Connectivity preservation control for multiple unmanned aerial vehicles in the presence of bounded actuation.

This paper proposes a novel multi-unmanned aerial vehicle (UAV) connectivity preservation controller, suitable for scenarios with bounded actuation and limited communication range. According to the hierarchical control strategy, controllers are designed separately for the position and attitude subsystems. A distributed position controller is developed, integrating an indirect coupling control mechanism. The innovative mechanism associates each UAV with a virtual proxy, facilitating connections among adjacent UAVs through these proxies. This structuring assists in managing the actuator saturation constraints effectively. The artificial potential function is utilized to preserve network connectivity and fulfill coordination among all virtual proxies. Additionally, an attitude controller designed for finite-time convergence guarantees that the attitude subsystem adheres precisely to the attitude specified by the distributed position controller. Simulation results validate the efficacy of this distributed formation controller with connectivity preservation under bounded actuation conditions. The simulation results confirm the effectiveness of the distributed connectivity preservation controller with bounded actuation.

A fault isolation strategy for industrial processes using outlier-degree-based variable contributions.

In industrial process monitoring, it is always a challenging and practical problem to analyze the causes of the system fault by isolating true fault variables from vast amounts of process data. However, the phenomenon of smearing effect occurs by using the traditional contribution analysis-based isolation methods since the defined isolation indices of different variables affect each other. In this paper, a new fault isolation method is proposed based on local outlier factor and improved k-nearest neighbor rule aiming to improve the isolation accuracy. Firstly, the nearest neighbors of each sample are obtained along the direction of a specific variable. Based on the nearest neighbors, the outlier-degree value of the variable is calculated and regarded as the contribution of the variable. Then, the contribution of the variable in all samples are obtained in the same way, among which the maximum one is selected as the isolation threshold value of this variable. During the online monitoring, the contribution of the variable in the newly collected sample is calculated in real time. Once the contribution is greater than the threshold, the variable is judged to be the dominant factor causing the system fault. Two cases on numerical example and Tennessee Eastman process are conducted to evaluate the effectiveness of the proposed method.

Iron and neuromelanin imaging in basal ganglia circuitry in Parkinson's disease with freezing of gait.

OBJECTIVE: This study aimed to examine the structural alterations of the deep gray matter (DGM) in the basal ganglia circuitry of Parkinson's disease (PD) patients with freezing of gait (FOG) using quantitative susceptibility mapping (QSM) and neuromelanin-sensitive magnetic resonance imaging (NM-MRI). METHODS: Twenty-five (25) PD patients with FOG (PD-FOG), 22 PD patients without FOG (PD-nFOG), and 30 age- and sex-matched healthy controls (HCs) underwent 3-dimensional multi-echo gradient recalled echo and NM-MRI scanning. The mean volume and susceptibility of the DGM on QSM data and the relative contrast (NMRC-SNpc) and volume (NMvolume-SNpc) of the substantia nigra pars compacta on NM-MRI were analyzed among groups. A multiple linear regression analysis was performed to explore the associations of FOG severity with MRI measurements and disease stage. RESULTS: The PD-FOG group showed higher susceptibility in the bilateral caudal substantia nigra (SN) compared to the HC group. Both the PD-FOG and PD-nFOG groups showed lower volumes than the HC group in the bilateral caudate and putamen as determined from the QSM data. The NMvolume-SNpc on NM-MRI in the PD-FOG group was significantly lower than in the HC and PD-nFOG groups. Both the PD-FOG and PD-nFOG groups showed significantly decreased NMRC-SNpc. CONCLUSIONS: The PD-FOG patients showed abnormal neostriatum atrophy, increases in iron deposition in the SN, and lower NMvolume-SNpc. The structural alterations of the DGM in the basal ganglia circuits could lead to the abnormal output of the basal ganglia circuit to trigger the FOG in PD patients.

