Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

On disturbance rejection proportional-integral-differential control with model-free adaptation

In this paper,an adaptive disturbance-rejection proportional–integral–differential(PID)control method is proposed for a class of nonlinear systems.First,PID-type criterion is introduced in a model-free adaptive control(MFAC)framework,which gives an optimal control interpretation for PID controller.Then,the design of adaptive disturbance rejection PID is proposed based on this new interpretation to realize controller gain auto-tuning.Due to the ingenious integration of active disturbance rejection and adaptive mechanism,the proposed adaptive disturbance rejection PID control scheme exhibits better control performance than MFAC case.Furthermore,the boundedness of controller gain,the convergence of tracking error and the bounded-input–bounded-output stability are proved for the proposed control system.Finally,the effectiveness of the proposed method is verified by numerical simulation.

Model-Free Adaptive Frequency Calibration for Voltage-Controlled Oscillators

The operating frequency accuracy of the local oscillators is critical for the overall system performance in the communication systems.However,the high-precision oscillators could be too expensive for civil applications.In this paper,we propose a model-free adaptive frequency calibration framework for a voltage-controlled crystal oscillator(VCO)equipped with a time to digital converter(TDC),which can significantly improve the frequency accuracy of the VCO thus calibrated.The idea is to utilize a high-precision TDC to directly measure the VCO period which is then passed to a model-free method for working frequency calibration.One advantage of this method is that the working frequency calibration employs the system history of input/output(I/O)data,instead of establishing an accurate VCO voltagecontrolled oscillator model.Another advantage is the lightweight calibration method with low complexity such that it can be implemented on an MCU with limited computation capabilities.Experimental results show that the proposed calibration method can improve the frequency accuracy of a VCO from±20 ppm to±10 ppb,which indicates the promise of the modelfree adaptive frequency calibrator for VCOs.

Model-free adaptive control of space manipulator under different gravity environment

Due to the release of gravity in the space environment, the dynamic characteristics of the space manipulator have changed compared with that of the ground, which results in the change of its tracking precision. This paper presents a model-free adaptive control(MFAC) strategy to track the desired trajectory under different gravity environment. A dynamic transformation method and full form dynamic linearization(FFDL) approach are selected to dynamicly linearize the system, which can better eliminate the complex dynamics that may exist in the original system. The controlled object uses the two degrees of freedom of space manipulator and the controller only depends on the desired angle and torque of each joint of the space manipulator. Moreover, the proof of stability is also provided. Finally, simulation results are presented to demonstrate the effectiveness of the proposed strategy. It is shown that the proposed approach can achieve better trajectory tracking performance under different gravity environment without changing the control parameters, and the tracking precision can be significantly improved as compared with the proportional differential(PD) control results.

Model-free Speed Control of Single-phase Flux Switching Motor with an Asymmetrical Rotor

This paper proposes and implements a model-free open-loop iterative learning control(ILC)strategy to realize the speed control of the single-phase flux switching motor(FSM)with an asymmetrical rotor.Base on the proposed winding control method,the asymmetrical rotor enables the motor to generate continuous positive torque for positive rotation,and relatively small resistance torque for negative rotation.An initial iteration coefficient and variable iteration coefficient optimized scheme was proposed based on the characteristics of the hardware circuit,thereby forming the model-free strategy.A series of prototype experiments was carried out.Experimental results verify the effectiveness and practicability of the proposed ILC strategy.

基于一种距离相关的超高维生存数据Model-Free特征筛选

随着大数据时代的来临,数据维度爆炸式增长,超高维数据的降维问题逐渐成为众多研究领域的热点话题。由于响应变量通常存在右删失,处理超高维完全数据的降维方法在右删失数据中将不再适用。本研究提出一种新的基于距离相关能有效处理超高维右删失数据的特征筛选方法。首先利用距离相关系数计算每个协变量对响应变量的边际效应,建立与该系数有关的筛选指标,然后再根据事先确立的筛选准则进行特征筛选。提出的特征筛选方法不依赖任何模型结构假定,因此可以有效避免模型指定错误带来的不良后果。此外,该方法采用的距离协方差估计量是总体距离协方差的一个无偏估计,统计准确性和计算精度高。模拟和实证研究表明,提出的方法能在保留所有重要变量的前提下快速剔除与响应变量相关程度较弱的协变量,从而达到降低参数维数的目的。

