Quadrotors' double-loop controller design with tensor product model transformation and partial fully actuated method.

In the existing work of tensor product (TP) model transformation, the TP model transformation-based work on the quadrotor's control system design is scarce, the direct TP model transformation control strategy that applied to the quadrotor fails due to the calculation complexity, infeasibility of the huge amount of linear matrix inequalities, and the complexity of solving the linear matrix inequalities. To solve this problem, a partial TP model transformation-based double loop fuzzy controller has been studied in this work, the double-loop hybrid control scheme combines the fully actuated control method and the TP model transformation, while the fully actuated control method is used to the position subsystem control loop, and the TP model transformation based fuzzy controller is applied to the attitude control of the quadrotor. Moreover, for comparison purpose, a varying-input method based on TP model transformation is extended to the quadrotor's system control. The double-loop hybrid control scheme could also be extended with other TP model transformation based tensor sampling methods, such as, uniform sampling method and varying-input method. At last, the proposed algorithms are evaluated and compared on Parrot Mambo Minidrone, MFP450 and CUAV V5+ based hexarotor.

Determining the effects of genetic linkage when using a combination of STR and SNP loci for kinship testing.

The pedigree likelihood ratio (LR) can be used for determining kinship in the forensic kinship testing. LR can be obtained by analyzing the DNA data of Short tandem repeat (STR) and single nucleotide polymorphism (SNP) loci. With the advancement of biotechnology, increasing number of genetic markers have been identified, thereby expanding the pedigree range of kinship testing. Moreover, some of the loci are physically closer to each other and genetic linkage between loci is inevitable. LRs can be calculated by accounting for linkage or ignoring linkage (LRlinkage and LRignore, respectively). GeneVisa is a software for kinship testing (www.genevisa.net) and adopts the Lander-Green algorithm to deal with genetic linkage. Herein, we used the simulation program of the software GeneVisa to investigate the effects of genetic linkage on 1st-degree, 2nd-degree, and 3rd-degree kinship testing. We used this software to simulate LRlinkage and LRignore values based on 43 STRs and 134 SNPs in commercial kits by using the allele frequency rate and genetic distance data of the European population. The effects of linkage on LR distribution and LRs of routine cases were investigated by comparing the LRlinkage values with the LRignore values. Our results revealed that the linkage effect on LR distributions is small, but the effect on LRs of routine cases may be large. Moreover, the results indicated that the discriminatory power of genetic markers for kinship testing can be improved by accounting for linkage.

Oral Chinese Herbal Medicine for Depressive Disorder in Patients after Percutaneous Coronary Intervention: A Systematic Review and Meta-Analysis.

OBJECTIVE: To evaluate the effectiveness and safety of oral Chinese herbal medicines (CHMs) on post-percutaneous coronary intervention (PCI) patients with depressive disorder in coronary heart disease (CHD). METHODS: A literature search was conducted through databases including PubMed, Cochrane Library, Chinese National Knowledge Infrastructure Databases (CNKI), Chinese Biomedical Literature Database (SinoMed), Chongqing VIP Chinese Science and Technology Periodical Database (VIP) and Wanfang Database up to August 2018. Randomized controlled trials (RCTs) comparing CHMs with placebo or no additional treatments on the basis of standard conventional pharmacological therapies were included. Data extraction, analyses and quality assessment were performed according to the Cochrane standards. RevMan 5.3 software was used to synthesize the results. RESULTS: A total of 16 RCTs enrolling 1,443 participants were included in this systematic review. When compared with antidepressants alone, CHMs showed similar benefits with less side effects [risk ratio=0.54, 95% confidence interval (CI) 0.43 to 0.69, 582 patients]; meanwhile, the combination therapy may have more advantages than antidepressants alone [mean difference (MD)=-1.03, 95%CI-1.81 to-0.25, 267 patients). When identified with placebo, CHMs seem to have more advantages in relieving depressive symptoms (MD=-19.00, 95%CI-20.02 to-17.98, 189 patients). However, when compared with basic treatment of post- PCI, CHMs showed different results in two trials. In terms of post-PCI related clinical symptoms, CHMs seem to have more advantages in relieving chest pain and other general clinical symptoms. However, the heterogeneity in this review was generally high, it may be caused by different interventions used in each trial and the low quality of the trials. CONCLUSIONS: In total, CHMs showed potentially beneficial effects on depressive symptoms and post-PCI related clinical symptoms. However, because of small sample size and potential bias of most trials, this result should be interpreted with caution. More rigorous trials with larger sample size and higher quality are warranted to give high quality of evidence to support the use of CHMs for CHD complicated with depression.

