A Novel Self-Organizing PID Approach for Controlling Mobile Robot Locomotion

A novel self-organizing fuzzy proportional-integral-derivative (SOF-PID) control system is proposed in this paper. The proposed system consists of a pair of control and reference models, both of which are implemented by a first-order autonomous learning multiple model (ALMMo) neuro-fuzzy system. The SOF-PID controller self-organizes and self-updates the structures and meta-parameters of both the control and reference models during the control process "on the fly". This gives the SOF-PID control system the capability of quickly adapting to entirely new operating environments without a full re-training. Moreover, the SOF-PID control system is free from user- and problem-specific parameters and is entirely data-driven. Simulations and real-world experiments with mobile robots demonstrate the effectiveness and validity of the proposed SOF-PID control system

Identification of biomarkers for the diagnosis of chronic kidney disease (CKD) with non-alcoholic fatty liver disease (NAFLD) by bioinformatics analysis and machine learning

BackgroundChronic kidney disease (CKD) and non-alcoholic fatty liver disease (NAFLD) are closely related to immune and inflammatory pathways. This study aimed to explore the diagnostic markers for CKD patients with NAFLD.MethodsCKD and NAFLD microarray data sets were screened from the GEO database and analyzed the differentially expressed genes (DEGs) in GSE10495 of CKD date set. Weighted Gene Co-Expression Network Analysis (WGCNA) method was used to construct gene coexpression networks and identify functional modules of NAFLD in GSE89632 date set. Then obtaining NAFLD-related share genes by intersecting DEGs of CKD and modular genes of NAFLD. Then functional enrichment analysis of NAFLD-related share genes was performed. The NAFLD-related hub genes come from intersection of cytoscape software and machine learning. ROC curves were used to examine the diagnostic value of NAFLD related hub genes in the CKD data sets and GSE89632 date set of NAFLD. CIBERSORTx was also used to explore the immune landscape in GSE104954, and the correlation between immune infiltration and hub genes expression was investigated.ResultsA total of 45 NAFLD-related share genes were obtained, and 4 were NAFLD-related hub genes. Enrichment analysis showed that the NAFLD-related share genes were significantly enriched in immune-related pathways, programmed cell death, and inflammatory response. ROC curve confirmed 4 NAFLD-related hub genes in CKD training set GSE104954 and other validation sets. Then they were used as diagnostic markers for CKD. Interestingly, these 4 diagnostic markers of CKD also showed good diagnostic value in the NAFLD date set GSE89632, so these genes may be important targets of NAFLD in the development of CKD. The expression levels of the 4 diagnostic markers for CKD were significantly correlated with the infiltration of immune cells.Conclusion4 NAFLD-related genes (DUSP1, NR4A1, FOSB, ZFP36) were identified as diagnostic markers in CKD patients with NAFLD. Our study may provide diagnostic markers and therapeutic targets for CKD patients with NAFLD

Search for dark matter produced in association with bottom or top quarks in √s = 13 TeV pp collisions with the ATLAS detector

A search for weakly interacting massive particle dark matter produced in association with bottom or top quarks is presented. Final states containing third-generation quarks and miss- ing transverse momentum are considered. The analysis uses 36.1 fb−1 of proton–proton collision data recorded by the ATLAS experiment at √s = 13 TeV in 2015 and 2016. No significant excess of events above the estimated backgrounds is observed. The results are in- terpreted in the framework of simplified models of spin-0 dark-matter mediators. For colour- neutral spin-0 mediators produced in association with top quarks and decaying into a pair of dark-matter particles, mediator masses below 50 GeV are excluded assuming a dark-matter candidate mass of 1 GeV and unitary couplings. For scalar and pseudoscalar mediators produced in association with bottom quarks, the search sets limits on the production cross- section of 300 times the predicted rate for mediators with masses between 10 and 50 GeV and assuming a dark-matter mass of 1 GeV and unitary coupling. Constraints on colour- charged scalar simplified models are also presented. Assuming a dark-matter particle mass of 35 GeV, mediator particles with mass below 1.1 TeV are excluded for couplings yielding a dark-matter relic density consistent with measurements

Application of cryoprecipitate in patients treated by portaazygous devascularization

ObjectiveTo evaluate the effect of cryoprecipitate-based blood component therapy on reducing perioperative risk in patients treated with portaazygous devascularization and to assess its influence on risk of post-operative complications. MethodsSixty-eight patients with portal hypertension who were scheduled for portaazygous devascularization were randomly assigned to receive either the standard surgery (control group, n=34) or surgery combined with perioperative transfusion of 10U cryoprecipitate (treatment group, n=34). Data recorded for inter-group comparative analysis (t-test) included postoperative blood loss, prothrombin time, and recovery time, as well as incidences of re-hemorrhage in the gastrointestinal tract and of portal vein thrombosis. ResultsCompared with the control group, the cryoprecipitate-transfused patients showed significantly lower amount of blood loss after surgery and significantly lower incidence of postoperative bleeding and of re-hemorrhage in the gastrointestinal tract. The cryoprecipitate-transfused patients also experienced a shorter duration recovery period, with less days of in-hospital stay. There was no increase in the incidence of portal vein thrombosis after the use of cryoprecipitate. ConclusionApplication of cryoprecipitate during portaazygous devascularization surgery is safe and can improve coagulation function and reduce the risk of perioperative bleeding. Perioperative cryoprecipitate administration also benefits postoperative recovery and does not increase the incidence of portal vein thrombosis

Investigation of Low Heat Accumulation Asphalt Mixture and Its Impact on Urban Heat Environment.

This study is focused on investigating the effectiveness of low heat accumulation asphalt mixture and its impact on the urban heat environment. Infrared radiation experiments showed that the temperature of the asphalt mixture decreased with the increase in far-infrared radiant material. The results also revealed that, compared to asphalt with 0% far-infrared radiant content, the asphalt material with a certain ratio of far-infrared radiation material had higher stability at high and low temperatures as well as good water absorption capacity. The Marshall stability of the specimen mixed with 6% far-infrared radiant was higher by 12.2% and had a residual stability of up to 98.9%. Moreover, the low-temperature splitting tensile strength of the asphalt mixture with 6% far-infrared radiation material increased by 21.3%. The friction coefficient of the asphalt mixtures with 6% and 12% far-infrared radiation material increased by 17.7% and 26.9%, respectively

DNA Phase Transition in Charge Neutralization and Comformation Induced by Trivalent-Hydrolysed Metal Ions

It is well known that common trivalent counter ions can induce DNA compaction or condensation but are unable to invert DNA surface charge in a normal aqueous solution. In the present study, we found that trivalent-hydrolysed metal ions (Fe3+, Al3+) are not only capable of inducing DNA condensation, but they also invert the electrophoretic mobility of DNA by electrophoretic light scattering and single molecular techniques. In comparison with neutral trivalent cations, hydrolysed metal ions such as Fe3+ can induce DNA condensation at a much lower concentration of cations, and its corresponding morphology of condensed DNA was directly observed by atomic force microscopy (AFM). The condensing and unravelling forces of DNA condensates were measured by tethering DNA by magnetic tweezers (MT) measurements at various concentration of Fe3+ and Al3+. We found that a coil–globule transition of DNA by hydrolysed metal ions not only was observed in DNA-complex sizes, but also in the curve of electrophoretic mobility of DNA in solution. In contrast, the transition was not observed in the case of neutral trivalent cations such as La3+ and Co3+. We attribute the transition and charge inversion to the ion-specific interaction between hydrolysed metal ions and phosphates of DNA backbone