Endometriosis is an oestrogen-dependant reproductive disease, with genetic, vascular, neural, inflammatory and auto-immune characteristics. There are many theories about the etiology of endometriosis, however, all of these theories have limitations and do not explain all the locations that endometriosis is found or types of patients with endometriosis. The objective of this paper is to postulate the hypothesis that endometriosis is caused by Maternal Microchimerism, the presence of maternal cells in the fetus. A literature review was conducted, analysing the characteristics, current etiological theories of endometriosis, theory limitations and relationship of maternal microchimerism and endometriosis. At time of writing, there was no literature on maternal microchimerism and endometriosis. These results suggest that Maternal Microchimerism could be a cause of endometriosis. This could account for the genetic and auto-immune characteristics seen in people with endometriosis, inducing a micro-environment for vascular, neural and epigenetic changes. This could also account for account for endometriosis seen in non-menstruating patients, such as men, fetuses and post-menopausal women and endometriosis found in non-peritoneal locations. If the hypothesis of Maternal Microchimerism is correct, endometriosis could be considered a pregnancy-related disease that could affect all humans, changing the accepted demographics of patients and potentially new diagnostic techniques and treatment options for patients with endometriosis. Further studies are needed to test this hypothesis.

In this article, the research team has systematically developed a method to model the kinematics and dynamics of a 3-wheeled robot subjected to external disturbances and sideways wheel sliding. These models will be used to design control laws that compensate for wheel slippage, model uncertainties, and external disturbances. These are control algorithms developed based on Dynamic Surface Control (DSC). Adaptive trajectory tracking DSC algorithm using fuzzy logic system (AFDSC) and radial neural network (RBFNN) with fuzzy logic system to overcome the disadvantages of DSC and expand the application domain for wheeled Mobile Robots (WMR). However, this Adaptive Fuzzy Neural Network Dynamic Surface Control (AFNNDSC) adaptive controller ensures the closed system is stable and follows the preset trajectory in the presence of wheel slippage model uncertainty and is affected by significant amplitude disturbances. The stability and convergence of the closed-loop system are guaranteed based on the Lyapunov analysis. The AFNNDSC adaptive controller is evaluated by simulation on MATLAB/Simulink software and in a steady state. The maximum position error on the right wheel and left wheel is 0.000572 (m) and 0.000523 (m), and the angular velocity tracking error in the right and left wheels of the control method is 0.000394 (rad/s). The experimental results show the correctness of the theoretical analysis, the effectiveness of the proposed controller, and the possibility of practical application.