Stabilization of discrete nonholonomic chained system

Aimed at the stabilization of the nonholonomic chained system under fixed sample control, two control laws were proposed. The discrete model of the nonholonomic chained system under zero-hold was obtained through the integrate method to the continuous model. And the discrete model was transformed to the form with two linear subsystems through coordinate transformation. Two feedback control laws, time-invariant control law and time-varying control law, were proposed; and the local stabilization and global stabilization were realized respectively. The simulation results show the effectiveness of the proposed control laws. The discrete nonholonomic chained system can converge to zero from any initial state exponentially, and the convergence rate can be changed through changing the parameters of the control laws.

Synthesis and surface activity of a novel heterodouble chained N-acyltaurate amphiphile

A novel double chained amphiphile, N-(α-4-hexylphenoxy)-lauroyltaurate (abbreviated as 10 + 6B-T), has been synthesized. The structures of main intermediate products and the title product were characterized by 1H NMR. The new amphiphile shows high surface activity. The critical micelle concentration (cmc), which is 1.1 × 10?5 mol/L, is much lower than that of conventional double chained surfactants, such as sodium bis(2-ethylhexyl)sulfosuccinate (AOT).

Secure Chained Threshold Proxy Signature without and with Supervision

Threshold Proxy Signature (TPS) scheme facilitates a manager to delegate his signing capability to a group of n2 sub-ordinates without revealing his own private key, such that a subgroup of at least t2 ≤ n2 subordinates is required to generate a proxy signature. In reality, the situation can be more complicated. First of all, the subgroup may further delegate their proxy signing capabilities to another group of n3 subordinates such that at least another subgroup of at least t3 ≤ n3 subordinates are of the proxy signing capabilities (in the form of a chain). t2 can be unequal to t3 depending on the concrete requirement. This is a group-to-group delegation problem. In addition, a supervising agent (SA) may be introduced in the above chain to supervise the subordinates, such that proxy signing can only be successfully executed with SA’s agreement. This is a delegation with supervision problem in the threshold delegation chain described above. These two extensions of delegation problems are not solved yet. This paper designs two provably secure cryptographic schemes Chained Threshold Proxy Signature (CTPS) scheme and Chained Threshold Proxy Signature with Supervision (CTPSwS) scheme to solve these two delegation problems.

An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

This paper reviews some main results and progress concerning with nonholonomic system control,especially focusing on the networked chained system coordination.The controllability of nonholonomic system,the control method of nonholonomic system,the chained form transformation,the basic graph theory for multi-agent systems are recalled,respectively.Some important definitions,lemmas,theorems and dynamics are elaborated.Both the consensus and formation control problems for networked nonholonomic chained systems are summarised.Finally,some open questions are proposed.

ROBUST EXPONENTIAL STABILIZATION OF UNCERTAIN NONHOLONOMIC CHAINED SYSTEMS BASED ON VISUAL FEEDBACK

The visual serving stabilization for a kind of nonholonomic mobile robots with uncalibrated camera parameters is investigated based on the visual feedback and the state and input transforma- tions. The authors obtain a new uncertain model of the nonholonomic kinematic system in the image plane, which is a chained form with uncalibrated visual parameters, from the camera robotic system. A new time varying feedback controller is proposed for the exponential stabilization of the nonholonomic chained system with unknown parameters by using state-scaling and switching technique. The exponential stability of the closed loop system is rigorously proved. Simulation results demonstrate the effectiveness of the proposed methods.

Pricing a Chained Dynamic Fund Protection Under Vasicek Interest Rate Model with Stochastic Barrier

Dynamic fund protection provides a guarantee that the account value of the investor never drops below a barrier over the investment period.In order to reduce the downside risk taken by vendors,Han,et al.(2016)proposed a chained dynamic fund protection(CDFP),whose protection is activated only if the value of basic fund reaches a predefined upper protection line.Motivated by them,we consider a new CDFP plan under a stochastic interest rate environment.The explicit pricing formula for a CDFP is obtained when the protection lines are proportional to a zero-coupon bond.Furthermore,the authors present some numerical results for the value of CDFP at time 0 to show how the model parameters impact the value of CDFP.

