Adaptive Consensus of Uncertain Multi-Agent Systems With Unified Prescribed Performance

Dear Editor,An adaptive consensus control algorithm for uncertain multi-agent systems(MAS),capable of guaranteeing unified prescribed performance,is presented in this letter.Unlike many existing prescribed performance related works,the developed control exhibits some features.Firstly,a distributed prescribed time observer is introduced so that not only each follower is able to estimate the leader’s signal within a predetermined time,but also the control design for each agent is independent with its neighbors.

Semi-analytical solution for mechanical analysis of tunnels crossing strike-slip fault zone considering nonuniform fault displacement and uncertain fault plane position

The tunnel subjected to strike-slip fault dislocation exhibits severe and catastrophic damage.The existing analysis models frequently assume uniform fault displacement and fixed fault plane position.In contrast,post-earthquake observations indicate that the displacement near the fault zone is typically nonuniform,and the fault plane position is uncertain.In this study,we first established a series of improved governing equations to analyze the mechanical response of tunnels under strike-slip fault dislocation.The proposed methodology incorporated key factors such as nonuniform fault displacement and uncertain fault plane position into the governing equations,thereby significantly enhancing the applicability range and accuracy of the model.In contrast to previous analytical models,the maximum computational error has decreased from 57.1%to 1.1%.Subsequently,we conducted a rigorous validation of the proposed methodology by undertaking a comparative analysis with a 3D finite element numerical model,and the results from both approaches exhibited a high degree of qualitative and quantitative agreement with a maximum error of 9.9%.Finally,the proposed methodology was utilized to perform a parametric analysis to explore the effects of various parameters,such as fault displacement,fault zone width,fault zone strength,the ratio of maximum fault displacement of the hanging wall to the footwall,and fault plane position,on the response of tunnels subjected to strike-slip fault dislocation.The findings indicate a progressive increase in the peak internal forces of the tunnel with the rise in fault displacement and fault zone strength.Conversely,an augmentation in fault zone width is found to contribute to a decrease in the peak internal forces.For example,for a fault zone width of 10 m,the peak values of bending moment,shear force,and axial force are approximately 46.9%,102.4%,and 28.7% higher,respectively,compared to those observed for a fault zone width of 50 m.Furthermore,the position of the peak internal forces is influenced by variations in the ratio of maximum fault displacement of the hanging wall to footwall and the fault plane location,while the peak values of shear force and axial force always align with the fault plane.The maximum peak internal forces are observed when the footwall exclusively bears the entirety of the fault displacement,corresponding to a ratio of 0:1.The peak values of bending moment,shear force,and axial force for the ratio of 0:1 amount to approximately 123.8%,148.6%,and 111.1% of those for the ratio of 0.5:0.5,respectively.

Projecting Wintertime Newly Formed Arctic Sea Ice through Weighting CMIP6 Model Performance and Independence

Precipitous Arctic sea-ice decline and the corresponding increase in Arctic open-water areas in summer months give more space for sea-ice growth in the subsequent cold seasons. Compared to the decline of the entire Arctic multiyear sea ice,changes in newly formed sea ice indicate more thermodynamic and dynamic information on Arctic atmosphere–ocean–ice interaction and northern mid–high latitude atmospheric teleconnections. Here, we use a large multimodel ensemble from phase 6 of the Coupled Model Intercomparison Project(CMIP6) to investigate future changes in wintertime newly formed Arctic sea ice. The commonly used model-democracy approach that gives equal weight to each model essentially assumes that all models are independent and equally plausible, which contradicts with the fact that there are large interdependencies in the ensemble and discrepancies in models' performances in reproducing observations. Therefore, instead of using the arithmetic mean of well-performing models or all available models for projections like in previous studies, we employ a newly developed model weighting scheme that weights all models in the ensemble with consideration of their performance and independence to provide more reliable projections. Model democracy leads to evident bias and large intermodel spread in CMIP6 projections of newly formed Arctic sea ice. However, we show that both the bias and the intermodel spread can be effectively reduced by the weighting scheme. Projections from the weighted models indicate that wintertime newly formed Arctic sea ice is likely to increase dramatically until the middle of this century regardless of the emissions scenario.Thereafter, it may decrease(or remain stable) if the Arctic warming crosses a threshold(or is extensively constrained).

Disturbance Observer-Based Predictive Tracking Control of Uncertain HOFA Cyber-Physical Systems

Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is used to denote the total uncertainties containing parameters perturbations and external disturbances.

