton fiber lot trash % area (Tr_Area) is higher than 1,4 and cotton fiber fineness is less than 4,89; meaning that cotton fiber lots should contain rather high trash % area and be fine;
Cotton fiber breaking strength (Str) starts to increase at 30.5 cNs and cotton fiber fineness is less than 4,69, and, fiber breaking strength starts to decrease at 27,8 cNs and fineness is higher than 5,21; meaning that strong and fine, and, less strong and coarse cotton fibers have the similar impact on both sides;
Cotton fiber moisture content (Moist) starts to increase at 7,5 and cotton fiber fineness is less than 4,92, and, fiber moisture content starts to decrease at 6,76 and fineness is higher than 4,8; meaning that normal to high moisture and fine cotton fibers, and, less moisture and coarse cotton fibers have the similar impact on both sides.
The information the feasible regions provide is achieved by reading backwards from the feasible regions in Figures 18 and 19. For each variable (fiber properties), the feasible region borders are corresponded with that variable’s scale in the contour plots one by one and the value ranges of the variables are determined. The results are given in Table 5. Cotton fiber lots retaining fiber properties within these ranges will reach to yarn Ne20–19.21 T/inch having yarn breaking strength higher than 450 cNs.
Variable | Range | |
---|---|---|
From Figure 16 | Mic | 4,58 – 4,69 |
Mat | 0,890 – 0,908 | |
Len | 27,5 – 28,25 | |
Unf | 81,5 – 82,9 | |
SFI | 5,5 – 6,41 | |
Elg | 8,83 – 9,42 | |
Rd | 64,17 – 66,2 | |
b | 6,88 – 7,4 | |
From Figure 17 | Tr_Cnt | 68,9–100 |
Tr_Area | 2,25 – 3,00 | |
Str | 31,22 – 34,00 | |
Moist | 8,18 – 9,5 |
Range of fiber properties for reaching yarn Ne20–19.21 T/inch breaking strength higher than 450 cNs.
The results obtained is discussed in two different points of view:
In a factory where cotton Ne20–19.21 T/inch ring spun yarn is produced, cotton lots have to be supplied and then the fiber properties have to be tested and results obtained. Then, the new fiber property results have to be crosschecked with the fiber properties given in Table 5 and see if they fall in between these ranges. If they do, this means the Ne20–19.21 T/inch yarn which will be produced from those lots will possess a breaking strength higher than 450 cNs. If some of them do not fall in between these limits, then we have to read backwards from Figure 18 or Figure 19 to figure out what the yarn breaking strength (BForce) will be in the new produced yarn;
In a factory where cotton Ne20–19.21 T/inch ring spun yarn is produced, cotton lots will be ordered with the property value ranges in Table 5, and cotton bales possessing these properties will be bought. In order to do so, there has to be a system in the country where every cotton bale will have its fiber property test results stuck on them in a central warehouse, so the sales of the bales will be according to the values in the factory’s order, the bales possessing these features will be chosen and sold to the factory. Furthermore, lots with much better fiber properties can be ordered.
In this research, one yarn property (breaking strength-BForce) is studied while yarn irregularity property (U%) was studied in our previous work [24, 37] however the same work can be done for different yarn properties such as tenacity (cN/tex; Rkm), breaking elongation (%), yarn irregularity (CVm%), hairiness (H Index), product of yarn count and tenacity multiplication (CSP), constant of variation of count (CVC%), constant of variation of twist (CVTwist%) constant of variation of tenacity (CVTenacity%), and imperfections (thin places, thick places, neps (piece/km)), comparisons of these properties, ring and rotor yarns, fabric properties, different machine settings, etc. The variables can be chosen from the point of view of the important properties and it can be worked with less or more effecting variables to perform feasible regions. When choosing the effecting variables, the opposite can be done, so that the yarn properties can be the effecting variables, a fiber property may be the response variable, and the feasible regions can be accomplished vice versa, the concept being knowing what will be reached at the end before starting the production, therefore the advantages of this work is obvious. The originality of this concept is that if all this work will be incorporated into a computer program for statistical quality control, then the same research will be done for every different yarn property and for every fiber lot arriving the factory. New feasible regions will occur in due time, when the factory will make different settings in machines or renew machines in production downstream they will compare the changes in the feasible regions and conclude if the new ones help for better or worse. The developed computer program can also be used in many different industrial applications which will yield to more developed evaluative comments for the feasible regions in due time.
In industry, it is important to predict a specific property of an end product from the known properties of raw material. There are many statistical methods for prediction in literature but response surface designs with feasible region is not benefitted much, even it is an effective and versatile tool in prediction. In this research, the concept of using response surface designs with feasible region is accomplished in textile engineering quality control and is concluded that response surface designs with feasible region is important from the point that it is a quick, practical, and comprehensive tool for predicting properties of an end product from the raw material.