Statistical Machine Learning for Power Flow Analysis Considering the Influence of Weather Factors on Photovoltaic Power Generation.

It is generally accepted that the impact of weather variation is gradually increasing in modern distribution networks with the integration of high-proportion photovoltaic (PV) power generation and weather-sensitive loads. This article analyzes power flow using a novel stochastic weather generator (SWG) based on statistical machine learning (SML). The proposed SML model, which incorporates generative adversarial networks (GANs), probability theory, and information theory, enables the generation and evaluation of simulated hourly weather data throughout the year. The GAN model captures various weather variation characteristics, including weather uncertainties, diurnal variations, and seasonal patterns. Compared to shallow learning models, the proposed deep learning model exhibits significant advantages in stochastic weather simulation. The simulated data generated by the proposed model closely resemble real data in terms of time-series regularity, integrity, and stochasticity. The SWG is applied to model PV power generation and weather-sensitive loads. Then, we actively conduct a power flow analysis (PFA) on a real distribution network in Guangdong, China, using simulated data for an entire year. The results provide evidence that the GAN-based SWG surpasses the shallow machine learning approach in terms of accuracy. The proposed model ensures accurate analysis of weather-related power flow and provides valuable insights for the analysis, planning, and design of distribution networks.

PENCIL imaging: A novel approach for neuromelanin sensitive MRI in Parkinson's disease.

BACKGROUND: Parkinson's disease (PD) is associated with the loss of neuromelanin (NM) and increased iron in the substantia nigra (SN). Magnetization transfer contrast (MTC) is widely used for NM visualization but has limitations in brain coverage and scan time. This study aimed to develop a new approach called Proton-density Enhanced Neuromelanin Contrast in Low flip angle gradient echo (PENCIL) imaging to visualize NM in the SN. METHODS: This study included 30 PD subjects and 50 healthy controls (HCs) scanned at 3T. PENCIL and MTC images were acquired. NM volume in the SN pars compacta (SNpc), normalized image contrast (Cnorm), and contrast-to-noise ratio (CNR) were calculated. The change of NM volume in the SNpc with age was analyzed using the HC data. A group analysis compared differences between PD subjects and HCs. Receiver operating characteristic (ROC) analysis and area under the curve (AUC) calculations were used to evaluate the diagnostic performance of NM volume and CNR in the SNpc. RESULTS: PENCIL provided similar visualization and structural information of NM compared to MTC. In HCs, PENCIL showed higher NM volume in the SNpc than MTC, but this difference was not observed in PD subjects. PENCIL had higher CNR, while MTC had higher Cnorm. Both methods revealed a similar pattern of NM volume in SNpc changes with age. There were no significant differences in AUCs between NM volume in SNpc measured by PENCIL and MTC. Both methods exhibited comparable diagnostic performance in this regard. CONCLUSIONS: PENCIL imaging provided improved CNR compared to MTC and showed similar diagnostic performance for differentiating PD subjects from HCs. The major advantage is PENCIL has rapid whole-brain coverage and, when using STAGE imaging, offers a one-stop quantitative assessment of tissue properties.

Hierarchical Distributed Adaptive Fault-Tolerant Control of Nonlinear Fractional-Order Multiagent Systems With Faults and Periodic Disturbances Using Event-Triggered Communication.

This article presents a distributed fault-tolerant control (FTC) scheme for nonlinear fractional-order (FO) multiagent systems (MASs) with the order lying in (0, 1, such that the proposed control architecture can be directly applied to both FO and integer-order (IO) systems without any modifications. To handle the unexpected actuator faults encountered by the FO MASs, a hierarchical FTC mechanism is developed for each system by constructing an event-triggered distributed FO estimator at the upper layer to estimate the leader system's output via conditionally triggered neighboring information, and an FTC unit at the lower layer to counteract the loss-of-effectiveness faults via Nussbaum function with FO criteria. To further address the unknown nonlinear functions involving bias faults and periodic disturbances, the Fourier series expansion technique is used to construct the input variables of fuzzy neural networks (FNNs), such that the FNNs with dynamically adjusted weight matrices, centers, and widths can be developed for each FO system to act as the learning module. It is shown by FO Lyapunov stability analysis that all follower systems can track the leader system against faults and periodic disturbances. Simulation results on FO systems and hardware-in-the-loop experiment results on IO fixed-wing unmanned aerial vehicles show the extensive feasibility of the developed scheme.

