This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based...This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.展开更多
To conduct marine surveys,multiple unmanned surface vessels(Multi-USV)with different capabilities perform collaborative mapping in multiple designated areas.This paper proposes a task allocation algorithm based on int...To conduct marine surveys,multiple unmanned surface vessels(Multi-USV)with different capabilities perform collaborative mapping in multiple designated areas.This paper proposes a task allocation algorithm based on integer linear programming(ILP)with flow balance constraints,ensuring the fair and efficient distribution of sub-areas among USVs and maintaining strong connectivity of assigned regions.In the established gridmap,a search-based path planning algorithm is performed on the sub-areas according to the allocation scheme.It uses the greedy algorithm and the A*algorithm to achieve complete coverage of the barrier-free area and obtain an efficient trajectory of each USV.The greedy algorithm enables fast local traversal of unvisited grids,while the A*algorithm ensures navigation to escape from deadlock areas and maintains global path continuity.The comparison of task allocation results proves that the task allocation algorithm based on ILP improves the mapping efficiency and task distribution fairness.The proposed allocation method and result analysis provide a certain reference for the practical application ofMulti-USV to perform survey tasks collaboratively.展开更多
Active inflammation in“inactive”progressive multiple sclerosis:Traditionally,the distinction between relapsing-remitting multiple sclerosis and progressive multiple sclerosis(PMS)has been framed as an inflammatory v...Active inflammation in“inactive”progressive multiple sclerosis:Traditionally,the distinction between relapsing-remitting multiple sclerosis and progressive multiple sclerosis(PMS)has been framed as an inflammatory versus degenerative dichotomy.This was based on a broad misconception regarding essentially all neurodegenerative conditions,depicting the degenerative process as passive and immune-independent occurring as a late byproduct of active inflammation in the central nervous system(CNS),which is(solely)systemically driven.展开更多
Multiple sclerosis(MS)is a chronic disorder of the central nervous system characterized by multifocal lesions where inflammation,demyelination,and neurodegeneration occur(Jakimovski et al.,2024).MS diagnosis primarily...Multiple sclerosis(MS)is a chronic disorder of the central nervous system characterized by multifocal lesions where inflammation,demyelination,and neurodegeneration occur(Jakimovski et al.,2024).MS diagnosis primarily relies on the demonstration of dissemination in time and space of the lesions based on clinical,magnetic resonance imaging(MRI),and cerebrospinal fluid assessments(Jakimovski et al.,2024).展开更多
Loss of immune tolerance to central nervous system(CNS)antigens lies at the heart of multiple sclerosis(MS),the most common chronic autoimmune disease of the CNS.MS affects nearly2 million people wo rldwide and is cha...Loss of immune tolerance to central nervous system(CNS)antigens lies at the heart of multiple sclerosis(MS),the most common chronic autoimmune disease of the CNS.MS affects nearly2 million people wo rldwide and is chara cterized by focal areas of demyelination,inflammation,axonal injury,and neurodegeneration(Bronge et al.,2022;Magliozzi et al.,2023).展开更多
In permafrost regions of the QinghaiXizang Plateau,embankments of the Qinghai-Xizang Highway and Qinghai-Xizang Railway experiencing roadside water accumulation exhibit more pronounced engineering deteriorations.A wid...In permafrost regions of the QinghaiXizang Plateau,embankments of the Qinghai-Xizang Highway and Qinghai-Xizang Railway experiencing roadside water accumulation exhibit more pronounced engineering deteriorations.A widely accepted view is that the accumulated water adjacent to the embankment possesses substantial thermal energy,which accelerates the degradation-even disappearance-of the underlying permafrost.Moreover,the presence of roadside water keeps the embankment soil in a persistently high-moisture state,thereby making the frozen-soil embankment more susceptible to deformation under traffic loading.However,in the permafrost regions of the QinghaiXizang Plateau,deteriorations of embankments affected by roadside water are more commonly manifested as undulating pavement surfaces,and extensive crack networks appear on the embankment crest even where thermosyphons are installed.These manifestations are not fully consistent with the deterioration mechanisms proposed by existing viewpoints.We propose the hypothesis that temperature gradients,formed due to the freezing and thawing processes between the roadside wateraffected soil and the roadbed soil,lead to moisture migration under the influence of temperature gradients,resulting in frost heave and thaw settlement in the roadbed soil.To validate this hypothesis,we conducted the following investigations sequentially.Initially,we selected a roadbed with a thermosyphon(TPCT)system,which has a significant cooling effect,as the study object.By analyzing the temperature monitoring data of the roadbed section,the temperature variance was calculated to identify the time nodes where the temperature gradient of the roadbed soil was maximum and minimum.Subsequently,corresponding roadbed temperature distribution maps were drawn,illustrating the changes in the temperature and position of the lowtemperature core near the TPCT over time.Furthermore,using small-scale indoor model experiments,we qualitatively concluded that moisture in the soil migrates toward the TPCT due to the temperature gradient.Thereafter,combining borehole water content data and precipitation data from the sloped terrain construction site,the formation mechanisms and timing characteristics of roadside water accumulation were analyzed.Ultimately,by integrating the ground temperature data,air temperature data,roadside water formation mechanisms,and the operating characteristics of the TPCT,it was concluded that roadside water,while in a thawed state during TPCT operation,acts as a supplementary source for moisture migration in the roadbed soil.This migration leads to cracking in the TPCT roadbed.Therefore,this study reveals a novel damage mechanism:asynchronous freeze-thaw processes induce temperature gradients,which drive the migration of roadside water into the roadbed and are responsible for the cracking damage.展开更多
