Adaptive neural network control of a robotic manipulator with unknown backlash-like hysteresis

This study proposes an adaptive neural network controller for a 3-DOF robotic manipulator that is subject to backlashlike hysteresis and friction. Two neural networks are used to approximate the dynamics and the hysteresis non-linearity. A neural network, which utilises a radial basis function approximates the robot's dynamics. The other neural network, which employs a hyperbolic tangent activation function, is used to approximate the unknown backlash-like hysteresis. The authors also consider two cases: full state and output feedback control. For output feedback, where system states are unknown, a high gain observer is employed to estimate the states. The proposed controllers ensure the boundedness of the control signals. Simulations are also performed to show the effectiveness of the controllers

Atomically dispersed Fe in a C2N based catalyst as a sulfur host for efficient lithium-sulfur batteries

Altres ajuts: ICN2 is funded by the CERCA Programme/Generalitat de Catalunya. Part of the present work has been performed in the framework of Universitat Autònoma de Barcelona Materials Science PhD program. J.L. is a Serra Húnter Fellow and is grateful to ICREA Academia program.Lithium-sulfur batteries (LSBs) are considered to be one of the most promising next generation energy storage systems due to their high energy density and low material cost. However, there are still some challenges for the commercialization of LSBs, such as the sluggish redox reaction kinetics and the shuttle effect of lithium polysulfides (LiPS). Here a 2D layered organic material, CN, loaded with atomically dispersed iron as an effective sulfur host in LSBs is reported. X-ray absorption fine spectroscopy and density functional theory calculations prove the structure of the atomically dispersed Fe/CN catalyst. As a result, Fe/CN-based cathodes demonstrate significantly improved rate performance and long-term cycling stability. Fe/CN-based cathodes display initial capacities up to 1540 mAh g at 0.1 C and 678.7 mAh g at 5 C, while retaining 496.5 mAh g after 2600 cycles at 3 C with a decay rate as low as 0.013% per cycle. Even at a high sulfur loading of 3 mg cm, they deliver remarkable specific capacity retention of 587 mAh g after 500 cycles at 1 C. This work provides a rational structural design strategy for the development of high-performance cathodes based on atomically dispersed catalysts for LSBs

A genetic variation map for chicken with 2.8 million single-nucleotide polymorphisms

We describe a genetic variation map for the chicken genome containing 2.8 million single-nucleotide polymorphisms ( SNPs). This map is based on a comparison of the sequences of three domestic chicken breeds ( a broiler, a layer and a Chinese silkie) with that of their wild ancestor, red jungle fowl. Subsequent experiments indicate that at least 90% of the variant sites are true SNPs, and at least 70% are common SNPs that segregate in many domestic breeds. Mean nucleotide diversity is about five SNPs per kilobase for almost every possible comparison between red jungle fowl and domestic lines, between two different domestic lines, and within domestic lines - in contrast to the notion that domestic animals are highly inbred relative to their wild ancestors. In fact, most of the SNPs originated before domestication, and there is little evidence of selective sweeps for adaptive alleles on length scales greater than 100 kilobases

Oxidative Stress in Cancer

Contingent upon concentration, reactive oxygen species (ROS) influence cancer evolution in apparently contradictory ways, either initiating/stimulating tumorigenesis and supporting transformation/proliferation of cancer cells or causing cell death. To accommodate high ROS levels, tumor cells modify sulfur-based metabolism, NADPH generation, and the activity of antioxidant transcription factors. During initiation, genetic changes enable cell survival under high ROS levels by activating antioxidant transcription factors or increasing NADPH via the pentose phosphate pathway (PPP). During progression and metastasis, tumor cells adapt to oxidative stress by increasing NADPH in various ways, including activation of AMPK, the PPP, and reductive glutamine and folate metabolism

