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Output feedback adaptive super twisting sliding mode control for quadrotor UAvs

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Control Theory and Technology 2024年第1期22卷 92-105页

作者： Oscar Salas-Peña jesus DeLeón-Morales Susana v.Gutiérrez-Martínez École Centrale de Nantes-LS2N UMR 6004 CNRS44300NantesFrance Facultad de Ingeniería Mecánica y Eléctrica Universidad Autónoma de Nuevo León66451San Nicolás de Los GarzaMexico

In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAv is addressed, in presence of bounded external disturbances and parametric uncertainties. The high order sliding mode observer is designed for estimating the linear and angular speed in order to implement the proposed scheme. Furthermore, a Lyapunov function is introduced to design the controller with the adaptation law, whereas an analysis of finite time convergence towards to zero is provided, where sufficient conditions are obtained. Regarding previous works from literature, one important advantage of proposed strategy is that the gains of control are parameterized in terms of only one adaptive parameter, which reduces the control effort by avoiding gain overestimation. Numerical simulations for tracking control of the quadrotor are given to show the performance of proposed adaptive control–observer scheme.

关键词： Adaptive super twisting controller High-order sliding modes observer UAv

Global prevalence and gender inequalities in at least 60 min of self-reported moderate-to-vigorous physical activity 1 or more days per week:An analysis with 707,616 adolescents

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Journal of Sport and Health Science 2024年第5期13卷 709-716页

作者： Raphael H.O.Araujo AndrúO.Werneck Clarice L.Martins Luciana L.Barboza Rafael M.Tassitano Nicolas Aguilar-Farias Gilmar M.jesus Robinson Ramírez-véelez Riki Tesler Adewale L.Oyeyemi Ellen C.M.Silva Robert G.Weaver Mark S.Tremblay Javier Brazo-Sayavera Grégore I.Mielke Danilo R.P.Silva Graduation Program in Health Sciences Londrina State University(UEL)Londrina 86057-970Brazil Center for Epidemiological Research in Nutrition and Health Department of NutritionSchool of Public HealthUniversidade de Sao Paulo(USP)Sao Paulo 01246-904Brazil Department of Physical Education Federal University of ParaıbaParaıba 58051-900Brazil Research Centre of Physical Activity Health and LeisureFaculty of SportsLaboratory for Integrative and Translational Research in Population Health(ITR)University of PortoPorto 4500Portugal Postgraduate Program in Physical Education University of BrasıliaBrasılia 70910-900Brazil Department of Kinesiology and Community Health University of Illinois at Urbana-ChampaignChampaignIL 61801-3841USA Department of Physical Education Sports and RecreationUniversidad de La FronteraTemuco 4680000Chile Department of Health State University of Feira de SantanaFeira de Santana 44036-900Brazil Navarrabiomed Hospital Universitario de Navarra(HUN)Navarra Institute for Health Research(IdiSNA)Universidad Publica de Navarra(UPNA)Pamplona 31006Spain Facultad de Ciencias de la Educacion Unidad Central del Valle del Cauca(UCEVA)TuluaValle del Cauca 763022Colombia Health Management Department Faculty of Heath sciencesAriel UniversityAriel 40700Israel College of Health Solutions Arizona State UniversityPhoenixAZ 85004USA Arnold School of Public Health University of South CarolinaColumbiaSC 29208USA Healthy Active Living and Obesity Research Group Children’s Hospital of Eastern Ontario Research InstituteOttawaON K1H 8L1Canada Department of Pediatrics University of OttawaOttawaON K1H 8L1Canada Department of Health Sciences Carleton UniversityOttawaON K1S 5B6Canada Department of Sports and Computer Science Universidad Pablo de Olavide(UPO)Seville 41013Spain Centro Universitario Regional Noreste Universidad de la RepublicaRivera 40000Uruguay School of Public Health The University of QueenslandBrisbaneQLD 4006Australia Department of Physical Education