The complex chaotic behavior of a quasi-zero-stiffness(QZS)double-winged system with symmetric impact boundaries is investigated with Melnikov functions and numerical simulations.The analysis reveals the coexistence o...The complex chaotic behavior of a quasi-zero-stiffness(QZS)double-winged system with symmetric impact boundaries is investigated with Melnikov functions and numerical simulations.The analysis reveals the coexistence of multiple attractors.As a key mass parameter varies,the mechanism underlying degenerate singular closed orbits is elucidated,based upon which five distinct types of singular closed orbits are discovered,exhibiting both smooth and discontinuous(SD)characteristics.The chaotic threshold of each singular orbit is obtained by Melnikov functions and verified by numerical simulations.The numerical results further demonstrate the coexistence of SD motions.For zero damping systems,the Kolmogorov-Arnold-Moser(KAM)structures are exhibited to present the complex quasi-periodic and resonant behavior coexisting with chaotic and periodic motions.These findings advance the understanding of chaotic dynamics in nonsmooth multi-well impact systems.展开更多
Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framew...Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framework that jointly designs distributed observers and local controllers to ensure robust formation control in the presence of external disturbances and sensor malfunctions.Treating the spacecraft formation as a single interconnected system,each spacecraft constructs a distributed observer that estimates the overall system state by incorporating both its own measurements and the predicted control information shared among the spacecraft.Based on the observer estimates,a local control law is synthesized to maintain the desired formation.Rigorous theoretical analysis and numerical simulations demonstrate that the proposed integrated approach effectively guarantees formation stability and resilience against sensor failures and disturbances.展开更多
Shallot and scallion are among the essential horticultural crops in the Mekong Delta of Vietnam,and their yields and quality are affected by the beet armyworm,Spodoptera exigua.To control this pest,farmers have used a...Shallot and scallion are among the essential horticultural crops in the Mekong Delta of Vietnam,and their yields and quality are affected by the beet armyworm,Spodoptera exigua.To control this pest,farmers have used a large number of insecticides,which has led to resistance due to continuous use and environmental harm,thereby increasing interest in biological methods,including the Spodoptera exigua multiple nucleopolyhedrovirus(SeMNPV).The study aims to assess the efficacy of the liquid and powder formulation of SeMNPV against Spodoptera exigua under the actual agricultural conditions of Soc Trang(Shallot)and Vinh Long provinces(Scallion).The experimental arrangement used four treatments:SeMNPV liquid,SeMNPV powder,Radiant 60SC(a chemical insecticide),and the control.Some of the factors evaluated were larval density,level of leaf damage,yield,and natural enemies attack.The SeMNPV powder had the least damage,only 0.97 per cent(damage of plant),and a yield of 28.59 t/ha,and was almost equally good as the Radiant 60SC,which produced a damage of 2.53 per cent(damage of plant)and a yield of 29.41 t/ha.SeMNPV treatments significantly reduced larval numbers(down to fewer than 10 larvae/m2 by day 40)and enhanced natural enemies,parasitoids,and microsporidia.The untreated one had the highest damage(8.03%),while the yield was lowest at 19.61 t/ha.Therefore,SeMNPV in powder form has the potential to control S.exigua infestations and to encourage biological control,making it a favourable,environmentally friendly addition to synthetic insecticides in the cultivation of shallot and scallion.展开更多
This paper is dedicated to fixed-time passivity and synchronization for multi-weighted spatiotemporal directed networks.First,to achieve fixed-time passivity,a type of decentralized power-law controller is developed,i...This paper is dedicated to fixed-time passivity and synchronization for multi-weighted spatiotemporal directed networks.First,to achieve fixed-time passivity,a type of decentralized power-law controller is developed,in which only one parameter needs to be adjusted in the power-law terms;this greatly decreases the inconvenience of parameter adjustment.Second,several fixed-time passivity criteria with LMI forms are derived by using a Gauss divergence theorem to deal with the spatial diffusion of nodes and by applying the Hölder’s inequality to dispose rigorously the power-law term greater than one in the designed control scheme;this improves the previous theoretical analysis.Additionally,the fixed-time synchronization of spatiotemporal directed networks with multi-weights is addressed as a direct result of fixed-time strict passivity.Finally,a numerical example is presented in order to show the validity of the theoretical analysis.展开更多
Objective: To investigate the therapeutic advantages of closed reduction and Kirschner wire fixation versus open reduction and plate fixation in patients with hand surgery fractures. Methods: The sample was collected ...Objective: To investigate the therapeutic advantages of closed reduction and Kirschner wire fixation versus open reduction and plate fixation in patients with hand surgery fractures. Methods: The sample was collected from May 2021 to May 2025, consisting of 80 patients with hand surgery fractures. These patients were randomly divided into two groups using the red and blue ball method: the plate fixation group (40 cases, treated with open reduction and plate fixation) and the Kirschner wire fixation group (40 cases, treated with closed reduction and Kirschner wire fixation). The therapeutic effects between the two groups were randomly compared. Results: The Kirschner wire fixation group outperformed the plate fixation group in all indicators except for hand function scores (p < 0.05). There was no statistically significant difference in hand function scores between the two groups (p > 0.05). Conclusion: Compared with open reduction and plate fixation, closed reduction and Kirschner wire fixation for patients with hand surgery fractures achieves a more pronounced therapeutic effect, with advantages such as less trauma, shorter operation time, less bleeding, and a lower incidence of complications. It is suitable for hand surgery fractures with good stability. Open reduction and plate internal fixation have greater advantages in complex fractures and cases requiring high stability, and are worthy of promotion and application.展开更多
Driven by the trend of device miniaturization and high-density integration,the interaction between adjacent electrodes has become a critical factor affecting the interfacial reliability of thermoelectric(TE)structures...Driven by the trend of device miniaturization and high-density integration,the interaction between adjacent electrodes has become a critical factor affecting the interfacial reliability of thermoelectric(TE)structures.This study investigates the influence of adjoining electrode interactions on the interfacial response of a multi-electrode/TE substrate structure,including interfacial stresses and stress intensity factors at the electrode ends.To solve the corresponding boundary-value problem,the Fourier transforms are adopted to derive a governing integro-differential equation for the interfacial shear stress in multi-electrode systems,incorporating the TE effects as generalized forces on the right-hand side.The results show that both the interfacial tension and transverse stress in the electrodes are significantly affected by the presence of adjacent electrodes.The interaction between neighboring electrodes diminishes as their spacing increases or when an adhesive interlayer is introduced.Furthermore,the softer and thinner electrodes,the softer and thicker adhesive interlayer,and the smaller TE loads are found to be beneficial for improving the interfacial performance.These findings may contribute to the accurate measurement in surface sensors and layout design of multi-point health monitoring systems for TE structures.展开更多
