Regulating the crystal orientation of vapor-transport-deposited GeSe thin films by a post-annealing treatment.

Recently, GeSe has emerged as a highly promising photovoltaic absorber material due to its excellent optoelectronic properties, nontoxicity, and high stability. Although many advantages make GeSe well suited for thin-film solar cells, the power conversion efficiency of the GeSe thin-film solar cell is still much below the theoretical maximum efficiency. One of the challenges lies in controlling the crystal orientation of GeSe to enhance solar cell performance. The two-step preparation of GeSe thin films has not yet been reported to grow along the [111] orientation. In this work, we study the effect of a post-annealing treatment on the GeSe thin films and the performance of the solar cells. It was found that amorphous GeSe films can be converted into polycrystalline films with different orientations by changing the post-annealing temperature. [111]-oriented and [100]-oriented GeSe thin films were successfully prepared on the same substrate by optimizing the annealing conditions. With the structure of Au/GeSe/CdS/ITO cell devices, PCEs of 0.14% and 0.16% were ultimately achieved.

RGD-p21Ras-scFv expressed prokaryotically on a pilot scale inhibits ras-driven colorectal cancer growth by blocking p21Ras-GTP.

BACKGROUND: Ras gene mutation and/or overexpression are drivers in the progression of cancers, including colorectal cancer. Blocking the Ras signaling has become a significant strategy for cancer therapy. Previously, we constructed a recombinant scFv, RGD-p21Ras-scFv by linking RGD membrane-penetrating peptide gene with the anti-p21Ras scFv gene. Here, we expressed prokaryotically RGD-p21Ras-scFv on a pilot scale, then investigated the anti-tumor effect and the mechanism of blocking Ras signaling. METHODS: The E. coli bacteria which could highly express RGD-p21Ras-scFv was screened and grown in 100 L fermentation tank to produce RGD-p21Ras-scFv on optimized induced expression conditions. The scFv was purified from E. coli bacteria using His Ni-NTA column. ELISA was adopted to test the immunoreactivity of RGD-p21Ras-scFv against p21Ras proteins, and the IC50 of RGD-p21Ras-scFv was analyzed by CCK-8. Immunofluorescence colocalization and pull-down assays were used to determine the localization and binding between RGD-p21Ras-scFv and p21Ras. The interaction forces between RGD-p21Ras-scFv and p21Ras after binding were analyzed by molecular docking, and the stability after binding was determined by molecular dynamics simulations. p21Ras-GTP interaction was detected by Ras pull-down. Changes in the MEK-ERK /PI3K-AKT signaling paths downstream of Ras were detected by WB assays. The anti-tumor activity of RGD-p21Ras-scFv was investigated by nude mouse xenograft models. RESULTS: The technique of RGD-p21Ras-scFv expression on a pilot scale was established. The wet weight of the harvested bacteria was 31.064 g/L, and 31.6 mg RGD-p21Ras-scFv was obtained from 1 L of bacterial medium. The purity of the recombinant antibody was above 85%, we found that the prepared on a pilot scale RGD-p21Ras-scFv could penetrate the cell membrane of colon cancer cells and bind to p21Ras, then led to reduce of p21Ras-GTP (active p21Ras). The phosphorylation of downstream effectors MEK-ERK /PI3K-AKT was downregulated. In vivo antitumor activity assays showed that the RGD-p21Ras-scFv inhibited the proliferation of colorectal cancer cell lines. CONCLUSION: RGD-p21Ras-scFv prokaryotic expressed on pilot-scale could inhibited Ras-driven colorectal cancer growth by partially blocking p21Ras-GTP and might be able to be a hidden therapeutic antibody for treating RAS-driven tumors.

Impermeability and Durability of Self-Compacting Concrete Prepared with Aeolian Sand and Recycled Coarse Aggregate.

