Distributed State Observer for Systems with Multiple Sensors under Time-Delay Information Exchange.

The issues of state estimations based on distributed observers for linear time-invariant (LTI) systems with multiple sensors are discussed in this paper. We deal with the scenario when the information exchange has known time delays, and aim at designing a distributed observer for each subsystem such that each distributed observer can estimate the system state asymptotically by rejecting the time delay. To begin with, by rewriting the target system in a connecting form, a subsystem which is affected by the time-delay states of other nodes is established. And then, for this subsystem, a distributed observer with time delay is constructed. Moreover, an equivalent state transformation is made for the observer error dynamic system based on the observable canonic decomposition theorem. Further, in order to ensure that the distributed observer error dynamic system is asymptotically stable even if there exists a time delay, a linear matrix inequality (LMI) which is relative to the Laplace matrix is elaborately set up, and a special Lyapunov function candidate based on the LMI is considered. Next, based on the Lyapunov function and Lyapunov stability theory, we prove that the error dynamic system of the distributed observer is asymptotically stable, and the observer gain is determined by a feasible solution of the LMI. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.

Colonoscopic removal of an intrauterine device with rectal perforation: A case report.

RATIONALE: The intrauterine device is one of the effective, safe, convenient, economical, and reversible contraceptive methods. Although its contraceptive effect is definite, some female patients may experience complications such as expulsion, bleeding, and pregnancy with the device in place. Rectal perforation is one of the rare and serious complications, which can lead to complications such as abdominal infection and intestinal adhesions, severely affecting the quality of life of patients. PATIENT CONCERNS: A 34-year-old female was sent to the Department of Gastroenterology with noticeable left lower quadrant abdominal pain. She had presented with abdominal discomfort and anal tenesmus 1 year earlier. Two months ago, her abdominal pain had gradually worsened and she was presented to our hospital. DIAGNOSES: Investigations, including colonoscopy and computed tomography scan, had revealed an intrauterine device migrated and perforated into the rectum. INTERVENTIONS AND OUTCOMES: The patient underwent successful colonoscopic removal of the intrauterine device. She recovered well after the treatment. LESSONS: This case proves that endoscopic therapy can be considered the preferred method for removing intrauterine devices displaced into the digestive tract lumen.

Joint unknown input observer for descriptor system based on interval observer.

In this paper, a novel joint unknown input observer (JUIO) is proposed for a class of descriptor systems. The unknown input (UI) to be estimated injects additively into both the state and output equations in a state space model. To the best of our knowledge, only a few contributions in existing work address this problem directly. To begin with, by introducing an auxiliary UI, the original system is transformed into a normal form in which the output is no longer affected by UI. In this way, the negative effect brought by the UI occurring in the output measurement is removed. An interval observer is developed to obtain upper and lower boundary estimates of the output of the reformulated system. After that, an algebraic relationship between the auxiliary UI and the states is established, and a UI reconstruction (UIR) method is developed. Based on the UIR, a JUIO comprising the UIR and a Luenberger-like state observer is developed to achieve asymptotic estimations of the UI and state simultaneously. Verifiable conditions for the existence of the proposed JUIO are given with respect to the original descriptor system. Finally, a simulation example is presented to verify the effectiveness of the proposed method.

Secure control scheme for CPSs under DoS attacks via multiple transmission channels and unknown input observer.

The paper investigates the secure control problems for cyber-physical systems (CPSs) when the transmission channels suffer from Denial-of-Service (DoS) attacks based on switching observer and unknown input reconstruction (UIR). Firstly, an augmented system whose system state consists of the original system state and the measurement noises is set up, and the preconditions for the original system and augmented system are discussed in detail. Secondly, a full-order observer is constructed to generate the estimations of the augmented system state. Besides, based on the state estimation, an algebraic UIR method is developed and the UIR decouples the control input signal successfully. Thirdly, under the situation that some transmission channels suffer from DoS attacks, an observer-based secure controller is designed based on state estimation feedback and UIR feedback in view of a switching system. The stability of the switching system is analyzed as well. Finally, to verify the effectiveness of the proposed protocols, two simulation examples and the comparison with existing methods are given.

Consensus Control of Linear Parameter-Varying Multi-Agent Systems with Unknown Inputs.

This paper investigates the observer-based consensus control problem for linear parameter-varying (LPV) multi-agent systems (MASs) with unknown inputs. Firstly, an interval observer (IO) is designed to generate the state interval estimation for each agent. Secondly, an algebraic relationship is established between the system state and unknown input (UI). Thirdly, an unknown input observer (UIO) capable of generating estimates of UI and the system state has been developed through the algebraic relations. Finally, a UIO-based distributed control protocol scheme is proposed to realize the consensus of the MASs. In the end, to verify the validity of the proposed method, an example of a numerical simulation is given.