Blood diagnostic and prognostic biomarkers in amyotrophic lateral sclerosis

Amyotrophic lateral sclerosis is a devastating neurodegenerative disease for which the current treatment approaches remain severely limited.The principal pathological alterations of the disease include the selective degeneration of motor neurons in the brain,brainstem,and spinal cord,as well as abnormal protein deposition in the cytoplasm of neurons and glial cells.The biological markers under extensive scrutiny are predominantly located in the cerebrospinal fluid,blood,and even urine.Among these biomarke rs,neurofilament proteins and glial fibrillary acidic protein most accurately reflect the pathologic changes in the central nervous system,while creatinine and creatine kinase mainly indicate pathological alterations in the peripheral nerves and muscles.Neurofilament light chain levels serve as an indicator of neuronal axonal injury that remain stable throughout disease progression and are a promising diagnostic and prognostic biomarker with high specificity and sensitivity.However,there are challenges in using neurofilament light chain to diffe rentiate amyotrophic lateral sclerosis from other central nervous system diseases with axonal injury.Glial fibrillary acidic protein predominantly reflects the degree of neuronal demyelination and is linked to non-motor symptoms of amyotrophic lateral sclerosis such as cognitive impairment,oxygen saturation,and the glomerular filtration rate.TAR DNA-binding protein 43,a pathological protein associated with amyotrophic lateral sclerosis,is emerging as a promising biomarker,particularly with advancements in exosome-related research.Evidence is currently lacking for the value of creatinine and creatine kinase as diagnostic markers;however,they show potential in predicting disease prognosis.Despite the vigorous progress made in the identification of amyotrophic lateral sclerosis biomarkers in recent years,the quest for definitive diagnostic and prognostic biomarke rs remains a formidable challenge.This review summarizes the latest research achievements concerning blood biomarkers in amyotrophic lateral sclerosis that can provide a more direct basis for the differential diagnosis and prognostic assessment of the disease beyond a reliance on clinical manifestations and electromyography findings.

Storage time affects the level and diagnostic efficacy of plasma biomarkers for neurodegenerative diseases

Several promising plasma biomarker proteins,such as amyloid-β(Aβ),tau,neurofilament light chain,and glial fibrillary acidic protein,are widely used for the diagnosis of neurodegenerative diseases.However,little is known about the long-term stability of these biomarker proteins in plasma samples stored at-80°C.We aimed to explore how storage time would affect the diagnostic accuracy of these biomarkers using a large cohort.Plasma samples from 229 cognitively unimpaired individuals,encompassing healthy controls and those experiencing subjective cognitive decline,as well as 99 patients with cognitive impairment,comprising those with mild cognitive impairment and dementia,were acquired from the Sino Longitudinal Study on Cognitive Decline project.These samples were stored at-80°C for up to 6 years before being used in this study.Our results showed that plasma levels of Aβ42,Aβ40,neurofilament light chain,and glial fibrillary acidic protein were not significantly correlated with sample storage time.However,the level of total tau showed a negative correlation with sample storage time.Notably,in individuals without cognitive impairment,plasma levels of total protein and tau phosphorylated protein threonine 181(p-tau181)also showed a negative correlation with sample storage time.This was not observed in individuals with cognitive impairment.Consequently,we speculate that the diagnostic accuracy of plasma p-tau181 and the p-tau181 to total tau ratio may be influenced by sample storage time.Therefore,caution is advised when using these plasma biomarkers for the identification of neurodegenerative diseases,such as Alzheimer's disease.Furthermore,in cohort studies,it is important to consider the impact of storage time on the overall results.

Inhibition of the cGAS–STING pathway:contributing to the treatment of cerebral ischemia-reperfusion injury

The cGAS–STING pathway plays an important role in ischemia-reperfusion injury in the heart,liver,brain,and kidney,but its role and mechanisms in cerebral ischemia-reperfusion injury have not been systematically reviewed.Here,we outline the components of the cGAS–STING pathway and then analyze its role in autophagy,ferroptosis,cellular pyroptosis,disequilibrium of calcium homeostasis,inflammatory responses,disruption of the blood–brain barrier,microglia transformation,and complement system activation following cerebral ischemia-reperfusion injury.We further analyze the value of cGAS–STING pathway inhibitors in the treatment of cerebral ischemia-reperfusion injury and conclude that the pathway can regulate cerebral ischemia-reperfusion injury through multiple mechanisms.Inhibition of the cGAS–STING pathway may be helpful in the treatment of cerebral ischemia-reperfusion injury.