Self-compacting concrete has seen extensive application in both engineering and construction. In order to save building resources, aeolian sand-recycled coarse aggregate self-compacting concrete (ARSCC) is created by partially substituting recycled coarse aggregates (RCA) and aeolian sand (AS) for natural coarse aggregates. For ten groups with different mechanical and durable properties, this study examined the effects of sulfate erosion, chloride penetration resistance, and related impermeability, as well as AS replacement ratios of 20%, 40%, and 60% and RCA replacement ratios of 25%, 50%, and 75% in ARSCC and a control group (A0-R0). According to the study's findings, after sulfate attack, the highest relative dynamic elastic modulus and corrosion resistance factor were obtained with the 20% AS replacement ratio and 50% RCA replacement ratio (A20-R50). The highest impermeability grade and lowest electric flux were obtained with the 20% AS replacement ratio and 25% RCA replacement ratio (A20-R25). X-ray diffraction (XRD) and mercury intrusion porosimetry (MIP) revealed that the addition of aeolian sand and recycled coarse aggregates improved the pore structure of the SCC and increased the densification of the self-compacting concrete, particularly following sulfate attack. This study highlights the importance of recycled aggregates and aeolian sand in engineering applications and the sustainable growth of the concrete industry, both of which support resource conservation and environmental protection.

Effects of granular feed on reproductive metabolism of breeding pigeons, intestinal development and microbiota of squab pigeons-A double-edged sword.

Pigeons like to eat raw grains, but meat pigeon enterprises often use compound feeds instead of raw grains to feed breeding pigeons to increase economic efficiency, which may change the pigeon's dietary behavior, and consequently lead to health and welfare problems. The purpose of this study was to investigate the effect of granular feeds on the health of high-yielding breeding pigeons and squabs in lactation. The results showed that, compared with raw grain group, the provision of granular feed resulted in lower total feed intake without affecting the weight of lactating breeding pigeons. Meanwhile, reproductive metabolism was improved and no oxidative stress was observed, which indicated that granular feeds had a positive effect on breeding pigeon's health. However, granular feed adversely affected jejunum development in squabs, compare wtih raw grain group, the growth rate of squab was reduced. Sequencing of the 16 s rRNA gene revealed that granular feed induced intestinal microbiota dysbiosis in the squabs. The use of granular feed reduced the relative abundance of gut microorganisms in functional categories related to lipid and energy metabolism, resulting in a decrease in the relative abundance of beneficial bacteria such as Bifidobacterium, Ligilactobacillus, Atopobium, and an increase in that of inflammation-related Limosilactobacillus, which likely inhibited squab intestinal development and growth. Although the use of granular feed can improve breeder metabolism, it affect the composition of the microbial community and gut development of squabs. Therefore, the use of granular feed in production should be more careful to avoid causing growth obstruction of squab.

Integrated thrust ripple identification and compensation for linear servo system using an MP algorithm.

Generally there are two methods for the thrust ripple modeling: one is to identify the eigenvalues and the model parameters of thrust ripple sequentially under rigorous operating conditions; another is to treat thrust ripple as a general and inaccurate disturbance. To get rid of the constraints and further enhance the tracking accuracy of the linear servo system, a novel integrated identification and compensation scheme using an improved matching pursuit algorithm is proposed in this paper. First, the dynamics of the linear motor is formulated, and the cause of thrust ripple is analyzed. Then, a time-frequency atomic library of thrust ripple is constructed with the consideration of the frequency characteristics of position command, and meanwhile, the two optimal atoms are obtained successively by maximizing the inner product for the thrust ripple reconstruction. Based on the above, the eigenvalues and model parameters of thrust ripple can be simultaneously identified in an online manner. Finally, the feedforward compensation component is devised by the identification results to suppress thrust ripple. In order to verify the superiority of the proposed scheme, simulations and experiments are conducted compared with the conventional methods.

Optimal dietary energy and protein levels for breeding pigeons in the winter "2 + 3" lactation pattern.