Microstructure and forming mechanism of metals subjected to ultrasonic vibration plastic forming: A mini review

Compared with traditional plastic forming,ultrasonic vibration plastic forming has the advantages of reducing the forming force and improving the surface quality of the workpiece.This technology has a very broad application prospect in industrial manufactur-ing.Researchers have conducted extensive research on the ultrasonic vibration plastic forming of metals and laid a deep foundation for the development of this field.In this review,metals were classified according to their crystal structures.The effects of ultrasonic vibration on the microstructure of face-centered cubic,body-centered cubic,and hexagonal close-packed metals during plastic forming and the mech-anism underlying ultrasonic vibration forming were reviewed.The main challenges and future research direction of the ultrasonic vibra-tion plastic forming of metals were also discussed.

Hepatic perivascular epithelioid cell tumors:Benign,malignant,and uncertain malignant potential

In 2013,the World Health Organization defined perivascular epithelioid cell tumor(PEComa)as“a mesenchymal tumor which shows a local association with vessel walls and usually expresses melanocyte and smooth muscle markers.”This generic definition seems to better fit the PEComa family,which includes angiomyolipoma,clear cell sugar tumor of the lung,lymphangioleiomyomatosis,and a group of histologically and immunophenotypically similar tumors that include primary extrapulmonary sugar tumor and clear cell myomelanocytic tumor.Clear cell tumors with this immunophenotypic pattern have also had their malignant variants described.When localizing to the liver,preoperative radiological diagnosis has proven to be very difficult,and most patients have been diagnosed with hepatocellular carcinoma,focal nodular hyperplasia,hemangioma,or hepatic adenoma based on imaging findings.Examples of a malignant variant of the liver have been described.Finally,reports of malignant variants of these lesions have increased in recent years.Therefore,we support the use of the Folpe criteria,which in 2005 established the criteria for categorizing a PEComa as benign,malignant,or of uncertain malignant potential.Although they are not considered ideal,they currently seem to be the best approach and could be used for the categorization of liver tumors.

Reinforcement learning based adaptive control for uncertain mechanical systems with asymptotic tracking

This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.

ELLIPTIC EQUATIONS IN DIVERGENCE FORM WITH DISCONTINUOUS COEFFICIENTS IN DOMAINS WITH CORNERS

We study equations in divergence form with piecewise Cαcoefficients.The domains contain corners and the discontinuity surfaces are attached to the edges of the corners.We obtain piecewise C1,αestimates across the discontinuity surfaces and provide an example to illustrate the issue regarding the regularity at the corners.

Representation of an Integer by a Quadratic Form through the Cornacchia Algorithm

Cornachia’s algorithm can be adapted to the case of the equation x2+dy2=nand even to the case of ax2+bxy+cy2=n. For the sake of completeness, we have given modalities without proofs (the proof in the case of the equation x2+y2=n). Starting from a quadratic form with two variables f(x,y)=ax2+bxy+cy2and n an integer. We have shown that a primitive positive solution (u,v)of the equation f(x,y)=nis admissible if it is obtained in the following way: we take α modulo n such that f(α,1)≡0modn, u is the first of the remainders of Euclid’s algorithm associated with n and α that is less than 4cn/| D |) (possibly α itself) and the equation f(x,y)=n. has an integer solution u in y. At the end of our work, it also appears that the Cornacchia algorithm is good for the form n=ax2+bxy+cy2if all the primitive positive integer solutions of the equation f(x,y)=nare admissible, i.e. computable by the algorithmic process.

Assessment of the Drafting Quality of Request Forms Submitted to the Malaria and Parasitology Units at the Institut Pasteur de Cote d’Ivoire

Biological tests provide information on the medical analysis requested by both the patient and the prescriber. It is a communication link between the prescriber and the laboratory staff. The lack of some information on request forms not only affects the drafting quality of the test and patient care, but could also make thousands of data produced by healthcare centers unusable. The aim of this study was to assess the drafting quality of request forms submitted to the Malaria and Parasitology Units at the Institut Pasteur de Côte d’Ivoire. Methods: It was a descriptive cross-sectional study to assess the drafting quality of request forms of various prescribers received at the Institut Pasteur de Côte d’Ivoire. This study was conducted at the Malaria and Parasitology Units, department of Parasitology and Mycology (Institut Pasteur de Côte d’Ivoire), from 6th December 2020 to 6th December 2021. The information on each request forms was recorded on a data collection form designed for this purpose. Each data collection form corresponds to a request forms and each test to a patient. Results: Out of a total of 1990 request forms received, the patient’s age and sex were missing on 18% and 26.8% of the tests respectively. More than half (51.80%) of request forms did not indicate the patient’s place of residence. Clinical information was not provided on 45.90% of the tests. Prescribers omitting their signatures were 51%, stamps were 50.3% and contacts were 71.2%. Only 5.4% of request forms were of good drafting quality. Providing all the required information on the forms could facilitate the use and analysis of data and samples.

