Low-grade fly ash (rejected fly ash,rFA),a significant portion of the pulverized fuel ash (PFA) produced from coal-fired power plants and rejected from the ash classifying process,remains unused due to its high carbon...Low-grade fly ash (rejected fly ash,rFA),a significant portion of the pulverized fuel ash (PFA) produced from coal-fired power plants and rejected from the ash classifying process,remains unused due to its high carbon content and large particle size (>45μm).But it is thought that the rejected ash may have potential uses in chemical stabilization/solidification (S/S) processes which need relatively lower strengths and a lower chemical reactivity.Flue Gas Desulphurisation (FGD) sludge is a by-product of air pollution control equipment in coal fired power plants whose chemical composition is mainly gypsum.As there is no effective usage of both of these two materials,it is of interest to research on the possible activation of rFA using FGD.This paper presents experimental results of a study on the properties of rFA activated by the FGD in rFA-cement pastes.Different percentages of FGD were added into the mix to study the effects of the FGD on the reaction of the rFA blended cement pastes.The results show that FGD takes effect as an activator only at late curing ages.Adding Ca(OH) 2 enhances the effect of FGD on activating the hydration of rFA.Also,10% FGD by weight of rFA is the optimal addition in the rFA-cement pastes.The results of the compressive strength measurements correlate well with the porosity results.展开更多
The recycling rate of rejected electrolytic manganese metal(EMM)scrap can be increased by inhibiting the manganese metal(MM)vaporization during the remelting process with electroslag.However,if the latter is achieved ...The recycling rate of rejected electrolytic manganese metal(EMM)scrap can be increased by inhibiting the manganese metal(MM)vaporization during the remelting process with electroslag.However,if the latter is achieved by reducing the remelting temperature,the desulfurization behavior will deteriorate.Therefore,Na_(2)O-containing electroslag and metallic additive were used to increase the rejected EMM scrap recovery ratio.The respective high-temperature experiment was conducted in a MoSi_(2) electrical resistance furnace filled with fluid argon at 1673 K using five different types of electroslag with the Na_(2)O content ranging from 5.81%to 15.71%.High-purity metallic magnesium and magnesium calcium alloy additives were used as deoxidizers.The addition of Na_(2)O and metallic additives effectively promoted the desulfurization and deoxidization of MM.The removal of sulfur and oxygen by the interaction between Na_(2)O-containing electroslag melt and molten MM with metallic additive was analyzed from the thermodynamic and kinetic standpoints.The effect of Na_(2)O-containing electroslag volatilization on desulfurization and deoxidization was considered.With an increase in Na_(2)O content in the slag,the mass loss rates of Na_(2)O and electroslag rose,as well as the final sulfur partition ratio.If the Na_(2)O content volatilized in the slag melt did not exceed 10.44%,the sulfur removal ratio was increased by high sulfide capacity and CaO activity in all slags due to the addition of Na_(2)O.The rejected EMM scrap deoxidization ratio grew with the increased activity of CaO and reduced activity of Al_(2)O_(3) in the molten slag,caused by the increased Na_(2)O content in the molten slag.The addition of metallic Mg and Mg-Ca alloy indirectly promoted desulfurization and deoxidization by reducing the MnO content in the rejected EMM scrap and growing slag oxidability.The Mg-Ca alloy could also react with dissolved sulfur and oxygen,directly promoting desulfurization and deoxidization processes.The Na_(2)O content in slag should not exceed 10.44%to ensure the high desulfurization and deoxidization abilities,fluidity and low volatilization of slag.展开更多
Remelting rejected electrolytic manganese metal (EMM) scrap was investigated by electroslag remelting (ESR) process through industrial experiment. The results indicated that the ANF-6 slag (70 wt.% CaF_(2) + 30 wt.% A...Remelting rejected electrolytic manganese metal (EMM) scrap was investigated by electroslag remelting (ESR) process through industrial experiment. The results indicated that the ANF-6 slag (70 wt.% CaF_(2) + 30 wt.% Al_(2)O_(3)) and deoxidizer could promote the desulfurization of ESR manganese in an air atmosphere. Under an air atmosphere, the sulfur in the ingot decreased to 0.0534 wt.% with a desulfurization ratio of ESR manganese of 53.2% by using ANF-6 slag and water-cooled copper electrode electroslag remelting rejected EMM scrap, suggesting its efficient removal. The electroslag ingots exhibited uneven chemical composition in an air atmosphere and cooling condition of the ESR process. The metal manganese could be oxidized by electroslag remelting of rejected EMM scrap in an air atmosphere with MnO content in the final slag of 21.9 wt.%. Besides, the activity of MnO in slag increased with increasing remelting temperature, resulting in a reduction in the slag–manganese sulfur partition ratio and desulfurization ratio. Moreover, with the accumulation of sulfur in slag and the oxidation of metallic manganese liquid, the slag showed a lower cleanliness and more oxidation, leading to an increase in sulfur and oxygen content in the electroslag ingot with the increase in ingot height.展开更多
AIM:To study the impact of rejection at different levels of health care by retrospectively reviewing records of dried blood spot samples received at the molecular laboratory for human immunodeficiency virus(HIV)early ...AIM:To study the impact of rejection at different levels of health care by retrospectively reviewing records of dried blood spot samples received at the molecular laboratory for human immunodeficiency virus(HIV)early infant diagnosis(EID)between January 2008 and December 2012.METHODS:The specimen rejection rate,reasons for rejection and the impact of rejection at different levels of health care was examined.The extracted data were cleaned and checked for consistency and then deduplicated using the unique patient and clinic identifiers.The cleaned data were ciphered and exported to SPSS version 19(SPSS 2010 IBM Corp,New York,United States)for statistical analyses.RESULTS:Sample rejection rate of 2.4%(n=786/32552)and repeat rate of 8.8%(n=69/786)were established.The mean age of infants presenting for first HIV molecular test among accepted valid samples was 17.83 wk(95%CI:17.65-18.01)vs 20.30 wk(95%CI:16.53-24.06)for repeated samples.HIV infection rate was 9.8%vs 15.9%for accepted and repeated samples.Compared to tertiary healthcare clinics,secondary and primary clinics had twofold and three-fold higher likelihood of sample rejection,respectively(P<0.05).We observed a significant increase in sample rejection rate with increasing number of EID clinics(r=0.893,P=0.041).The major reasons for rejection were improper sample collection(26.3%),improper labeling(16.4%)and insufficient blood(14.8%).CONCLUSION:Programs should monitor pre-analytical variables and incorporate continuous quality improvement interventions to reduce errors associated with sample rejection and improve patient retention.展开更多
This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relativ...This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.展开更多
1 Introduction Recently,the increasing demand for advanced telecommunication systems has spurred extensive research into bandpass filters(BPFs),with particular emphasis on miniaturization,reduction of insertion loss(I...1 Introduction Recently,the increasing demand for advanced telecommunication systems has spurred extensive research into bandpass filters(BPFs),with particular emphasis on miniaturization,reduction of insertion loss(IL),and enhancement of upper stopband rejection(Huang et al.,2021;Snyder et al.,2021;Lin et al.,2023;Zeng et al.,2023).展开更多