MRI index of glymphatic system mediates the influence of locus coeruleus on cognition in Parkinson's disease.

INTRODUCTION: Although locus coeruleus (LC) has been demonstrated to play a critical role in the cognitive function of Parkinson's disease (PD), the underlying mechanism has not been elucidated. The objective was to investigate the relationship among LC degeneration, cognitive performance, and the glymphatic function in PD. METHODS: In this retrospective study, 71 PD subjects (21 with normal cognition; 29 with cognitive impairment (PD-MCI); 21 with dementia (PDD)) and 26 healthy controls were included. All participants underwent neuromelanin-sensitive magnetic resonance imaging (NM-MRI) and diffusion tensor image scanning on a 3.0 T scanner. The brain glymphatic function was measured using diffusion along the perivascular space (ALPS) index, while LC degeneration was estimated using the NM contrast-to-noise ratio of LC (CNRLC). RESULTS: The ALPS index was significantly lower in both the whole PD group (P = 0.04) and the PDD subgroup (P = 0.02) when compared to the controls. Similarly, the CNRLC was lower in the whole PD group (P < 0.001) compared to the controls. In the PD group, a positive correlation was found between the ALPS index and both the Montreal Cognitive Assessment (MoCA) score (r = 0.36; P = 0.002) and CNRLC (r = 0.26; P = 0.03). Mediation analysis demonstrated that the ALPS index acted as a significant mediator between CNRLC and the MoCA score in PD subjects. CONCLUSION: The ALPS index, a neuroimaging marker of glymphatic function, serves as a mediator between LC degeneration and cognitive function in PD.

Enhancing Nigrosome-1 Sign Identification via Interpretable AI using True Susceptibility Weighted Imaging.

BACKGROUND: Nigrosome 1 (N1), the largest nigrosome region in the ventrolateral area of the substantia nigra pars compacta, is identifiable by the "N1 sign" in long echo time gradient echo MRI. The N1 sign's absence is a vital Parkinson's disease (PD) diagnostic marker. However, it is challenging to visualize and assess the N1 sign in clinical practice. PURPOSE: To automatically detect the presence or absence of the N1 sign from true susceptibility weighted imaging by using deep-learning method. STUDY TYPE: Prospective. POPULATION/SUBJECTS: 453 subjects, including 225 PD patients, 120 healthy controls (HCs), and 108 patients with other movement disorders, were prospectively recruited including 227 males and 226 females. They were divided into training, validation, and test cohorts of 289, 73, and 91 cases, respectively. FIELD STRENGTH/SEQUENCE: 3D gradient echo SWI sequence at 3T; 3D multiecho strategically acquired gradient echo imaging at 3T; NM-sensitive 3D gradient echo sequence with MTC pulse at 3T. ASSESSMENT: A neuroradiologist with 5 years of experience manually delineated substantia nigra regions. Two raters with 2 and 36 years of experience assessed the N1 sign on true susceptibility weighted imaging (tSWI), QSM with high-pass filter, and magnitude data combined with MTC data. We proposed NINet, a neural model, for automatic N1 sign identification in tSWI images. STATISTICAL TESTS: We compared the performance of NINet to the subjective reference standard using Receiver Operating Characteristic analyses, and a decision curve analysis assessed identification accuracy. RESULTS: NINet achieved an area under the curve (AUC) of 0.87 (CI: 0.76-0.89) in N1 sign identification, surpassing other models and neuroradiologists. NINet localized the putative N1 sign within tSWI images with 67.3% accuracy. DATA CONCLUSION: Our proposed NINet model's capability to determine the presence or absence of the N1 sign, along with its localization, holds promise for enhancing diagnostic accuracy when evaluating PD using MR images. LEVEL OF EVIDENCE: 2 TECHNICAL EFFICACY: Stage 1.