Genomic Insights into the Formation of Human Populations in East Asia

厦门大学人类学研究所、厦门大学生命科学学院细胞应激生物学国家重点实验室王传超教授课题组与哈佛医学院David Reich教授团队合作，联合全球43个单位的85位共同作者组成的国际合作团队通过古DNA精细解析东亚人群形成历史。研究人员利用古DNA数据检验了东亚地区农业和语言共扩散理论，综合考古学、语言学等证据，该研究系统性地重构了东亚人群的形成、迁徙和混合历史。这是目前国内开展的东亚地区最大规模的考古基因组学研究，此次所报道的东亚地区古人基因组样本量是以往国内研究机构所发表的样本量总和的两倍，改变了东亚地区尤其是中国境内考古基因组学研究长期滞后的局面。 该研究是由王传超教授团队与哈佛医学院（David Reich教授）、德国马普人类历史科学研究所（Johannes Krause教授）、复旦大学现代人类学教育部重点实验室（李辉教授和金力院士）、维也纳大学进化人类学系（Ron Pinhasi副教授）、南洋理工大学人文学院（Hui-Yuan Yeh助理教授）、俄罗斯远东联邦大学科学博物馆（Alexander N Popov研究员）、西安交通大学（张虎勤教授）、蒙古国国家博物馆研究中心、乌兰巴托国立大学考古系、华盛顿大学人类学系、台湾成功大学考古所、加州大学人类学系等全球43个单位的85位共同作者组成的国际合作团队联合完成的。厦门大学人类学研究所、厦门大学生命科学学院细胞应激生物学国家重点实验室为论文第一完成单位。厦门大学人类学研究所韦兰海副教授、胡荣助理教授、郭健新博士后、何光林博士后和杨晓敏硕士参与了研究工作。The deep population history of East Asia remains poorly understood due to a lack of ancient DNA data and sparse sampling of present-day people1,2. We report genome-wide data from 166 East Asians dating to 6000 BCE-1000 CE and 46 present-day groups. Hunter-gatherers from Japan, the Amur River Basin, and people of Neolithic and Iron Age Taiwan and the Tibetan plateau are linked by a deeply-splitting lineage likely reflecting a Late Pleistocene coastal migration. We follow Holocene expansions from four regions. First, hunter-gatherers of Mongolia and the Amur River Basin have ancestry shared by Mongolic and Tungusic language speakers but do not carry West Liao River farmer ancestry contradicting theories that their expansion spread these proto-languages. Second, Yellow River Basin farmers at ～3000 BCE likely spread Sino-Tibetan languages as their ancestry dispersed both to Tibet where it forms up ～84% to some groups and to the Central Plain where it contributed ～59-84% to Han Chinese. Third, people from Taiwan ～1300 BCE to 800 CE derived ～75% ancestry from a lineage also common in modern Austronesian, Tai-Kadai and Austroasiatic speakers likely deriving from Yangtze River Valley farmers; ancient Taiwan people also derived ～25% ancestry from a northern lineage related to but different from Yellow River farmers implying an additional north-to-south expansion. Fourth, Yamnaya Steppe pastoralist ancestry arrived in western Mongolia after ～3000 BCE but was displaced by previously established lineages even while it persisted in western China as expected if it spread the ancestor of Tocharian Indo-European languages. Two later gene flows affected western Mongolia: after ～2000 BCE migrants with Yamnaya and European farmer ancestry, and episodic impacts of later groups with ancestry from Turan.We thank David Anthony, Ofer Bar-Yosef, Katherine Brunson, Rowan Flad, Pavel Flegontov,Qiaomei Fu, Wolfgang Haak, Iosif Lazaridis, Mark Lipson, Iain Mathieson, Richard Meadow,Inigo Olalde, Nick Patterson, Pontus Skoglund, Dan Xu, and the four reviewers for valuable comments. We thank Naruya Saitou and the Asian DNA Repository Consortium for sharing genotype data from present-day Japanese groups. We thank Toyohiro Nishimoto and Takashi Fujisawa from the Rebun Town Board of Education for sharing the Funadomari Jomon samples, and Hideyo Tanaka and Watru Nagahara from the Archeological Center of Chiba City who are excavators of the Rokutsu Jomon site. The excavations at Boisman-2 site (Boisman culture), the Pospelovo-1 site (Yankovsky culture), and the Roshino-4 site (Heishui Mohe culture) were funded by the Far Eastern Federal University and the Institute of History,Archaeology and Ethnology Far Eastern Branch of the Russian Academy of Sciences; research on Pospelovo-1 is funded by RFBR project number 18-09-40101. C.C.W was funded by the Max Planck Society, the National Natural Science Foundation of China (NSFC 31801040), the Nanqiang Outstanding Young Talents Program of Xiamen University (X2123302), the Major project of National Social Science Foundation of China (20&ZD248), a European Research Council (ERC) grant to Dan Xu (ERC-2019-ADG-883700-TRAM) and Fundamental Research Funds for the Central Universities (ZK1144). O.B. and Y.B. were funded by Russian Scientific Foundation grant 17-14-01345. H.M. was supported by the grant JSPS 16H02527. M.R. and C.C.W received funding from the ERC under the European Union’s Horizon 2020 research and innovation program (grant No 646612) to M.R. The research of C.S. is supported 30 by the Calleva Foundation and the Human Origins Research Fund. H.L was funded NSFC (91731303, 31671297), B&R International Joint Laboratory of Eurasian Anthropology (18490750300). J.K. was funded by DFG grant KR 4015/1-1, the Baden Württemberg Foundation, and the Max Planck Institute. Accelerator Mass Spectrometry radiocarbon dating work was supported by the National Science Foundation (NSF) (BCS-1460369) to D.J.K. and B.J.C. D.R. was funded by NSF grant BCS-1032255, NIH (NIGMS) grant GM100233, the Paul M. Allen Frontiers Group, John Templeton Foundation grant 61220, a gift from Jean-Francois Clin, and the Howard Hughes Medical Institute. 该研究得到了国家自然科学基金“中国东南各族群的遗传混合”、国家社科基金重大项目“多学科视角下的南岛语族的起源和形成研究”、厦门大学南强青年拔尖人才支持计划A类、中央高校基本科研业务费等资助

