Control system design of flying-wing UAV based on nonlinear methodology

In this paper, A fluid vector rudder flying-wing UAV is employed as the design object, so as to study the nonlinear design method and flight validation. For the maneuvering flight control, this paper presents a control structure. This control structure included the inner loop linearization decoupling methods to eliminate the known negative coupling and the outer loop backstepping methods for trajectory tracking control. The stability of the control structure has been proved in this paper. Compared with the traditional backstepping control method, this controller increases the inner loop decoupling structure and retains the aerodynamic damping term which makes the linearized system a weak nonlinear system.This structure can not only reduce the conservatism of the outer loop controller design, but also is convenient for engineering implementation. Simulation and flight validation results show that the proposed control scheme is effective.

Paths of algebraic hyperbolic curves

Cubic algebraic hyperbolic （AH） Bezier curves and AH spline curves are defined with a positive parameter a in the space spanned by {1, t, sinht, cosht}. Modifying the value of a yields a family ofAH Bezier or spline curves with the family parameter α. For a fixed point on the original curve, it will move on a defined curve called ＂path of AH curve＂ （AH Bezier and AH spline curves） when a changes. We describe the geometric effects of the paths and give a method to specify a curve passing through a given point.

Endoscopic transgastric fenestration versus percutaneous drainage for management of(peri)pancreatic fluid collections adjacent to gastric wall(with video)

BACKGROUND Percutaneous drainage(PCD)and endoscopic approaches have largely replaced surgical drainage as the initial approach for(peri)pancreatic fluid collections(PFC)s,while complications associated with endoscopic stent implantation are common.AIM To introduce a novel endoscopic therapy named endoscopic transgastric fenestration(ETGF),which involves resection of tissue by endoscopic accessory between gastric and PFCs without stent implantation,and to evaluate its efficacy and safety compared with PCD for the management of PFCs adjacent to the gastric wall.METHODS Patients diagnosed with PFCs adjacent to the gastric wall and who subsequently received ETGF or PCD were restrospectively enrolled.Indications for intervention were consistent with related guidelines.We analyzed patients baseline characteristics,technical and clinical success rate,recurrence and reintervention rate,procedure-related complications and adverse events.RESULTS Seventy-two eligible patients were retrospectively identified(ETGF=34,PCD=38)from October 2017 to May 2021.Patients in the ETGF group had a significantly higher clinical success rate than those in the PCD group(97.1 vs 76.3%,P=0.01).There were no statistically significant differences regarding recurrence,reintervention and incidence of complication between the two groups.While long-term catheter drainage was very common in the PCD group.CONCLUSION Compared with PCD,ETGF has a higher clinical success rate in the management of PFCs adjacent to the gastric wall.ETGF is an alternative effective strategy for the treatment of PFCs adjacent to the gastric wall.

Citrinsorbicillin A,a novel homotrimeric sorbicillinoid isolated by LC-MS-guided with cytotoxic activity from the fungus Trichoderma citrinoviride HT-9

Citrinsorbicillin A(1),a novel homotrimeric sorbicillinoid,along with two new monomers citrinsor-bicillins B(2)and C(3),were isolated from the Coptis chinensis endophyte Trichoderma citrinoviride HT-9 by liquid chromatograph mass spectrometer(LC-MS)-guided strategy.1 was the first trimeric-example from terrestrial fungi,which possessed a unique carbon skeleton with two bicyclo[2.2.2]octanedione ring connected through an enolated carbon forming by[4+2]cycloaddition.Their structures were elucidated by spectroscopic analysis and X-ray diffraction.1 exhibited moderate cytotoxicity against human colon cancer HT29 cells,and it induced significant cell cycle arrest by reducing the protein expression of cyclin D1.

Establishment of Multi-Site Infection Model in Zebrafish Larvae for Studying Staphylococcus aureus Infectious Disease

Zebrafish（Danio rerio） is an ideal model for studying the mechanism of infectious disease and the interaction between host and pathogen.As a teleost,zebrafish has developed a complete immune system which is similar to mammals.Moreover,the easy acquirement of large amounts of transparent embryos makes it a good candidate for gene manipulation and drug screening.In a zebrafish infection model,all of the site,timing,and dose of the bacteria microinjection into the embryo are important factors that determine the bacterial infection of host.Here,we established a multi-site infection model in zebrafish larvae of 36 hours post-fertilization（hpf） by micro-injecting wild-type or GFP-expressing Staphylococcus aereus（5.aureus） with gradient burdens into different embryo sites including the pericardial cavity（PC）,eye,the fourth hindbrain ventricle（4V）,yolk circulation valley（YCV）,caudal vein（CV）,yolk body（YB）,and Duct of Cuvier（DC） to resemble human infectious disease.With the combination of GFP-expressing S.aureus and transgenic zebrafish Tg（corola：eGFP;lyz：Dsred） and Tg（lyz：Dsred） lines whose macrophages or neutrophils are fluorescent labeled,we observed the dynamic process of bacterial infection by in vivo multicolored confocal fluorescence imaging.Analyses of zebrafish embryo survival, bacterial proliferation and myeloid cells phagocytosis show that the site- and dose-dependent differences exist in infection of different bacterial entry routes.This work provides a consideration for the future study of pathogenesis and host resistance through selection of multi-site infection model.More interaction mechanisms between pathogenic bacteria virulence factors and the immune responses of zebrafish could be determined through zebrafish multi-site infection model.

Effect of CO_2 enrichment on the glucosinolate contents under different nitrogen levels in bolting stem of Chinese kale (Brassica alboglabra L.)

The effects of CO2 enrichment on the growth and glueosinolate （GS） concentrations in the bolting stem of Chinese kale （Brassica alboglabra L.） treated with three nitrogen （N） concentrations （5, 10, and 20 mmol/L） were investigated. Height, stem thickness, and dry weights of the total aerial parts, bolting stems, and roots, as well as the root to shoot ratio, significantly increased as CO2 concentration was elevated from 350 to 800 μl/L at each N concentration. In the edible part of the bolting stem, 11 individual GSs were identified, including 7 aliphatic and 4 indolyl GSs. GS concentration was affected by the elevated CO2 concentration, N concentration, and CO2×N interaction. At 5 and 10 mmol N/L, the concentrations of aliphatic GSs and total GSs significantly increased, whereas those ofindolyl GSs were not affected, by elevated atmospheric CO2. However, at 20 mmol N/L, elevated CO2 had no significant effects on the concentrations of total GSs and total indolyl GSs, but the concentrations of total aliphatic GSs significantly increased. Moreover, the bolting stem carbon （C） content increased, whereas the N and sulfur （S） contents decreased under elevated CO2 concentration in the three N treatments, resulting in changes in the C/N and N/S ratios. Also the C/N ratio is not a reliable predictor of change of GS concentration, while the changes in N and S contents and the N/S ratio at the elevated CO2 concentration may influence the GS concentration in Chinese kale bolting stems. The results demonstrate that high nitrogen supply is beneficial for the growth of Chinese kale, but not for the GS concentration in bolting stems, under elevated CO2 condition.