Study on Effectiveness of Solitary-Wave-Like Form Based on Overtopping Data from Irregular Wave Tests

The previous study conducted by Li(2022)demonstrates that the Goda graph can be adequately represented by a solitary-wave-like form across the entire range of relative water depth,with the exception of the extremely shallow zone.However,it remains uncertain whether this form is equally effective when applied to test data generated by irregular waves,as the Goda graph was initially developed based on overtopping data from regular wave tests.Additionally,it is unclear whether this form is suitable for formulating overtopping discharge at composite vertical walls.In order to address these questions,a 2D overtopping experiment was conducted,incorporating both simple and composite types of vertical walls,with various relative water depths across the entire range,excluding the extremely shallow zone.A novel analysis procedure was developed,which proved to be highly productive and can be considered a general method for data fitting.Ultimately,the study yielded two conclusions:(1)the solitary-wave-like form is remarkably effective in formulating overtopping test data generated by irregular waves,regardless of whether the vertical wall is simple or composite,and(2)the resulting formulas exhibit definitely better performance compared with existing formulas.

Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints

In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system and reference system.This transformation aims to convert the tracking control prob-lem into a stabilization control problem.Then,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty items.Based on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is developed.Finally,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal controller.The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety constraints.The performance of the algorithm is evaluated by the numerical simulation.

Bioaccumulation,subcellular distribution and chemical forms of cadmium in Aster subulatus Michx.

【Objective】Through analyzing the bioaccumulation capacity,subcellular distribution and chemical forms of cadmium(Cd)in Aster subulatus Michx.,this study was to provide reference for revealing the Cd tolerance mechanism of A.subulatus Michx.【Method】After cultured for 24 d under the action of Hoagland nutrient solution and gradient Cd concentrations(0,30,60 and 90 mg/L),A.subulatus Michx.were harvested,and its leaf,stem and root were treated by differential centrifugation,chemical reagent extraction,and digested with graphite digester,respectively,then the Cd content in the root,stem and leaf were determined by atomic absorption spectroscopy.【Result】The experimental results indicated that the bioaccumulation capacity of Cd in A.subulatus Michx.was root>stem>leaf,and the maximum Cd concentration in the root,stem and leaf of A.subulatus Michx.were 130.74,78.69 and 56.62 mg/kg(fresh matter),respectively.Most of Cd stored in the cell wall and the soluble fractions of the root and leaf of A.subulatus Michx.,with only a smaller portion Cd in organelle fraction.Analysis result of subcellular Cd content showed that 52.27%-58.61%of Cd for root was mainly stored in the soluble fraction,but 42.10%-63.28%of Cd for leaf was mainly stored in the cell wall fraction.The concentration of pectates and protein integrated-Cd was higher in the root and leaf compared to other chemical forms Cd.Pectates and protein integrated-Cd was the main chemical forms Cd in the root and leaf of A.subulatus Michx.,and their percentages were 68.91%-74.80%and 57.38%-83.80%,respectively.Cd treatment could significantly increase the proportion of water-soluble organic acid Cd from 13.64%to 22.72%in root and undissolved phosphate Cd from 10.02%to 32.78%in leaf with increasing Cd concentration in the culture medium.【Conclusion】The root,stem and leaf of A.subulatus Michx.has strong bioaccumulation capacity to Cd,Cd is primarily stored in the soluble fractions of the root and cell wall fractions of the leaf,and less toxic pectates and protein integrated-Cd is the main chemical forms Cd in the root and leaf of A.subulatus Michx.,this might be the main mechanism of Cd tolerance in A.subulatus Michx.