Synergistic Viral Replication of Marek's Disease Virus and Avian Leukosis Virus Subgroup J is Responsible for the Enhanced Pathogenicity in the Superinfection of Chickens.

Superinfection of Marek's disease virus (MDV) and avian leukosis virus subgroup J (ALV-J) causes lethal neoplasia and death in chickens. However, whether there is synergism between the two viruses in viral replication and pathogenicity has remained elusive. In this study, we found that the superinfection of MDV and ALV-J increased the viral replication of the two viruses in RNA and protein level, and synergistically promoted the expression of IL-10, IL-6, and TGF-ß in chicken embryo fibroblasts (CEF). Moreover, MDV and ALV-J protein expression in dual-infected cells detected by confocal laser scanning microscope appeared earlier in the cytoplasm and the nucleus, and caused more severe cytopathy than single infection, suggesting that synergistically increased MDV and ALV-J viral-protein biosynthesis is responsible for the severe cytopathy. In vivo, compared to the single virus infected chickens, the mortality and tumor formation rates increased significantly in MDV and ALV-J dual-infected chickens. Viral loads of MDV and ALV-J in tissues of dual-infected chickens were significantly higher than those of single-infected chickens. Histopathology observation showed that more severe inflammation and tumor cells metastases were present in dual-infected chickens. In the present study, we concluded that synergistic viral replication of MDV and ALV-J is responsible for the enhanced pathogenicity in superinfection of chickens.

Crystal structure of methyl (E)-4-[2-(8-hy-droxy-quinolin-2-yl)vin-yl]benzoate.

The title compound, C19H15NO3, was synthesized by a Perkin reaction of 2-methyl-8-hy-droxy-quinoline and 4-formyl-2-methyl-benzoate in acetic anhydride under a nitro-gen atmosphere. The mol-ecule has an E conformation about the C=C bond, and the quinoline ring system and the benzene ring are inclined to one another by 29.22 (7)°. There is an intra-molecular O-H⋯N hydrogen bond in the 8-hy-droxy-quinoline moiety. In the crystal, mol-ecules are linked by pairs of O-H⋯O hydrogen bonds, forming inversion dimers with an R22(28) ring motif. The dimers are linked by C-H⋯O hydrogen bonds and C-H⋯π inter-actions, forming sheets parallel to plane (10-1).

Non-destructive and fast identification of cotton-polyester blend fabrics by the portable near-infrared spectrometer.

A series of 376 cotton-polyester (PET) blend fabrics were studied by a portable near-infrared (NIR) spectrometer. A NIR semi-quantitative-qualitative calibration model was established by Partial Least Squares (PLS) method combined with qualitative identification coefficient. In this process, PLS method in a quantitative analysis was used as a correction method, and the qualitative identification coefficient was set by the content of cotton and polyester in blend fabrics. Cotton-polyester blend fabrics were identified qualitatively by the model and their relative contents were obtained quantitatively, the model can be used for semi-quantitative identification analysis. In the course of establishing the model, the noise and baseline drift of the spectra were eliminated by Savitzky-Golay(S-G) derivative. The influence of waveband selection and different pre-processing method was also studied in the qualitative calibration model. The major absorption bands of 100% cotton samples were in the 1400~1600 nm region, and the one for 100% polyester were around 1600~1800 nm, the absorption intensity was enhancing with the content increasing of cotton or polyester. Therefore, the cotton-polyester's major absorption region was selected as the base waveband, the optimal waveband (1100~2500 nm) was found by expanding the waveband in two directions (the correlation coefficient was 0.6, and wave-point number was 934). The validation samples were predicted by the calibration model, the results showed that the model evaluation parameters was optimum in the 1100~2500 nm region, and the combination of S-G derivative, multiplicative scatter correction (MSC) and mean centering was used as the pre-processing method. RC (relational coefficient of calibration) value was 0.978, RP (relational coefficient of prediction) value was 0.940, SEC (standard error of calibration) value was 1.264, SEP (standard error of prediction) value was 1.590, and the sample's recognition accuracy was up to 93.4%. It showed that the cotton-polyester blend fabrics could be predicted by the semi-quantitative-qualitative calibration model.