Background:Guidelines recommend that adolescents should accumulate an average of 60 min per day of moderate-to-vigorous physical activity(MvPA).However,using only this cut-off could hide important *** instance,from a population-level point of view,increasing physical activity for those with no or low physical activity could provide more health benefits than increasing physical activity for those with intermediate ***,including a more sensitive cut-point of≥1 days per week could be an additional strategy for identifying those with low access/opportunities for physical activity ***,the current study aims to estimate the prevalence of≥60 min of MvPA≥1 days per week among adolescents globally,and to describe any relevant gender ***:We used representative datasets from 146 countries/territories collected between 2003 and *** was *** were grouped into younger(≤14 years old)and older(>14 years old)*** Poisson regression models were used to identify the relative differences in≥60 min of MvPA≥1 days per week between boys and girls,and random-effects meta-analysis models were used to identify the pooled *** were stratified by country and ***:Approximately 80%of both younger and older adolescents reported≥60 min of MvPA≥1 days per *** prevalence was≥94%in Europe and Central Asia and North America,while the estimates for the other regions werevalence of≥60 min of MvPA≥1 days per week was higher among boys than girls,with the largest differences occurring among the oldest adolescents(Prevalence ratio_(≤14y)=1.04(95%confidence interval(95%CI)):1.03-1.04)*** ratio_(>14y)=1.09(95%CI:1.08-1.10)).Conclusion:Approximately 8 out of 10 adolescents reported accumulating≥60 min of MvPA≥1 days per week,with notable differences between *** differences were observed in several countries,especially among the oldest *** fo

关键词： Global School-based Student Health Survey Health Behaviour Among School-aged Children survey Inequality Surveillance Youth

A comprehensive review of genetic causes of obesity

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World Journal of Pediatrics 2024年第1期20卷 26-39页

作者： Marcio Jose Concepcion-Zavaleta Juan Eduardo Quiroz-Aldave Maria del Carmen Durand-vasquez Elman Rolando Gamarra-Osorio Juan del Carmen valencia de la Cruz Claudia Mercedes Barrueto-Callirgos Susan Luciana Puelles-Leon Elena de jesus Alvarado-Leon Frans Leiva-Cabrera Francisca Elena Zavaleta-Gutierrez Luis Alberto Concepcion-Urteaga Jose Paz-Ibarra Universidad Cientifica del Sur Bolivar 2150 AvenuePueblo Libre15084LimaPeru Division of Medicine Hospital de Apoyo ChepénChepenPeru Division of Family Medicine Hospital de Apoyo ChepénChepenPeru Division of Endocrinology Hospital Victor Lazarte EchegarayTrujilloPeru Division of Pediatrics Hospital de Apoyo ChepenChepenPeru Division of Internal Medicine Hospital de Apoyo ChepenChepenPeru Division of Genetics Universidad Nacional de TrujilloTrujilloPeru Division of Neonatology Hospital Belen de TrujilloTrujilloPeru Division of Internal Medicine Universidad Nacional de TrujilloTrujilloPeru Department of Medicine School of MedicineUniversidad Nacional Mayor de San MarcosLimaPeru

Background Obesity is a multifactorial chronic disease with a high,increasing worldwide *** causes account for 7%of the cases in children with extreme *** sources This narrative review was conducted by searching for papers published in the PubMed/MEDLINE,Embase and SciELO databases and included 161 *** search used the following search terms:"obesity","obesity and genetics","leptin","Prader-Willi syndrome",and"melanocortins".The types of studies included were systematic reviews,clinical trials,prospective cohort studies,cross-sectional and prospective studies,narrative reviews,and case *** The leptin-melanocortin pathway is primarily responsible for the regulation of appetite and body ***,several important aspects of the pathophysiology of obesity remain *** causes of obesity can be grouped into syndromic,monogenic,and polygenic causes and should be assessed in children with extreme obesity before the age of 5 years,hyperphagia,or a family history of extreme obesity.A microarray study,an analysis of the melanocortin type 4 receptor gene mutations and leptin levels should be performed for this *** are three therapeutic levels:lifestyle modifications,pharmacological treatment,and bariatric *** Genetic study technologies are in constant development;however,we are still far from having a personalized approach to genetic causes of obesity.A significant proportion of the affected individuals are associated with genetic causes;however,there are still barriers to its approach,as it continues to be underdiagnosed.

