This article studies the robust trajectory tracking control problem of a quadrotor unmanned aerial vehicle (UAV). In order to guarantee the desired trajectory tracking performance in the presence of ...external disturbances and model uncertainties, the design process of the quadrotor UAV controller is divided into two steps. First, by decomposing the attitude dynamic system into two serial-connected subsystems, a cascade active disturbance rejection control scheme is applied to the attitude subsystem. Second, by introducing an additional high-gain design parameter, a novel backstepping sliding-mode control scheme for position subsystem is constructed. Moreover, the Lyapunov stability analysis is provided to show that the trajectory tracking error can converge to an arbitrarily small residual set. Numerical results illustrate the effectiveness of the designed control method and its robustness to the external disturbances and model uncertainties. Finally, the proposed method is implemented on a quadrotor UAV to demonstrate its feasibility in practical application.
Bromodomain 4 (BRD4), a member of the bromodomain and extra‐terminal domain protein family, has become a promising epigenetic target in cancer and inflammatory diseases; however, the detailed ...biological role of BRD4 in breast cancer (BRCA) remains undetermined. We analysed the BRD4 expression levels using the Oncomine and TIMER databases and evaluated the clinical impact of BRD4 on BRCA prognosis using Kaplan‐Meier plot and PrognoScan. The correlation between BRD4 and tumour‐infiltrating immune cells was investigated using TIMER. Furthermore, the correlation between BRD4 expression levels was also analysed using TIMER in addition to the GEPIA database for immune cell gene markers. BRD4 expression was significantly higher in BRCA tissues than in normal tissues, which was significantly correlated with poor overall survival (OS). Specifically, high BRD4 expression was correlated with worse OS and progression‐free survival in patients with BRCA. In addition, BRD4 expression was correlated with levels of infiltrating monocytes (CSF1R, cor = 0.204, P = 9.19e−12), tumour‐associated macrophages (CD68, cor = 0.129, P = 1.81e−05), M1/M2 macrophages and different effector T cells (including Th1/Th2/Treg) in BRCA. These findings suggest that BRD4 could be used as a prognostic biomarker for determining prognosis and immune cell infiltration levels in BRCA.
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DOBA, FZAB, GIS, IJS, IZUM, KILJ, NLZOH, NUK, OILJ, PILJ, PNG, SAZU, SBCE, SBMB, UILJ, UKNU, UL, UM, UPUK
Buoyancy-driven underwater gliders are highly efficient winged underwater vehicles driven by modifying the net buoyancy and internal shape. Many advantages, such as wide cruise range, less power ...consumption, low noise, and no pollution, make the underwater glider an important platform for marine environment observation and ocean resource exploration. For the wide cruise range, attitude control of underwater glider becomes the core technology. In this paper, the underwater glider named OUC-III has been developed for marine observation. To control the attitude of glider, the kinematic and dynamic models of it have been calculated by mathematical analysis. Furthermore, a novel control algorithm is proposed to control the attitude of glider. The algorithm is combined reinforcement learning with Active Disturbance Rejection Control (ADRC) and compared with classical ADRC by simulation based on the dynamic model of OUC-III. The simulation experimental results indicate that the proposed algorithm compensates well for the ocean current disturbances on OUC-III attitude control mission and it obtains high-precision and high-adaptive control ability.
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EMUNI, FIS, FZAB, GEOZS, GIS, IJS, IMTLJ, KILJ, KISLJ, MFDPS, NLZOH, NUK, OBVAL, OILJ, PNG, SAZU, SBCE, SBJE, SBMB, SBNM, UKNU, UL, UM, UPUK, VKSCE, ZAGLJ
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•Photocatalytic reaction rate constant as a function of I and humidity was built.•The inherent (light intensity- and humidity-independent) rate constant was derived.•Humidity effect ...on photocatalytic rate is quantified by humidity impact factor.•The zero-sum effect of humidity in the medium humidity regime was observed.•Three typical commercially UVC and UVA lamps were compared.
In photocatalytic oxidation (PCO) of volatile organic compounds (VOCs), even if using the same UV lamp, reaction rate constant of a photocatalyst denoted as k(I,H)Lamp is still affected by operation conditions of light intensity (I) and humidity. It is of great significance to find characteristic parameters of photocatalysts, which excludes the effect of above-mentioned operation conditions and enables direct comparisons of photocatalysts. For this purpose, PCO of formaldehyde in synthetic air in a continuous-flow reactor over transparent films of anatase TiO2 was investigated using three commercially available UV lamps, i.e. UVC, UVA black (UVA1) and UVA white (UVA2). Thereby, inherent rate constant (kLamp) that is only related to the wavelength of UV lamp but independent of light intensity and humidity was found. It suggested that a sequence of kLamp under the three UV lamps, kUVC>>kUVA1∼kUVA2, which, for instance, are 1.6, 0.33 and 0.26cm2s−1mW−1 at low light intensity, respectively. Moreover, humidity impact factor (fH) is approximately 3, 0 and −0.4 in three regimes of low, medium and high humidity (LH, MH, and HH), respectively, which manifests positive, zero-sum and negative effects of humidity on the PCO reaction rate. The zero-sum effect of humidity in the MH regime was observed for the first time. Finally, a generalized and quantitative relationship to express k(I,H)Lamp as a function of I and humidity was built.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK
MicroRNAs are important regulators during human growth and development. Emerging evidence indicates that microRNAs play important roles in colorectal cancer. The aim of this study is to reveal the ...biological function and direct target gene of miR-483 in colorectal cancer. The biological function of miR-483 on the proliferation and migration of colon cancer cells was then examined by Edu assay and transwell assay, respectively. Our findings revealed that miR-483 mimic could significantly inhibit cell proliferation and migration. The target gene of miR-483 was predicted by target scan software and identified by a dual fluorescence reporter system which showed that TRAF1 was a direct target gene of miR-483 in SW480 cell line. These data suggest that miR-483 is a colorectal cancer suppressor which could inhibit cell proliferation and migration, possibly via targeting TRAF1. The miR-483 could be a potential treatment target for colorectal cancer.
