Adaptive backstepping repetitive learning control design for nonlinear discrete‐time systems with periodic uncertainties

This paper addresses a tracking problem for uncertain nonlinear discrete‐time systems in which the uncertainties, including parametric uncertainty and external disturbance, are periodic with known periodicity. Repetitive learning control (RLC) is an effective tool to deal with periodic unknown components. By using the backstepping procedures, an adaptive RLC law with periodic parameter estimation is designed. The overparameterization problem is overcome by postponing the parameter estimation to the last backstepping step, which could not be easily solved in robust adaptive control. It is shown that the proposed adaptive RLC law without overparameterization can guarantee the perfect tracking and boundedness of the states of the whole closed‐loop systems in presence of periodic uncertainties. In addition, the effectiveness of the developed controller is demonstrated by an implementation example on a single‐link flexible‐joint robot. Copyright © 2014 John Wiley & Sons, Ltd.     

Expression of Main Toll-Like Receptors in Patients with Different Types of Colorectal Polyps and Their Relationship with Gut Microbiota

Abnormal activation of Toll-like receptor (TLRs) signaling can result in colon cancer development. The aim of this study was to investigate the expression of important TLRs in different histological types of colorectal polyps and evaluate their relationship with intestinal microbiota. The expression levels of TLR2, 3, 4, and 5 were analyzed in intestinal biopsy specimens of 21 hyperplastic polyp (HP), 16 sessile serrated adenoma (SSA), 29 tubular adenoma (TA), 21 villous/tubulovillous (VP/TVP) cases, and 31 normal controls. In addition, selected gut bacteria including Streptococcus bovis, Enterococcus faecalis, Enterotoxigenic Bacteroides fragilis (ETBF), Fusobacterium nucleatum, Porphyromonas spp., Lactobacillus spp., Roseburia spp., and Bifidobacterium spp. were quantified in fecal samples using absolute qRT PCR, and, finally, the association between TLRs and these gut microbiota- was evaluated by Spearman’s correlation coefficient. Higher expression of TLR2 and TLR4 in VP/TVP and TA, and lower expression levels of TLR3 and TLR5 in all type of polyps were observed. The differences in TLR expression patterns was not only dependent on the histology, location, size, and dysplasia grade of polyps but also related to the intestinal microbiota patterns. TLR2 and TLR4 expression was directly associated with the F. nucleatum, E. faecalis, S. bovis, Porphyromonas, and inversely to Bifidobacterium, Lactobacillus, and Roseburia quantity. Furthermore, TLR3 and TLR5 expression was directly associated with Bifidobacterium, Roseburia, and Lactobacillus quantity. Our results suggest a possible critical role of TLRs during colorectal polyp progression. An abnormal regulation of TLRs in relation to gut microbial quantity may contribute to carcinogenesis.     

基于机器视觉的运煤车车号识别技术研究

在铁路运煤装车过程中为了快速、准确地识别车号,提出一种基于机器视觉的运煤车车号识别技术。将连通区域提取与投影分割法结合,实现车号的粗定位、细分割,并对图像中的断裂字符进行二次分割,构建了基于BP神经网络的分类模型进行车号识别,提升了煤炭装车的效率和精度。     

ATSP:时态网络可视化的自适应时间片划分方法

现有的时态网络可视化方法大多采用等量时间片来可视化网络的演变，不利于时态模式的快速挖掘和发现。为此，根据时态网络固有的特征提出自适应时间片划分方法（Adaptive Time Slice Partition method，ATSP）。在时态网络的两种表示方式（基于事件的表示方式和基于快照的表示方式）的基础上，构建了ATSP的基础模型，同时提出了一种改进模型用来描述事件间隔时间服从长尾分布的时态网络。为了实现时间片的不等量划分，针对探索任务的不同提出了基于时态模式的ATSP规则和基于中心节点的ATSP规则，并提出了实现算法--层次划分算法（Hierarchical Partition algorithm，HP）和增量划分算法（Incremental Partition algorithm，IP）。实验结果表明，ATSP方法比传统的时间片划分方法更能准确地表示网络的时态特征，且该方法应用于可视化时，能有效归纳并展示网络的特征，明显提高了视觉分析的效率。     

基于张量分解融合RGB-D图像的物体识别

为了充分利用RGB-D图像的深度图像信息，提出了基于张量分解的物体识别方法。首先将RGB-D图像构造成一个四阶张量，然后将该四阶张量分解为一个核心张量和四个因子矩阵，再利用相应的因子矩阵将原张量进行投影，获得融合后的RGB-D数据，最后输入到卷积神经网络中进行识别。RGB-D数据集中三组相似物体的识别结果表明，利用张量分解融合RGB-D图像的物体识别准确率高于未采用张量分解的物体识别准确率，并且单一错分实例的准确率最高可提升99%。     