关键词： Leptin Melanocortin Obesity Prader-Willi syndrome Precision medicine

In vitro Evaluation with 5SBF of Alloy ASTM F75 Thermally Treated with Wollastonite

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Journal of Wuhan University of Technology(Materials Science) 2016年第3期31卷 487-490页

作者： MUNIZ Rodrigo ORTIZ Juan LUNA jesus MARTINEZ jesus RODRIGEZ Nelly HERNANDEZ Marco OROZCO Pilar EQUIHUA Fabian Faculty of Engineering Autonomous University of CoahuilaCUSaltilloMexico Department of Metal Mechanics Technological Institute of SaltilloMexico Faculty of Engineering Mechanical and Electrical Autonomous University of Nuevo LeonMexico Faculty of Engineering Autonomous University of Zacatecas Faculty of Mechanical and Electrical Engineering Autonomous University of Coahuila North UnitMonclovaMexico

Samples of a cobalt-based alloy that underwent a surface treatment were evaluated. The samples, which were obtained by casting alloy ASTM F 75, were ground and polished on one side until a mirror finish was obtained. The samples were encapsulated in wollastonite （W） using uniaxial pressure, treated at 1 220 ~C for 1 h and subsequently tempered in water. The characterisation of the sample indicated that part of the ceramic encapsulating material was mechanically incorporated on the metallic surface by growth of the oxide layer of the alloy. After thermal treatment, a series of specimens were submerged in a solution with 5-fold simulated body fluid （5SBF） for 3, 5 and 21 days. Characterisation by scanning electron microscopy （SEM）, energy dispersive spectroscopy （EDS） and X-ray diffraction （XRD） indicated nucleation and growth of a homogenous layer of apatite, beginning on the third day when the sample was submerged.

关键词： cobalt-based alloy wollastonite 5SBF apatite.

Photometric investigation and orbital period analyses of the W UMa binaries FP Lyn, Fv Cvn and v354 UMa

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Research in Astronomy and Astrophysics 2019年第7期19卷 103-114页

作者： Raul Michel Qi-Qi Xia jesus Higuera1 Observatorio Astronomico Nacional Instituto de AstronomíaUniversidad Nacional Autońoma de MéxicoApartado Postal 877EnsenadaB.C.22830Mexico Shandong Provincial Key Laboratory of Optical Astronomy and Solar-Terrestrial Environment Institute of Space SciencesShandong UniversityWeihai 264209China

New light curves and photometric solutions of FP Lyn,Fv Cvn and v354 UMa are *** found that these three systems are W-subtype shallow contact *** addition,it is obvious that the light curves of FP Lyn and v354 UMa are ***,a hot spot was added on the primary star of FP Lyn and a dark spot was added on the secondary star of v354 *** the same time,we added a third light to the photometric solution of FP Lyn for the final *** obtained mass ratios and fill-out factors are q = 1.153 and f = 13.4% for FP Lyn,q = 1.075 and f = 4.6% for Fv Cvn,and q = 3.623 and f = 10.7% for v354 UMa *** investigations of orbital period for these three systems indicate that the periods are *** Lyn and v354 UMa were discovered to have secularly increasing components with rates of dp/dt = 4.19 ×10^-7 dyr^-1 and dp/dt = 7.70 ×10^-7 dyr^-1 respectively,which are feasibly caused by conservative mass transfer from the less massive component to the more massive *** addition,some variable components were discovered for Fv Cvn,including a rate of dp/dt =-1.13 ×10^-6 dyr^-1 accompanied by a cyclic oscillation with amplitude and period of 0.0069 d and 10.65 yr *** most likely explanation for the long-term decrease is angular momentum *** existence of an additional star is the most plausible explanation for the periodic variation.