BACKGROUND The accurate prediction of lymph node metastasis(LNM)is crucial for managing locally advanced(T3/T4)colorectal cancer(CRC).However,both traditional histopathology and standard slide-level deep learning ofte...BACKGROUND The accurate prediction of lymph node metastasis(LNM)is crucial for managing locally advanced(T3/T4)colorectal cancer(CRC).However,both traditional histopathology and standard slide-level deep learning often fail to capture the sparse and diagnostically critical features of metastatic potential.AIM To develop and validate a case-level multiple-instance learning(MIL)framework mimicking a pathologist's comprehensive review and improve T3/T4 CRC LNM prediction.METHODS The whole-slide images of 130 patients with T3/T4 CRC were retrospectively collected.A case-level MIL framework utilising the CONCH v1.5 and UNI2-h deep learning models was trained on features from all haematoxylin and eosinstained primary tumour slides for each patient.These pathological features were subsequently integrated with clinical data,and model performance was evaluated using the area under the curve(AUC).RESULTS The case-level framework demonstrated superior LNM prediction over slide-level training,with the CONCH v1.5 model achieving a mean AUC(±SD)of 0.899±0.033 vs 0.814±0.083,respectively.Integrating pathology features with clinical data further enhanced performance,yielding a top model with a mean AUC of 0.904±0.047,in sharp contrast to a clinical-only model(mean AUC 0.584±0.084).Crucially,a pathologist’s review confirmed that the model-identified high-attention regions correspond to known high-risk histopathological features.CONCLUSION A case-level MIL framework provides a superior approach for predicting LNM in advanced CRC.This method shows promise for risk stratification and therapy decisions,requiring further validation.展开更多
AIM:To investigate the changes of retinal vascular parameters and retinal layer thickness in patients with multiple sclerosis(MS).METHODS:This single-centered case-control study was performed on a MS group of 42 patie...AIM:To investigate the changes of retinal vascular parameters and retinal layer thickness in patients with multiple sclerosis(MS).METHODS:This single-centered case-control study was performed on a MS group of 42 patients diagnosed with MS and a control group of 43 healthy hospital staff matched in terms of age and sex at Iran University,department of neurology and ophthalmology from March 2020 to March 2021.The ophthalmic parameters of each patient were recorded,and optical coherence tomography was used to evaluate the retinal thickness in the layers.RESULTS:This study enrolled a total of 85 participants,with a mean age of 40.44±11.52 years,including 61 females(72%).The control group consisted of 43 individuals with a mean age of 39.49±11.07 years,while the MS group comprised 42 participants with a mean age of 41.40±12.01 years.The mean disease duration in the MS group was 8.45±6.04 a.The thickness of the ganglion cell layer in the right eye was significantly lower in the MS group compared to the control group(P=0.034).In addition,except for the left nasal sector(P=0.106),the mean peripapillary neurofibrillation in all examined sectors were significantly lower in the MS group than in the control group(P<0.05).The average vessel density in both the deep and superficial capillary plexuses across all regions of both eyes was lower in the MS group than in the control group,with all comparisons for the superficial capillary plexus showing statistical significance(P<0.05 for all except the left nasal sector).CONCLUSION:The thickness of the retina of patients with MS is significantly reduced.Therefore,optical coherence tomography results can be used as a reliable tool to evaluate disease progression and prognosis in MS patients.展开更多
Myelination in the central nervous system(CNS)is a highly intricate process,exclusive to vertebrates,that relies on the coordinated interaction between oligodendrocytes(OLs)and neurons.In addition to their role in for...Myelination in the central nervous system(CNS)is a highly intricate process,exclusive to vertebrates,that relies on the coordinated interaction between oligodendrocytes(OLs)and neurons.In addition to their role in forming myelin,accumulating evidence indicates that OLs provide crucial trophic support to axons,contributing to normal CNS function.Notably,OL injury and loss are observed in a variety of human conditions,including stroke,traumatic injuries of the brain and spinal cord,as well as neurodegenerative disorders such as multiple sclerosis(MS).展开更多
Under the influence of human activities,landscape fragmentation in the Wei River Basin(WRB)has become increasingly severe.Upstream development has intensified soil erosion,and industrial and agricultural pollution in ...Under the influence of human activities,landscape fragmentation in the Wei River Basin(WRB)has become increasingly severe.Upstream development has intensified soil erosion,and industrial and agricultural pollution in the middle reaches has degraded water quality.Rapid urbanization has further caused habitat fragmentation and biodiversity loss.Collectively,these challenges threaten human well-being and hinder sustainable development,making the construction and optimization of an ecological security pattern(ESP)urgently necessary.However,existing studies often fail to systematically integrate future landscape ecological risk(LER)assessment with ESP optimization.This study evaluated regional LER using the“ecological patches-ecological resistance surface(ERS)-ecological corridor”framework,combined with land-use predictions under three development scenarios,and optimized the ESP by adjusting the ERS and extracting ecological corridors.The results indicate that the LER in the WRB follows an“inverted N”distribution,with low-risk areas concentrated in forested mountain regions and high-risk areas mainly in cultivated land subject to intensive human activity.Across future scenarios,ESPs showed fewer ecological breakpoints and improved landscape connectivity than the 2020 baseline.Scenario-based differences emerged in the spatial configuration of ERS adjustments,with the ecological protection scenario yielding the lowest LER and most favorable ESP.This study demonstrates the deep integration of multi-scenario simulation with LER assessment,providing a new framework for ESP optimization.The findings have guiding significance for ecological protection and coordinated development in the WRB and offer a novel paradigm for sustainable development in ecologically fragile basins worldwide.展开更多