Antibody-mediated rejection(AMR)remains a leading cause of kidney allograft failure,posing significant clinical and economic challenges.Donor-specific antibodies against human leukocyte antigens or non-human leukocyte...Antibody-mediated rejection(AMR)remains a leading cause of kidney allograft failure,posing significant clinical and economic challenges.Donor-specific antibodies against human leukocyte antigens or non-human leukocyte antigens are critical risk factors for AMR and graft loss.The diagnostic criteria and classification of AMR have evolved considerably over the past three decades,driven largely by the Banff classification.The latest Banff 2022 classification introduced two additional subcategories of“microvascular inflammation,donor-specific antibody-negative,C4d-negative”and“probable AMR”.Traditionally,graft monitoring has relied on non-specific markers such as serum creatinine and proteinuria,and the invasive biopsies.Noninvasive tools using blood and urine biomarkers,including cellular assays and molecular profiling,are increasingly being investigated.Technologies such as the Molecular Microscope Diagnostic System show promise,with studies reporting 80%sensitivity and 90%specificity in detecting AMR.Treatment of AMR remains inconsistent.Recent advances,including CD38 antibodies,have demonstrated up to 60%efficacy in reversing AMR,while complement inhibition shows potential in severe early cases.Ongoing clinical trials evaluating high-dose intravenous immunoglobulin,efgartigimod,fostamatinib,and other novel therapies aim to expand treatment options.These developments highlight the need for well-designed clinical trials to validate biomarkers and therapies and to improve long-term outcomes for kidney transplant recipients.展开更多
Background:Bullying during adolescence is shaped by numerous psychosocial factors such as family dynamics,attachment,and peer relationships.This study aims to examine parental acceptance-rejection,attachment styles,an...Background:Bullying during adolescence is shaped by numerous psychosocial factors such as family dynamics,attachment,and peer relationships.This study aims to examine parental acceptance-rejection,attachment styles,and social exclusion factors as key psychosocial variables predicting bullying behavior in adolescents.Methods:In a cross-sectional study conducted with 349 high school students in Hakkari,Türkiye.Data were collected using the Olweus Bullying Scale,the Parental Acceptance-Rejection Scale,the Social Exclusion Scale,and the Three-Dimensional Attachment Styles Scale.Independent samples t-tests,one-way ANOVAs,Pearson correlations,and hierarchical regression analyses were performed.Results:Research findings reveal that peer bullying varies significantly according to gender,class level,parents’educational level,and socio-economic status.Furthermore,our findings indicate that social exclusion(β=0.506,p<0.01)and avoidant attachment(β=0.162,p<0.01)positively predict peer bullying,while secure attachment(β=−0.205,p<0.01),maternal(β=−0.385,p<0.01)and paternal(β=−0.217,p<0.01)acceptance/rejection negatively predict bullying.The final regression model explains approximately 55%of the variance in bullying.Conclusion:Our findings indicate that social exclusion,parental acceptance/rejection,and secure or avoidant attachment patterns may be associated with bullying behaviour in adolescents.These findings emphasise the necessity of family-and peer-focused interventions to combat bullying.展开更多
Objectives:Loneliness among left-behind adolescents is the most frequently reported emotional problem because of parental neglect.The present study explored the relationship between maternal absence and adolescent lon...Objectives:Loneliness among left-behind adolescents is the most frequently reported emotional problem because of parental neglect.The present study explored the relationship between maternal absence and adolescent loneliness as well as its mechanisms.Methods:The study included 305 participants(Meanage=15.99±0.81,48.9%females)in southeast China,and constructed a chain mediation model to test the roles of rejection sensitivity and friendship quality.Parent absence types,rejection sensitivity,friendship quality,and adolescent loneliness were all assessed with questionnaires.Results:The results showed that adolescents with a mother absent(both-parent absent,mother-only absent)experienced higher levels of loneliness than those with a mother not absent(father-only absent,non-parent absent)(β=0.3137,95%CI[0.0849,0.5425],p<0.01).Besides,the mediating roles of rejection sensitivity(β=0.0344,95%CI[0.0020,0.0808])and friendship quality(β=0.1198,95%CI[0.0049,0.2428])and their chain mediating role were found significant between maternal absence and loneliness(β=0.0245,95%CI[0.0015,0.0575]).Conclusions:These findings have revealed the significant impact of maternal absence on adolescent loneliness and provide important practical implications for educators to reduce adolescent loneliness.展开更多
The arms race between avian brood parasites and their hosts provides a classic model for studying coevolution.In one of the most widespread obligate brood parasites,the Common Cuckoo(Cuculus canorus),chicks typically ...The arms race between avian brood parasites and their hosts provides a classic model for studying coevolution.In one of the most widespread obligate brood parasites,the Common Cuckoo(Cuculus canorus),chicks typically evict all host progeny(eggs and nestlings)from the nest cup,resulting in complete reproductive failure for the host.Host parents of Common Cuckoos could thus potentially benefit from retrieving evicted eggs and nestlings into the nest cup.However,whether hosts of the Common Cuckoo exhibit such retrieval behavior has been scarcely studied.In this study,we experimentally investigated the occurrence of retrieval in a nestbox-breeding population of Daurian Redstarts(Phoenicurus auroreus),a common cavity-nesting host of the Common Cuckoo.To test the redstarts'response to an egg or a nestling outside the nest cup,we experimentally placed either a conspecific egg,a model cuckoo egg,or a redstart nestling near the rim of the nest cup.We found that redstarts never showed retrieval behavior of either eggs or nestlings.All hosts ignored the experimental nestling and conspecific egg,but most ejected the model cuckoo egg from the nestbox.Our results suggest that selection for retrieval behavior in this cavity-nesting host may be weak or even negative.We discuss several ecological and evolutionary factors that may explain the absence of retrieval in this system.展开更多