Population genomic data reveal low genetic diversity,divergence and local adaptation among threatened Reeves's Pheasant(Syrmaticus reevesii)

Population genomic data could provide valuable information for conservation efforts;however,limited studies have been conducted to investigate the genetic status of threatened pheasants.Reeves’s Pheasant(Syrmaticus reevesii)is facing population decline,attributed to increases in habitat loss.There is a knowledge gap in understanding the genomic status and genetic basis underlying the local adaptation of this threatened bird.Here,we used population genomic data to assess population structure,genetic diversity,inbreeding patterns,and genetic divergence.Furthermore,we identified candidate genes linked with adaptation across the current distribution of Reeves’s Pheasant.The present study assembled the first de novo genome sequence of Reeves’s Pheasant and annotated 19,458 genes.We also sequenced 30 individuals from three populations(Dabie Mountain,Shennongjia,Qinling Mountain)and found that there was clear population structure among those populations.By comparing with other threatened species,we found that Reeves’s Pheasants have low genetic diversity.Runs of homozygosity suggest that the Shennongjia population has experienced serious inbreeding.The demographic history results indicated that three populations experienced several declines during the glacial period.Local adaptative analysis among the populations identified 241 candidate genes under directional selection.They are involved in a large variety of processes,including the immune response and pigmentation.Our results suggest that the three populations should be considered as three different conservation units.The current study provides genetic evidence for conserving the threatened Reeves’s Pheasant and provides genomic resources for global biodiversity management.

Irrigated Agriculture Facing the Challenge of Climate Change: Adaptation Strategies for Farmers in the Irrigated Perimeters of Môle Saint-Nicolas, Haiti

Môle Saint-Nicolas, like all other communes in the Republic of Haiti, faces increasing climate variability, impacting agricultural production and water resources. Consequently, there is a pressing need for adaptation to these climatic changes. This research aims to showcase the adaptation strategies deployed by farmers to cope with the increasing climate variability. Surveys were conducted through group and individual discussions with a randomly selected cohort of 150 farmers. Two types of analysis were performed: quantitative and qualitative. The quantitative data analysis was conducted using Statistical Package for the Social Sciences (SPSS) software. The findings reveal that farmers have perceived changes in rainfall patterns, temperature, wind, and their environment. These changes manifest as irregular rainfall, higher temperatures, prolonged drought periods, violent winds accompanied by rain, premature cessation of rains, and reduced flow from water sources. In response, the most common adaptation strategies adopted include selecting new cultivars, early-maturing varieties, crop rotation and diversification, canal dredging, new soil preparation methods, upstream water source protection, and micro-watershed management. The significance of this research lies in its contribution to enhancing farmers’ adaptive capacities by alerting stakeholders in the irrigated perimeters about the consequences of climate change, thereby incorporating the real needs of farmers in future projects.

Event-Triggered Asymmetric Bipartite Consensus Tracking for Nonlinear Multi-Agent Systems Based on Model-Free Adaptive Control

In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.

The ABA synthesis enzyme allele OsNCED2^(T)promotes dryland adaptation in upland rice

Upland rice shows dryland adaptation in the form of a deeper and denser root system and greater drought resistance than its counterpart,irrigated rice.Our previous study revealed a difference in the frequency of the OsNCED2 gene between upland and irrigated populations.A nonsynonymous mutation(C to T,from irrigated to upland rice)may have led to functional variation fixed by artificial selection,but the exact biological function in dryland adaptation is unclear.In this study,transgenic and association analysis indicated that the domesticated fixed mutation caused functional variation in OsNCED2,increasing ABA levels,root development,and drought tolerance in upland rice under dryland conditions.OsNCED2-overexpressing rice showed increased reactive oxygen species-scavenging abilities and transcription levels of many genes functioning in stress response and development that may regulate root development and drought tolerance.OsNCED2^(T)-NILs showed a denser root system and drought resistance,promoting the yield of rice under dryland conditions.OsNCED2^(T)may confer dryland adaptation in upland rice and may find use in breeding dryland-adapted,water-saving rice.