To solve the problem of in-flight actuator faults and parameter uncertainties for multiple Unmanned Aerial Vehicles(UAVs),and reduce the communication and computational resource consumption of multiple UAVs,a Fraction...To solve the problem of in-flight actuator faults and parameter uncertainties for multiple Unmanned Aerial Vehicles(UAVs),and reduce the communication and computational resource consumption of multiple UAVs,a Fraction-Order(FO)sliding-mode Fault-Tolerant Cooperative Control(FTCC)strategy is proposed for multiple UAVs based on Event-Triggered Communication Mechanism(ET-COM-M)and Event-Triggered Control Mechanism(ET-CON-M).First,by considering the limited communication bandwidth of multiple UAVs in formation,an ET-COM-M is designed to significantly reduce communication times.Then,a distributed observer is skillfully constructed to estimate the reference signals for follower UAVs.Moreover,the adaptive strategy is incorporated into the Radial Basis Function Neural Network(RBFNN)to learn the lumped unknown terms for handling bias actuator faults and parameter uncertainties.Besides,the Nussbaum method is used to deal with the loss-of-effectiveness faults.To further achieve the refined control performance against faults,FO calculus is artfully integrated into the sliding-mode control protocol with ET-CON-M.Finally,Zeno behavior is excluded by rigorous theoretical analysis and Lyapunov stability is proved to show the effectiveness of the designed FTCC strategy.Simulation results show that the designed FTCC strategy with Event-Triggered Mechanism(ETM)can guarantee the safety of multiple UAVs and simultaneously reduce the communication and control frequencies,making the developed control scheme applicable in engineering.展开更多
This paper presents a hierarchical formation control strategy to address the challenges of multiple Unmanned Aerial Vehicles(UAVs)formation control within a cooperative consensus framework.The proposed strategy incorp...This paper presents a hierarchical formation control strategy to address the challenges of multiple Unmanned Aerial Vehicles(UAVs)formation control within a cooperative consensus framework.The proposed strategy incorporates a reference command generation layer,which derives UAV attitude commands based on formation requirements,and a tracking control layer to ensure accurate execution.Collaborative variables,including trajectory position and flight speed,are defined using a three-dimensional track particle and autopilot model,enabling the development of a consensus-based formation control law.Desired attitude angles are computed through altitudehold and coordinated-turn strategies.A sliding surface is designed based on reference models derived from flight quality metrics,while an adaptive controller compensates for aerodynamic model uncertainties.To enhance learning capabilities,a prediction error mechanism based on a series-parallel estimation model is introduced,enabling collaborative learning and the sharing of network weight estimation parameters within the multi-agent system.This facilitates the design of a distributed composite learning law.Lyapunov stability analysis confirms the local exponential stability of the tracking error.The simulations of a twelve-UAV formation,along with comparative analysis of two algorithms,demonstrate the system’s capability for formation maintenance and high-precision tracking control.展开更多
Current image inpainting models are primarily designed to achieve a large receptive field(RF)using refinement networks to incorporate different scales.However,these models fail to adapt the use of different RFs to the...Current image inpainting models are primarily designed to achieve a large receptive field(RF)using refinement networks to incorporate different scales.However,these models fail to adapt the use of different RFs to the specific patterns of image damage,resulting in artifacts and semantic information confusion in repaired images.To address the problems of artifacts and semantic information confusion,inspired by different sensitivities of different RFs to inpainting the same image damaged patterns,this study proposes an image inpainting method based on multiple receptive fields(MRFs)and dynamic matching of damaged patterns.First,the parallel filter banks are used to extract the MRF feature groups.Second,the features are dynamically weighted and screened,guided by the mask image,to construct a relationship that adaptively matches the most relevant RF to each specific damaged pattern.A fast Fourier convolution based decoder is used to enhance the fusion of global contextual features during the reconstruction of high dimensional features into low dimensional images.Comparative experimental results show that the proposed method achieves better subjective and objective inpainting results on three public datasets:Paris StreetView,CelebA-HQ,and Places2.展开更多
Objective:Multiple sclerosis(MS)is a chronic inflammatory demyelinating disease of the central nervous system(CNS).Soluble interleukin-2 receptor alpha(sIL-2Rα)has been implicated inMS pathogenesis,but its mechanisms...Objective:Multiple sclerosis(MS)is a chronic inflammatory demyelinating disease of the central nervous system(CNS).Soluble interleukin-2 receptor alpha(sIL-2Rα)has been implicated inMS pathogenesis,but its mechanisms remain unclear.This study investigates how sIL-2Rαexacerbates MS by modulating microglial activation and antibody-dependent cellular cytotoxicity(ADCC)in an experimental autoimmune encephalomyelitis(EAE)mouse model.Methods:Female C57BL/6J mice were induced with EAE and treated with sIL-2Rα.Clinical symptoms,histopathology,and molecular changes were analyzed.Microglial activation was assessed via immunohistochemistry,Western blot,and RNA sequencing.In vitro,ADCC-mediated oligodendrocyte injury was evaluated using Fc receptor inhibition and PI3K-Akt pathway blockade.Results:sIL-2Rα accelerated EAE onset and severity,increasingmicroglial M1 polarization and CNS inflammation.RNA-seq revealed PI3K-Akt pathway activation,upregulating Fc receptors(FcγR)on microglia,which enhanced ADCC against oligodendrocytes(p<0.001).Inhibiting FcγR or PI3K-Akt reduced oligodendrocyte damage.Conclusion:sIL-2Rαexacerbates MS by activating microglia via the PI3K-Aktaxis,promoting ADCC and demyelination.Targeting this pathway may offer novel therapeutic strategies for MS.展开更多
基金Supported by the Shenzhen Key Laboratory of Control Theory and Intelligent Systems (ZDSYS20220330161800001)the National Natural Science Foundation of China (62303207)the Guangdong Basic and Applied Basic Research Foundation (2024A1515010725)。
文摘This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.
