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Backstepping approach for design of PID controller with guaranteed performance for micro-air UAV

Control Theory and Technology 2020年第1期18卷 19-33页

作者： yusuf kartal Patrik KOLARIC Victor LOPEZ Atilla DOGAN Frank LEWIS University of Texas at Arlington Research Institute Forth Worth 76118TXU.S.A. ZDepartment of Mechanical and Aerospace Engineering University of Texas at ArlingtonTKU.S.A.

Flight controllers for micro-air UAVs are generally designed using proportional-integral-derivative(PID)methods,where the tuning of gains is difficult and time-consuming,and performance is not guaranteed.In this paper,we develop a rigorous method based on the sliding mode analysis and nonlinear backstepping to design a PID controller with guaranteed performance.This technique provides the structure and gains for the PID controller,such that a robust and fast response of the UAV(unmanned aerial vehicle)for trajectory tracking is achieved.First,the second-order sliding variable errors are used in a rigorous nonlinear backstepping design to obtain guaranteed performance for the nonlinear UAV dynamics.Then,using a small angle approximation and rigorous geometric manipulations,this nonlinear design is converted into a PID controller whose structure is naturally determined through the backstepping procedure.PID gains that guarantee robust UAV performance are finally computed from the sliding mode gains and from stabilizing gains for tracking error dynamics.We prove that the desired Euler angles of the inner attitude controller loop are related to the dynamics of the outer backstepping tracker loop by inverse kinematics,which provides a seamless connection with existing built-in UAV attitude controllers.We implement the proposed method on actual UAV,and experimental flight tests prove the validity of these algorithms.It is seen that our PID design procedure yields tighter UAV performance than an existing popular PID control technique.

关键词： Quadrotor nonlinear controller trajectory tracking backstepping controller inverse kinematics

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Metabologenomics and network pharmacology to understand the molecular mechanism of cancer research

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World Journal of Clinical Cases 2024年第3期12卷 474-478页

作者： yusuf Tutar Department of Basic Pharmaceutical Sciences Faculty of PharmacyDivision of BiochemistryUniversity of Health SciencesIstanbul 34668Turkey Health Sciences Faculty Recep Tayyip Erdogan UniversityRize 53350Turkey Molecular Oncology Division Health Sciences InstitutesUniversity of Health SciencesIstanbul 34668Turkey Molecular Medicine Division Health Sciences InstitutesUniversity of Health SciencesIstanbul 34668Turkey

In this editorial I comment on the article“Network pharmacological and molecular docking study of the effect of Liu-Wei-Bu-Qi capsule on lung cancer”published in the recent issue of the World Journal of Clinical Cases 2023 November 6;11(31):7593-7609.Almost all living forms are able to manufacture particular chemicals-metabolites that enable them to differentiate themselves from one another and to overcome the unique obstacles they encounter in their natural habitats.Numerous methods for chemical warfare,communication,nutrition acquisition,and stress prevention are made possible by these specialized metabolites.Metabolomics is a popular technique for collecting direct mea-surements of metabolic activity from many biological systems.However,con-fusing metabolite identification is a typical issue,and biochemical interpretation is frequently constrained by imprecise and erroneous genome-based estimates of enzyme activity.Metabolite annotation and gene integration uses a biochemical reaction network to obtain a metabolite-gene association so called metabologe-nomics.This network uses an approach that emphasizes metabolite-gene consensus via biochemical processes.Combining metabolomics and genomics data is beneficial.Furthermore,computer networking proposes that using meta-bolomics data may improve annotations in sequenced species and provide testable hypotheses for specific biochemical processes.CONCLUSION The genome and metabolites of biological organisms are not fully characterized with current technologies.However,increasing high-throughput metabolomics and genomics data provide promising generation of paired data sets to understand the molecular mechanism of biochemical processes as well as determining targets for pharmaceutical drug design.Contemporary network infrastructures to integrate omics analysis can provide molecular mechanism of biochemical pathways.Furthermore,clinical data may be integrated to gene expression–metabolite expression by system genetics approach.Calculating pair-wise correlations and weig