The establishment and external validation of NIR qualitative analysis model for waste polyester-cotton blend fabrics.

A series of 354 polyester-cotton blend fabrics were studied by the near-infrared spectra (NIRS) technology, and a NIR qualitative analysis model for different spectral characteristics was established by partial least squares (PLS) method combined with qualitative identification coefficient. There were two types of spectrum for dying polyester-cotton blend fabrics: normal spectrum and slash spectrum. The slash spectrum loses its spectral characteristics, which are effected by the samples' dyes, pigments, matting agents and other chemical additives. It was in low recognition rate when the model was established by the total sample set, so the samples were divided into two types of sets: normal spectrum sample set and slash spectrum sample set, and two NIR qualitative analysis models were established respectively. After the of models were established the model's spectral region, pretreatment methods and factors were optimized based on the validation results, and the robustness and reliability of the model can be improved lately. The results showed that the model recognition rate was improved greatly when they were established respectively, the recognition rate reached up to 99% when the two models were verified by the internal validation. RC (relation coefficient of calibration) values of the normal spectrum model and slash spectrum model were 0.991 and 0.991 respectively, RP (relation coefficient of prediction) values of them were 0.983 and 0.984 respectively, SEC (standard error of calibration) values of them were 0.887 and 0.453 respectively, SEP (standard error of prediction) values of them were 1.131 and 0.573 respectively. A series of 150 bounds samples reached used to verify the normal spectrum model and slash spectrum model and the recognition rate reached up to 91.33% and 88.00% respectively. It showed that the NIR qualitative analysis model can be used for identification in the recycle site for the polyester-cotton blend fabrics.

2,2'-(Ethane-1,2-di-yl)bis-(1H-benzimidazole).

The complete mol-ecule of the title compound, C(16)H(14)N(4), is generated by crystallographic inversion symmetry. In the crystal, mol-ecules are linked by N-H⋯N hydrogen bonds, generating (001) sheets. Weak aromatic π-π stacking inter-actions [centroid-centroid distances = 3.7383 (13) and 3.7935 (14) Å] are also observed.

Tetra-kis(µ(2)-2-phen-oxy-propionato)-κO,O':O';κO:O,O';κO:O'-bis-[(1,10-phenanthroline-κN,N')(2-phen-oxy-propionato-κO,O')lanthanum(III)].

In the centrosymmetric binuclear title complex, [La(2)(C(9)H(9)O(3))(6)(C(12)H(8)N(2))(2)], the two La(III) ions are linked by four 2-phen-oxy-propionate (L) groups in bi- and tridentate bridging modes. Each La(III) ion is nine-coordinated by one 1,10-phenanthroline mol-ecule, one bidentate chelating carboxyl-ate group and four bridging carboxyl-ate groups in a distorted LaN(2)O(7) monocapped square-anti-prismatic geometry.

Bis(µ(2)-2-phen-oxy-propionato-κO:O')bis-[(1,10-phenanthroline-κN,N')bis-(2-phen-oxy-propionato-κO,O')ytterbium(III)].