基金supported in part by the International Science and Technology Project of Guangzhou Development District under Grant 2023GH08the Science and Technology Development Fund,MSAR,under Grants 0029/2022/AGJ and 0029/2023/RIA1the Program of Guangdong under Grant 2023A0505020003.
文摘To conduct marine surveys,multiple unmanned surface vessels(Multi-USV)with different capabilities perform collaborative mapping in multiple designated areas.This paper proposes a task allocation algorithm based on integer linear programming(ILP)with flow balance constraints,ensuring the fair and efficient distribution of sub-areas among USVs and maintaining strong connectivity of assigned regions.In the established gridmap,a search-based path planning algorithm is performed on the sub-areas according to the allocation scheme.It uses the greedy algorithm and the A*algorithm to achieve complete coverage of the barrier-free area and obtain an efficient trajectory of each USV.The greedy algorithm enables fast local traversal of unvisited grids,while the A*algorithm ensures navigation to escape from deadlock areas and maintains global path continuity.The comparison of task allocation results proves that the task allocation algorithm based on ILP improves the mapping efficiency and task distribution fairness.The proposed allocation method and result analysis provide a certain reference for the practical application ofMulti-USV to perform survey tasks collaboratively.
文摘Active inflammation in“inactive”progressive multiple sclerosis:Traditionally,the distinction between relapsing-remitting multiple sclerosis and progressive multiple sclerosis(PMS)has been framed as an inflammatory versus degenerative dichotomy.This was based on a broad misconception regarding essentially all neurodegenerative conditions,depicting the degenerative process as passive and immune-independent occurring as a late byproduct of active inflammation in the central nervous system(CNS),which is(solely)systemically driven.
基金supported by Italian Ministry for Health(RF-2011-02349698,RF-2018-12367731)(to CF).
文摘Multiple sclerosis(MS)is a chronic disorder of the central nervous system characterized by multifocal lesions where inflammation,demyelination,and neurodegeneration occur(Jakimovski et al.,2024).MS diagnosis primarily relies on the demonstration of dissemination in time and space of the lesions based on clinical,magnetic resonance imaging(MRI),and cerebrospinal fluid assessments(Jakimovski et al.,2024).
文摘Loss of immune tolerance to central nervous system(CNS)antigens lies at the heart of multiple sclerosis(MS),the most common chronic autoimmune disease of the CNS.MS affects nearly2 million people wo rldwide and is chara cterized by focal areas of demyelination,inflammation,axonal injury,and neurodegeneration(Bronge et al.,2022;Magliozzi et al.,2023).
基金supported by the Major Science and Technology Project of Gansu Province(Grant No.24ZD13FA003 and 23ZDWA005)National Natural Science Foundation of China(Grant No.42371140,42301163,41971087 and 42272332)the program of the State Key Laboratory of Cryospheric Science and Frozen Soil Engineering,CAS(No.CSFSEZZ-2411)。
文摘In permafrost regions of the QinghaiXizang Plateau,embankments of the Qinghai-Xizang Highway and Qinghai-Xizang Railway experiencing roadside water accumulation exhibit more pronounced engineering deteriorations.A widely accepted view is that the accumulated water adjacent to the embankment possesses substantial thermal energy,which accelerates the degradation-even disappearance-of the underlying permafrost.Moreover,the presence of roadside water keeps the embankment soil in a persistently high-moisture state,thereby making the frozen-soil embankment more susceptible to deformation under traffic loading.However,in the permafrost regions of the QinghaiXizang Plateau,deteriorations of embankments affected by roadside water are more commonly manifested as undulating pavement surfaces,and extensive crack networks appear on the embankment crest even where thermosyphons are installed.These manifestations are not fully consistent with the deterioration mechanisms proposed by existing viewpoints.We propose the hypothesis that temperature gradients,formed due to the freezing and thawing processes between the roadside wateraffected soil and the roadbed soil,lead to moisture migration under the influence of temperature gradients,resulting in frost heave and thaw settlement in the roadbed soil.To validate this hypothesis,we conducted the following investigations sequentially.Initially,we selected a roadbed with a thermosyphon(TPCT)system,which has a significant cooling effect,as the study object.By analyzing the temperature monitoring data of the roadbed section,the temperature variance was calculated to identify the time nodes where the temperature gradient of the roadbed soil was maximum and minimum.Subsequently,corresponding roadbed temperature distribution maps were drawn,illustrating the changes in the temperature and position of the lowtemperature core near the TPCT over time.Furthermore,using small-scale indoor model experiments,we qualitatively concluded that moisture in the soil migrates toward the TPCT due to the temperature gradient.Thereafter,combining borehole water content data and precipitation data from the sloped terrain construction site,the formation mechanisms and timing characteristics of roadside water accumulation were analyzed.Ultimately,by integrating the ground temperature data,air temperature data,roadside water formation mechanisms,and the operating characteristics of the TPCT,it was concluded that roadside water,while in a thawed state during TPCT operation,acts as a supplementary source for moisture migration in the roadbed soil.This migration leads to cracking in the TPCT roadbed.Therefore,this study reveals a novel damage mechanism:asynchronous freeze-thaw processes induce temperature gradients,which drive the migration of roadside water into the roadbed and are responsible for the cracking damage.