Human-in-the-Loop Consensus Control for Multiagent Systems With External Disturbances.

In this article, the human-in-the-loop leader-follower consensus control problem is addressed for multiagent systems (MASs) with unknown external disturbances. A human operator is deployed to monitor the MASs' team by transmitting an execution signal to a nonautonomous leader in response to any hazard detected, with the control input of the leader unknown to all followers. For each follower, a full-order observer, in which the observer error dynamic system decouples the unknown disturbance input, is designed for asymptotic state estimation. Then, an interval observer is constructed for the consensus error dynamic system, where the unknown disturbances and control inputs of its neighbors and its disturbance are treated as unknown inputs (UIs). To process the UIs, a new asymptotic algebraic UI reconstruction (UIR) scheme is proposed based on the interval observer, and one of the significant features of the UIR is the capacity to decouple the control input of the follower. The subsequent human-in-the-loop asymptotic convergence consensus protocol is developed by applying an observer-based distributed control strategy. Finally, the proposed control scheme is validated through two simulation examples.

Leader-Follower Asymptotic Consensus Control of Multiagent Systems: An Observer-Based Disturbance Reconstruction Approach.

In this article, a leader-follower asymptotic consensus control strategy is developed for a class of linear multiagent systems (MASs) with unknown external disturbances and measurement noises. First, the preconditions, the minimum phase condition (MPC) and observer matching condition (OMC), are discussed in detail, and an equivalent result under these two preconditions is given. In this way, the corresponding results from Corless and Tu (1998) are improved. Meanwhile, a reduced-order observer is designed for a constructed augmented system to estimate the system states and noises of each agent. Next, with the help of a traditional interval observer, a novel unknown disturbance reconstruction method is developed, and the reconstruction can converge to the unknown disturbance asymptotically and decouple from the control input. The subsequent asymptotic consensus is accomplished by utilizing an observer-based control scheme, with its design satisfying the so-called separation principle. Finally, two simulation examples are given to verify the effectiveness and show the advantages of the proposed methods.

Event-Triggered Bipartite Time-Varying Formation Control for Multiagent Systems With Unknown Inputs.

This article addresses the issues of the bipartite time-varying formation (BTVF) control for multiagent systems (MASs) on signed digraphs. All the designs are performed under the assumptions that the leader and followers suffer from external disturbances, the control input signal of the leader is unreachable to any follower, and the state variables of the followers are unmeasurable. To begin with, an unknown input observer (UIO) is designed for each follower using a traditional interval observer to obtain the state estimates. To realize the BTVF tracking, a distributed consensus error dynamic system is constructed. Furthermore, a distributed unknown input reconstruction method is developed to estimate the multiple disturbances in the consensus error system. Then, an event-triggered BTVF control protocol is proposed which allows two antagonistic time-varying formations to be formed, while excluding Zeno behavior. A simulation of a group of wheeled robots is used to demonstrate the performance of the proposed methods.

MiR-422a in gastric cancer cells directly targets CDC40 and modulates cell proliferation.

MicroRNAs have been shown to be involved in a variety of different human cancers, including gastric cancer, functioning as post-transcriptional regulators of oncogenes or tumor suppressors. This study aimed to clarify the role of miR-422a in gastric cancer and further elucidate the pathogenesis thereof. To this end, miR-422a expression was initially determined in gastric cancer tissues and cells. Our results showed decreased miR-422a and increased cell division cycle 40 (CDC40) expression in gastric cancer. Dual-luciferase reporter assay further confirmed that miR-422a targeted CDC40. Altogether, this study showed that miR-422a downregulated CDC40, thereby affecting cell cycle progression. Moreover, restoration of miR-422a inhibited gastric cancer cell proliferation. In summary, this study has been the first to show that miR-422a was associated with CDC40 levels in human gastric cancer cells and that disease development may be attributed to CDC40.

An interval-estimation-based anti-disturbance sliding mode control strategy for rigid satellite with prescribed performance.

This paper investigates an anti-disturbance sliding mode control strategy for a rigid satellite system with external disturbance under the prescribed performance constraints. An interval observer is firstly introduced to generate the interval estimation of the attitude angular velocity. Then a finite time identical disturbance reconstruction strategy is developed by using the interval estimation. Based on the novel performance function and error transformation constraints, the attitude tracking error is converted into a new error system that guarantees the desired transient and steady-state responses for the tracking error. Then, by introducing the reconstructed disturbance, a finite time anti-disturbance controller is constructed with the backstepping method. The stability of the strategy is guaranteed by the Lyapunov stability method. Finally, simulation results demonstrate the effectiveness of the proposed approach.