In the centrosymmetric binuclear title complex, [Yb(2)(C(9)H(9)O(3))(6)(C(12)H(8)N(2))(2)], the two Yb(III) ions are linked by two 2-phen-oxy-propionate (L) groups in a bidentate bridging mode. Each Yb(III) ion is eight-coordinated by two O atoms from two bridging L ligands, four O atoms from two chelating L groups and two N atoms from one chelating phen mol-ecule in a distorted YbN(2)O(6) dodeca-hedral geometry.

Tetra-kis(µ-2-phen-oxy-propionato)-κO,O':O';κO:O,O';κO:O'-bis-[(1,10-phenanthroline-κN,N')(2-phen-oxy-propionato-κO,O')holmium(III)].

The title compound, [Ho(2)(C(9)H(9)O(3))(6)(C(12)H(8)N(2))(2)], lies about a centre of symmetry and is comprised of six 2-phen-oxy-propionate (POPA) anions and two 1,10-phenanthroline (phen) ligands. The two Ho(III) ions are linked by four POPA groups utilizing both bi- and tridentate bridging modes to form an inversion-symmetric dimer. Each Ho(III) ion is nine-coordinate, with a chelating 1,10-phenanthroline mol-ecule, one bidentate chelating carboxyl-ate group, two bidentate bridging carboxyl-ate groups and two tridentate bridging carboxyl-ate groups in a distorted mono-capped square anti-prism geometry. There are weak π-π aromatic inter-actions between the phen groups and aromatic rings of the POPA ligands [centroid-centroid distance = 3.829 (1) Å].

Tetra-kis(µ-2-phen-oxy-propionato)-κO,O':O';κO:O,O';κO:O'-bis-[(1,10-phenanthroline-κN,N')(2-phen-oxy-propionato-κO,O')terbium(III)].

In the centrosymmetric binuclear title complex, [Tb(2)(C(9)H(9)O(3))(6)(C(12)H(8)N(2))(2)], the two Tb(III) ions are linked by four 2-phen-oxy-propionate (L) groups through their bi- and tridentate bridging modes. Each Tb(III) ion is nine-coordinated by one 1,10-phenanthroline mol-ecule, one bidentate carboxyl-ate group and four bridging carboxyl-ate groups in a distorted TbN(2)O(7) monocapped square-anti-prismatic geometry.

Tetra-kis(µ-2-phen-oxy-propionato)-κO,O':O';κO:O,O',κO:O'-bis-[(1,10-phenanthroline-κN,N')(2-phen-oxy-propionato-κO,O')dysprosium(III)].

In the centrosymmetric binuclear title complex, [Dy(2)(C(9)H(9)O(3))(6)(C(12)H(8)N(2))(2)], the two Dy(III) ions are linked by four 2-phen-oxy-propionate (L) groups through their bi- and tridentate bridging modes. Each Dy(III) ion is nine-coordinated by one 1,10-phenanthroline mol-ecule, one bidentate carboxyl-ate group and four bridging carboxyl-ate groups in a distorted DyN(2)O(7) monocapped square-anti-prismatic geometry. The title compound is isotypic with its terbium-containing analogue.

Tetra-kis(µ-2-phen-oxy-propionato)-κO,O':O';κO:O,O',κO:O'-bis-[(1,10-phenanthroline-κN,N')(2-phen-oxy-propionato-κO,O')praseodymium(III)].

In the centrosymmetric binuclear title complex, [Pr(2)(C(9)H(9)O(3))(6)(C(12)H(8)N(2))(2)], the two Pr(III) ions are linked by four 2-phen-oxy-propionate (L) groups through their bi- and tridentate bridging modes. Each Pr(III) ion is nine-coordinated by one 1,10-phenanthroline mol-ecule, one bidentate carboxyl-ate group and four bridging carboxyl-ate groups in a distorted PrN(2)O(7) monocapped square-anti-prismatic geometry. The title compound is isotypic with its terbium- and dysprosium-containing analogues.

Tetra-kis(µ(2)-2-phen-oxy-propionato)-κO,O':O';κO:O,O';κO:O'-bis-[(1,10-phenanthroline-κN,N')(2-phen-oxy-propionato-κO,O')cerium(III)].