Numerical simulation on the effects of bubble size and internal structure on flow behavior in a DAF tank: A comparative study of CFD and CFD-PBM approach

Although dissolved air flotation (DAF) plays a crucial role in wastewater treatment, fluid dynamics in the contact zone (CZ) of a DAF tank are still considered black-box processes, which hampers DAF's optimal design and operation. In this article, we perform a modeling study to further unravel the governing mechanisms occurring in a DAF tank. A computational fluid dynamics (CFD) model coupled with a generic population balance model (PBM) for the DAF system was developed in this work. CFD-PBM results showed that the eddy capture is the dominating mechanism for the bubble coalescence in the most volume of the CZ. Simultaneously, the velocity gradient mechanism and turbulent induced mechanism also play a key role in bubble coalescence in the regions with drastic flow transition and in the nozzle downstream. CFD-PBM simulations reveal that increasing the recirculation rate is better than increasing the volume fraction in the smaller recirculated flow to achieve higher bubble number density and smaller bubble size if the same amount of gas flow rate is injected. The baffle with proper transverse corrugate can equalize and reduce the total coalescence rate. By establishing a synergy between fluid dynamics and bubble size to achieve the best CZ efficiency, the generic CFD-PBM approach developed in this study has laid a solid basis for the optimal design and operation of DAF systems

The evidential reasoning approach for risk management in large enterprises

Enterprise Risk Management (ERM) is a framework that is used by large organizations to manage risk as a whole. The key difference between ERM and traditional risk management is that in the latter risks are managed individually, whilst the former requires the aggregation of risks to facilitate risk management. However, current methods for risk aggregation have various limitations when applied under the context of ERM, such as the requirement for accurate and complete information about risk factors, the inability to handle different kinds of uncertainty which are inevitable during the risk aggregation process, and so on. Due to its unique advantages in accommodating different forms of both complete and incomplete information and handling different kinds of uncertainty, the Evidential Reasoning (ER) approach together with its implementation entitled Intelligent Decision System (IDS) is introduced in this paper for risk aggregation in ERM to overcome the limitations and to provide a comprehensive analysis for risk management based on the aggregation result. To demonstrate the applicability of the ER approach and IDS in ERM, a case study is analyzed in detail regarding risk aggregation and risk management for a health care organization in North England

Fall of Community-Acquired Pneumonia in Children following COVID-19 Non-Pharmaceutical Interventions: A Time Series Analysis

International audienceNon-pharmaceutical interventions (NPIs) were implemented to reduce the spread of coronavirus disease 2019 (COVID-19). A first national lockdown was decided in France on the 17 March 2020. These measures had an impact on other viral and non-viral infectious diseases. We aimed to assess this impact on community-acquired pneumonia (CAP) in children. We performed a quasi-experimental interrupted time series analysis. We used data from a French prospective surveillance system of six pediatric emergency departments (PEDs). All visits from 1 January 2017 to 31 December 2020 were included. Pre-intervention period was before 17 March 2020 and post-intervention period was after 18 March 2020. We estimated the impact on the weekly number of visits for CAP and CAP admission using quasi-Poisson regression modeling. A total of 981,782 PEDs visits were analyzed; among them, 8318 visits were associated with CAP, and 1774 of these were followed by a hospital admission. A major decrease was observed for CAP visits (−79.7% 95% CI [−84.3; −73.8]; p < 0.0001), and CAP admission (−71.3% 95 CI [−78.8; −61.1]; p < 0.0001). We observed a dramatic decrease of CAP in children following NPIs implementation. Further studies are required to assess the long-term impact of these measures

Porting looCi from the Contiki platform to the Zigduino platform: An working approach

The Zigduino is an open-source Arduino compatible microcontroller platform with an integrated 802.15.4 radio. The Loosely-coupled Component Infrastructure (LooCI) is a component-based middleware for building sensor network applications that runs on the Contiki operating system, which provides IPv6 networking. In this paper, we describe our approach to, and experiences of porting the LooCI/Contiki stack to the Zigduino platform.link_to_OA_fulltex