The nutritional requirements of breeding pigeons depend on their physiological period, breeding pattern, and environmental conditions. Despite works on reduced litter size in winter production to combat high mortality and the poor welfare of squabs, there are few studies on the related nutritional requirements of these pigeons. A total of 432 pairs of European Mimas pigeons were randomly divided into 9 groups in which 3 crude protein (CP) levels (15, 16.5, and 18%) and 3 metabolizable energy (ME) levels (12.2 MJ/kg, 12.4 MJ/kg, and 12.6 MJ/kg) were tested to determine the optimal energy and protein requirements of breeding pigeons in the winter "2 + 3" breeding pattern. The results showed that ME and CP levels had little effect on the body weight, feed intake, and egg quality of breeding pigeons during the lactation period. An 18% CP diet significantly increased the laying rate and hatchability (P < 0.05), but there was no difference in the laying rate with 18% CP and 16.5% CP during the whole reproductive cycle (P > 0.05). There was a significant interaction between ME and CP levels, and the laying interval of breeding pigeons in group 9 (18% CP; 12.6 MJ/kg) was significantly shortened (P < 0.05). For squabs, the ME level had no effect on growth performance, slaughter performance, or meat quality. The body weight of 21-day-old squabs in the 18% CP group increased by 3.16% compared with that of the 15% CP group, but there was no difference between the 18% CP and 16.5% CP groups. Compared with other experimental groups, group 7 (18% CP; 12.2 MJ/kg) had the fastest growth rate in squabs (P < 0.05), and the corresponding slaughter weight was also the heaviest (P < 0.05). We further found that the height of the squab intestinal epithelium was significantly increased in both the 16.5% CP and 18% CP groups of squabs (P < 0.01), but male breeding pigeons showed a certain degree of oxidative stress with an increase in CP level. In conclusion, the effects of 15 to 18% CP levels and 12.2 to 12.6 MJ/kg ME levels on the reproductive metabolism of breeding pigeons and the growth and development of squabs in the "2 + 3" breeding pattern during winter are small. For economic efficiency, we suggest that the CP level can be reduced to 16.5% while the ME level should not be less than 12.2 MJ/kg in practical production.

DeCOOC Deconvoluted Hi-C Map Characterizes the Chromatin Architecture of Cells in Physiologically Distinctive Tissues.

Deciphering variations in chromosome conformations based on bulk three-dimensional (3D) genomic data from heterogenous tissues is a key to understanding cell-type specific genome architecture and dynamics. Surprisingly, computational deconvolution methods for high-throughput chromosome conformation capture (Hi-C) data remain very rare in the literature. Here, a deep convolutional neural network (CNN), deconvolve bulk Hi-C data (deCOOC) that remarkably outperformed all the state-of-the-art tools in the deconvolution task is developed. Interestingly, it is noticed that the chromatin accessibility or the Hi-C contact frequency alone is insufficient to explain the power of deCOOC, suggesting the existence of a latent embedded layer of information pertaining to the cell type specific 3D genome architecture. By applying deCOOC to in-house-generated bulk Hi-C data from visceral and subcutaneous adipose tissues, it is found that the characteristic chromatin features of M2 cells in the two anatomical loci are distinctively bound to different physiological functionalities. Taken together, deCOOC is both a reliable Hi-C data deconvolution method and a powerful tool for functional extraction of 3D genome architecture.

Effect of different dietary energy/protein ratios on growth performance, reproductive performance of breeding pigeons and slaughter performance, meat quality of squabs in summer.

Large-scale pigeon farming in China is gradually increasing. However, studies on the basic nutritional requirements of breeding pigeons during lactation, which greatly influence the productivity and economic benefits of pigeon breeding, remain scanty. The objective of this study was to determine the optimal dietary energy/protein ratio requirements for lactating pigeons in summer. A total of 576 pairs of Mimas breeding pigeons were randomly divided into 12 groups (n = 48 per treatment), and each pair bred 4 squabs. A two-way ANOVA design with different protein levels (15%, 16%, 17%, and 18%) for factor A and different energy levels (12.6 MJ/kg, 12.8 MJ/kg, and 13.0 MJ/kg) for factor B was used to design 12 groups of experimental diets for feeding. The experiment lasted for 28 d. We found that ME level had little effect on breeding pigeons, but the CP level and dietary energy/protein ratio significantly affected the reproductive and growth performance of the pigeons. The lowest total weight loss (P < 0.01), and the highest egg production (P < 0.01) were observed in group 11 (18% CP, 12.8 MJ/kg). It had no effect on egg quality. Both ME and CP levels significantly affected the growth performance, slaughter performance and meat quality of squabs, and there was a strong interaction between CP and ME. The fastest growth rate (P < 0.01) was observed in group 11 (18% CP, 12.8 MJ/kg). The best CP and ME combination for the eviscerated weight, pectoral muscle weight, organ weight, 45 min meat color (L⁎, a⁎, b⁎), pH, and muscle fiber characteristics were also group 11. Finally, the regression model revealed that the best dietary energy/protein ratio was 17.92 to 19.02 kcal/g for squabs and 16.72 kcal/g for the breeding pigeons. There was a strong interaction between energy and protein levels in breeding pigeons during the lactation period, and the best production performance was at 18% CP 12.8 MJ/kg. And this is recommended to be applied as the energy/protein ratio dietary requirement for breeding pigeons during lactation in the summer "2 + 4" pattern.