基金Project supported by the National Natural Science Foundation of China(No.11732006)the China Scholarship Council。
文摘The complex chaotic behavior of a quasi-zero-stiffness(QZS)double-winged system with symmetric impact boundaries is investigated with Melnikov functions and numerical simulations.The analysis reveals the coexistence of multiple attractors.As a key mass parameter varies,the mechanism underlying degenerate singular closed orbits is elucidated,based upon which five distinct types of singular closed orbits are discovered,exhibiting both smooth and discontinuous(SD)characteristics.The chaotic threshold of each singular orbit is obtained by Melnikov functions and verified by numerical simulations.The numerical results further demonstrate the coexistence of SD motions.For zero damping systems,the Kolmogorov-Arnold-Moser(KAM)structures are exhibited to present the complex quasi-periodic and resonant behavior coexisting with chaotic and periodic motions.These findings advance the understanding of chaotic dynamics in nonsmooth multi-well impact systems.
基金supported by the National Natural Science Foundation of China(62088101,62522307,62273045,U2341213)Beijing Nova Program(20230484481)。
文摘Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framework that jointly designs distributed observers and local controllers to ensure robust formation control in the presence of external disturbances and sensor malfunctions.Treating the spacecraft formation as a single interconnected system,each spacecraft constructs a distributed observer that estimates the overall system state by incorporating both its own measurements and the predicted control information shared among the spacecraft.Based on the observer estimates,a local control law is synthesized to maintain the desired formation.Rigorous theoretical analysis and numerical simulations demonstrate that the proposed integrated approach effectively guarantees formation stability and resilience against sensor failures and disturbances.
文摘Shallot and scallion are among the essential horticultural crops in the Mekong Delta of Vietnam,and their yields and quality are affected by the beet armyworm,Spodoptera exigua.To control this pest,farmers have used a large number of insecticides,which has led to resistance due to continuous use and environmental harm,thereby increasing interest in biological methods,including the Spodoptera exigua multiple nucleopolyhedrovirus(SeMNPV).The study aims to assess the efficacy of the liquid and powder formulation of SeMNPV against Spodoptera exigua under the actual agricultural conditions of Soc Trang(Shallot)and Vinh Long provinces(Scallion).The experimental arrangement used four treatments:SeMNPV liquid,SeMNPV powder,Radiant 60SC(a chemical insecticide),and the control.Some of the factors evaluated were larval density,level of leaf damage,yield,and natural enemies attack.The SeMNPV powder had the least damage,only 0.97 per cent(damage of plant),and a yield of 28.59 t/ha,and was almost equally good as the Radiant 60SC,which produced a damage of 2.53 per cent(damage of plant)and a yield of 29.41 t/ha.SeMNPV treatments significantly reduced larval numbers(down to fewer than 10 larvae/m2 by day 40)and enhanced natural enemies,parasitoids,and microsporidia.The untreated one had the highest damage(8.03%),while the yield was lowest at 19.61 t/ha.Therefore,SeMNPV in powder form has the potential to control S.exigua infestations and to encourage biological control,making it a favourable,environmentally friendly addition to synthetic insecticides in the cultivation of shallot and scallion.
基金supported by the National Natural Science Foundation of China(62373317)the Tianshan Talent Training Program(2022TSYCCX0013)+3 种基金the Key Project of Natural Science Foundation of Xinjiang(2021D01D10)the Basic Research Foundation for Universities of Xinjiang(XJEDU2023P023)the Xinjiang Key Laboratory of Applied Mathematics(XJDX1401)the Intelligent Control and Optimization Research Platform in Xinjiang University.
文摘This paper is dedicated to fixed-time passivity and synchronization for multi-weighted spatiotemporal directed networks.First,to achieve fixed-time passivity,a type of decentralized power-law controller is developed,in which only one parameter needs to be adjusted in the power-law terms;this greatly decreases the inconvenience of parameter adjustment.Second,several fixed-time passivity criteria with LMI forms are derived by using a Gauss divergence theorem to deal with the spatial diffusion of nodes and by applying the Hölder’s inequality to dispose rigorously the power-law term greater than one in the designed control scheme;this improves the previous theoretical analysis.Additionally,the fixed-time synchronization of spatiotemporal directed networks with multi-weights is addressed as a direct result of fixed-time strict passivity.Finally,a numerical example is presented in order to show the validity of the theoretical analysis.
文摘Objective: To investigate the therapeutic advantages of closed reduction and Kirschner wire fixation versus open reduction and plate fixation in patients with hand surgery fractures. Methods: The sample was collected from May 2021 to May 2025, consisting of 80 patients with hand surgery fractures. These patients were randomly divided into two groups using the red and blue ball method: the plate fixation group (40 cases, treated with open reduction and plate fixation) and the Kirschner wire fixation group (40 cases, treated with closed reduction and Kirschner wire fixation). The therapeutic effects between the two groups were randomly compared. Results: The Kirschner wire fixation group outperformed the plate fixation group in all indicators except for hand function scores (p < 0.05). There was no statistically significant difference in hand function scores between the two groups (p > 0.05). Conclusion: Compared with open reduction and plate fixation, closed reduction and Kirschner wire fixation for patients with hand surgery fractures achieves a more pronounced therapeutic effect, with advantages such as less trauma, shorter operation time, less bleeding, and a lower incidence of complications. It is suitable for hand surgery fractures with good stability. Open reduction and plate internal fixation have greater advantages in complex fractures and cases requiring high stability, and are worthy of promotion and application.