Distributed fault detection and estimation in cyber-physical systems subject to actuator faults.

The fault detection and estimation problems for the physical layer network in the cyber-physical systems with unknown external disturbances are investigated in this study. Both bias fault and loss of efficiency scenarios are considered for the actuators. Based on the adaptive threshold method and sliding mode observer approach, a distributed fault detection observer (DFDO) is constructed for each physical layer node to detect the occurrence of actuator faults. Then a relative global estimation error system is defined for the distributed fault estimation observer (DFEO). Compared with the existing results, the proposed DFEO can provide the estimation for not only the actuator bias faults but also the actuators' efficiency factors under the impact of exogenous disturbance with two gain dynamic update processes. Finally, the feasibility and effectiveness of the given DFDO and the DFEO are examined by Lyapunov stability method and the simulation results.

[Synthetic evaluation of precancerous lesions and early esophageal cancers after endoscopic submucosal dissection].

OBJECTIVE: To evaluate the safety and prognosis for patients with early esophageal cancer and precancerous lesions after endoscopic submucosal dissection (ESD).
 METHODS: A total of 89 patients were admitted to the Department of internal medicine in the First People's Hospital of Anqing from August 2008 to August 2011. All patients were treated with ESD at the early stage of esophageal cancer and precancerous lesions. The patients' laboratory data and relevant medical history were collected. The postoperative complications and long-term effects of ESD were analyzed.
 RESULTS: Eighty-nine patients were followed up with 100% response rate. Among 89 cases, 16 were early esophageal cancer, 38 were high-grade esophageal neoplasia and 35 were low-grade esophageal neoplasia. The one-time whole piece resection rate, complete resection rate and curative resection rate was 93.3% (84/89), 92.1% (82/89) and 92.1% (82/89), respectively. Two cases suffered intraoperative perforation with a rate of 2.2% and these 2 patients performed the intraoperative endoscopic repair; one case suffered the postoperative delayed bleeding with a rate of 1.1% and the patient underwent the conservative treatment; three cases suffered the esophageal stenosis with a rate of 3.4%. All patients were followed-up for 10-58 (36.3±21.2) months. In this period, one case recurred after ESD for 3 years with a rate of 1.1%; two cases were dead. The three-year survival rate was 97.8%.
 CONCLUSION: The early esophageal cancer and precancerous lesions can be treated with ESD. The method is safe and the prognosis is good.

Tumor markers in serum and ascites in the diagnosis of benign and malignant ascites.

OBJECTIVE: To evaluate the values of 4 tumor markers in serum and ascites and their ascites/serum ratios in the identification and diagnosis of benign and malignant ascites. MATERIALS AND METHODS: A total of 76 patients were selected as subjects and divided into malignant ascites group (45 cases) and benign ascites group (31 cases). Samples of ascites and serum of all hospitalized patients were collected before treatment. The levels of carcinoembryonic antigen (CEA), alpha fetoprotein (AFP), cancer antigen 125 (CA125) and carbohydrate antigen 19-9 (CA19-9) were detected by chemiluminescence (CLIA) . RESULTS: CEA, AFP and CA19-9 in both serum and ascites as well as CA125 in ascites were evidently higher in the malignant ascites group than in the benign ascites group (P<0.01). Malignant ascites was associated with elevated ascites/serum ratios for AFP and CA125 (P<0.01). The areas under receiver operating characteristic (AUROCs) of CEA and CA125 in ascites and the ratios of ascites/serum of AFP, CEA, CA125 and CA19-9 were all >0.7, suggesting certain values, while those of ascites CA19-9 and serum CEA were 0.697 and 0.629 respectively, indicating low accuracy in the identification and diagnosis of benign and malignant ascites. However, the AUROCs of the remaining indexes were <0.5, with no value for identification and diagnosis. Compared with single index, the sensitivity of combined detection increased significantly (P<0.05), in which the combined detection of CEA, CA19-9 and CA125 in ascites as well as the ratio of ascites/serum of CEA, CA19-9, CA125 and AFP had the highest sensitivity (98.4%) but with relevantly low specificity. Both sensitivity and specificity of combined detection should be comprehensively considered so as to choose the most appropriate index. CONCLUSIONS: Compared with single index, combined detection of tumor markers in serum and ascites can significantly improve the diagnostic sensitivity and specificity.