Establishment of a N1-methyladenosine-related risk signature for breast carcinoma by bioinformatics analysis and experimental validation.

OBJECTIVES: Breast carcinoma (BRCA) has resulted in a huge health burden globally. N1-methyladenosine (m1A) RNA methylation has been proven to play key roles in tumorigenesis. Nevertheless, the function of m1A RNA methylation-related genes in BRCA is indistinct. METHODS: The RNA sequencing (RNA-seq), copy-number variation (CNV), single-nucleotide variant (SNV), and clinical data of BRCA were acquired via The Cancer Genome Atlas (TCGA) database. In addition, the GSE20685 dataset, the external validation set, was acquired from the Gene Expression Omnibus (GEO) database. 10 m1A RNA methylation regulators were obtained from the previous literature, and further analyzed through differential expression analysis by rank-sum test, mutation by SNV data, and mutual correlation by Pearson Correlation Analysis. Furthermore, the differentially expressed m1A-related genes were selected through overlapping m1A-related module genes obtained by weighted gene co-expression network analysis (WGCNA), differentially expressed genes (DEGs) in BRCA and DEGs between high- and low- m1A score subgroups. The m1A-related model genes in the risk signature were derived by univariate Cox and least absolute shrinkage and selection operator (LASSO) regression analyses. In addition, a nomogram was built through univariate and multivariate Cox analyses. After that, the immune infiltration between the high- and low-risk groups was investigated through ESTIMATE and CIBERSORT. Finally, the expression trends of model genes in clinical BRCA samples were further confirmed by quantitative real-time PCR (RT‒qPCR). RESULTS: Eighty-five differentially expressed m1A-related genes were obtained. Among them, six genes were selected as prognostic biomarkers to build the risk model. The validation results of the risk model showed that its prediction was reliable. In addition, Cox independent prognosis analysis revealed that age, risk score, and stage were independent prognostic factors for BRCA. Moreover, 13 types of immune cells were different between the high- and low-risk groups and the immune checkpoint molecules TIGIT, IDO1, LAG3, ICOS, PDCD1LG2, PDCD1, CD27, and CD274 were significantly different between the two risk groups. Ultimately, RT-qPCR results confirmed that the model genes MEOX1, COL17A1, FREM1, TNN, and SLIT3 were significantly up-regulated in BRCA tissues versus normal tissues. CONCLUSIONS: An m1A RNA methylation regulator-related prognostic model was constructed, and a nomogram based on the prognostic model was constructed to provide a theoretical reference for individual counseling and clinical preventive intervention in BRCA.

Recent advances in the tumor-penetrating peptide internalizing RGD for cancer treatment and diagnosis.

Cancer has become a prominent disease that seriously endangers human health. The complexity of the biological characteristics of the tumor makes it challenging for traditional therapeutic drugs to penetrate tumor tissues and exert their antitumor effects. Internalizing RGD peptide (iRGD) is a novel tumor-homing peptide that binds to αvß3 and αvß5 integrins on the surface of tumor vessels through the C-end rule (CendR) motif. The CendR motif binds to the neuropilin-1 (NRP-1) receptor on tumor cells, initiating NRP-1-mediated transcytosis to facilitate drug entry into the tumor tissue. Multiple studies demonstrated that iRGD improved the penetration and targeting of antitumor drugs, thereby enhancing their antitumor efficacy. In this review, we initially described the origins of iRGD and its penetration mechanism. Furthermore, we presented updates on the application of iRGD in cancer chemotherapy, photodynamic therapy, gene therapy, immunotherapy, treatment with antibodies or protein-based biologics, and tumor imaging.

Recent advances in Zizania latifolia: A comprehensive review on phytochemical, health benefits and applications that maximize its value.

Zizania latifolia is an aquatic and medicinal plant with a long history of development in China and the East Asian region. The smut fungus "Ustilago esculenta" parasitizes Z. latifolia and induces culm expansion to form a vegetable named Jiaobai, which has a unique taste and nutritional attributes. However, the postharvest quality of water bamboo shoots is still a big challenge for farmers and merchants. This paper traced the origin, development process, and morphological characteristics of Z. latifolia. Subsequently, the compilation of the primary nutrients and bioactive substances are presented in context to their effects on ecology a postharvest storage and preservation methods. Furthermore, the industrial, environmental, and material science applications of Z. latifolia in the fields of industry were discussed. Finally, the primary objective of the review proposes future directions for research to support the development of Z. latifolia industry and aid in maximizing its value. To sum up, Z. latifolia, aside from its potential as material it can be utilized to make different productions and improve the existing applications. This paper provides an emerging strategy for researchers undertaking Z. latifolia.