基金Project supported by the National Natural Science Foundation of China(Nos.12502117,12272269,11972257)the Natural Science Foundation of Ningxia of China(No.2024AAC03018)+1 种基金the Fundamental Research Funds for the Central Universitiesthe Shanghai Gaofeng Project for University Academic Program Development。
文摘Driven by the trend of device miniaturization and high-density integration,the interaction between adjacent electrodes has become a critical factor affecting the interfacial reliability of thermoelectric(TE)structures.This study investigates the influence of adjoining electrode interactions on the interfacial response of a multi-electrode/TE substrate structure,including interfacial stresses and stress intensity factors at the electrode ends.To solve the corresponding boundary-value problem,the Fourier transforms are adopted to derive a governing integro-differential equation for the interfacial shear stress in multi-electrode systems,incorporating the TE effects as generalized forces on the right-hand side.The results show that both the interfacial tension and transverse stress in the electrodes are significantly affected by the presence of adjacent electrodes.The interaction between neighboring electrodes diminishes as their spacing increases or when an adhesive interlayer is introduced.Furthermore,the softer and thinner electrodes,the softer and thicker adhesive interlayer,and the smaller TE loads are found to be beneficial for improving the interfacial performance.These findings may contribute to the accurate measurement in surface sensors and layout design of multi-point health monitoring systems for TE structures.
基金Supported by Chongqing Medical Scientific Research Project(Joint Project of Chongqing Health Commission and Science and Technology Bureau),No.2023MSXM060.
文摘BACKGROUND The accurate prediction of lymph node metastasis(LNM)is crucial for managing locally advanced(T3/T4)colorectal cancer(CRC).However,both traditional histopathology and standard slide-level deep learning often fail to capture the sparse and diagnostically critical features of metastatic potential.AIM To develop and validate a case-level multiple-instance learning(MIL)framework mimicking a pathologist's comprehensive review and improve T3/T4 CRC LNM prediction.METHODS The whole-slide images of 130 patients with T3/T4 CRC were retrospectively collected.A case-level MIL framework utilising the CONCH v1.5 and UNI2-h deep learning models was trained on features from all haematoxylin and eosinstained primary tumour slides for each patient.These pathological features were subsequently integrated with clinical data,and model performance was evaluated using the area under the curve(AUC).RESULTS The case-level framework demonstrated superior LNM prediction over slide-level training,with the CONCH v1.5 model achieving a mean AUC(±SD)of 0.899±0.033 vs 0.814±0.083,respectively.Integrating pathology features with clinical data further enhanced performance,yielding a top model with a mean AUC of 0.904±0.047,in sharp contrast to a clinical-only model(mean AUC 0.584±0.084).Crucially,a pathologist’s review confirmed that the model-identified high-attention regions correspond to known high-risk histopathological features.CONCLUSION A case-level MIL framework provides a superior approach for predicting LNM in advanced CRC.This method shows promise for risk stratification and therapy decisions,requiring further validation.
文摘AIM:To investigate the changes of retinal vascular parameters and retinal layer thickness in patients with multiple sclerosis(MS).METHODS:This single-centered case-control study was performed on a MS group of 42 patients diagnosed with MS and a control group of 43 healthy hospital staff matched in terms of age and sex at Iran University,department of neurology and ophthalmology from March 2020 to March 2021.The ophthalmic parameters of each patient were recorded,and optical coherence tomography was used to evaluate the retinal thickness in the layers.RESULTS:This study enrolled a total of 85 participants,with a mean age of 40.44±11.52 years,including 61 females(72%).The control group consisted of 43 individuals with a mean age of 39.49±11.07 years,while the MS group comprised 42 participants with a mean age of 41.40±12.01 years.The mean disease duration in the MS group was 8.45±6.04 a.The thickness of the ganglion cell layer in the right eye was significantly lower in the MS group compared to the control group(P=0.034).In addition,except for the left nasal sector(P=0.106),the mean peripapillary neurofibrillation in all examined sectors were significantly lower in the MS group than in the control group(P<0.05).The average vessel density in both the deep and superficial capillary plexuses across all regions of both eyes was lower in the MS group than in the control group,with all comparisons for the superficial capillary plexus showing statistical significance(P<0.05 for all except the left nasal sector).CONCLUSION:The thickness of the retina of patients with MS is significantly reduced.Therefore,optical coherence tomography results can be used as a reliable tool to evaluate disease progression and prognosis in MS patients.
文摘Myelination in the central nervous system(CNS)is a highly intricate process,exclusive to vertebrates,that relies on the coordinated interaction between oligodendrocytes(OLs)and neurons.In addition to their role in forming myelin,accumulating evidence indicates that OLs provide crucial trophic support to axons,contributing to normal CNS function.Notably,OL injury and loss are observed in a variety of human conditions,including stroke,traumatic injuries of the brain and spinal cord,as well as neurodegenerative disorders such as multiple sclerosis(MS).
基金supported by the National Natural Science Foundation of China[Grant No.42361040].
文摘Under the influence of human activities,landscape fragmentation in the Wei River Basin(WRB)has become increasingly severe.Upstream development has intensified soil erosion,and industrial and agricultural pollution in the middle reaches has degraded water quality.Rapid urbanization has further caused habitat fragmentation and biodiversity loss.Collectively,these challenges threaten human well-being and hinder sustainable development,making the construction and optimization of an ecological security pattern(ESP)urgently necessary.However,existing studies often fail to systematically integrate future landscape ecological risk(LER)assessment with ESP optimization.This study evaluated regional LER using the“ecological patches-ecological resistance surface(ERS)-ecological corridor”framework,combined with land-use predictions under three development scenarios,and optimized the ESP by adjusting the ERS and extracting ecological corridors.The results indicate that the LER in the WRB follows an“inverted N”distribution,with low-risk areas concentrated in forested mountain regions and high-risk areas mainly in cultivated land subject to intensive human activity.Across future scenarios,ESPs showed fewer ecological breakpoints and improved landscape connectivity than the 2020 baseline.Scenario-based differences emerged in the spatial configuration of ERS adjustments,with the ecological protection scenario yielding the lowest LER and most favorable ESP.This study demonstrates the deep integration of multi-scenario simulation with LER assessment,providing a new framework for ESP optimization.The findings have guiding significance for ecological protection and coordinated development in the WRB and offer a novel paradigm for sustainable development in ecologically fragile basins worldwide.