Cryptanalysis on ‘an arbitrated quantum signature protocol based on the chained CNOT operations encryption’

Arbitrated quantum signature(AQS) is an important branch in quantum cryptography to authenticate quantum information, and cryptanalysis on AQS protocols helps to evaluate and improve security of AQS. Recently, it is discovered that an AQS protocol based on chained controlled-NOT(CNOT) algorithm is vulnerable to a novel attack because a transformation from binary keys into permutations and the chained CNOT algorithm have special properties, which enables a malicious receiver to forge signatures with probability 1/2. Moreover, a malicious signer can also deny his signatures with probability 1/4. Then, two possible improved methods are presented to resist these attacks: one is padding constants to reduce probability of the successful attacks, and the other is a circular chained CNOT algorithm to make the attack strategy invalid. And the security analysis shows that both the two improve methods could well resist these attacks.

The Exponential Stabilization of Uncertain Chained Form Systems of Mobile Robots Based on Visual Servoing

A system for a type of nonholonomic wheeled mobile robots equipped with an uncalibrated camera fixed to the ceiling is investigated.Based on the visual feedback and the state-input transformation,models of uncertain chained form systems are presented for the robot-camera systems.Then,new smooth time-varying feedback controllers are proposed to exponentially stabilize the uncertain chained system by using state-scaling and control theories for two cases.The exponential stabilities of the closed-loop uncertain systems are rigorously proved.Simulation results demonstrate the effectiveness of the proposed strategies.

Robust Exponential Stabilization of Nonholonomic Chained Systems with Unknown Parameters

The exponential stabilization problem of a robot-camera system with unknown camera parameters is investigated. Based on the visual feedback and the state-input transformation, an uncertain chained form model is presented for a type of nonholonomic mobile robots. Then, a new time-varying feedback controller is proposed to stabilize the uncertain system exponentially with the help of the stabilization theorems, state-scaling and switching techniques. The exponential stability of the closed-loop system is rigorously proved. Simulation results are given to demonstrate the effectiveness of the proposed strategies.

A novel mechanism of PHB2-mediated mitophagy participating in the development of Parkinson's disease

Endoplasmic reticulum stress and mitochondrial dysfunction play important roles in Parkinson s disease,but the regulato ry mechanism remains elusive.Prohibitin-2(PHB2)is a newly discove red autophagy receptor in the mitochondrial inner membrane,and its role in Parkinson’s disease remains unclear.Protein kinase R(PKR)-like endoplasmic reticulum kinase(PERK)is a factor that regulates cell fate during endoplasmic reticulum stress.Parkin is regulated by PERK and is a target of the unfolded protein response.It is unclear whether PERK regulates PHB2-mediated mitophagy thro ugh Parkin.In this study,we established a 1-methyl-4-phenyl-1,2,3,6-tetrahydropyridine(MPTP)-induced mouse model of Parkinson’s disease.We used adeno-associated virus to knockdown PHB2 expression.Our res ults showed that loss of dopaminergic neurons and motor deficits were aggravated in the MPTP-induced mouse model of Parkinson’s disease.Ove rexpression of PHB2 inhibited these abnormalities.We also established a 1-methyl-4-phenylpyridine(MPP+)-induced SH-SY5Y cell model of Parkinson’s disease.We found that ove rexpression of Parkin increased co-localization of PHB2 and microtubule-associated protein 1 light chain 3,and promoted mitophagy.In addition,MPP+regulated Parkin involvement in PHB2-mediated mitophagy through phosphorylation of PERK.These findings suggest that PHB2 participates in the development of Parkinson’s disease by intera cting with endoplasmic reticulum stress and Parkin.

基于NEATM和WISE数据的小尺寸近地小行星物理特性研究

小行星是太阳系中广泛分布的金属或岩石天体,直径从米级跨越到几百公里.它们蕴含了太阳系早期的信息,同时也可能会与地球轨道相交且撞击地球,因此研究小行星的物理参数、物质成分和表面性质对于了解太阳系行星的形成演化和近地天体防御具有重要意义.以国际小行星中心(Minor Planet Center,MPC)获取直径D<160 m的小尺寸近地小行星共67颗作为研究对象,其中包含部分潜在威胁小行星(Potentially Hazardous Asteroids,PHA).基于NEATM(Near-Earth Asteroid Thermal Model),使用广域红外巡天望远镜(Wide-field Infrared Survey Explorer,WISE)的观测数据,利用反射光模型对太阳反射光进行了修正,使用动力学模型计算WISE观测历元的小行星轨道数据,计算了这67颗小尺寸近地小行星的直径和反照率.拟合过程采用马尔科夫链蒙特卡洛(Markov Chain Monte Carlo,MCMC)方法,与WISE的研究结果和MPC的数据进行了比较分析,给出了其分类特征.研究为小行星的观测和理论提供了有力的支持,可以更好地了解近地小行星的特征和演化.