关键词： stars:binaries:close stars:binaries:eclipsing stars:individual (FP Lyn, Fv Cvn and v354 UMa)

visible Light Excitable SCN^- Selective Fluorescence Probe Derived from Thiophene

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Chinese Journal of Chemistry 2015年第10期33卷 1173-1177页

作者： Sudipta Das Sisir Lohar jesus Sanmartin Matalobos Debasis Das Department of Chemistry The University of Burdwan Burdwan 713104 West Bengal India Departamento de Qu'tmicalnorg'anica Facultade de Qutmica Avda. Das Ciencias s/n 15782 Santiago de Compostela Spain

An efficient fluorescence probe, 4-methyl-2,6-bis（（thiophen-2-ylmethylimino）methyl）phenol （DFPTMA） and its SCN adduct has been synthesized and characterized by different spectroscopic techniques like ^1H NMR,^13C NMR, QTOF-MS ES^＋, Uv-vis and FTIR spectroscopy. Single crystal X-ray structure of DFPTMA is reported. In presence of SCN-, DFPTMA exhibits significant fluorescence enhancement （λEx, 455 nm, λEm, 504 nm） in aqueous methanol （water-methanol, 1 ： 4, v/v, 0.1 mol/L HEPES buffer, pH 7.4）. Common bio-relevant anions viz. CH3COO^-, NO2, NO7, Cl^-, Br^-, I^-, SO4^2-, HSO4^-, N3^-, HAsO4^2-, Cr2O7^2-, H2PO4, ClO4^-, NCO^-, CN^-, CO3^2-, F^-, PO4^3-, S2-, HS- do not interfere in the recognition of SCN-. Lowest detection limit for SCN^- is 0.88 μmol/L with response time 〈5 min. The SCN assisted enhancement in emission intensity may be attributed to the formation of H-bond which enhances the rigidity of the molecular assembly.

关键词： visible light excitation SCN^- fluorescence thiophene derivative

Significance of the balance between intracellular glutathione and polyethylene glycol for successful release of small interfering RNA from gold nanoparticles

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Nano Research 2015年第10期8卷 3281-3292页

作者： Mark McCully Yulan Hernandez Joao Conde Pedro v. Baptista jesus M. de la Fuente Andrew Hursthouse David Stirling Catherine C. Berry CentreforCellEngineering UniversityofGlasgowGlasgowG128QQScotlandUK InstituteofNanoscienceofAragon UniversityofZaragozaZaragoza50018Spain MassachusettsInstituteofTechnology InstituteforMedicalEngineeringandScienceHarvard-MITDivisionforHealthSciencesandTechnologyCambridgeMassachusetts02139USA UCIBIO DepartamentodeCienciasdaVidaFaculdadedeCienciaseTecnologiaUniversidadeNovadeLisboaCampusdeCaparicaCaparica2829-516Portugal InstitutodeCienciadeMaterialesdeAragon(ICMA) CSIC-UniversidaddeZaragozac/PedroCerbuna12Zaragoza50009Spain InstituteofNanoBiomedicineandEngineering KeyLaboratoryforThinFilmandMicrofabricationTechnologyoftheMinistryofEducationResearchInstituteofTranslationMedicineShanghaiJiaoTongUniversityDongchuanRoad800Shanghai200240China SchoolofScience UniversityoftheWestofScotlandPaisleyPA12BEScotlandUK

The therapeutic promise of small interfering RNAs （siRNAs） for specific gene silencing is dependent on the successful delivery of functional siRNAs to the cytoplasm. Their conjugation to an established delivery platform, such as gold nanoparticles, offers tremendous potential for treating diseases and advancing our understanding of cellular processes. Their success or failure is dependent on both the uptake of the nanoparticles into the cells and subsequent intracellular release of the functional siRNA. In this study, utilizing gold nanoparticle siRNA-mediated delivery against C-MYC, we aimed to determine if we could achieve knockdown in a cancer cell line with low levels of intracellular glutathione, and determine the influence, if any, of polyethylene glycol （PEG） ligand density on knockdown, with a view to determining the optimal nanoparticle design to achieve C-MYC knockdown. We demonstrate that, regardless of the PEG density, knockdown in cells with relatively low glutathione levels can be achieved, as well as the possible effect of steric hindrance of PEG on the availability of the siRNA for cleavage in the intracellular environment. Gold nanoparticle uptake was demonstrated via transmission electron microscopy and mass spectroscopy, while knockdown was determined at the protein and physiological levels （cells in S-phase） by in-cell westerns and BrdU incorporation, respectively.

