Woodfulton4211

This paper tackles the global polynomial periodicity (GPP) and global polynomial stability (GPS) for proportional delay Cohen-Grossberg neural networks (PDCGNNs). find more By adopting two transformations, designing opportune Lyapunov functionals (LFs) with tunable parameters and taking inequality skills, several delay-dependent criteria of GPP and GPS are acquired for the PDCGNNs. Here the GPP is also a kind of global asymptotic periodicity (GAP), but it has obvious convergence rate and convergence order, and its convergence rate is slower than that of global exponential periodicity (GEP). This is of great significance to the detailed division of periodicity in theory. These acquired criteria are confirmed by a numerical example with four cases. Simultaneously, through the numerical example, the acquired criteria also fully demonstrate their superiority in comparison with existing results. And, in another example, a GPS criterion is used to solve a quadratic programming problem (QPP) to reflect one of the practical applications of the PDCGNNs.This paper presents a collaborative obstacle avoidance algorithm of multiple bionic snake robots in fluid based on IB-LBM. The method can make the multiple bionic snake robots avoid different obstacles in the fluid under the control of the improved Serpenoid curve function. The proposed method has high parallelism, can simulate the complex non-linear phenomenon of the multiple snake robots, deal with the complex boundary conditions of the robot, and reduce the conversion of the computational grid. Firstly, a non-linear fluid model is established by LBM, which solves the non-linear problem that the classical Navier-Stokes equations cannot explain the random motion. Secondly, the force source boundary model of multiple bionic snake robots is established by IBM, which saves the calculation time, improves the calculation efficiency and system stability. After that, each bionic snake robot is given a special force to make the robots collaborate with each other and non-colliding with each other in the process of the obstacle avoidance. Finally, through simulation experiments, the trajectory of multiple bionic snake robots avoiding different number of the obstacles in the fluid is analyzed and the collaborative obstacle avoidance process of multiple bionic snake robots in fluid is observed. The validity of the collaborative obstacle avoidance algorithm of multiple bionic snake robots in fluid based on the IB-LBM is verified.Model uncertainties, unknown disturbances, and sensors measurement noises affect the attitude tracking control performance of quadrotors. In this article, a novel robust adaptive recursive sliding mode control (ARSMC) strategy is proposed for the quadrotor to improve the attitude tracking performance and disturbance rejection. Firstly, recursive sliding mode control is introduced, including a two-layer sliding surface, an integral sliding surface, and a fast nonsingular terminal sliding surface, which are recursive. Both sliding surfaces converge to zero in turn. And the initial value of the integral sliding surface is designed to eliminate the reaching phase. Besides, the adaptive gain adjustment method is presented to make an estimate of the unknown upper bound of disturbances. It is proved that the attitude control system has the finite-time convergence and the attitude tracking error will converge to zero. A quadrotor attitude test platform is built to evaluate the proposed algorithm. For comparison, twisting controller (TC), cascade PID, and active disturbance rejection control (ADRC) algorithms are introduced. Ultimately, the efficiency and feasibility of the proposed algorithm are verified by simulation and experimental results.This paper presents a closed-loop time-varying continuous-time recursive subspace-based prediction method utilizing principle angles rotation. A simple linear mapping can be provided by generalized Poisson moment functionals, which can deal with the time-derivatives problems of input-output Hankel matrices. The parity space employed in fault detection field is adopted instead of using the observable subspace. The system matrices are estimated consistently by the instrumental variable method and principal component analysis, which solves the identification problems of biased results for the system operating in closed-loop with a feedback controller. The system matrices are predicted by the principle angles rotation of the signal subspaces spanned from the extended observability matrices. The effectiveness of the proposed method is illustrated by the numerical simulations and real applications.In the attempt to harmonize practices and to create a national CAR T-cells patient follow-up care logbook, the Francophone Society of Bone Marrow Transplantation and Cellular Therapy (SFGM-TC) worked on the design of a common national care logbook during the eleventh annual workshops of practice harmonization. The purpose of this logbook was to explain the different phases of the treatment with CAR T-cells and to allow useful monitoring for the patient. This logbook can be also helpful for the different healthcare professionals involved in the patient care. This national logbook will provide important information to the patients undergoing CAR T-cell therapy. In addition to the information booklets already in use, the national logbook simplifies patient follow-up by recording various medical appointments and possible adverse events. This work has been based on tools that had already been put in place by different CAR T-cell centers. This national logbook represents a common "base" and is prepared in the form of index cards to be classified using dividers in a binder. Therefore, the national care logbook will be adaptable for local procedures and guidelines of each center.Asymmetric CC bond formation catalyzed by aldolases requires the supplementation of nucleophiles and receptors in the reaction medium. However, aldol condensation using a single ketone as substrate has never been reported yet. In this work, we discovered that d-fructose-6-phosphate aldolase (FSA) could convert two 1-hydroxyalkanones, such as hydroxyacetone (HA) and 1-hydroxy-2-butanone, into two type of diketones. The initial product synthesis rate increased 3-fold and the yield reached to 56 %, when pure oxygen was directly inputted into the reaction medium. The results confirmed that oxygen participated in this reaction and hydrogen peroxide was generated. Metal ions Co2+ and Cu2+ remarkably increased the conversion yield compared with the control. For this reaction mechanism, we conjectured that HA may be oxidized to methylglyoxal by enzyme FSA in the presence of oxygen in the medium, and then FSA catalyzes the aldol addition between HA and its oxidative product MG to form diketone products. The obtained diketones could serve as important precursors for preparing furans and pyrroles.