D-Psicose intake exacerbates dextran sulfate sodium-induced colitis in mice through alteration in the gut microbiota and dysfunction of mucosal barrier

D-Psicose,as a low-calorie rare sugar,has attracted a lot of attention in recent years for alternating to sucrose.The anti-obesity effect of D-psicose has been extensively confirmed in previous studies,however,the impact of D-psicose on colitis remains vague.Here,we firstly evaluated the effect of the D-psicose prophylactic intervention on dextran sulfate sodium-induced colitis in C57BL/6 mice.The pathological symptoms,inflammatory cytokines levels,gut microbiota composition,short chain fatty acids(SCFAs)production and colonic barrier integrity were comprehensively evaluated.The results confirmed that D-psicose intervention aggravated colitis,characterized by the exacerbation of colon shortening,increase of colonic inflammatory infiltration,and marked exaltation of disease activity indices and IL-6,IL-1βand TNF-αlevels.Further,the dysfunction of gut microbiota was identified in the psicose group.The abundance of pro-inflammatory bacteria Lachnospiraceae_NK4A136_group was significantly up-regulated while the abundance of probiotics Akkermansia and Lactobacillus were significantly down-regulated in the psicose group compared to the model group.Moreover,the production of SCFAs was suppressed in the psicose group,accompanied by a decrease in the level of mucin 2(Muc-2).Collectively,the underlying mechanism of the exacerbation of colitis by D-psicose intervention might be attributed to microbiota dysfunction accompanied by the reduction of SCFAs,which leads to the damage of the mucosal barrier and the intensifi cation of inflammatory invasion.

Model-driven full system dynamics estimation of PMSM-driven chain shell magazine

Based on the system dynamic model, a full system dynamics estimation method is proposed for a chain shell magazine driven by a permanent magnet synchronous motor(PMSM). An adaptive extended state observer(AESO) is proposed to estimate the unmeasured states and disturbance, in which the model parameters are adjusted in real time. Theoretical analysis shows that the estimation errors of the disturbances and unmeasured states converge exponentially to zero, and the parameter estimation error can be obtained from the extended state. Then, based on the extended state of the AESO, a novel parameter estimation law is designed. Due to the convergence of AESO, the novel parameter estimation law is insensitive to controllers and excitation signal. Under persistent excitation(PE) condition, the estimated parameters will converge to a compact set around the actual parameter value. Without PE signal, the estimated parameters will converge to zero for the extended state. Simulation and experimental results show that the proposed method can accurately estimate the unmeasured states and disturbance of the chain shell magazine, and the estimated parameters will converge to the actual value without strictly continuous PE signals.

‘Partly'globalized networks and driving mechanism in resource-based state-owned enterprises:A case study of J Group

In the context of economic globalization,while multinational enterprises from developed countries occupy a high-end position in the global value chain,enterprises from developing countries are often marginalized in the world market.In China,resource-based state-owned enterprises(SOEs)are tasked with the mission of safeguarding resource security,and their internationalization development ideas and strategic deployment are significantly and fundamentally different from those of other non-state-owned enterprises and large multinational corporations.This study provides ideas for the globalization policies of enterprises in developing countries.We consider J Group in western China as a case and discuss its productive investment and global production network development from 2010 to 2019.We found that J Group was‘Partly'globalized,and there are multiple core nodes with the characteristics of centralized and decentralized coexistence in the production network;in addition,the overall layout centre shifted to Southeast Asia and China;however,its global production was restricted by the enterprise's investment security considerations,support and restrictions of the home country,political security risk of the host country,and sanctions from the West.These findings provide insights for future research:under the wave of anti-globalization and'internal circulation as the main body',resource SOEs should consider the potential risk of investment,especially keeping the middle and downstream industrial chain in China as much as possible.

Nonlinear interaction of head-on solitary waves in integrable and nonintegrable systems

This study numerically investigates the nonlinear interaction of head-on solitary waves in a granular chain(a nonintegrable system)and compares the simulation results with the theoretical results in fluid(an integrable system).Three stages(the pre-in-phase traveling stage,the central-collision stage,and the post-in-phase traveling stage)are identified to describe the nonlinear interaction processes in the granular chain.The nonlinear scattering effect occurs in the central-collision stage,which decreases the amplitude of the incident solitary waves.Compared with the leading-time phase in the incident and separation collision processes,the lagging-time phase in the separation collision process is smaller.This asymmetrical nonlinear collision results in an occurrence of leading phase shifts of time and space in the post-in-phase traveling stage.We next find that the solitary wave amplitude does not influence the immediate space-phase shift in the granular chain.The space-phase shift of the post-in-phase traveling stage is only determined by the measurement position rather than the wave amplitude.The results are reversed in the fluid.An increase in solitary wave amplitude leads to decreased attachment,detachment,and residence times for granular chains and fluid.For the immediate time-phase shift,leading and lagging phenomena appear in the granular chain and the fluid,respectively.These results offer new knowledge for designing mechanical metamaterials and energy-mitigating systems.