Adaptive Neural Consensus for Fractional-Order Multi-Agent Systems With Faults and Delays.

This article investigates the consensus control for a class of fractional-order (FO) nonlinear multi-agent systems (MASs). Severe sensor/actuator faults and time-varying delays are both considered in the FO MASs. The severe faults may cause unknown control directions in MASs. A new adaptive controller, which is composed of a distributed FO Nussbaum gain, an FO filter, and an auxiliary function, is presented to deal with the severe faults. To cope with the time-varying delays, two different methods are proposed based on barrier Lyapunov function and Lyapunov-Krasovskii function, respectively. Meanwhile, the radial basis function neural network (RBF NN) is applied to approximate the unknown nonlinear functions during the design procedures. This can result in a low-complexity controller. Finally, two simulation examples are used to verify the validity of the proposed schemes.

Inhibiting pyroptosis: novel immune evasion strategies for pathogens.

Pyroptosis is a type of programmed cell death mediated by the Gasdermin family. It is triggered in response to pathogen infection or other danger signals. The activation of Gasdermins leads to pyroptosis and the release of large amounts of inflammatory cytokines. Pyroptosis plays a crucial role in combating pathogen infections, as it helps to eliminate infected cells and activate the immune system. However, pathogens have already developed sophisticated strategies to evade or inhibit pyroptosis, allowing them to persist and facilitate infection. This review provides an overview of the discovery of pyroptosis and its importance in anti-infectious immunity. We also discuss several new strategies for inhibiting pyroptosis by pathogens. A thorough learning of the occurrence and regulation of pyroptosis may reveal the pathogenesis of related infectious diseases and contribute to developing effective anti-infective therapeutic strategies.

Tracking Performance of Feedback Systems Over a Fading Channel With Limited Bandwidth.

In this study, we investigated the optimal tracking performance (OTP) of feedback control systems with limited bandwidth and colored noise in a fading channel. For the steady state of the feedback control systems, an equivalent average channel (EAC) model was developed by retaining the effects of the first and second moments of the multiplicative channel output, and on the basis of the coprime decomposition, all-pass factorization, and Youla parameterization of controllers, exact expressions for the OTP were derived by designing two compensators. The expressions quantitatively show the relationship between the OTP and inherent features of the plant. Specifically, the directions and locations of unstable poles (UPs) and nonminimum phase (NMP) zeros adversely affect the tracking performance. Furthermore, the bandwidth limitation and the presence of colored noise also degrade the tracking performance. Finally, our conclusions were verified by considering a numerical arithmetic example.

Asynchronous Stabilization for Two Classes of Stochastic Switching Systems with Applications on Servo Motors.

This paper addresses the asynchronous stabilization problem of two typical stochastic switching systems, i.e., dual switching systems and semi-Markov jump systems. By dual switching, it means that the systems contain both deterministic and stochastic switching dynamics. New stability criteria are firstly proposed for these two switched systems, which can well handle the asynchronous phenomenon. The conditional expectation of Lyapunov functions is allowed to increase during some unmatched interval to reduce the conservatism. Next, we present numerically testable asynchronous controller design methods for the dual switching systems. The proposed method is suitable for the situation where the asynchronous modes come from both inaccurate mode detection and time varying delay. Meanwhile, the transition probabilities are both uncertain and partly accessible. Finally, novel asynchronous controller design methods are proposed for the semi-Markov jump systems. The sojourn time of the semi-Markov jump systems can have both lower and upper bounds, which could be more practical than previous scenarios. Examples are utilized to demonstrate the effectiveness of the proposed methods.

Isolation and identification of Enterococcus gallinarum P581a, a strain of intestinal bacteria deglycosylating flavone C-glycosides.

Flavone C-glycosides are not easily degraded because of their strong C-C bond between sugar moieties and aglycones. However, some bacteria such as intestinal species can produce specific enzymes to degrade them. In this study, a bacterial strain P581a, which is capable of deglycosylating flavone C-glycosides, was isolated from human intestinal bacteria and was identified as Enterococcus gallinarum by morphological examination, physiological and biochemical analysis and 16S rRNA gene sequencing. This strain may produce a specific flavonoside glycosidase. The activity of the enzyme in the culture medium containing different quantity of carbon sources was also studied, and it was found that the content of carbon sources is negatively correlated with the deglycosylation efficiency of this strain.