Exercise-induced adaptation of neurons in the vertebrate locomotor system

Vertebrate neurons are highly dynamic cells that undergo several alterations in their functioning and physiologies in adaptation to various external stimuli.In particular,how these neurons respond to physical exercise has long been an area of active research.Studies of the vertebrate locomotor system’s adaptability suggest multiple mechanisms are involved in the regulation of neuronal activity and properties during exercise.In this brief review,we highlight recent results and insights from the field with a focus on the following mechanisms:(a)alterations in neuronal excitability during acute exercise;(b)alterations in neuronal excitability after chronic exercise;(c)exercise-induced changes in neuronal membrane properties via modulation of ion channel activity;(d)exercise-enhanced dendritic plasticity;and(e)exercise-induced alterations in neuronal gene expression and protein synthesis.Our hope is to update the community with a cellular and molecular understanding of the recent mechanisms underlying the adaptability of the vertebrate locomotor system in response to both acute and chronic physical exercise.

Comparative proteomics reveals the response and adaptation mechanisms of white Hypsizygus marmoreus against the biological stress caused by Penicillium

White Hypsizygus marmoreus is a popular edible mushroom.Its mycelium is easy to be contaminated by Penicillium,which leads to a decrease in its quality and yield.Penicillium could compete for limited space and nutrients through rapid growth and produce a variety of harmful gases,such as benzene,aldehydes,phenols,etc.,to inhibit the growth of H.marmoreus mycelium.A series of changes occurred in H.marmoreus proteome after contamination when detected by the label-free tandem mass spectrometry(MS/MS)technique.Some proteins with up-regulated expression worked together to participate in some processes,such as the non-toxic transformation of harmful gases,glutathione metabolism,histone modification,nucleotide excision repair,clearing misfolded proteins,and synthesizing glutamine,which were mainly used in response to biological stress.The proteins with down-regulated expression are mainly related to the processes of ribosome function,protein processing,spliceosome,carbon metabolism,glycolysis,and gluconeogenesis.The reduction in the function of these proteins affected the production of the cell components,which might be an adjustment to adapt to growth retardation.This study further enhanced the understanding of the biological stress response and the growth restriction adaptation mechanisms in edible fungi.It also provided a theoretical basis for protein function exploration and edible mushroom food safety research.

Low-Rank Optimal Transport for Robust Domain Adaptation

When encountering the distribution shift between the source(training) and target(test) domains, domain adaptation attempts to adjust the classifiers to be capable of dealing with different domains. Previous domain adaptation research has achieved a lot of success both in theory and practice under the assumption that all the examples in the source domain are welllabeled and of high quality. However, the methods consistently lose robustness in noisy settings where data from the source domain have corrupted labels or features which is common in reality. Therefore, robust domain adaptation has been introduced to deal with such problems. In this paper, we attempt to solve two interrelated problems with robust domain adaptation:distribution shift across domains and sample noises of the source domain. To disentangle these challenges, an optimal transport approach with low-rank constraints is applied to guide the domain adaptation model training process to avoid noisy information influence. For the domain shift problem, the optimal transport mechanism can learn the joint data representations between the source and target domains using a measurement of discrepancy and preserve the discriminative information. The rank constraint on the transport matrix can help recover the corrupted subspace structures and eliminate the noise to some extent when dealing with corrupted source data. The solution to this relaxed and regularized optimal transport framework is a convex optimization problem that can be solved using the Augmented Lagrange Multiplier method, whose convergence can be mathematically proved. The effectiveness of the proposed method is evaluated through extensive experiments on both synthetic and real-world datasets.

Comparative genomic analysis revealed that dietary habits affected the adaptation of Bifidobacterium bifidum to the intestinal tract in different geographic populations

Recent research on the genome of Bifidobacterium bifidum has mainly focused on the isolation sources(intestinal tract niche)recently,but reports on the isolation region are limited.This study analyzed the differences in the genome of B.bifidum isolated from different geographical populations by comparative genomic analysis.Results at the genome level indicated that the GC content of American isolates was significantly higher than that of Chinese and Russian isolates.The phylogenetic tree,based on 919 core genes showed that B.bifidum might be related to the geographical characteristics of isolation region.Furthermore,functional annotation analysis demonstrated that copy numbers of carbohydrate-active enzymes(CAZys)involved in the degradation of polysaccharide from plant and host sources in B.bifidum were high,and 18 CAZys showed significant differences across different geographical populations,indicating that B.bifidum had adapted to the human intestinal environment,especially in the groups with diets rich in fiber.Dietary habits were one of the main reasons for the differences of B.bifidum across different geographical populations.Additionally,B.bifidum exhibited high diversity,evident in glycoside hydrolases,the CRISPR-Cas system,and prophages.This study provides a genetic basis for further research and development of B.bifidum.