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FZAB, GEOZS, GIS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, SBMB, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
INTRODUCTION
Radical cystectomy for bladder and urinary diversion is considered the gold standard for treatment of muscular invasive bladder cancer or high-risk nonmuscular invasive bladder cancer. ...Urinary diversion is usually classified into three types： orthotopic neobladder, ileal conduit or sigmoid conduit, and cutaneous ureterostomy Orthotopic neobladder is a better choice for urinary diversion than the other types because of its nonurinary diversion and better quality of life when this method is feasible for patients. One of the complications after creating an orthotopic neobladder is urinary incontinence. With an increasing amount of orthotopic neobladder procedures, more patients are suffering from urinary incontinence. Therefore, an article is required for diagnosis and treatment of urinary incontinence after the orthotopic ileal neobladder procedure.
Hou, G.-J.; Luan, X.; Song, D.-L., and Ma, X.-Y., 2016. Underwater mad-made object recognition on the basis of color and shape features. In complex underwater situations, how to realize object ...extraction accurately and effectively is the key technology of underwater object recognition. In this paper, the detection and recognition techniques of underwater man-made objects on the basis of color and shape features have been studied in depth. First, the objects of interest in an underwater image are extracted by applying a color-based algorithm. Then an improved two-dimensional Otsu algorithm is utilized for removing the background color noise. To recognize the shape type of a regular object, a robust algorithm based on shape signature is presented. The experimental results show that the proposed approach is effective and robust, such as an acceptable extraction rate (exceeding 80%) of the object of interest, an ideal outcome of background color noise removal, high accurate shape of the object's edge, and a good average recognition rate of shape type (approximately 90%). It proves that this algorithm can accurately settle the problem of object extraction and recognition under different cases of distance, angle, and illumination.
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BFBNIB, DOBA, IZUM, KILJ, NMLJ, NUK, PILJ, PNG, SAZU, UILJ, UKNU, UL, UM, UPUK
Thyroid cancer 1 (TC1, C8orf4) plays important roles in tumors. The aim of this study was to examine the protein expression levels, methylation status, and mutational status of
(
) in lung cancers, ...and investigate the correlation between TC1, other members of the Wnt signaling pathway, and lung cancer. TC1 expression levels were assessed via immunohistochemical staining in 179 cases of lung cancer. β-catenin, TCF4, Axin, Disabled-2, Chibby, and DNA methyltransferase-1 (DNMT1) expressions were also examined. Bisulfite sequencing PCR analysis was used to examine the methylation status of the
locus, while PCR analysis and direct sequencing were used to determine its mutational status. We found high TC1 expression correlated with poor differentiation, advanced TNM stage, lymphatic metastasis, and poor prognosis in lung cancer patients. TC1 expression also correlated with β-catenin and DNMT1 expressions. No mutations in
were detected. However, methylation levels of
in lung cancers were lower than in corresponding normal lung tissues. In conclusion, high TC1 expression is implicated in lung cancer progression and correlates with poor prognosis in lung cancer. Reduced methylation levels might be responsible for the elevated TC1 expression levels. TC1, β-catenin, and DNMT1 can synergistically activate Wnt/β-catenin signaling in lung cancers.
A facile and fast CVD method for the deposition of TiO2 films, under atmospheric pressure and at room temperature, onto glass and polyethylene terephthalate (PET) substrates is explored. The ...hydrolysis reaction of titanium tetraisopropoxide (TTIP) is employed for the deposition of TiO2 film, and the corresponding deposition rate determined. The surface morphology of the as‐deposited TiO2 films is observed by scanning electron microscopy (SEM) and atomic force microscopy (AFM). In order to confirm the structure, composition, and optical properties of the films, X‐ray diffraction (XRD), Raman spectroscopy (RS), Fourier transform infrared (FTIR) spectroscopy, X‐ray photoelectron spectroscopy (XPS), and UV‐Vis absorption spectroscopy are employed. The as‐deposited TiO2 films are amorphous with a band gap energy of around 3.42 eV and rich in surface OH groups, which exhibit very high photocatalytic activity for complete oxidation of HCHO in simulated air under UV‐C irradiation.
A facile and fast deposition of TiO2 film on a moving substrate under atmospheric pressure and at room temperature using TTIP and H2O as CVD precursors is reported for the first time. It is demonstrated that the as‐deposited film is amorphous TiO2 and it is rich in surface OH groups. The as‐deposited TiO2 films, on glass and PET substrates, exhibit very high photocatalytic activity for complete oxidation of HCHO to CO2 in simulated air under UV‐C irradiation.
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BFBNIB, FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
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