Chain Elongation Using Native Soil Inocula:Exceptional n-Caproate Biosynthesis Performance and Microbial Mechanisms

This study demonstrates the feasibility and effectiveness of utilizing native soils as a resource for inocula to produce n-caproate through the chain elongation(CE)platform,offering new insights into anaerobic soil processes.The results reveal that all five of the tested soil types exhibit CE activity when supplied with high concentrations of ethanol and acetate,highlighting the suitability of soil as an ideal source for n-caproate production.Compared with anaerobic sludge and pit mud,the native soil CE system exhibited higher selectivity(60.53%),specificity(82.32%),carbon distribution(60.00%),electron transfer efficiency(165.00%),and conductivity(0.59 ms∙cm^(-1)).Kinetic analysis further confirmed the superiority of soil in terms of a shorter lag time and higher yield.A microbial community analysis indicated a positive correlation between the relative abundances of Pseudomonas,Azotobacter,and Clostridium and n-caproate production.Moreover,metagenomics analysis revealed a higher abundance of functional genes in key microbial species,providing direct insights into the pathways involved in n-caproate formation,including in situ CO_(2)utilization,ethanol oxidation,fatty acid biosynthesis(FAB),and reverse beta-oxidation(RBO).The numerous functions in FAB and RBO are primarily associated with Pseudomonas,Clostridium,Rhodococcus,Stenotrophomonas,and Geobacter,suggesting that these genera may play roles that are involved or associated with the CE process.Overall,this innovative inoculation strategy offers an efficient microbial source for n-caproate production,underscoring the importance of considering CE activity in anaerobic soil microbial ecology and holding potential for significant economic and environmental benefits through soil consortia exploration.

揭示氨对正己酸生产影响的机制——影响途径、关键酶和微生物

n-Caproate,which is produced via chain elongation(CE)using waste biomass,can supply various fossilderived products,thus advancing the realization of carbon neutrality.Ammonia released from the degradation of nitrogen-rich waste biomass can act as a nutrient or an inhibitor in anaerobic bioprocesses,including CE,with the distinction being primarily dependent on its concentration.Currently,the optimal concentration of ammonia and the threshold of toxicity for open-culture n-caproate production using ethanol as an electron donor,along with the underlying mechanisms,remain unclear.This study revealed that the optimal concentration of ammonia for n-caproate production was 2.0 g∙L^(-1),whereas concentrations exceeding this threshold markedly suppressed the CE performance.Exploration of the mechanism revealed the involvement of two forms of ammonia(i.e.,ammonium ions and free ammonia)in this inhibitory behavior.High ammonia levels(5.0 g∙L^(-1))induced excessive ethanol oxidation and suppressed the reverse β-oxidation(RBO)process,directly leading to the enhanced activities of enzymes(phosphotransacetylase and acetate kinase)responsible for acetate formation and diminished activities of butyryl-coenzyme A(CoA):acetyl-CoA transferase,caproyl-CoA:butyryl-CoA transferase,and caproyl-CoA:acetyl-CoA transferase that are involved in the syntheses of n-butyrate and n-caproate.Furthermore,the composition of the microbial community shifted from Paraclostridium dominance(at 0.1 g∙L^(-1)ammonia)to a co-dominance of Fermentimonas,Clostridium sensu stricto 12,and Clostridium sensu stricto 15 at 2.0 g∙L^(-1)ammonia.However,these CE-functional bacteria were mostly absent in the presence of excessive ammonia(5.0 g∙L^(-1)ammonia).Metagenomic analysis revealed the upregulation of functions such as RBO,fatty acid synthesis,K^(+)efflux,adenosine triphosphatase(ATPase)metabolism,and metal cation export in the presence of 2.0 g∙L^(-1)ammonia,collectively contributing to enhanced n-caproate production.Conversely,the aforementioned functions(excluding metal cation export)and K^(+)influx were suppressed by excessive ammonia,undermining both ammonia detoxification and n-caproate biosynthesis.The comprehensive elucidation of ammonia-driven mechanisms influencing n-caproate production,as provided in this study,is expected to inspire researchers to devise effective strategies to alleviate ammonia-induced inhibition.