This study aims to mitigate crosswind-induced performance degradation in Natural Draft Dry Cooling Towers used in power plants by developing and assessing windbreak configurations that enhance ventilation while minimi...This study aims to mitigate crosswind-induced performance degradation in Natural Draft Dry Cooling Towers used in power plants by developing and assessing windbreak configurations that enhance ventilation while minimizing additional airflow resistance.Three novel windbreak designs,namely single-windbreak configuration with curved profile,double-windbreak configuration with curved profile,and double-windbreak configuration with inverted curved profile,are proposed accordingly and evaluated against conventional solutions.Three-dimensional numerical models of a 120 m high NDDCT equipped with these windbreaks,together with a conventional Y-shaped windbreak,are developed for systematic comparison.The results demonstrate that windbreak effectiveness strongly depends on crosswind intensity.At low crosswind speeds of 0-6 m/s,the Y-shaped windbreak provides the greatest enhancement,increasing the ventilation rate by 25.45%and the heat rejection rate by 21.37%at 6 m/s compared with the no-windbreak configuration.In contrast,under moderate to strong crosswinds of 6-18 m/s,the single-windbreak configuration with curved profile exhibits superior performance.At 18 m/s,it increases the ventilation rate by 148.88%and the heat rejection rate by 79.74%relative to the baseline case,outperforming the Y-shaped windbreak by 26.59%in ventilation rate and 17.01%in heat rejection capacity.Analysis of airflow structure,temperature fields,and velocity distributions confirms that the single-windbreak configuration with curved profile more effectively suppresses crosswind penetration and promotes stable upward airflow at higher wind speeds.Based on a comprehensive assessment of aerodynamic and thermal performance,the Y-shaped windbreak is recommended for regions where crosswind speeds remain below 6 m/s,whereas the single-windbreak configuration with curved profile is preferable for sites exposed to stronger crosswinds exceeding this threshold.展开更多
Spaceborne optomechanical systems face the dual challenges of extreme thermal disturbances and millikelvin-level temperature control precision during orbital operations,demanding robust control strategies.To address t...Spaceborne optomechanical systems face the dual challenges of extreme thermal disturbances and millikelvin-level temperature control precision during orbital operations,demanding robust control strategies.To address the performance limitations of conventional fixed-parameter active disturbance rejection control(ADRC)under complex operating conditions,this work proposes a Qlearning-enhanced adaptive ADRC framework.A thermal-transfer model incorporating multisource disturbances(solar radiation,structural conduction,and contact thermal resistance)is established,coupled with a reinforcement learning-driven parameter optimization mechanism.The ε-greedy policy dynamically adjusts observer bandwidth(ω_(o)∈[0.01,0.2])and controller bandwidth(ω_(c)∈[0.01,0.1])to enable real-time estimation and compensation of total disturbances.Simulation results demonstrate significant improvements over fixed-parameter ADRC and a self-tuning internal model control proportional-integral(SIMC-PI)controller:31.3% and 15.4% reduction in settling time during setpoint responses,respectively;21.8% lower integral absolute error(IAE)than the fixed-parameter ADRC during setpoint step responses;12.7% and 52.5% enhancement in control precision over conventional fixed-parameter and SIMC-PI controllers,respectively,under±10 K periodic and step thermal disturbances.Monte Carlo robustness tests reveal smaller fluctuation ranges of IAE,settling time,and overshoot under±5% parameter perturbations.This methodology establishes a new paradigm for millikelvin-level thermal control in space optical payloads.展开更多
Recently,the zeroing neural network(ZNN)has demonstrated remarkable effectiveness in tackling time-varying problems,delivering robust performance across both noise-free and noisy environments.However,existing ZNN mode...Recently,the zeroing neural network(ZNN)has demonstrated remarkable effectiveness in tackling time-varying problems,delivering robust performance across both noise-free and noisy environments.However,existing ZNN models are limited in their ability to actively suppress noise,which constrains their robustness and precision in solving time-varying problems.This paper introduces a novel active noise rejection ZNN(ANR-ZNN)design that enhances noise suppression by integrating computational error dynamics and harmonic behaviour.Through rigorous theoretical analysis,we demonstrate that the proposed ANR-ZNN maintains robust convergence in computational error performance under environmental noise.As a case study,the ANR-ZNN model is specifically applied to time-varying matrix inversion.Comprehensive computer simulations and robotic experiments further validate the ANR-ZNN's effectiveness,emphasising the proposed design's superiority and potential for solving time-varying problems.展开更多
Nail changes following upper extremity transplantation(UET)cannot be overlooked as they possess diagnostic and prognostic relevance in allotransplantation of upper limbs.This comprehensive review explores nail and nai...Nail changes following upper extremity transplantation(UET)cannot be overlooked as they possess diagnostic and prognostic relevance in allotransplantation of upper limbs.This comprehensive review explores nail and nail bed related changes encountered in UET recipients in the literature.The differential diagnosis of nail abnormalities in UET includes a wide range of systemic,local and iatrogenic conditions other than immune responses to the allograft.It requires interdisciplinary evaluation by primary transplant surgeons,pathologists,dermatologists and immunologists.The possible underlying mechanisms of nail pathology in UET and the management are discussed.It also underscores the importance of onychodystrophy and need for timely intervention and to improve outcomes in UET recipients.展开更多
Post-kidney transplant rejection is a critical factor influencing transplant success rates and the survival of transplanted organs.With the rapid advancement of artificial intelligence technologies,machine learning(ML...Post-kidney transplant rejection is a critical factor influencing transplant success rates and the survival of transplanted organs.With the rapid advancement of artificial intelligence technologies,machine learning(ML)has emerged as a powerful data analysis tool,widely applied in the prediction,diagnosis,and mechanistic study of kidney transplant rejection.This mini-review systematically summarizes the recent applications of ML techniques in post-kidney transplant rejection,covering areas such as the construction of predictive models,identification of biomarkers,analysis of pathological images,assessment of immune cell infiltration,and formulation of personalized treatment strategies.By integrating multi-omics data and clinical information,ML has significantly enhanced the accuracy of early rejection diagnosis and the capability for prognostic evaluation,driving the development of precision medicine in the field of kidney transplantation.Furthermore,this article discusses the challenges faced in existing research and potential future directions,providing a theoretical basis and technical references for related studies.展开更多
Microelectromechanical systems(MEMS)technology has gained significant attention over the past decade for measuring inertial angular velocity.However,due to inherent complexity,MEMS gyroscopes typically feature up to t...Microelectromechanical systems(MEMS)technology has gained significant attention over the past decade for measuring inertial angular velocity.However,due to inherent complexity,MEMS gyroscopes typically feature up to ten times more parameters than traditional sensors,making selection a challenging task even for experts.This study addresses this challenge,focusing on defensive guidance,navigation,and control(GNC)systems where precise and reliable angular velocity measurement is critical to overall performance.A comprehensive mathematical model is introduced to encapsulate all key MEMS parameters,accompanied by discussions on calibration and Allan variance interpretation.For six leading MEMS gyroscope applications,namely inertial navigation,integrated navigation,autopilot systems,rotating projectiles,homing guidance,and north finding,the most critical parameters are identified,distinguishing suitable and unsuitable sensor choices.Special emphasis is placed on inertial navigation systems,where practical rules of thumb for error evaluation are derived using six degrees of freedom motion equations.Rigorous simulations demonstrate the influence of various sensor parameters through real-world case studies,including static navigation,multi-rotor attitude estimation,gimbal stabilization,and north finding via a turntable.This work aims to be a beacon for practitioners across diverse fields,empowering them to make more informed design decisions.展开更多
