This paper presents a new algorithm for line clipping against a polygonal window by exploiting the local relationship between each line segment and the polygon. Firstly, a minimal enclosing box （MEB） of the polygon ...This paper presents a new algorithm for line clipping against a polygonal window by exploiting the local relationship between each line segment and the polygon. Firstly, a minimal enclosing box （MEB） of the polygon is adopted to reject the invisible line segments located outside the MEB. Secondly, a 45° rotated box is used to encode the endpoint of the line segment, and then reject a portion of the invisible segments crossing polygon comers. Finally, instead of encoding the endpoints of all line segments with respect to the polygonal window, each vertex of the polygon is encoded, taking the line segment to be clipped as reference. For efficient encoding of the polygon vertices, a new concept, termed with slope adaptive virtual box, is introduced regarding each line segment. Such a box can not only conveniently reject all totally invisible lines lying outside the MEB conveniently, but also precisely identify the edges of the polygon with which the line segment potentially intersects. With the summation of the vertex codes, it can be verified whether the line segment is separated from or potentially intersects the polygon window. Based on the product of the codes of adjacent vertices, singular cases of intersection can be solved accurately. Experimental results demonstrate the efficiency and stability of the new algorithm.展开更多
This paper addresses a critical challenge in the design of MEMS actuators:the rejection of out-of-plane motion,specifically along the Z-axis,which can severely impact the precision and performance of these micro-actua...This paper addresses a critical challenge in the design of MEMS actuators:the rejection of out-of-plane motion,specifically along the Z-axis,which can severely impact the precision and performance of these micro-actuation systems.In many MEMS applications,unwanted out-of-plane displacement can lead to reduced accuracy in tasks such as optical steering,micro-manipulation,and scanning applications.In response to these limitations,this paper proposes a novel design technique that effectively rejects Z-axis motion by transforming the motion of the micro stage along the Z-axis into equivalent displacements between pairs of points on cantilevers.These point pairs are founded exhibiting variable common-mode and differential-mode motion characteristics,depending on whether the stage is undergoing in-plane(X/Y)or out-of-plane(Z)displacements.By connecting these point pairs with rods,differential motion between the points in the pairs is suppressed,reducing unwanted out-of-plane motion significantly.We provide a detailed analysis of this design methodology and present a practical application in the form of an electromagnetic large displacement MEMS actuator.This actuator undergoes a complete design-simulationmanufacturing-testing cycle,where the effectiveness of the Z-axis motion rejection structure is systematically evaluated,and compared against traditional designs.Experimental results reveal a significant improvement in performance,with static and dynamic travel ranges reaching±60μm and±400μm,respectively.Moreover,the Z-axis stiffness was enhanced by 68.5%,which is more than five times the improvement observed in the X/Y axes’stiffness.These results highlight the potential of the proposed method to provide a robust solution for out-of-plane motion suppression in MEMS actuators,offering improved performance without compromising other critical parameters such as displacement and actuation speed.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
Asia, a major cradle of human civilizations,boasts three of the four ancient civilizations that developed a rich legacy of art, culture and scientific achievements over thousands of years. Since ancient times.
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
British voters overwhelmingly reject an alternative voting system The British electorate,in only the second ever national referendum held in their history (the first was on joining the EU,over 35 years ago) rejected a...British voters overwhelmingly reject an alternative voting system The British electorate,in only the second ever national referendum held in their history (the first was on joining the EU,over 35 years ago) rejected alterations to their voting system from the current first-past-the-post system to a form of alternative voting similar to that展开更多
基金Project supported by the National Natural Science Foundation of China(No. 60021201), and the Research Fund for the Doctoral Program of Higher Education (No. 2002335093), China
文摘This paper presents a new algorithm for line clipping against a polygonal window by exploiting the local relationship between each line segment and the polygon. Firstly, a minimal enclosing box （MEB） of the polygon is adopted to reject the invisible line segments located outside the MEB. Secondly, a 45° rotated box is used to encode the endpoint of the line segment, and then reject a portion of the invisible segments crossing polygon comers. Finally, instead of encoding the endpoints of all line segments with respect to the polygonal window, each vertex of the polygon is encoded, taking the line segment to be clipped as reference. For efficient encoding of the polygon vertices, a new concept, termed with slope adaptive virtual box, is introduced regarding each line segment. Such a box can not only conveniently reject all totally invisible lines lying outside the MEB conveniently, but also precisely identify the edges of the polygon with which the line segment potentially intersects. With the summation of the vertex codes, it can be verified whether the line segment is separated from or potentially intersects the polygon window. Based on the product of the codes of adjacent vertices, singular cases of intersection can be solved accurately. Experimental results demonstrate the efficiency and stability of the new algorithm.
基金the National Natural Science Foundation of China(Grant No.U21A6003&Grant No.U24A6006).
文摘This paper addresses a critical challenge in the design of MEMS actuators:the rejection of out-of-plane motion,specifically along the Z-axis,which can severely impact the precision and performance of these micro-actuation systems.In many MEMS applications,unwanted out-of-plane displacement can lead to reduced accuracy in tasks such as optical steering,micro-manipulation,and scanning applications.In response to these limitations,this paper proposes a novel design technique that effectively rejects Z-axis motion by transforming the motion of the micro stage along the Z-axis into equivalent displacements between pairs of points on cantilevers.These point pairs are founded exhibiting variable common-mode and differential-mode motion characteristics,depending on whether the stage is undergoing in-plane(X/Y)or out-of-plane(Z)displacements.By connecting these point pairs with rods,differential motion between the points in the pairs is suppressed,reducing unwanted out-of-plane motion significantly.We provide a detailed analysis of this design methodology and present a practical application in the form of an electromagnetic large displacement MEMS actuator.This actuator undergoes a complete design-simulationmanufacturing-testing cycle,where the effectiveness of the Z-axis motion rejection structure is systematically evaluated,and compared against traditional designs.Experimental results reveal a significant improvement in performance,with static and dynamic travel ranges reaching±60μm and±400μm,respectively.Moreover,the Z-axis stiffness was enhanced by 68.5%,which is more than five times the improvement observed in the X/Y axes’stiffness.These results highlight the potential of the proposed method to provide a robust solution for out-of-plane motion suppression in MEMS actuators,offering improved performance without compromising other critical parameters such as displacement and actuation speed.
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.
文摘Asia, a major cradle of human civilizations,boasts three of the four ancient civilizations that developed a rich legacy of art, culture and scientific achievements over thousands of years. Since ancient times.
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.
文摘British voters overwhelmingly reject an alternative voting system The British electorate,in only the second ever national referendum held in their history (the first was on joining the EU,over 35 years ago) rejected alterations to their voting system from the current first-past-the-post system to a form of alternative voting similar to that