关键词： Network pharmacology Metabologenomics Genome Pathways Cancer

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Deciphering the implications of MAFLD and MASLD definitions in the NAFLD population:results from a single-center biopsy study

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Chinese Medical Journal 2024年第5期137卷 616-618页

作者： Eda Kaya yusuf Yilmaz Department of Internal Medicine Ruhr University BochumUniversity Hospital Knappschaftskrankenhaus BochumBochum 44892Germany Institute of Gastroenterology Marmara Universityİstanbul 34840Turkey Department of Gastroenterology School of MedicineRecep Tayyip Erdoğan UniversityRize 53100Turkey

To the Editor:The nomenclature for steatotic liver disease has been a topic of debate since 2020.The conventional expression,non-alcoholic fatty liver disease(NAFLD),was introduced in 1980 to describe the occurrence of steatosis in the absence of other hepatic diseases.However,in recent years,there has been a growing movement to phase out and retire this term.In 2020,Eslam et al^([1])proposed a new definition—metabolic(dysfunction)associated fatty liver disease(MAFLD)—redefining the disease to include hepatic steatosis along with other factors such as diabetes,obesity,overweight,or meeting the criteria for metabolic dysfunction.

关键词： NAFLD liver MAF

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Ipsilateral fractures of the acromion and coracoid processes of the scapula

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Chinese Journal of Traumatology 2024年第2期27卷 121-124页

作者： yusuf Omar Qalib Srinivasa Reddy Medagam Sunil Dachepalli Department of Orthopaedics The Fifth Affiliated Hospital of Sun Yat-Sen UniversityZhuhai519000GuangdongChina Department of Orthopaedics Yashoda HospitalsSomajigudaHyderabadTelangana500082India

A fracture of the acromion and coracoid processes of scapula is rarely seen in the outpatient clinic,due to the acromion's anatomical position and shape,as well as the strong ligaments and muscles that are attached to it.These fractures are caused by either direct or indirect high-energy trauma injuries to the shoulder joint,leading to severe pain and a grossly restricted range of motion.Several acromial classifications were reported,but this type of longitudinal plane fracture of the acromion process in our case is yet to be described in the current literature.We present a rare combination of the coracoid process and unstable acromion bony projection fractures that have not previously been noted for this type of fracture.The closest to this is Kuhn's type III classification.A 51-year-old male presented to our emergency department complaining of the right shoulder pain and difficulty raising his arm following a 2-wheeler accident.The patient was managed by open reduction and internal fixation with 3 cannulated cancellous screws fixation and progressed well with no postoperative complications.He was asymptomatic postoperatively and regained full range of motion after 4 months.

关键词： Acromion Scapular fracture Coracoid process

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A Comparative Study of Metaheuristic Optimization Algorithms for Solving Real-World Engineering Design Problems

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Computer Modeling in Engineering & Sciences 2024年第4期139卷 1039-1094页

作者： Elif Varol Altay Osman Altay yusuf Ovik Department of Software Engineering Manisa Celal Bayar UniversityManisa45400Turkey

Real-world engineering design problems with complex objective functions under some constraints are relatively difficult problems to solve.Such design problems are widely experienced in many engineering fields,such as industry,automotive,construction,machinery,and interdisciplinary research.However,there are established optimization techniques that have shown effectiveness in addressing these types of issues.This research paper gives a comparative study of the implementation of seventeen new metaheuristic methods in order to optimize twelve distinct engineering design issues.The algorithms used in the study are listed as:transient search optimization(TSO),equilibrium optimizer(EO),grey wolf optimizer(GWO),moth-flame optimization(MFO),whale optimization algorithm(WOA),slimemould algorithm(SMA),harris hawks optimization(HHO),chimp optimization algorithm(COA),coot optimization algorithm(COOT),multi-verse optimization(MVO),arithmetic optimization algorithm(AOA),aquila optimizer(AO),sine cosine algorithm(SCA),smell agent optimization(SAO),and seagull optimization algorithm(SOA),pelican optimization algorithm(POA),and coati optimization algorithm(CA).As far as we know,there is no comparative analysis of recent and popular methods against the concrete conditions of real-world engineering problems.Hence,a remarkable research guideline is presented in the study for researchersworking in the fields of engineering and artificial intelligence,especiallywhen applying the optimization methods that have emerged recently.Future research can rely on this work for a literature search on comparisons of metaheuristic optimization methods in real-world problems under similar conditions.