In the centrosymmetric binuclear title complex, [Ce(2)(C(9)H(9)O(3))(6)(C(12)H(8)N(2))(2)], the two Ce(III) ions are linked by four 2-phen-oxy-propionate groups in bi- and tridentate bridging modes. Each Ce(III) ion is nine-coordinated by one 1,10-phenanthroline mol-ecule, two O atoms from a chelating carboxyl-ate, two O atoms derived from a µ(3)-carboxylate and two O atoms derived from two µ(2)-carboxylate ligands in a distorted CeN(2)O(7) monocapped square-anti-prismatic geometry.

Tetra-kis(µ(2)-2-phen-oxy-propionato)-κO,O':O';κO:O,O';κO:O'-bis-[(1,10-phenanthroline-κN,N')(2-phen-oxy-propionato-κO,O')gadolinium(III)].

In the centrosymmetric binuclear title complex, [Gd(2)(C(9)H(9)O(3))(6)(C(12)H(8)N(2))(2)], the two Gd(III) ions are linked by four 2-phen-oxy-propionate (L) groups in bi- and tridentate bridging modes. Each Gd(III) ion is nine-coordinated by one 1,10-phenanthroline mol-ecule, one bidentate chelating carboxyl-ate group and four bridging carboxyl-ate groups in a distorted GdN(2)O(7) monocapped square-anti-prismatic geometry.

Bis(µ-2-phen-oxy-propionato-κO:O')bis-[(1,10-phenanthroline-κN,N')bis-(2-phen-oxy-propionato-κO,O')samarium(III)].

The dimeric title compound, [Sm(2)(C(9)H(9)O(3))(6)(C(12)H(8)N(2))(2)], is centrosymmetric and is composed of six 2-phen-oxy-propionate anions and two 1,10-phenanthroline ligands. The Sm(III) atom is coordinated by two O atoms from two bridging anions, four O atoms from two chelating anions and the N atoms of the N-heterocycle in a distorted dodeca-hedral geometry.

Bis[2-meth-oxy-6-(phenyl-iminiomethyl)phenolate-κO,O']bis-(thio-cyanato-κN)manganese(II).

The Mn(II) atom in the title complex, [Mn(NCS)(2)(C(14)H(13)NO(2))(2)], lies on a center of inversion in a MnO(4)N(2) octa-hedral geometry. The Schiff base is present in its zwitterionic form and is O,O'-chelated to the metal atom. The imino N atom is protonated and is involved in an intra-molecular hydrogen bond with the phenolate O atom.

2-Phenyl-1,3-selenazole-4-carb-oxy-lic acid.

In the title compound, C(10)H(7)NO(2)Se, the two rings are twisted, making a dihedral angle of 12.42 (9)°. In the crystal, pairs of mol-ecules are disposed about an inversion center, generating O-H⋯O hydrogen-bonded dimers.

Poly[[µ-aqua-bis-(µ-4,4'-bipyridine-κN:N')bis-(µ-3-hy-droxy-adamantane-1-carboxyl-ato-κO:O')bis-(3-hy-droxy-adamantane-1-carboxyl-ato-κO)dicobalt(II)] hepta-hydrate].

The title coordination compound, {[Co(C(11)H(15)O(3))(4)(C(10)H(8)N(2))(2)(H(2)O)]·7H(2)O}(n), consists of a pair of Co(II) atoms, four 3-hy-droxy-adamantane-1-carboxyl-ate anions (L), one water mol-ecule, two bridging 4,4'-bipyridine (4,4'-bpy) ligands and seven uncoordinated water mol-ecules. Both of the Co(II) ions are coordinated in a distorted octa-hedral geometry. Four L ligands bind to each pair of Co(II) atoms in a plane, two of which bridge the two Co(II) atoms as bidentate groups while the other two coordinate to a single Co(II) atom in a monodentate mode. Two half-mol-ecules of 4,4'-bipyridine coordinate the Co(II) atoms from the upside and underside. The packing features extensice O-H⋯O hydrogen bonding.