BACKGROUND Donor-specific antibodies(DSAs)against human leukocyte antigen(HLA)-DQ are increasingly recognized as major contributors to antibody-mediated rejection(AMR)and graft failure in kidney transplantation.Howeve...BACKGROUND Donor-specific antibodies(DSAs)against human leukocyte antigen(HLA)-DQ are increasingly recognized as major contributors to antibody-mediated rejection(AMR)and graft failure in kidney transplantation.However,their clinical impact remains understudied in Morocco.AIM To evaluate the presence and implications of anti-HLA-DQ DSAs in Moroccan kidney transplant recipients.METHODS We retrospectively analyzed the immunological profiles and clinical outcomes of kidney transplant recipients screened for anti-HLA antibodies between 2015 and 2020,who developed anti-HLA-DQ DSAs either before or after transplantation.Anti-HLA antibodies were identified using Luminex®single antigen bead technology,and clinical follow-up included graft function assessment,biopsy interpretation,and evaluation of immunosuppression.RESULTS In the pre-transplant group(n=6 with confirmed donor typing),patients with low to moderate median fluorescence intensity(MFI)anti-HLA-DQ DSAs(MFI 561-1581)underwent successful transplantation and maintained stable graft function under optimized immunosuppression.In contrast,in the post-transplant group(n=6 with confirmed donor typing),the emergence of de novo anti-HLA-DQ DSAs was consistently associated with AMR,with MFI values reaching up to 19473,with biopsy-proven AMR in 5 of 6 cases and suspicion of AMR in 1 case.Two representative cases are detailed to illustrate the clinical impact of DQ DSAs:one patient developed high-level anti-DQB1*02 de novo DSA(MFI 12029)with persistent AMR after 5 years,while another developed anti-DQA1*05:01 de novo DSA after an early AMR episode but maintained stable graft function after 5 years(creatinine 1.48 mg/dL).CONCLUSION Our findings underscore the clinical significance of anti-HLA-DQ DSAs in Moroccan kidney transplant recipients.While preformed DSAs with low immunogenicity may permit successful transplantation,de novo DSAs strongly correlate with AMR.Proactive monitoring,including routine DSA screening and HLA-DQ typing,could improve graft outcomes by enabling early intervention and better donor selection.展开更多
Dear Editor,This letter addresses the challenge of achieving robust global coordination in multi-agent systems(MASs)subject to heterogeneous actuator saturation and additive input disturbances.We develop a novel distr...Dear Editor,This letter addresses the challenge of achieving robust global coordination in multi-agent systems(MASs)subject to heterogeneous actuator saturation and additive input disturbances.We develop a novel distributed control framework that strategically integrates a redesigned saturation function to handle the nonlinear actuator constraint and a high-gain feedback mechanism for effective disturbance rejection.展开更多
In this paper,a practical method named linear active disturbance rejection control(LADRC)with adaptive tuning is proposed for attitude control of small-scale unmanned helicopter.The proposed method accounts for both e...In this paper,a practical method named linear active disturbance rejection control(LADRC)with adaptive tuning is proposed for attitude control of small-scale unmanned helicopter.The proposed method accounts for both external disturbances and internal dynamic uncertainties,as well as parameter deviations arising from parameter uncertainty,while maintaining a relatively small number of adjustable parameters.Furthermore,it addresses the limitation that conventional active disturbance rejection control methods cannot be rigorously analyzed for stability.The total disturbance of unmanned helicopter is estimated and compensated by designed LADRC.The introduction of adaptive control realizes online parameter tuning,which eliminates parameter deviation and further improves control precision.Moreover,it also provides a novel idea to prove the stability of controller,so that it can be analyzed by Lyapunov function.Finally,the anti-disturbance performance and effectiveness of proposed method are verified by numerical simulation.展开更多
Magnetically suspended rotor(MSR)systems have gained widespread industrial adoption owing to their frictionless operation and exceptional reliability.However,harmonic current generated by unbalanced mass and sensor ru...Magnetically suspended rotor(MSR)systems have gained widespread industrial adoption owing to their frictionless operation and exceptional reliability.However,harmonic current generated by unbalanced mass and sensor runout threatens the system stability.Repetitive control(RC)effectively suppresses harmonic current,but its parameter design relies on an accurate decoupling model of the system.The decoupling model for the MSR system is often simplified to a second-order linear system.Such a simplification,however,necessitates explicit consideration of system uncertainties caused by unmodeled nonlinearities during the RC design process.Especially under strong gyroscopic effects,the parameter uncertainty is further increased.In this article,an active disturbance rejection controller(ADRC)based on phase compensation(PC)is used to suppress coupling disturbances and improve the control performance of harmonic suppression.Firstly,the dynamic model of the MSR system is established,and both internal and external disturbances are thoroughly analyzed.Then,the RC-PCADRC scheme is designed,integrating the complementary strengths of RC and ADRC,with a particular emphasis on PC to improve stability margins.A comprehensive stability analysis is conducted,along with parameter optimization guidelines.Finally,the effectiveness and superiority of the proposed scheme are validated through both simulations and experiments.展开更多
文摘Low-grade fly ash (rejected fly ash,rFA),a significant portion of the pulverized fuel ash (PFA) produced from coal-fired power plants and rejected from the ash classifying process,remains unused due to its high carbon content and large particle size (>45μm).But it is thought that the rejected ash may have potential uses in chemical stabilization/solidification (S/S) processes which need relatively lower strengths and a lower chemical reactivity.Flue Gas Desulphurisation (FGD) sludge is a by-product of air pollution control equipment in coal fired power plants whose chemical composition is mainly gypsum.As there is no effective usage of both of these two materials,it is of interest to research on the possible activation of rFA using FGD.This paper presents experimental results of a study on the properties of rFA activated by the FGD in rFA-cement pastes.Different percentages of FGD were added into the mix to study the effects of the FGD on the reaction of the rFA blended cement pastes.The results show that FGD takes effect as an activator only at late curing ages.Adding Ca(OH) 2 enhances the effect of FGD on activating the hydration of rFA.Also,10% FGD by weight of rFA is the optimal addition in the rFA-cement pastes.The results of the compressive strength measurements correlate well with the porosity results.