马尔可夫跳变线性系统最优控制的研究现状与进展

马尔可夫跳变线性系统（MJLS）是一种具有多个模态的随机系统，系统在各个模态之间的跳变转移由一组马尔可夫链来决定。MJLS模型因其在表示过程中可以产生突变而更能精确的描述实际工程应用中的系统。近年来，MJLS的最优控制问题成为了研究的热点，动态规划、极大值原理以及线性矩阵不等式等成为了解决此类问题的主流方法。本文对MJLS最优控制领域的研究现状进行了综述。分别对一般情况下、带有噪声的情况下、带有时滞的情况下以及某些特定情况下的MLJS最优控制问题的国内外研究现状进行论述。最后进行了总结并提出MJLS最优控制领域未来值得关注的研究方向。     

Supramolecular Zn(II)-Dipicolylamine-Azobenzene-Aminocyclodextrin-ATP Complex: Design and ATP Recognition in Water

Cyclodextrins (CyDs) are water-soluble host molecules possessing a nanosized hydrophobic cavity. In the realm of molecular recognition, this cavity is used not only as a recognition site but also as a reaction medium, where a hydrophobic sensor recognizes a guest molecule. Based on the latter concept, we have designed a novel supramolecular sensing system composed of Zn(II)-dipicolylamine metal complex-based azobenzene (1-Zn) and 3A-amino-3A-deoxy-(2AS,3AS)-γ-cyclodextrin (3-NH₂-γ-CyD) for sensing adenosine-5′-triphosphate (ATP). 1-Zn showed redshifts in the UV-Vis spectra and induced circular dichroism (ICD) only when both ATP and 3-NH₂-γ-CyD were present. Calculations of equilibrium constants indicated that the amino group of 3-NH₂-γ-CyD was involved in the formation of supramolecular 1-Zn/3-NH₂-γ-CyD/ATP. The Job plot of the ICD spectral response revealed that the stoichiometry of 1-Zn/3-NH₂-γ-CyD/ATP was 2:1:1. The pH effect was examined and 1-Zn/3-NH₂-γ-CyD/ATP was most stable in the neutral condition. The NOESY spectrum suggested the localization of 1-Zn in the 3-NH₂-γ-CyD cavity. Based on the obtained results, the metal coordination interaction of 1-Zn and the electrostatic interaction of 3-NH₂-γ-CyD were found to take place for ATP recognition. The “reaction medium approach” enabled us to develop a supramolecular sensing system that undergoes multi-point interactions in water. This study is the first step in the design of a selective sensing system based on a good understanding of supramolecular structures.     

赤红球菌组氨酸激酶的融合表达和功能分析

对赤红球菌的组氨酸激酶基因进行密码子优化，将优化后的组氨酸激酶基因（rhks）构建重组表达质粒pGEX-4T-2-rhks。将此质粒导入到大肠杆菌BL21（DE3）中进行异源表达。在25 ℃和1 mmol/L异丙基-β-D-硫代吡喃半乳糖苷诱导条件下，组氨酸激酶融合蛋白（GST-RHK）获得成功表达，并具有催化活性。经谷胱甘肽琼脂糖亲和层析纯化，获得电泳纯的GST-RHK，其中纯化倍数为3.1，得率为19.5%。该蛋白大小约为72.75 kDa，Km、Vmax和Kcat值分别为20.92 μmol/L、0.17 μmol/（L·min）和1.4 min－1。野生型赤红球菌、组氨酸激酶基因增强株sdrhkE和组氨酸激酶基因敲减株sdrhkD在分别含有苯酚、甲苯、氯苯、异辛烷4 种有机溶剂的培养基中培养，菌株sdrhkD的生长情况都优于野生型赤红球菌，菌株sdrhkE的生长情况都低于野生型赤红球菌。本研究为进一步揭示赤红球菌SD3中组氨酸激酶涉及的信号转导途径与赤红球菌有机溶剂耐受性的关联机制提供一定参考依据。     

基于区块链技术的公益时间银行系统

在现有的时间银行系统中，时间币的发行功能和结算功能完全集中到一个中心节点上。这种极度中心化的功能结构，不仅存在容易发生中心节点单点失效、数据容易被篡改等信息安全问题，还存在着时间币的发行和流通缺乏透明度以及时间币的结算依赖中心化的结算机构等问题。针对这些问题，提出了一种基于区块链技术的解决方法。首先，将时间币的发行功能和结算功能从中心节点上分离出来；然后，利用具有分布式去中心化、集体维护和不可篡改等特性的区块链技术，将分离出来的发行功能逐步去中心化，将分离出来的结算功能去中心化，形成公益时间链（PWTB）；最终，PWTB利用区块链技术以去中心化的方式将时间银行系统由单个节点维护账本变成由集体维护一个分布式的共享账本，使时间币的发行和流通公开透明，时间币的结算不依赖某个中心化的节点。安全分析表明所设计的PWTB能够实现安全的信息传输与存储，以及数据的共享。