Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance

Two adaptive switching control strategies are proposed for the trajectory tracking problem of robotic manipulator in this paper. The first scheme is designed for the supremum of the bounded disturbance for robot manipulator being known; while the supremum is not known, the second scheme is proposed. Each proposed scheme consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theorem, it is shown that two new schemes can guarantee tracking performance of the robotic manipulator and be adapted to the alternating unknown loads. Simulations for two-link robotic manipulator are carried out and show that the two schemes can avoid the overlarge input torque, and the feasibility and validity of the proposed control schemes are proved

N-(2-Hy­droxy­eth­yl)-5-(4-meth­oxy­phen­yl)-4H-pyrazole-3-carboxamide

In the title compound, C13H15N3O3, the dihedral angle between the benzene and pyrazole rings is 7.7 (1)° and the O—C—C—N torsion angle of the side chain is 74.1 (2)°. In the crystal, mol­ecules are linked by O—H⋯O, N—H⋯O and N—H⋯N hydrogen bonds

Spatiotemporal Variation and Factors Influencing Water Yield Services in the Hengduan Mountains, China

Conducting a quantitative assessment of water yield in mountainous areas is crucial for the management, development, and sustainable utilization of water resources. The Hengduan Mountains Region (HDMR) is a significant water-supporting area characterized by complex topography and climate changes. To analyze the spatial and temporal variations of water yield in the HDMR from 2001 to 2020, we employed the InVEST model and examined the influencing factors in conjunction with the elevation gradient. Our results indicate that: (1) The water yield in the Hengduan Mountains decreases from southeast to northwest, with the southwestern and eastern regions having high water yield values, and the high-altitude areas in the northwestern part having low water yield values. (2) The water yield in the Hengduan Mountains exhibits a decreasing trend followed by an increasing trend from 2001 to 2020, with the lowest level in 2011 and higher levels in 2004, 2018, and 2020. (3) Pixel-based trend analysis demonstrates a decreasing trend in water yield in the central and western parts of the study area, while the eastern part shows an increasing trend. (4) The climatic components, particularly precipitation, predominantly influence the spatial and temporal variations of water yield in the Transverse Mountain region. In most areas, evapotranspiration and land surface temperature have a negative impact on water yield. (5) Water yield tends to decrease and then increase on the altitudinal gradient, with precipitation and actual evapotranspiration being the factors directly affecting water yield, and land surface temperature and the proportion of forested areas having a significant indirect effect on water yield. Our study provides a scientific basis for water resources management and sustainable development in the Hengduan Mountains

Improved Algorithms OF CELF and CELF++ for Influence Maximization

Motivated by the wide application in some fields, such as viral marketing, sales promotion etc, influence maximization has been the most important and extensively studied problem in social network. However, the most classical KK-Greedy algorithm for influence maximization is inefficient. Two major sources of the algorithm’s inefficiency were analyzed in this paper. With the analysis of algorithms CELF and CELF++, all nodes in the influenced set of u would never bring any marginal gain when a new seed u was produced. Through this optimization strategy, a lot of redundant nodes will be removed from the candidate nodes. Basing on the strategy, two improved algorithms of Lv_CELF and Lv_CELF++ were proposed in this study. To evaluate the two algorithms, the two algorithms with their benchmark algorithms of CELF and CELF++ were conducted on some real world datasets. To estimate the algorithms, influence degree and running time were employed to measure the performance and efficiency respectively. Experimental results showed that, compared with benchmark algorithms of CELF and CELF++, matching effects and higher efficiency were achieved by the new algorithms Lv_CELF and Lv_CELF++. Solutions with the proposed optimization strategy can be useful for the decisionmaking problems under the scenarios related to the influence maximization problem

HSCVFNT: Inference of Time-Delayed Gene Regulatory Network Based on Complex-Valued Flexible Neural Tree Model

Gene regulatory network (GRN) inference can understand the growth and development of animals and plants, and reveal the mystery of biology. Many computational approaches have been proposed to infer GRN. However, these inference approaches have hardly met the need of modeling, and the reducing redundancy methods based on individual information theory method have bad universality and stability. To overcome the limitations and shortcomings, this thesis proposes a novel algorithm, named HSCVFNT, to infer gene regulatory network with time-delayed regulations by utilizing a hybrid scoring method and complex-valued flexible neural network (CVFNT). The regulations of each target gene can be obtained by iteratively performing HSCVFNT. For each target gene, the HSCVFNT algorithm utilizes a novel scoring method based on time-delayed mutual information (TDMI), time-delayed maximum information coefficient (TDMIC) and time-delayed correlation coefficient (TDCC), to reduce the redundancy of regulatory relationships and obtain the candidate regulatory factor set. Then, the TDCC method is utilized to create time-delayed gene expression time-series matrix. Finally, a complex-valued flexible neural tree model is proposed to infer the time-delayed regulations of each target gene with the time-delayed time-series matrix. Three real time-series expression datasets from (Save Our Soul) SOS DNA repair system in E. coli and Saccharomyces cerevisiae are utilized to evaluate the performance of the HSCVFNT algorithm. As a result, HSCVFNT obtains outstanding F-scores of 0.923, 0.8 and 0.625 for SOS network and (In vivo Reverse-Engineering and Modeling Assessment) IRMA network inference, respectively, which are 5.5%, 14.3% and 72.2% higher than the best performance of other state-of-the-art GRN inference methods and time-delayed methods