Switching Adaptive Control with Applications on Robot Manipulators.

This paper concentrates on the study of logic-based switching adaptive control. Two different cases will be considered. In the first case, the finite time stabilization problem for a class of nonlinear system is studied. Based on the recently developed adding a barrier power integrator technique, a new logic-based switching adaptive control method is proposed. In contrast with the existing results, finite time stability can be achieved when the considered systems contain both fully unknown nonlinearties and unknown control direction. Moreover, the proposed controller has a very simple structure and no approximation methods, e.g., neural networks/fuzzy logic, are needed. In the second case, the sampled-data control for a class of nonlinear system is investigated. New sampled-data logic-based switching mechanism is proposed. Compared with previous works, the considered nonlinear system has an uncertain linear growth rate. The control parameters and the sampling time can be adjusted adaptively to render the exponential stability of the closed loop system. Applications in robot manipulators are conducted to verify the proposed results.

Adaptive Neural Control for a Class of Nonlinear Multiagent Systems.

This article studies the adaptive neural controller design for a class of uncertain multiagent systems described by ordinary differential equations (ODEs) and beams. Three kinds of agent models are considered in this study, i.e., beams, nonlinear ODEs, and coupled ODE and beams. Both beams and ODEs contain completely unknown nonlinearities. Moreover, the control signals are assumed to suffer from a class of generalized backlash nonlinearities. First, neural networks (NNs) are adopted to approximate the completely unknown nonlinearities. New barrier Lyapunov functions are constructed to guarantee the compact set conditions of the NNs. Second, new adaptive neural proportional integral (PI)-type controllers are proposed for the networked ODEs and beams. The parameters of the PI controllers are adaptively tuned by NNs, which can make the system output remain in a prescribed time-varying constraint. Two illustrative examples are presented to demonstrate the advantages of the obtained results.

Coupled fractional-order sliding mode control and obstacle avoidance of a four-wheeled steerable mobile robot.

Recently, four-wheeled steerable mobile robots (FSMR) have attracted increasing attention in industrial fields, however the collision-free trajectory tracking control is still challenging in dynamic environments. This paper studies a new coupled fractional-order sliding mode control (CFSMC) and obstacle avoidance scheme, which has superior capacities of providing more control flexibilities and achieving high-accuracy. Instead of exploring traditional integer-order solutions, novel fractional-order sliding surfaces are proposed to handle the nonlinear interconnected states in a coupled structure. To accomplish non-oscillating avoidance of both stationary and moving entities within an uncertain workspace, a modified near-time-optimal potential function is subsequently presented with improved efficiency and reduced collision-resolving distances. By utilizing fuzzy rules, proper adaption gains of the reaching laws are designed to degenerate the effect of undesired chattering. The asymptotic stability and convergence can be guaranteed for the resultant closed-loop system. Three experiments are implemented on a real-time FSMR system. The results validate the reliability of the presented CFSMC scheme in terms of significantly mitigated following errors, faster disturbance rejection and smooth transition as compared to conventional methods.

Robust Lateral Stabilization Control of In-Wheel-Motor-Driven Mobile Robots via Active Disturbance Suppression Approach.

Due to the praiseworthy maneuverability and actuation flexibility, the in-wheel-motor-driven mobile robots (IWMD-MR) are widely employed in various industrial fields. However, the active estimation and rejection of unknown disturbances/uncertainties remain a tough work for formulating a stable lateral motion controller. To address the challenge, this paper proposes a robust lateral stabilization control (RLSC) scheme for the developed IWMD-MR by designing an active disturbance suppression mechanism. The distinctive features of the proposed RLSC method are threefold: (i) With a fuzzy estimator, a modified super-twisting sliding mode method is designed to eliminate the system perturbations and time-varying lumped disturbances in an active manner; (ii) The resultant system trajectory is forced into a bounded switching region within finite time, which can be maintained therein for subsequent periods; (iii) Employing the Lyapunov function, new adaption rules for multivariable gains are derived to preserve the lateral motion stability and robustness. Finally, under the direct yaw moment control framework, simulation experiments of real-life IWMD-MR are offered to verify the effectiveness of the presented RLSC method.