关键词： Metaheuristic optimization algorithms real-world engineering design problems multidisciplinary design optimization problems

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On the interaction phenomena to the nonlinear generalized Hietarinta-type equation

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Journal of Ocean Engineering and Science 2024年第1期9卷 89-97页

作者： Usman Younas T.A.Sulaiman Jingli Ren A.yusuf State Key Laboratory of Power Grid Environmental Protection/Henan Academy of Big Data Zhengzhou UniversityZhengzhou 450001China Faculty of Science Federal University DutseJigawaNigeria Department of Computer Engineering Biruni University IstanbulTurkey

In this paper,we describe the nonlinear behavior of a generalized fourth-order Hietarinta-type equa-tion for dispersive waves in(2+1)dimension.The various wave formations are retrieved by using Hirota’s bilinear method(HBM)and various test function perspectives.The Hirota method is a widely used and robust mathematical tool for finding soliton solutions of nonlinear partial differential equa-tions(NLPDEs)in a variety of disciplines like mathematical physics,nonlinear dynamics,oceanography,engineering sciences,and others requires bilinearization of nonlinear PDEs.The different wave structures in the forms of new breather,lump-periodic,rogue waves,and two-wave solutions are recovered.In addi-tion,the physical behavior of the acquired solutions is illustrated in three-dimensional,two-dimensional,density,and contour profiles by the assistance of suitable parameters.Based on the obtained results,we can assert that the employed methodology is straightforward,dynamic,highly efficient,and will serve as a valuable tool for discussing complex issues in a diversity of domains specifically ocean and coastal engineering.We have also made an important first step in understanding the structure and physical be-havior of complex structures with our findings here.We believe this research is timely and relevant to a wide range of engineering modelers.The results obtained are useful for comprehending the fundamental scenarios of nonlinear sciences.

关键词： Hirota’s bilinear method Lump-periodic solutions Breather waves Rouge waves Multi-waves

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New lump interaction complexitons to the(2+1)-dimensional Korteweg-de Vries equation with electrostatic wave potential in plasmas

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Journal of Ocean Engineering and Science 2024年第2期9卷 173-177页

作者： Tukur Abdulkadir Sulaiman Abdullahi yusuf Alrazi Abdeljabbar Mustafa Bayram Department of Computer Engineering Biruni UniversityIstanbulTurkey Department of Mathematics Federal University DutseJigawaNigeria Department of Mathematics Near East University TRNCMersin 10Turkey Department of Mathematics Khalifa University for Science and TechnologyAbu DhabiUAE

A soliton is a packet of self-reinforcing waves that maintains its structure when moving at a constant speed.Solitons are caused by the cancellation of the medium’s nonlinear and dispersive effects.In plas-mas,the bilinear form of Hirota will be utilized to investigate the(2+1)-dimensional Korteweg-de Vries equation with electrostatic wave potential.Solutions for complexiton lump interaction have been devel-oped.To throw further light on the physical qualities of the recorded data,certain 3-dimensional and contour plots are presented to illustrate the interaction elements of these solutions.

关键词： (2+1)-dimensional Korteweg-de Vries equation Multi waves solutions Brether waves solutions Numerical simulations

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The use of fluoroscopy for detecting hypertensive lung edema due to prosthetic valve dysfunction: a case report

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World Journal of Emergency Medicine 2024年第4期15卷 313-315页

作者： yusuf Kantar Necmi Baykan Emergency Department Akçaabat Haçkalibaba State HospitalTrabzon 61060Turkiye Emergency Department Kayseri City HospitalKayseri 38080Turkiye

