Research of the feedforward control system of 3-axis stable platform based on disturbance observer

In order to improve stability and capability of rejecting disturbance of the platform, the feedforward controller and disturbance observer (DOB) are used in angular loop of the 3-axis stabilized platform. This method can effectively avoid the conflict between stability and rapidity of system. Using the error signal as the evaluation index, the DOB can accurately track external disturbances, such as constant, periodic and random disturbance signal, eliminate model mismatches and improve the stability and robustness of the inner loop. Finally, the simulation result shows that the composite control method has better dynamic performance and smaller steady-state error than cascade lead-lag compensation

Co-Positivity for Anti-dsDNA, -Nucleosome and -Histone Antibodies in Lupus Nephritis Is Indicative of High Serum Levels and Severe Nephropathy

<div><p>Objective</p><p>To characterize the significance of correlated autoantibodies in systemic lupus erythematosus (SLE) and its complication lupus nephritis (LN) in a large cohort of patients.</p><p>Methods</p><p>Clinical data were statistically analyzed in 1699 SLE patients with or without nephritis who were diagnosed and treated during 2002–2013 in the northeast region of China. Reactivity to a list of 16 autoantibodies was detected by the serum test Euroline ANA profile (IgG). Serum titers of the anti-nucleosome autoantibodies were measured by ELISA assays. Kidney biopsies were examined by pathologists. Immune complex deposition was identified by immunohistochemistry stain.</p><p>Results</p><p>Simultaneous positivity of anti-dsDNA, -nucleosome and -histone antibodies (3-pos) was prevalent in SLE patients with LN compared to Non-renal SLE patients (41% vs 11%, <i>p</i>< 0.001). Significant correlations were found between any two of the above three anti-nucleosome antibodies in LN patients. In comparison to non-3-pos cohorts, 3-pos patients with LN had significantly higher serum levels of the three antibodies and more active disease; was associated with type IV disease; suffered from more severe renal damages; received more intensive treatment and had worse disease outcome. The serum levels of these three autoantibodies in 3-pos LN patients were significantly decreased when they underwent clinical recovery.</p><p>Conclusions</p><p>Simultaneous reactivity to anti-dsDNA, -nucleosome and -histone antibodies by Euroline ANA profile (IgG) may indicate severe nephropathy in patients with SLE.</p></div

Serum titres of anti-dsDNA, -nucleosome, and -histone Abs in 3-pos LN patients are significantly dropped when they underwent clinical recovery.

<p><b>(A)</b> Three-pos LN patients of clinical recovery had significantly decreased levels of SCr and BUN. <b>(B)</b> Serum levels of anti-dsDNA, -nucleosome and -histone antibodies in 3-pos LN patients before and after clinical treatment.</p

Correlation of 3-pos with LN subtype and kidney immune complex deposition in type IV LN.

<p><b>(A)</b> Correlations of 3-pos with LN subtype. <b>(B)</b> Deposition of immune complex in type IV LN in 3-pos or non-3-pos patients by immunohistochenistry. <b>(C)</b> Quantification of the postive staining in <b>(B)</b>. IgG was labeled by HRP and represented for immune complex deposition. Four fields per biopsy sample were randomly counted and results were expressed as IOD/Area (Mean±SEM). Scale bar = 50 μm.</p

Estimating Aboveground Carbon Dynamic of China Using Optical and Microwave Remote-Sensing Datasets from 2013 to 2019

International audienceOver the past 2 to 3 decades, Chinese forests are estimated to act as a large carbon sink, yet the magnitude and spatial patterns of this sink differ considerably among studies. Using 3 microwave (L- and X-band vegetation optical depth [VOD]) and 3 optical (normalized difference vegetation index, leaf area index, and tree cover) remote-sensing vegetation products, this study compared the estimated live woody aboveground biomass carbon (AGC) dynamics over China between 2013 and 2019. Our results showed that tree cover has the highest spatial consistency with 3 published AGC maps (mean correlation value R = 0.84), followed by L-VOD (R = 0.83), which outperform the other VODs. An AGC estimation model was proposed to combine all indices to estimate the annual AGC dynamics in China during 2013 to 2019. The performance of the AGC estimation model was good (root mean square error = 0.05 Pg C and R2 = 0.90 with a mean relative uncertainty of 9.8% at pixel scale [0.25°]). Results of the AGC estimation model showed that carbon uptake by the forests in China was about +0.17 Pg C year−1 from 2013 to 2019. At the regional level, provinces in southwest China including Guizhou (+22.35 Tg C year−1), Sichuan (+14.49 Tg C year−1), and Hunan (+11.42 Tg C year−1) provinces had the highest carbon sink rates during 2013 to 2019. Most of the carbon-sink regions have been afforested recently, implying that afforestation and ecological engineering projects have been effective means for carbon sequestration in these regions

Three-pos by Euroline ANA profile (IgG) was a marker for severe nephropathy in LN patients.

<p><b>(A)</b> Power of anti-dsDNA, -nucleosome and–histone Abs to differentiate active LN from inactive LN accessed by ROC curve. <b>(B)</b> Three-pos was the best marker for severe nephropathy. The relevant laboratory parameters on nephropathy includes increased Scr (≥ 133μmol/L), urinary protein (≥ 3.5g/24h) and urinary RBC (≥ 3/HP). 2A, 2B and 2C respectively indicated varied 2-pos by Euroline ANA profile (IgG) in LN patients; 2A: anti-dsDNA and -nucleosome; 2B: anti-dsDNA and -histone; 2C: anti-nucleosome and -histone.</p

Prevalence of autoantibodies in patients with SLE by Euroline ANA Profile (IgG).

<p>Prevalence of autoantibodies in patients with SLE by Euroline ANA Profile (IgG).</p

Baseline laboratory characteristics between 3-pos and non 3-pos patients with LN.

<p><b>Values were shown as median (IQR) or number (%). IQR: inter-quartile range</b>.</p><p>Baseline laboratory characteristics between 3-pos and non 3-pos patients with LN.</p

Disease outcome in 3-pos and non 3-pos patients with LN.

<p>Disease outcome in 3-pos and non 3-pos patients with LN.</p

Estimating Aboveground Carbon Dynamic of China Using Optical and Microwave Remote-Sensing Datasets from 2013 to 2019

International audienceOver the past 2 to 3 decades, Chinese forests are estimated to act as a large carbon sink, yet the magnitude and spatial patterns of this sink differ considerably among studies. Using 3 microwave (L- and X-band vegetation optical depth [VOD]) and 3 optical (normalized difference vegetation index, leaf area index, and tree cover) remote-sensing vegetation products, this study compared the estimated live woody aboveground biomass carbon (AGC) dynamics over China between 2013 and 2019. Our results showed that tree cover has the highest spatial consistency with 3 published AGC maps (mean correlation value R = 0.84), followed by L-VOD (R = 0.83), which outperform the other VODs. An AGC estimation model was proposed to combine all indices to estimate the annual AGC dynamics in China during 2013 to 2019. The performance of the AGC estimation model was good (root mean square error = 0.05 Pg C and R2 = 0.90 with a mean relative uncertainty of 9.8% at pixel scale [0.25°]). Results of the AGC estimation model showed that carbon uptake by the forests in China was about +0.17 Pg C year−1 from 2013 to 2019. At the regional level, provinces in southwest China including Guizhou (+22.35 Tg C year−1), Sichuan (+14.49 Tg C year−1), and Hunan (+11.42 Tg C year−1) provinces had the highest carbon sink rates during 2013 to 2019. Most of the carbon-sink regions have been afforested recently, implying that afforestation and ecological engineering projects have been effective means for carbon sequestration in these regions