基金supported in part by National Natural Science Foundation of China(Nos.62373188,62003162)the Natural Science Foundation of Jiangsu Province of China(Nos.BK20240182,BK20222012)+2 种基金the Industry-University Research Innovation Foundation for the Chinese Ministry of Education(No.2021ZYA02005)the Aeronautical Science Foundation of China(Nos.20220007052003,20200007018001)the Fundamental Research Funds for the Central Universities,China(Nos.NE2024004,NI2024001)。
文摘To solve the problem of in-flight actuator faults and parameter uncertainties for multiple Unmanned Aerial Vehicles(UAVs),and reduce the communication and computational resource consumption of multiple UAVs,a Fraction-Order(FO)sliding-mode Fault-Tolerant Cooperative Control(FTCC)strategy is proposed for multiple UAVs based on Event-Triggered Communication Mechanism(ET-COM-M)and Event-Triggered Control Mechanism(ET-CON-M).First,by considering the limited communication bandwidth of multiple UAVs in formation,an ET-COM-M is designed to significantly reduce communication times.Then,a distributed observer is skillfully constructed to estimate the reference signals for follower UAVs.Moreover,the adaptive strategy is incorporated into the Radial Basis Function Neural Network(RBFNN)to learn the lumped unknown terms for handling bias actuator faults and parameter uncertainties.Besides,the Nussbaum method is used to deal with the loss-of-effectiveness faults.To further achieve the refined control performance against faults,FO calculus is artfully integrated into the sliding-mode control protocol with ET-CON-M.Finally,Zeno behavior is excluded by rigorous theoretical analysis and Lyapunov stability is proved to show the effectiveness of the designed FTCC strategy.Simulation results show that the designed FTCC strategy with Event-Triggered Mechanism(ETM)can guarantee the safety of multiple UAVs and simultaneously reduce the communication and control frequencies,making the developed control scheme applicable in engineering.
基金co-supported in part by the National Natural Science Foundation of China(No.62403131)in part by Jiangsu Funding Program for Excellent Postdoctoral Talent,China(No.2024ZB267)in part by the Shenzhen Science and Technology Program,China(No.JCYJ20230807145500002)。
文摘This paper presents a hierarchical formation control strategy to address the challenges of multiple Unmanned Aerial Vehicles(UAVs)formation control within a cooperative consensus framework.The proposed strategy incorporates a reference command generation layer,which derives UAV attitude commands based on formation requirements,and a tracking control layer to ensure accurate execution.Collaborative variables,including trajectory position and flight speed,are defined using a three-dimensional track particle and autopilot model,enabling the development of a consensus-based formation control law.Desired attitude angles are computed through altitudehold and coordinated-turn strategies.A sliding surface is designed based on reference models derived from flight quality metrics,while an adaptive controller compensates for aerodynamic model uncertainties.To enhance learning capabilities,a prediction error mechanism based on a series-parallel estimation model is introduced,enabling collaborative learning and the sharing of network weight estimation parameters within the multi-agent system.This facilitates the design of a distributed composite learning law.Lyapunov stability analysis confirms the local exponential stability of the tracking error.The simulations of a twelve-UAV formation,along with comparative analysis of two algorithms,demonstrate the system’s capability for formation maintenance and high-precision tracking control.
基金The National Natural Science Foundation of China(No.62261032)the Central Government Guiding Funds for Local Scienceand Technology Development Program(No.25ZYJA026).
文摘Current image inpainting models are primarily designed to achieve a large receptive field(RF)using refinement networks to incorporate different scales.However,these models fail to adapt the use of different RFs to the specific patterns of image damage,resulting in artifacts and semantic information confusion in repaired images.To address the problems of artifacts and semantic information confusion,inspired by different sensitivities of different RFs to inpainting the same image damaged patterns,this study proposes an image inpainting method based on multiple receptive fields(MRFs)and dynamic matching of damaged patterns.First,the parallel filter banks are used to extract the MRF feature groups.Second,the features are dynamically weighted and screened,guided by the mask image,to construct a relationship that adaptively matches the most relevant RF to each specific damaged pattern.A fast Fourier convolution based decoder is used to enhance the fusion of global contextual features during the reconstruction of high dimensional features into low dimensional images.Comparative experimental results show that the proposed method achieves better subjective and objective inpainting results on three public datasets:Paris StreetView,CelebA-HQ,and Places2.
基金supported by the National Natural Science Foundation of China[82201489,2022].
文摘Objective:Multiple sclerosis(MS)is a chronic inflammatory demyelinating disease of the central nervous system(CNS).Soluble interleukin-2 receptor alpha(sIL-2Rα)has been implicated inMS pathogenesis,but its mechanisms remain unclear.This study investigates how sIL-2Rαexacerbates MS by modulating microglial activation and antibody-dependent cellular cytotoxicity(ADCC)in an experimental autoimmune encephalomyelitis(EAE)mouse model.Methods:Female C57BL/6J mice were induced with EAE and treated with sIL-2Rα.Clinical symptoms,histopathology,and molecular changes were analyzed.Microglial activation was assessed via immunohistochemistry,Western blot,and RNA sequencing.In vitro,ADCC-mediated oligodendrocyte injury was evaluated using Fc receptor inhibition and PI3K-Akt pathway blockade.Results:sIL-2Rα accelerated EAE onset and severity,increasingmicroglial M1 polarization and CNS inflammation.RNA-seq revealed PI3K-Akt pathway activation,upregulating Fc receptors(FcγR)on microglia,which enhanced ADCC against oligodendrocytes(p<0.001).Inhibiting FcγR or PI3K-Akt reduced oligodendrocyte damage.Conclusion:sIL-2Rαexacerbates MS by activating microglia via the PI3K-Aktaxis,promoting ADCC and demyelination.Targeting this pathway may offer novel therapeutic strategies for MS.