基金The authors appreciate the financial support from the National Natural Science Foundation of China(Grant No.51804227).
文摘The recycling rate of rejected electrolytic manganese metal(EMM)scrap can be increased by inhibiting the manganese metal(MM)vaporization during the remelting process with electroslag.However,if the latter is achieved by reducing the remelting temperature,the desulfurization behavior will deteriorate.Therefore,Na_(2)O-containing electroslag and metallic additive were used to increase the rejected EMM scrap recovery ratio.The respective high-temperature experiment was conducted in a MoSi_(2) electrical resistance furnace filled with fluid argon at 1673 K using five different types of electroslag with the Na_(2)O content ranging from 5.81%to 15.71%.High-purity metallic magnesium and magnesium calcium alloy additives were used as deoxidizers.The addition of Na_(2)O and metallic additives effectively promoted the desulfurization and deoxidization of MM.The removal of sulfur and oxygen by the interaction between Na_(2)O-containing electroslag melt and molten MM with metallic additive was analyzed from the thermodynamic and kinetic standpoints.The effect of Na_(2)O-containing electroslag volatilization on desulfurization and deoxidization was considered.With an increase in Na_(2)O content in the slag,the mass loss rates of Na_(2)O and electroslag rose,as well as the final sulfur partition ratio.If the Na_(2)O content volatilized in the slag melt did not exceed 10.44%,the sulfur removal ratio was increased by high sulfide capacity and CaO activity in all slags due to the addition of Na_(2)O.The rejected EMM scrap deoxidization ratio grew with the increased activity of CaO and reduced activity of Al_(2)O_(3) in the molten slag,caused by the increased Na_(2)O content in the molten slag.The addition of metallic Mg and Mg-Ca alloy indirectly promoted desulfurization and deoxidization by reducing the MnO content in the rejected EMM scrap and growing slag oxidability.The Mg-Ca alloy could also react with dissolved sulfur and oxygen,directly promoting desulfurization and deoxidization processes.The Na_(2)O content in slag should not exceed 10.44%to ensure the high desulfurization and deoxidization abilities,fluidity and low volatilization of slag.
基金support from the National Natural Science Foundation of China(Grant No.51804227).
文摘Remelting rejected electrolytic manganese metal (EMM) scrap was investigated by electroslag remelting (ESR) process through industrial experiment. The results indicated that the ANF-6 slag (70 wt.% CaF_(2) + 30 wt.% Al_(2)O_(3)) and deoxidizer could promote the desulfurization of ESR manganese in an air atmosphere. Under an air atmosphere, the sulfur in the ingot decreased to 0.0534 wt.% with a desulfurization ratio of ESR manganese of 53.2% by using ANF-6 slag and water-cooled copper electrode electroslag remelting rejected EMM scrap, suggesting its efficient removal. The electroslag ingots exhibited uneven chemical composition in an air atmosphere and cooling condition of the ESR process. The metal manganese could be oxidized by electroslag remelting of rejected EMM scrap in an air atmosphere with MnO content in the final slag of 21.9 wt.%. Besides, the activity of MnO in slag increased with increasing remelting temperature, resulting in a reduction in the slag–manganese sulfur partition ratio and desulfurization ratio. Moreover, with the accumulation of sulfur in slag and the oxidation of metallic manganese liquid, the slag showed a lower cleanliness and more oxidation, leading to an increase in sulfur and oxygen content in the electroslag ingot with the increase in ingot height.
基金Supported by The President’s Emergency Plan for AIDS Relief through cooperative agreement(5U2GGH000925-03)from HHS/Centers for Disease Control and Prevention(CDC),Global AIDS Program.The findings and conclusions in this report are those of the author(s)and do not necessarily represent the official position of the Centers for Disease Control and Prevention
文摘AIM:To study the impact of rejection at different levels of health care by retrospectively reviewing records of dried blood spot samples received at the molecular laboratory for human immunodeficiency virus(HIV)early infant diagnosis(EID)between January 2008 and December 2012.METHODS:The specimen rejection rate,reasons for rejection and the impact of rejection at different levels of health care was examined.The extracted data were cleaned and checked for consistency and then deduplicated using the unique patient and clinic identifiers.The cleaned data were ciphered and exported to SPSS version 19(SPSS 2010 IBM Corp,New York,United States)for statistical analyses.RESULTS:Sample rejection rate of 2.4%(n=786/32552)and repeat rate of 8.8%(n=69/786)were established.The mean age of infants presenting for first HIV molecular test among accepted valid samples was 17.83 wk(95%CI:17.65-18.01)vs 20.30 wk(95%CI:16.53-24.06)for repeated samples.HIV infection rate was 9.8%vs 15.9%for accepted and repeated samples.Compared to tertiary healthcare clinics,secondary and primary clinics had twofold and three-fold higher likelihood of sample rejection,respectively(P<0.05).We observed a significant increase in sample rejection rate with increasing number of EID clinics(r=0.893,P=0.041).The major reasons for rejection were improper sample collection(26.3%),improper labeling(16.4%)and insufficient blood(14.8%).CONCLUSION:Programs should monitor pre-analytical variables and incorporate continuous quality improvement interventions to reduce errors associated with sample rejection and improve patient retention.