Heart valve diseases affect more than one hundred million people around the world,which are a serious cause of illness and mortality.[1]Among the valve diseases,mitral valve insufficiency ranks second in the list of valve diseases requiring surgical repair in Europe.[2]Prosthetic valve replacement is the standard treatment in cases where repair is not sufficient for valve diseases.[3]Mechanical and bioprosthetic valves can be preferred for replacement,mechanical valves are more durable and require lifelong use of anticoagulants.The disadvantage of bioprosthetic valves is early degeneration,and infective reoperation is required due to the formation of endocarditis.[4-5]The risk of thromboembolism,lifetime anticoagulant use and complications related to anticoagulation remain disadvantages of valve surgery.[3]The most important complication requiring urgent intervention is valve dysfunction due to thrombosis.It usually occurs due to inappropriate use of the anticoagulants.[6]Surgical treatment is used for severe obstructions,such as thrombi larger than 10 mm.Thrombolytic therapy can be applied in small thrombi and in cases where surgical intervention is risky.

关键词： valve disadvantage lifetime

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Global black soil distribution

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Frontiers of Agricultural Science and Engineering 2024年第2期11卷 271-281页

作者： Yuxin TONG Marcos E.ANGELINI yusuf YIGINI Isabel LUOTTO Global Soil Partnership Land and Water Division Food and Agriculture Organization of the United Nations

Black soils, characterized by their thick, dark horizons enriched with organic matter, epitomize highly fertile soils. However, their fertility precipitates intense land use, engendering challenges such as soil erosion, nutrient depletion, pollution, compaction, salinization, and acidification. Notably, these soils are significant contributors to global greenhouse gas emissions, primarily due to substantial losses in soil organic carbon. Despite these challenges, black soils are pivotal for global food production. This paper delineates the implementation of digital soil mapping for the global cartography of black soils and human interference on these soils. Predominantly distributed in Eastern Europe, Central and Eastern Asia, and North and South America, black soils cover an approximate area of 725 Mha, with the Russian Federation,Kazakhstan, and China collectively have over half of this area. Agriculturally,these soils underpin significant proportions of global crop yields, producing 66% of sunflower, 30% of wheat, and 26% of potato outputs. The organic carbon content in the upper 30 cm of these soils is estimated at 56 Gt.Sustainable management of black soils is imperative for ensuring food security and addressing climate change on a global scale.

关键词： Black soils distribution map food security soil organic carbon

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The role of disaggregated renewable energy consumption on income and load capacity factor:A novel inclusive sustainable growth approach

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Geoscience Frontiers 2024年第1期15卷 39-49页

作者： Ugur Korkut Pata Qiang Wang Mustafa Tevfik kartal Arshian Sharif Osmaniye Korkut Ata University Faculty of Economics and Administrative SciencesDepartment of EconomicsMerkez80000 OsmaniyeTurkey Adnan Kassar School of Business Lebanese American UniversityBeirutLebanon School of Economics and Management China University of Petroleum(East China)Qingdao 266580People’s Republic of China Borsa Istanbul Strategic Planning Financial Reportingand Investor Relations Directorate34467İstanbulTurkey Sunway University Department of Economics&Finance Subang JayaMalaysia University of Economics and Human Sciences in Warsaw WarsawPoland

Stimulating renewable energy consumption is a major focus of the Sustainable Development Goals in combating climate change and global warming.The International Energy Agency estimates that renewable energy consumption should be doubled to achieve the COP21 targets.In this context,the question is whether renewable energy types promote the improvement of ecological quality and economic growth.Most studies have investigated the influence of renewable energy on ecological pollution using carbon dioxide emissions or ecological footprint indicators,which only represent the pollution caused by human consumption patterns,and these indicators neglect the supply side.Motivated by this point,this study uses the LCF(Load Capacity Factor)as an environmental indicator and examines the causality relationship among different types of renewable energy,income,and environmental quality in the USA,while also incorporating employment and capital stock into the analysis.Through using the Fourier causality test with the wavelet-decomposed series,the study explores for the validity of the renewable energy-based growth hypothesis and answers to the question of whether there is a causal effect of renewable energy types on environmental quality.The results demonstrate that there is a bidirectional causality between total renewable energy,wood,biomass,and economic growth as well as between these renewable energy types and the LCF.

关键词： Load capacity factor Economic growth Renewable energy Fourier approximation Emvironmental quality

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