Familial Forms of Spondyloarthritis Study of 100 Senegalese Multiplex Families

Introduction: Spondyloarthritis (SpA) comprises a group of chronic inflammatory rheumatic diseases characterized by predominant axial involvement. These include ankylosing spondylitis (AS), reactive arthritis (ReA), psoriatic arthritis (PsA), arthritis associated with inflammatory bowel diseases (IBD), SAPHO syndrome (Synovitis, Acne, Pustulosis, Hyperostosis, and Osteitis), juvenile spondyloarthritis (JSPA), and undifferentiated SpA. Their exact cause is unknown but is believed to stem from a combination of factors. The first familial forms were described by de Blécourt et al. in 1961. The objective was to evaluate the epidemiological, clinical, therapeutic and evolutionary aspects of familial forms of SpA and in particular, to prove the severity of the disease in family members compared to index cases in the rheumatology department of the Aristide Le Dantec University Hospital in Dakar. Methodology: This was a prospective, cross-sectional and descriptive study with an analytical aim on patients with the familial form of spondyloarthritis defined by the existence of at least one other family member with SpA outside the propositus, collected within the Aristide Le Dantec rheumatology department in Dakar over a period of 10 years between January 2012 and December 2021. There were two phases of study, the first of which consisted of collecting index cases with miserly SpA and the second of which consisted of family screening after consent. The data analysed were epidemiological, clinical, paraclinical, therapeutic and evolving. Results: Out of 100 families of 1905 members, 667 SpA patients included, i.e. a prevalence of 35%, including 225 (33.73%) men and 412 women (61.17%), i.e. a ratio of 1.8. The mean age at diagnosis among relatives was 26.3 years (range 13 and 80 years), 47.14 years among the propositus, in whom the mean age at onset was 36.26 years and that of relatives 49.9 years in the first degree, 15 years in the second degree and 1 year in the third degree. The time to diagnosis was 11.20 years in the first degree, 2.5 years in the second degree, 1 year in the third degree and 10.88 years in the case of the proposes. The number of marriages in families was 420 of which 116 were consanguineous (consanguinity rate 27.62%), 19% among the propositus. HLA-B27 positive in 92% of the proposers and 33.43% in the families;70% of the propositus had an inflammatory syndrome and 17.54% in the families;87% of sacroilliitis in the propositus and 5.54% in the families. Clinical forms were dominated by undifferentiated SpA (338 cases) and APS (295 cases). The average BASFI was 3.23 on D0;2.59 in the 3rd month and 1 in the 6th month for the propositus versus 2.55 at D0;1.86 at the 3rd month and 1.55 in the 6th month in the families. Average BASDAI was 3.92 at D0;3.12 at the 3rd month and 2.07 at the 6th month in the propositus and 3 at D0;2.21 at the 3rd month and 1 at the 6th month in the families. Autoimmune associated conditions were 18 cases, degenerative 24 cases, autoinflammatory 2 metabolic cases 18 cases. They all received: NSAIDs, methotrexate, salazopyrine (11 cases) and anti-TNF-α (1 case). The evolution was generally favourable. Conclusion: SpA is on the rise in Senegalese hospitals, frequent in young people, SPA and undifferentiated SpA are the most frequent, management is essentially based on conventional care, and the disease is less severe in family members than index cases.

MPI/OpenMP-Based Parallel Solver for Imprint Forming Simulation

In this research,we present the pure open multi-processing(OpenMP),pure message passing interface(MPI),and hybrid MPI/OpenMP parallel solvers within the dynamic explicit central difference algorithm for the coining process to address the challenge of capturing fine relief features of approximately 50 microns.Achieving such precision demands the utilization of at least 7 million tetrahedron elements,surpassing the capabilities of traditional serial programs previously developed.To mitigate data races when calculating internal forces,intermediate arrays are introduced within the OpenMP directive.This helps ensure proper synchronization and avoid conflicts during parallel execution.Additionally,in the MPI implementation,the coins are partitioned into the desired number of regions.This division allows for efficient distribution of computational tasks across multiple processes.Numerical simulation examples are conducted to compare the three solvers with serial programs,evaluating correctness,acceleration ratio,and parallel efficiency.The results reveal a relative error of approximately 0.3%in forming force among the parallel and serial solvers,while the predicted insufficient material zones align with experimental observations.Additionally,speedup ratio and parallel efficiency are assessed for the coining process simulation.The pureMPI parallel solver achieves a maximum acceleration of 9.5 on a single computer(utilizing 12 cores)and the hybrid solver exhibits a speedup ratio of 136 in a cluster(using 6 compute nodes and 12 cores per compute node),showing the strong scalability of the hybrid MPI/OpenMP programming model.This approach effectively meets the simulation requirements for commemorative coins with intricate relief patterns.