文摘This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.
基金supported by the National Natural Science Foundation of China(No.62371263)the Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.SJCK25_1995).
文摘1 Introduction Recently,the increasing demand for advanced telecommunication systems has spurred extensive research into bandpass filters(BPFs),with particular emphasis on miniaturization,reduction of insertion loss(IL),and enhancement of upper stopband rejection(Huang et al.,2021;Snyder et al.,2021;Lin et al.,2023;Zeng et al.,2023).
文摘Antibody-mediated rejection(AMR)remains a leading cause of kidney allograft failure,posing significant clinical and economic challenges.Donor-specific antibodies against human leukocyte antigens or non-human leukocyte antigens are critical risk factors for AMR and graft loss.The diagnostic criteria and classification of AMR have evolved considerably over the past three decades,driven largely by the Banff classification.The latest Banff 2022 classification introduced two additional subcategories of“microvascular inflammation,donor-specific antibody-negative,C4d-negative”and“probable AMR”.Traditionally,graft monitoring has relied on non-specific markers such as serum creatinine and proteinuria,and the invasive biopsies.Noninvasive tools using blood and urine biomarkers,including cellular assays and molecular profiling,are increasingly being investigated.Technologies such as the Molecular Microscope Diagnostic System show promise,with studies reporting 80%sensitivity and 90%specificity in detecting AMR.Treatment of AMR remains inconsistent.Recent advances,including CD38 antibodies,have demonstrated up to 60%efficacy in reversing AMR,while complement inhibition shows potential in severe early cases.Ongoing clinical trials evaluating high-dose intravenous immunoglobulin,efgartigimod,fostamatinib,and other novel therapies aim to expand treatment options.These developments highlight the need for well-designed clinical trials to validate biomarkers and therapies and to improve long-term outcomes for kidney transplant recipients.
文摘Background:Bullying during adolescence is shaped by numerous psychosocial factors such as family dynamics,attachment,and peer relationships.This study aims to examine parental acceptance-rejection,attachment styles,and social exclusion factors as key psychosocial variables predicting bullying behavior in adolescents.Methods:In a cross-sectional study conducted with 349 high school students in Hakkari,Türkiye.Data were collected using the Olweus Bullying Scale,the Parental Acceptance-Rejection Scale,the Social Exclusion Scale,and the Three-Dimensional Attachment Styles Scale.Independent samples t-tests,one-way ANOVAs,Pearson correlations,and hierarchical regression analyses were performed.Results:Research findings reveal that peer bullying varies significantly according to gender,class level,parents’educational level,and socio-economic status.Furthermore,our findings indicate that social exclusion(β=0.506,p<0.01)and avoidant attachment(β=0.162,p<0.01)positively predict peer bullying,while secure attachment(β=−0.205,p<0.01),maternal(β=−0.385,p<0.01)and paternal(β=−0.217,p<0.01)acceptance/rejection negatively predict bullying.The final regression model explains approximately 55%of the variance in bullying.Conclusion:Our findings indicate that social exclusion,parental acceptance/rejection,and secure or avoidant attachment patterns may be associated with bullying behaviour in adolescents.These findings emphasise the necessity of family-and peer-focused interventions to combat bullying.
基金supported by the National Natural Science Foundation of China(32171069).
文摘Objectives:Loneliness among left-behind adolescents is the most frequently reported emotional problem because of parental neglect.The present study explored the relationship between maternal absence and adolescent loneliness as well as its mechanisms.Methods:The study included 305 participants(Meanage=15.99±0.81,48.9%females)in southeast China,and constructed a chain mediation model to test the roles of rejection sensitivity and friendship quality.Parent absence types,rejection sensitivity,friendship quality,and adolescent loneliness were all assessed with questionnaires.Results:The results showed that adolescents with a mother absent(both-parent absent,mother-only absent)experienced higher levels of loneliness than those with a mother not absent(father-only absent,non-parent absent)(β=0.3137,95%CI[0.0849,0.5425],p<0.01).Besides,the mediating roles of rejection sensitivity(β=0.0344,95%CI[0.0020,0.0808])and friendship quality(β=0.1198,95%CI[0.0049,0.2428])and their chain mediating role were found significant between maternal absence and loneliness(β=0.0245,95%CI[0.0015,0.0575]).Conclusions:These findings have revealed the significant impact of maternal absence on adolescent loneliness and provide important practical implications for educators to reduce adolescent loneliness.
基金supported by the startup fund from Beijing Normal University(312200502560 to J.Z.)the National Natural Science Foundation of China(32501383 to J.Z.,and 31672297 and 32271559 to W.D.)the Max Planck Society(to B.K.)。
文摘The arms race between avian brood parasites and their hosts provides a classic model for studying coevolution.In one of the most widespread obligate brood parasites,the Common Cuckoo(Cuculus canorus),chicks typically evict all host progeny(eggs and nestlings)from the nest cup,resulting in complete reproductive failure for the host.Host parents of Common Cuckoos could thus potentially benefit from retrieving evicted eggs and nestlings into the nest cup.However,whether hosts of the Common Cuckoo exhibit such retrieval behavior has been scarcely studied.In this study,we experimentally investigated the occurrence of retrieval in a nestbox-breeding population of Daurian Redstarts(Phoenicurus auroreus),a common cavity-nesting host of the Common Cuckoo.To test the redstarts'response to an egg or a nestling outside the nest cup,we experimentally placed either a conspecific egg,a model cuckoo egg,or a redstart nestling near the rim of the nest cup.We found that redstarts never showed retrieval behavior of either eggs or nestlings.All hosts ignored the experimental nestling and conspecific egg,but most ejected the model cuckoo egg from the nestbox.Our results suggest that selection for retrieval behavior in this cavity-nesting host may be weak or even negative.We discuss several ecological and evolutionary factors that may explain the absence of retrieval in this system.