关键词： gold nanoparticles PEG glutathione siRNA drug delivery

Rechargeable Na-MnO_(2) battery with modified cell chemistry

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Journal of Energy Chemistry 2023年第9期84卷 414-423页

作者： Sirugaloor Thangavel Senthilkumar Rebeca Marcilla Youngsik Kim jesus Palma Mani Ulaganathan Jeong-Sun Park School of Energy&Chemical Engineering Ulsan National Institute of Science and Technology(UNIST)Ulsan 689-798Republic of Korea Electrochemical Processes Unit IMDEA Energy InstituteAvda.Ramón de La Sagra 328935MóstolesSpain Center for Advanced Materials Research Research Institute of Science and TechnologyUniversity of SharjahP.O.Box 27272SharjahUnited Arab Emirates Energy Materials and Devices Lab 4TOONE CorporationUNIST-gil 50Ulsan 689-798Republic of Korea Department of Sciences Amrita School of Physical SciencesAmrita Vishwa VidyapeethamCoimbatore 641112India

High voltage,high energy density,nominal cycle life,and low cost are the most critical requirements of rechargeable batteries for their widespread energy storage applications in electric vehicles and renewable energy ***-MnO_(2) battery could be a low-cost contender,but it suffers extensively from its low cell voltage and poor *** this study,we modified the conventional cell structure of Na-MnO_(2) battery and established altered cell chemistry through a hybrid electrochemical process consisting of Na striping/plating at the anode and Zn^(2+) insertion/de-insertion along with MnO_(2) dissolution/deposition at the *** the modification,Na-MnO_(2) battery exhibits a discharge capacity of 267.10 mA h/g and a cell voltage of 3.30 v(***/Na^(+)),resulting in a high specific energy density of 881.43 Wh/*** 300 cycles,the battery retains 98% of its first-cycle discharge capacity with100% coulombic ***,Na metal-free battery assembled using sodium biphenyl as a safer anode also delivers an excellent energy density of 810.0 Wh/*** work could provide a feasible method to develop an advanced Na-MnO_(2) battery for real-time energy storage applications.

关键词： Hybrid battery Sodium metal Sodium biphenyl High cell voltage Manganese dioxide battery Modified cell chemistry

Morphological Characterization and Hydrodynamic Behavior of Shortfin Mako Shark(Isurus oxyrinchus)Dorsal Fin Denticles

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Journal of Bionic Engineering 2019年第4期16卷 730-741页

作者： Fernandez-Waid Patricia Diez Guzman Bidaguren Inigo Izagirre Urtzi Blanco jesus Maria Soto Manu Department of Zoology and Animal Cell Biology Research Centre for Experimental Marine Biology and Biotechnology(PiE-UP V/EHU)University of the Basque CountryBilbao and Areatza z/gPlentzia 48620BizkaiaSpain Marine Research Division AZTITxatxarramendi s/n Sukarrieta 48395BizkaiaSpain Department of Nuclear Engineering and Fluid Mechanics School of Engineering(UP V/EHU)University of the Basque CountryPlaza lngeniero Torres Quevedo 148013 BilbaoBizkaiaSpain

The shortfin mako shark(Isurus oxyrinchus)is one of the fastest marine fishes,reaching speeds of up to 70 km·h^-*** speed is related to the skin surface design composed of dermal *** vary in size and shape according to placement on the body and minimize turbulence around the *** objective of this study is to analyze the interaction between seawater flow and denticles on the dorsal ***-resolution microscopy(scanning electron microscopy and confocal microscopy)were used to measure defined parts of the dermal *** measurements,along with ratios based on length-to-width define three morphologies(rounded,semi-rounded,long)that were 3D *** fluid dynamics simulated fluid passage over reconstructed denticles and describe hy-drodynamic efficiency under different *** increase in angle of inclination produced a relevant increase in the drag coefficient,especially for high velocity *** lowest drag coefficient values were found in long and semi-rounded,followed by rounded *** hydrodynamic behavior of shark skin demonstrates a relation to the morphological characteristics of dermal denticles on the dorsal *** is concluded that the best hydroefficiency relies on the rounded morphology and may serve to design hydrodynamically efficient surfaces or manmade assemblies.

关键词： denticles hydrodynamic mako shark computational fluid dynamics