Mapping Potential Soil Water Erosion and Flood Hazard Zones in the Yarlung Tsangpo River Basin, China

The ubiquity of soil water erosion in the Yarlung Tsangpo River Basin leads to a series of natural hazards, including landslides, debris flows and floods. In this study, the Revised Universal Soil Loss Equation model (RUSLE) was used to quantify potential soil water erosion, while the Height Above Nearest Drainage model (HAND) was used to delimit potential flood hazard zones. Remote sensing and geographic information system technologies were employed to spatialize the results, which showed that the annual soil loss from water erosion was less than 1239 t ha−1 y−1. The total soil loss was estimated to be over 108 × 106 tons, of which about 13 × 106 tons (12.04% of the total) occurred from the agricultural land in the downstream valley. Soil erosion mapping was performed using six levels of soil erosion intensity and the effects of precipitation, land use/land cover and topography on soil erosion were revealed. Increases in precipitation and slope gradient significantly increased the soil loss rate, while the maximum rate of soil loss occurred from densely vegetated land, reaching 9.41 t ha−1 y−1, which was inconsistent with erosion preconceptions for this land type. This may be due to a combination of the region’s unique climate of high intensity rainfall and steep slopes. Flood hazard mapping showed that all regional cities were located in a flood hazard zone and that, within the total basin area (~258 × 105 ha), 9.84% (2,537,622 ha) was in a high flood occurrence area, with an additional 1.04% in aa vulnerable to moderate flood hazard area. Approximately 1.54% of the area was in a low flood risk area and 4.15% was in a very low flood risk area. The results of this study provide an initial identification of high-risk soil water erosion and flood hazard locations in the basin and provide a foundation upon which decision-makers can develop water and soil conservation and flood prevention policies

Design, Synthesis and Biological Evaluation of 1,4-Disubstituted-3,4-dihydroisoquinoline Compounds as New Tubulin Polymerization Inhibitors

A series of 1,4-disubstituted-3,4-dihydroisoquinoline derivatives designed as tubulin polymerization inhibitors were synthesized. Their cytotoxic activities against the CEM leukemia cell line were evaluated. Most of them displayed moderate cytotoxic activities, and compounds 21 and 32 showed good activities with IC50 of 4.10 and 0.64 μM, respectively. The most potent compound 32 was further confirmed to be able to inhibit tubulin polymerization, and its hypothetical binding mode with tubulin was obtained by molecular docking

Design, synthesis, and biological evaluation of new ALDH2 activators

Mitochondrial aldehyde dehydrogenase 2 (ALDH2) is an important enzyme response for the metabolism or detoxification of toxic aldehydes, in particular acetaldehyde and 4-hydroxynonenal (4-HNE), which were important risk factors for acute alcoholism and stroke respectively. A special variant ALDH2∗2 with reduced enzymatic activity was carried by a high percentage of East Asians, especially Han Chinese, and that could increase the risk of these diseases further. Therefore, ALDH2 activators had important potential clinical values. N-benzylbenzamide compounds represented by Alda-1 were the only ALDH2-specific activators that have been reported so far. In this study, three new classes of compounds were modified from Alda-1 to improve their water-solubility and then drug-like properties. The results showed that all compounds had increased water solubility and two classes of compounds exhibited good activation activity. Among them, compound I-6 showed the best activity. Keywords: Mitochondrial aldehyde dehydrogenase 2, Activators, Synthesis, Biological evaluatio

Assessment of the Spatiotemporal Impact of Water Conservation on the Qinghai–Tibet Plateau

The Qinghai–Tibet Plateau is a proven essential water conservation region in Asia. However, various factors, such as anthropogenic activities, climate, and vegetation significantly affect its water conservation. Along these lines, a deep understanding of the spatiotemporal patterns of water conservation for this plateau and relevant influencing elements is considered of great importance. This paper calculates the water conservation on the Qinghai–Tibet Plateau based on the InVEST model, and given that the evapotranspiration data are an important parameter of the InVEST model, this study selects the mainstream evapotranspiration data to compare the accuracy of the simulated water yield, and also selects the most accurate remote sensing evapotranspiration data examined in the study to carry out the study of water conservation on the Qinghai–Tibet Plateau. Due to the large area of the Qinghai–Tibet Plateau and the various types of climate and ecological zones, this paper analyzes the spatial and temporal variations of water conservation on the Qinghai–Tibet Plateau in each ecological zone and climate zone division and detects the factors affecting water conservation on the Qinghai–Tibet Plateau by using the geo-detector method. From our analysis, the following outcomes are proven: on the Qinghai–Tibet Plateau, (1) the overall water conservation decreased from southeast to northwest; (2) the water conservation of the studied plateau in 1990, 2000, 2010, and 2020 was 656.56, 590.85, 597.4, and 651.85 mm, respectively; (3) precipitation, evapotranspiration, and NDVI exhibited a positive relationship with water conservation; (4) the precipitation factor had the biggest impact on the spatial distinctions of the water resource governance; (5) the above factors are combined with the slope factor and the interaction of each factor to improve water conservation. Our work provides valuable insights for the further implementation of ecological projects with a view to enhancing water resource management methods