基金supported by the National Natural Science Foundation of China(Grant No.52476206)the Key R&D Program of Shandong Province,China(Grant No.2025CXGC010203)+1 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant No.2025A1515012123)the Shandong Natural Science Foundation(Grant No.ZR2022ME008).
文摘This study aims to mitigate crosswind-induced performance degradation in Natural Draft Dry Cooling Towers used in power plants by developing and assessing windbreak configurations that enhance ventilation while minimizing additional airflow resistance.Three novel windbreak designs,namely single-windbreak configuration with curved profile,double-windbreak configuration with curved profile,and double-windbreak configuration with inverted curved profile,are proposed accordingly and evaluated against conventional solutions.Three-dimensional numerical models of a 120 m high NDDCT equipped with these windbreaks,together with a conventional Y-shaped windbreak,are developed for systematic comparison.The results demonstrate that windbreak effectiveness strongly depends on crosswind intensity.At low crosswind speeds of 0-6 m/s,the Y-shaped windbreak provides the greatest enhancement,increasing the ventilation rate by 25.45%and the heat rejection rate by 21.37%at 6 m/s compared with the no-windbreak configuration.In contrast,under moderate to strong crosswinds of 6-18 m/s,the single-windbreak configuration with curved profile exhibits superior performance.At 18 m/s,it increases the ventilation rate by 148.88%and the heat rejection rate by 79.74%relative to the baseline case,outperforming the Y-shaped windbreak by 26.59%in ventilation rate and 17.01%in heat rejection capacity.Analysis of airflow structure,temperature fields,and velocity distributions confirms that the single-windbreak configuration with curved profile more effectively suppresses crosswind penetration and promotes stable upward airflow at higher wind speeds.Based on a comprehensive assessment of aerodynamic and thermal performance,the Y-shaped windbreak is recommended for regions where crosswind speeds remain below 6 m/s,whereas the single-windbreak configuration with curved profile is preferable for sites exposed to stronger crosswinds exceeding this threshold.
基金The National Key R&D Program of China(No.2022YFB3902902)the National Natural Science Foundation of China(No.52276003).
文摘Spaceborne optomechanical systems face the dual challenges of extreme thermal disturbances and millikelvin-level temperature control precision during orbital operations,demanding robust control strategies.To address the performance limitations of conventional fixed-parameter active disturbance rejection control(ADRC)under complex operating conditions,this work proposes a Qlearning-enhanced adaptive ADRC framework.A thermal-transfer model incorporating multisource disturbances(solar radiation,structural conduction,and contact thermal resistance)is established,coupled with a reinforcement learning-driven parameter optimization mechanism.The ε-greedy policy dynamically adjusts observer bandwidth(ω_(o)∈[0.01,0.2])and controller bandwidth(ω_(c)∈[0.01,0.1])to enable real-time estimation and compensation of total disturbances.Simulation results demonstrate significant improvements over fixed-parameter ADRC and a self-tuning internal model control proportional-integral(SIMC-PI)controller:31.3% and 15.4% reduction in settling time during setpoint responses,respectively;21.8% lower integral absolute error(IAE)than the fixed-parameter ADRC during setpoint step responses;12.7% and 52.5% enhancement in control precision over conventional fixed-parameter and SIMC-PI controllers,respectively,under±10 K periodic and step thermal disturbances.Monte Carlo robustness tests reveal smaller fluctuation ranges of IAE,settling time,and overshoot under±5% parameter perturbations.This methodology establishes a new paradigm for millikelvin-level thermal control in space optical payloads.
基金supported by the National Science and Technology Major Project(2022ZD0119901)the National Natural Science Foundation of China under Grant(U2141234,62463004 and U24A20260)+1 种基金the Hainan Province Science and Technology Special Fund(ZDYF2024GXJS003)the Scientific Research Fund of Hainan University(KYQD(ZR)23025).
文摘Recently,the zeroing neural network(ZNN)has demonstrated remarkable effectiveness in tackling time-varying problems,delivering robust performance across both noise-free and noisy environments.However,existing ZNN models are limited in their ability to actively suppress noise,which constrains their robustness and precision in solving time-varying problems.This paper introduces a novel active noise rejection ZNN(ANR-ZNN)design that enhances noise suppression by integrating computational error dynamics and harmonic behaviour.Through rigorous theoretical analysis,we demonstrate that the proposed ANR-ZNN maintains robust convergence in computational error performance under environmental noise.As a case study,the ANR-ZNN model is specifically applied to time-varying matrix inversion.Comprehensive computer simulations and robotic experiments further validate the ANR-ZNN's effectiveness,emphasising the proposed design's superiority and potential for solving time-varying problems.
文摘Nail changes following upper extremity transplantation(UET)cannot be overlooked as they possess diagnostic and prognostic relevance in allotransplantation of upper limbs.This comprehensive review explores nail and nail bed related changes encountered in UET recipients in the literature.The differential diagnosis of nail abnormalities in UET includes a wide range of systemic,local and iatrogenic conditions other than immune responses to the allograft.It requires interdisciplinary evaluation by primary transplant surgeons,pathologists,dermatologists and immunologists.The possible underlying mechanisms of nail pathology in UET and the management are discussed.It also underscores the importance of onychodystrophy and need for timely intervention and to improve outcomes in UET recipients.
文摘Post-kidney transplant rejection is a critical factor influencing transplant success rates and the survival of transplanted organs.With the rapid advancement of artificial intelligence technologies,machine learning(ML)has emerged as a powerful data analysis tool,widely applied in the prediction,diagnosis,and mechanistic study of kidney transplant rejection.This mini-review systematically summarizes the recent applications of ML techniques in post-kidney transplant rejection,covering areas such as the construction of predictive models,identification of biomarkers,analysis of pathological images,assessment of immune cell infiltration,and formulation of personalized treatment strategies.By integrating multi-omics data and clinical information,ML has significantly enhanced the accuracy of early rejection diagnosis and the capability for prognostic evaluation,driving the development of precision medicine in the field of kidney transplantation.Furthermore,this article discusses the challenges faced in existing research and potential future directions,providing a theoretical basis and technical references for related studies.