Farmers’ Knowledge and Perceptions of the Effects of Climate Variability and Pollution on Crop Production and Their Varying Adaptation Strategies in The Gambia

Crop and livestock production is critical to food security in The Gambia. Over the years, the country has experienced a reduced yield due to perceived climate change events with limited studies on how climate change and pollution affect crop production. This study assesses farmers’ knowledge and perceptions of the effects of climate variability and pollution on crop production and their varying adaptation strategies in The Gambia. Both quantitative and qualitative methods were used in this study. The sample size for quantitative data collection was calculated as 432 while the qualitative data involves both the focus group discussions and key informant interviews. The focus group discussions comprised two districts in each of the six agricultural regions and two farming communities engaged in crop production were chosen from each district. Furthermore, eight key informant interviews from relevant institutions were conducted. The study shows that The Gambia is highly vulnerable to extreme climatic events. Although most farmers opined that agricultural land contamination emanates from farm runoff and indiscriminate waste dumping, they had little knowledge of heavy metal pollution and bioremediation. The results showed that farmers experienced constraints such as inadequate access to credit, water, and irrigation facilities, insufficient access to efficient inputs, salt intrusion, etc. which threatened food security. The study concludes that crop farmers acknowledged the existence and impacts of climate change, and therefore recommend the availability and affordability of climate change resilient crops and promote variability awareness campaigns to address climate change impacts in The Gambia.

Complementary-Label Adversarial Domain Adaptation Fault Diagnosis Network under Time-Varying Rotational Speed and Weakly-Supervised Conditions

Recent research in cross-domain intelligence fault diagnosis of machinery still has some problems,such as relatively ideal speed conditions and sample conditions.In engineering practice,the rotational speed of the machine is often transient and time-varying,which makes the sample annotation increasingly expensive.Meanwhile,the number of samples collected from different health states is often unbalanced.To deal with the above challenges,a complementary-label(CL)adversarial domain adaptation fault diagnosis network(CLADAN)is proposed under time-varying rotational speed and weakly-supervised conditions.In the weakly supervised learning condition,machine prior information is used for sample annotation via cost-friendly complementary label learning.A diagnosticmodel learning strategywith discretized category probabilities is designed to avoidmulti-peak distribution of prediction results.In adversarial training process,we developed virtual adversarial regularization(VAR)strategy,which further enhances the robustness of the model by adding adversarial perturbations in the target domain.Comparative experiments on two case studies validated the superior performance of the proposed method.

Event-triggered model-free adaptive control for a class of surface vessels with time-delay and external disturbance via state observer

This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay system is transformed into a structure consisting of an unknown residual term and a parameter term with control inputs using a local compact form dynamic linearization(local-CFDL).To take advantage of the resulting structure,use a discrete-time extended state observer(DESO)to estimate the unknown residual factor.Then,according to the study,the inclusion of a time delay has no effect on the linearization structure,and an improved control approach is provided,in which DESO is used to adjust for uncertainties.Furthermore,a DESO-based event-triggered model-free adaptive control(ET-DESO-MFAC)is established by designing event-triggered conditions to assure Lyapunov stability.Only when the system’s indicator fulfills the provided event-triggered condition will the control input signal be updated;otherwise,the control input will stay the same as it is at the last trigger moment.A coordinate compensation approach is developed to reduce the steady-state inaccuracy of trajectory tracking.Finally,simulation experiments are used to assess the effectiveness of the proposed technique for trajectory tracking.