Yarn breaking strength property is studied by response surface designs with feasible region and this property is predicted from the fiber properties, fibers the raw material forming the yarn. The data used in this research is obtained from a company producing 100% cotton yarn in Uşak-Turkey, the company bought the cotton lots from Adana-Turkey, and the company carries out these measurements regularly during their daily production, so the important point here is that real production data are used and is guaranteed that the results achieved from this research will be suitable for production.
MINITAB program is used obtain response surface drawings and contour plots where response is the 100% cotton yarn breaking strength (BForce) and the variables are cotton fiber properties, fineness/micronaire index (Mic), maturity index (Mat), length (Len), fiber length uniformity index (Unf), short fiber index (SFI), fiber breaking strength (Str), fiber breaking elongation (Elg), moisture content (Moist), reflectance (Rd), yellowness (b), trash count (Tr_Cnt) and trash % area (Tr_Area), revealing the relationship between the yarn breaking strength and fiber properties, yarn in bobbin form. The desired value of yarn breaking strength is decided higher than 450 cNs. After obtaining the response surface drawings and contour plots, the areas in contour plots conforming desired values higher than 450 cNs were marked in lilac color, the colored contour plots were put on top on each other in PHOTOSHOP program, the intersecting area of gave the two feasible regions which are marked in red. Then, the borders of the feasible region is read backwards by corresponding the feasible region with that variable’s scale in the contour plot for each different cotton fiber property. This procedure concludes the determination of the range of values of fiber properties which will reach to yarn Ne20–19.21 T/inch having the desired value higher than 450 cNs for the response yarn breaking strength.
The behavior of the response surface drawings is different in each eleven combination. It is concluded that each fiber property has a different influence on the yarn breaking strength, such as, whilst one has an increasing impact at its high values the other possesses a decreasing one, or, increasing impact at both high and low values the other decreasing, naming them downwards and upwards looking curavutures. Analyzing the downwards and upwards looking curvatures generally, it is concluded that fineness, maturity index, yellowness, fiber breaking strength, trash count, and trash % area have curvatures looking downwards, the first four being dependent on agricultural factors and the last two dependent on harvesting factors. Both agricultural and harvesting factors having similar effect on response, yarn breaking strength. On the other hand, fineness, length, fiber length uniformity index, short fiber index, fiber breaking elongation, reflectance, and moisture content have curvatures looking upwards, all except moisture content are dependent on agricultural factors, moisture content depends on storing and transporting factors. In this case both agricultural, and, storing and transporting factors having similar effect on response, yarn breaking strength. The reason why some conclude in downwards look and some conclude upwards look needs further research. Besides, the behavior of the edges of the curvatures such as their shape, length, height, inclination, and deflection are divergent and demand research in detail. Future research will be continued on the relationships between the agricultural, harvesting, storing, and transporting factors, the opposite manner of the curvatures, attitude of the edges of the curvatures, which all aroused in this research.
The information provided by the feasible region is evaluated in two different ways; first, the fiber property results of a new arriving cotton fiber lot to the factory can be compared with the value ranges of fiber properties achieved for yarn Ne20–19.21 T/inch yarn breaking strength higher than 450 cNs in this research and conclude if the desired value for yarn breaking strength will be achieved at the end of yarn production, conversely if the value ranges do not match, the new yarn breaking strength can also be determined by reading backwards from the feasible region; and the second, when ordering cotton fiber lots to the factory, to give the limits of cotton fiber properties and buy the cotton bales encompassing those values from a central warehouse, which needs a new system of cotton fiber trade in the country.
Response surface designs with feasible region serve to the main goal of predicting a property of the end-product (response) from the known properties of the raw material (variables), where in this research 100% cotton yarn breaking strength (BForce) is exercised the response and the cotton fiber properties forming the yarn are the variables, in our previous research yarn irregularity property (U%) was exercised. The information acquired by response surface designs with feasible region will help the manufacturer to be aware of what yarn breaking strength will be reached at the end-product with the known properties of the raw material cotton fibers while they are still in the bales before starting yarn production, so will run the factory more efficiently, will yeild less waste, will achieve less costs and higher profit, have better relationships with customers, will have positive effects on the economy of the country and the world. The same work can be done for all different properties of textiles where the variables can be chosen from the point of what is aimed at the end products, being responses. Further work will be done to achieve these goals, also by chosing different desired values. On the other hand, working response surface designs in textile engineering quality control is an original concept, and will be incorporated into a computer program for statistical quality control, and this will give the opportunity to get response surface drawings and contour plots and feasible regions for every different yarn property and for every fiber lot arriving the factory, as well as in different fields of textiles, leading to standardization at the far end, also to be convenient to be utilized in many different industry branches.
The author gratefully acknowledges the data provided by Kaynak İplik A.Ş.-Uşak-Turkey.
Supporting women in scientific research and encouraging more women to pursue careers in STEM fields has been an issue on the global agenda for many years. But there is still much to be done. And IntechOpen wants to help.
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