文摘Microelectromechanical systems(MEMS)technology has gained significant attention over the past decade for measuring inertial angular velocity.However,due to inherent complexity,MEMS gyroscopes typically feature up to ten times more parameters than traditional sensors,making selection a challenging task even for experts.This study addresses this challenge,focusing on defensive guidance,navigation,and control(GNC)systems where precise and reliable angular velocity measurement is critical to overall performance.A comprehensive mathematical model is introduced to encapsulate all key MEMS parameters,accompanied by discussions on calibration and Allan variance interpretation.For six leading MEMS gyroscope applications,namely inertial navigation,integrated navigation,autopilot systems,rotating projectiles,homing guidance,and north finding,the most critical parameters are identified,distinguishing suitable and unsuitable sensor choices.Special emphasis is placed on inertial navigation systems,where practical rules of thumb for error evaluation are derived using six degrees of freedom motion equations.Rigorous simulations demonstrate the influence of various sensor parameters through real-world case studies,including static navigation,multi-rotor attitude estimation,gimbal stabilization,and north finding via a turntable.This work aims to be a beacon for practitioners across diverse fields,empowering them to make more informed design decisions.
基金Supported by the National Science and Technology Research Center(Morocco)“PhD-Associate Scholarship-PASS”Program,No.88UH2C2023.
文摘BACKGROUND Donor-specific antibodies(DSAs)against human leukocyte antigen(HLA)-DQ are increasingly recognized as major contributors to antibody-mediated rejection(AMR)and graft failure in kidney transplantation.However,their clinical impact remains understudied in Morocco.AIM To evaluate the presence and implications of anti-HLA-DQ DSAs in Moroccan kidney transplant recipients.METHODS We retrospectively analyzed the immunological profiles and clinical outcomes of kidney transplant recipients screened for anti-HLA antibodies between 2015 and 2020,who developed anti-HLA-DQ DSAs either before or after transplantation.Anti-HLA antibodies were identified using Luminex®single antigen bead technology,and clinical follow-up included graft function assessment,biopsy interpretation,and evaluation of immunosuppression.RESULTS In the pre-transplant group(n=6 with confirmed donor typing),patients with low to moderate median fluorescence intensity(MFI)anti-HLA-DQ DSAs(MFI 561-1581)underwent successful transplantation and maintained stable graft function under optimized immunosuppression.In contrast,in the post-transplant group(n=6 with confirmed donor typing),the emergence of de novo anti-HLA-DQ DSAs was consistently associated with AMR,with MFI values reaching up to 19473,with biopsy-proven AMR in 5 of 6 cases and suspicion of AMR in 1 case.Two representative cases are detailed to illustrate the clinical impact of DQ DSAs:one patient developed high-level anti-DQB1*02 de novo DSA(MFI 12029)with persistent AMR after 5 years,while another developed anti-DQA1*05:01 de novo DSA after an early AMR episode but maintained stable graft function after 5 years(creatinine 1.48 mg/dL).CONCLUSION Our findings underscore the clinical significance of anti-HLA-DQ DSAs in Moroccan kidney transplant recipients.While preformed DSAs with low immunogenicity may permit successful transplantation,de novo DSAs strongly correlate with AMR.Proactive monitoring,including routine DSA screening and HLA-DQ typing,could improve graft outcomes by enabling early intervention and better donor selection.
基金supported in part by the National Natural Science Foundation of China(62522313,62473207,U25A20301)the Fundamental Research Funds for the Central Universities(2024SMECP03)。
文摘Dear Editor,This letter addresses the challenge of achieving robust global coordination in multi-agent systems(MASs)subject to heterogeneous actuator saturation and additive input disturbances.We develop a novel distributed control framework that strategically integrates a redesigned saturation function to handle the nonlinear actuator constraint and a high-gain feedback mechanism for effective disturbance rejection.
基金supported by the Aeronautical Science Foundation of China(Nos.20220058052002,20240007052001)。
文摘In this paper,a practical method named linear active disturbance rejection control(LADRC)with adaptive tuning is proposed for attitude control of small-scale unmanned helicopter.The proposed method accounts for both external disturbances and internal dynamic uncertainties,as well as parameter deviations arising from parameter uncertainty,while maintaining a relatively small number of adjustable parameters.Furthermore,it addresses the limitation that conventional active disturbance rejection control methods cannot be rigorously analyzed for stability.The total disturbance of unmanned helicopter is estimated and compensated by designed LADRC.The introduction of adaptive control realizes online parameter tuning,which eliminates parameter deviation and further improves control precision.Moreover,it also provides a novel idea to prove the stability of controller,so that it can be analyzed by Lyapunov function.Finally,the anti-disturbance performance and effectiveness of proposed method are verified by numerical simulation.
基金supported by the Youth Innovation Promotion Association CAS under Grant 2023042the Major Science Facility Project of the Shandong Provincial Natural Science Foundation under Grant ZR2022DKX005。
文摘Magnetically suspended rotor(MSR)systems have gained widespread industrial adoption owing to their frictionless operation and exceptional reliability.However,harmonic current generated by unbalanced mass and sensor runout threatens the system stability.Repetitive control(RC)effectively suppresses harmonic current,but its parameter design relies on an accurate decoupling model of the system.The decoupling model for the MSR system is often simplified to a second-order linear system.Such a simplification,however,necessitates explicit consideration of system uncertainties caused by unmodeled nonlinearities during the RC design process.Especially under strong gyroscopic effects,the parameter uncertainty is further increased.In this article,an active disturbance rejection controller(ADRC)based on phase compensation(PC)is used to suppress coupling disturbances and improve the control performance of harmonic suppression.Firstly,the dynamic model of the MSR system is established,and both internal and external disturbances are thoroughly analyzed.Then,the RC-PCADRC scheme is designed,integrating the complementary strengths of RC and ADRC,with a particular emphasis on PC to improve stability margins.A comprehensive stability analysis is conducted,along with parameter optimization guidelines.Finally,the effectiveness and superiority of the proposed scheme are validated through both simulations and experiments.
