RISE-Based Adaptive Control with Mass-Inertia Parameter Estimation for Aerial Transportation of Multi-Rotor UAVs

This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly parameterized form. Subsequently, a cascade controller with the robust integral of the sign of the error (RISE) terms is applied to smooth the control inputs and address bounded disturbances. Then, adaptive estimation laws for mass-inertia parameters are designed based on a filter operation. Such operation is introduced to extract estimation errors exploited to theoretically guarantee the finite-time (FT) convergence of estimation errors. Finally, simulations are conducted to verify the effectiveness of the designed controller. The results show that the proposed method provides better tracking and estimation performance than traditional adaptive controllers based on sliding mode control algorithms and gradient-based estimation strategies

Parametric analysis of a solid oxide fuel cell auxiliary power unit operating on syngas produced by autothermal reforming of hydrocarbon fuels

A 1 kWe integrated auxiliary power unit (APU) system consisting of an autothermal reformer and a solid oxide fuel cell (SOFC) unit, as well as balance-of-plant components, was designed and analyzed. A relatively easy-to-approach SOFC model was developed in order to conveniently calculate V-I and P-I curves and the system\u27s net efficiency at different operating conditions. The effects of steam to carbon and oxygen to carbon ratios in the reactants, channel dimensions of the SOFC unit, and hydrocarbon fuel types on the integrated APU system\u27s performance were discussed. Five hydrocarbon fuels including diesel, Jet-A, gasoline, ethanol, and methanol were studied as fuel sources for the APU system. The system\u27s net efficiency around 35% is possible for all the tested fuels in the current density range of 100–400 mA/cm2. The APU system was also verified to be thermally self-sustainable in the steady state operation by a thermal management analysis

CLIP Itself is a Strong Fine-tuner: Achieving 85.7% and 88.0% Top-1 Accuracy with ViT-B and ViT-L on ImageNet

Recent studies have shown that CLIP has achieved remarkable success in performing zero-shot inference while its fine-tuning performance is not satisfactory. In this paper, we identify that fine-tuning performance is significantly impacted by hyper-parameter choices. We examine various key hyper-parameters and empirically evaluate their impact in fine-tuning CLIP for classification tasks through a comprehensive study. We find that the fine-tuning performance of CLIP is substantially underestimated. Equipped with hyper-parameter refinement, we demonstrate CLIP itself is better or at least competitive in fine-tuning compared with large-scale supervised pre-training approaches or latest works that use CLIP as prediction targets in Masked Image Modeling. Specifically, CLIP ViT-Base/16 and CLIP ViT-Large/14 can achieve 85.7%,88.0% finetuning Top-1 accuracy on the ImageNet-1K dataset . These observations challenge the conventional conclusion that CLIP is not suitable for fine-tuning, and motivate us to rethink recently proposed improvements based on CLIP. We will release our code publicly at \url{https://github.com/LightDXY/FT-CLIP}.Comment: Technical Report, code will be available at https://github.com/LightDXY/FT-CLI

MiT family translocation renal cell carcinoma with retroperitoneal metastasis in childhood: a case report

RCC accounts for only 0.1%–0.3% of all kidney tumors and 2%–6% of malignant kidney tumors in children. Accounting for approximately one-third of the total number of cases in children and adolescents with RCC, Xp11.2 tRCC is the most common subtype of the MiT family translocation renal cell carcinoma, which is a group of rare childhood and adult tumors, characterized by recurrent gene rearrangements of TFE3. Here we report a rare case of a 6-year-old male patient with MiT family translocation renal cell carcinoma (MiTF tRCC) where the patient developed retroperitoneal metastasis. The patient underwent partial nephrectomy (PN), radical nephrectomy (RN), abdominal lymph node resection, and intestinal adhesion lysis. Microscopically, we detected focal and nest clump-shaped clusters of tumor cells whose cytoplasm was bright and clear. Immunohistochemistry (IHC) showed tumor cells diffusely expressed TFE3, and fluorescence in situ hybridization (FISH) demonstrated disruption of the TFE3 locus, confirming the diagnosis of Xp11.2 tRCC, the most common subtype of MiTF tRCC. Eventually, the patient obtained a good therapeutic result. This case can provide a good reference and guidance for pediatric urologists and oncologists to recognize and diagnose rare renal cell carcinoma in children

To excel and to be happy: Parenting behaviors, parenting stress, and sociocultural contexts in Dutch and urban Chinese families

The current research examined the similarities and differences in parenting behaviors between 1090 Dutch and 2339 urban Chinese mothers with 1- to 4-year olds and investigated to what extent group differences in parenting stress, proportions of only children, and maternal working hours explain cultural variations in parenting behaviors. Thirteen parenting behaviors were assessed using the Comprehensive Early Childhood Parenting Questionnaire. Parenting stress was measured by 10 items selected from the Parenting Stress Index-Short Form. Mothers also reported whether the child was an only child and how many hours they worked per week. Results showed that Dutch mothers and urban Chinese mothers had similar levels of sensitivity, affection, using toys, verbal punishment, and positive discipline. For the other 8 parenting behaviors on which cultural variations were found, a mediational model, examining whether parenting stress, the only-child status, and maternal working time could explain cultural differences in parenting behaviors, was investigated. Compared to Dutch mothers, urban Chinese mothers had higher parenting stress, worked longer hours, and were more likely to have an only child. The group differences in involvement in activities, exposure, over-reactivity, and physical punishment were fully explained by cultural differences in parenting stress and proportions of only children. These mediators, however, only explained a part of the cultural differences in responsiveness, psychological control, consistency, and laxness, showing that Dutch mothers were still more consistent in enforcing rules and less lax in parenting, whereas urban Chinese mothers were still slightly more responsive to children's signals, but also more psychologically controlling