Schur Forms and Normal-Nilpotent Decompositions

Real and complex Schur forms have been receiving increasing attention from the fluid mechanics community recently,especially related to vortices and turbulence.Several decompositions of the velocity gradient tensor,such as the triple decomposition of motion(TDM)and normal-nilpotent decomposition(NND),have been proposed to analyze the local motions of fluid elements.However,due to the existence of different types and non-uniqueness of Schur forms,as well as various possible definitions of NNDs,confusion has spread widely and is harming the research.This work aims to clean up this confusion.To this end,the complex and real Schur forms are derived constructively from the very basics,with special consideration for their non-uniqueness.Conditions of uniqueness are proposed.After a general discussion of normality and nilpotency,a complex NND and several real NNDs as well as normal-nonnormal decompositions are constructed,with a brief comparison of complex and real decompositions.Based on that,several confusing points are clarified,such as the distinction between NND and TDM,and the intrinsic gap between complex and real NNDs.Besides,the author proposes to extend the real block Schur form and its corresponding NNDs for the complex eigenvalue case to the real eigenvalue case.But their justification is left to further investigations.

Evaluation of Laboratory Request Forms Completion in a Tertiary Medical Laboratory of the Democratic Republic of Congo

Background: The inadequacy in the completeness of the Laboratory Request Form (LRF) has been reported as one of the major sources of errors during the pre-analytical step of laboratory analysis. To prevent the occurrence of such errors, this study aimed at assessing the level of completeness of LRFs. Methods: A retrospective analysis of laboratory request forms was conducted at the Clinical Biology Laboratory of the Kinshasa University Clinic, DR Congo, between November 2021 to May 2022. The LRFs were evaluated according to the completeness of all sections including administrative data of the patient, data of physician who ordered the test, relevant patient’s clinical data and data of the biological sample. Results: From a total of 2842 LRFs evaluated, none was fully completed with all required information. Particularly, patient’s clinical data including the medical history, provisional diagnosis and current treatment, were the most absent in 99% LRFs. However, two sections related to patient’s ID and prescribed test were informed in 100% LRFs. Conclusion: The results of this preanalytical audit can serve as an improvement opportunity focused on strengthening awareness about complete filling of LRF.

Coupled Cross-Flow/in-Line Vortex-Induced Vibration Responses of a Catenary-Type Riser Subjected to Uniform Flows

A three-dimensional numerical scheme was developed to investigate the vortex-induced vibration(VIV)of a catenary-type riser(CTR)in the in-line(IL)and cross-flow(CF)directions.By using the vector form intrinsic finite element method,the CTR was discretized into a finite number of spatial particles whose motions satisfy Newton’s second law.The Van der Pol oscillator was used to simulate the effect of vortex shedding.The coupling equations of structural vibration and wake oscillator were solved using an explicit central differential algorithm.The numerical model was verified with the published results.The VIV characteristics of the CTR subjected to uniform flows,including displacement,frequency,standing wave,traveling wave,motion trajectory,and energy transfer,were studied comprehensively.The numerical results revealed that the multimode property occurs in the CF-and IL-direction VIV responses of the CTR.An increase in the flow velocity has slight effects on the maximum VIV displacement.Due to structural nonlin-earity,the double-frequency relationship in the CF and IL directions is rarely captured.Therefore,the vibration trajectories display the shape of an inclined elliptical orbit.Moreover,the negative energy region is inconspicuous under the excitation of the uniform flow.

Analysis and Optimization of the Electrohydraulic Forming Process of Sinusoidal Corrugation Tubes

Aluminum alloy thin-walled structures are widely used in the automotive industry due to their advantages related to light weight and crashworthiness.They can be produced at room temperature by the electrohydraulic forming process.In the present study,the influence of the related parameters on the forming quality of a 6063 aluminum alloy sinusoidal corrugation tube has been assessed.In particular,the orthogonal experimental design(OED)and central composite design(CCD)methods have been used.Through the range analysis and variance analysis of the experimental data,the influence degree of wire diameter(WD)and discharge energy(DE)on the forming quality was determined.Multiple regression analysis was performed using the response surface methodology.A prediction model for the attaching-die state coefficient was established accordingly.The following optimal arrangement of parameters was obtained(WD=0.759 mm,DE=2.926 kJ).The attaching-die state coefficient reached the peak value of 0.001.Better optimized wire diameter and discharge energy for a better attaching-die state could be screened by CCD compared with OED.The response surface method in CCD was more suitable for the design and optimization of the considered process parameters.

Practical prescribed-time fuzzy tracking control for uncertain nonlinear systems with time-varying actuators faults

The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.