Diabetic retinopathy identification based on multi-sourcefree domain adaptation

AIM:To address the challenges of data labeling difficulties,data privacy,and necessary large amount of labeled data for deep learning methods in diabetic retinopathy(DR)identification,the aim of this study is to develop a source-free domain adaptation(SFDA)method for efficient and effective DR identification from unlabeled data.METHODS:A multi-SFDA method was proposed for DR identification.This method integrates multiple source models,which are trained from the same source domain,to generate synthetic pseudo labels for the unlabeled target domain.Besides,a softmax-consistence minimization term is utilized to minimize the intra-class distances between the source and target domains and maximize the inter-class distances.Validation is performed using three color fundus photograph datasets(APTOS2019,DDR,and EyePACS).RESULTS:The proposed model was evaluated and provided promising results with respectively 0.8917 and 0.9795 F1-scores on referable and normal/abnormal DR identification tasks.It demonstrated effective DR identification through minimizing intra-class distances and maximizing inter-class distances between source and target domains.CONCLUSION:The multi-SFDA method provides an effective approach to overcome the challenges in DR identification.The method not only addresses difficulties in data labeling and privacy issues,but also reduces the need for large amounts of labeled data required by deep learning methods,making it a practical tool for early detection and preservation of vision in diabetic patients.

Comparative DNA methylation reveals epigenetic adaptation to high altitude in snub-nosed monkeys

DNA methylation plays a crucial role in environmental adaptations.Here,using whole-genome bisulfite sequencing,we generated comprehensive genome-wide DNA methylation profiles for the high-altitude Yunnan snub-nosed monkey(Rhinopithecus bieti)and the closely related golden snub-nosed monkey(R.roxellana).Our findings indicated a slight increase in overall DNA methylation levels in golden snub-nosed monkeys compared to Yunnan snub-nosed monkeys,suggesting a higher prevalence of hypermethylated genomic regions in the former.Comparative genomic methylation analysis demonstrated that genes associated with differentially methylated regions were involved in membrane fusion,vesicular formation and trafficking,hemoglobin function,cell cycle regulation,and neuronal differentiation.These results suggest that the high-altitude-related epigenetic modifications are extensive,involving a complete adaptation process from the inhibition of single Ca^(2+)channel proteins to multiple proteins collaboratively enhancing vesicular function or inhibiting cell differentiation and proliferation.Functional assays demonstrated that overexpression or down-regulation of candidate genes,such as SNX10,TIMELESS,and CACYBP,influenced cell viability under stress conditions.Overall,this research suggests that comparing DNA methylation across closely related species can identify novel candidate genomic regions and genes associated with local adaptations,thereby deepening our understanding of the mechanisms underlying environmental adaptations.

Transcultural Validation and Adaptation of the Academic Stress Questionnaire (CEA) in Students of Puerto Rico

Background: There are multiple questionnaires to measure academic stress in university students, which have been used in nursing students. In Puerto Rico, a questionnaire valid in content and reliability was required to measure the variable of academic stress in nursing students. Purpose: The aim of this study was to adapt transculturally and validate the Academic Stress Questionnaire (CEA) for its use in Puerto Rico. Materials and Methods: Used for the first phase of this study consisted in the evaluation of the validity of content and appearance, whereas the second phase was the actual administering of the questionnaire to 20 (twenty) nursing students, to pilot test its internal consistency using the Cronbach’s α test. Results: Validity of content and appearance allowed for the modification of the questionnaire into one, consisting of 42 items, thus eliminating 34 premises from the original 76 items the questionnaire was composed of. Furthermore, the appearance of the questionnaire was modified by placing the measuring scales in columns, adapting social, demographic, and academic data to the required Puerto Rican reality. The sections meant to measure the academic stress variables were left intact, except for the linguistics adaptation, which was accomplished by a team of experts in the Spanish language. With an α global of 0.80 and coefficients larger than 0.7 in the multi-item sub scales, which oscillated between 0.750 and 0.860, the questionnaire provides a high reliability. Conclusion: Although the values reported in this study are somewhat lower than previous research, they were comparable the Cronbach’s Alpha coefficients reported by Cabanach, in which the numbers reported are considered high (α > 0.70) which show acceptable confiability of the subscales included in the study and a high degree of consistency and thus can be relied upon in future research. In synthesis, the Academic Stress Questionnaire (CEA) modified and adapted, thoroughly fulfills the established criteria of confiability and validity to evaluate academic stress of Puertorrican nursing students.