Reinforcement Learning-Based Fractional-Order Adaptive Fault-Tolerant Formation Control of Networked Fixed-Wing UAVs With Prescribed Performance.

This article investigates the fault-tolerant formation control (FTFC) problem for networked fixed-wing unmanned aerial vehicles (UAVs) against faults. To constrain the distributed tracking errors of follower UAVs with respect to neighboring UAVs in the presence of faults, finite-time prescribed performance functions (PPFs) are developed to transform the distributed tracking errors into a new set of errors by incorporating user-specified transient and steady-state requirements. Then, the critic neural networks (NNs) are developed to learn the long-term performance indices, which are used to evaluate the distributed tracking performance. Based on the generated critic NNs, actor NNs are designed to learn the unknown nonlinear terms. Moreover, to compensate for the reinforcement learning errors of actor-critic NNs, nonlinear disturbance observers (DOs) with skillfully constructed auxiliary learning errors are developed to facilitate the FTFC design. Furthermore, by using the Lyapunov stability analysis, it is shown that all follower UAVs can track the leader UAV with predesigned offsets, and the distributed tracking errors are finite-time convergent. Finally, comparative simulation results are presented to show the effectiveness of the proposed control scheme.

Active Fault-Tolerant and Attack-Resilient Control for a Renewable Microgrid Against Power-Loss Faults and Data Integrity Attacks.

The next-generation power grid evolves from the development of fundamental cyber-physical energy systems called smart microgrids. In order to improve the reliability, safety, and security of smart microgrids and achieve a more cost-effective operation, innovative approaches for physical fault diagnosis and fault-tolerant control (FTC) as well as intrusion detection and attack-resilient control (ARC) should be investigated. Given that, this article considers a smart hybrid renewable-based microgrid with different types of distributed generation units, including solar photovoltaic (PV) array, wind turbines, and battery energy storage system. Novel active FTC and ARC strategies are designed for pulse-width modulation (PWM) converters at microgrid level. The proposed fault-tolerant controller is based on an optimal fuzzy gain-scheduling technique that is used to accommodate the adverse impacts of PV power-loss faults. Also, the proposed attack-resilient controller relies on the estimated values of sensor measurements during the occurrence of data integrity cyber-attacks. To access and evaluate the microgrid's real-time health status, both FTC and ARC strategies employ an integrated model-based intrusion detection and fault diagnosis (IDFD) system that is designed using a fuzzy modeling and identification technique. Finally, the effectiveness of the proposed solutions is demonstrated via a series of simulations in MATLAB/Simulink using an advanced microgrid benchmark.

High-quality genome assembly and multi-omics analysis of pigment synthesis pathway in Auricularia cornea.

Owing to its great market potential for food and health care, white Auricularia cornea, a rare edible fungus, has received increased attention in recent years. This study presents a high-quality genome assembly of A. cornea and multi-omics analysis of its pigment synthesis pathway. Continuous Long Reads libraries, combined with Hi-C-assisted assembly were used to assemble of white A. cornea. Based on this data, we analyzed the transcriptome and metabolome of purple and white strains during the mycelium, primordium, and fruiting body stages. Finally, we obtained the genome of A.cornea assembled from 13 clusters. Comparative and evolutionary analysis suggests that A.cornea is more closely related to Auricularia subglabra than to Auricularia heimuer. The divergence of white/purple A.cornea occurred approximately 40,000 years ago, and there were numerous inversions and translocations between homologous regions of the two genomes. Purple strain synthesized pigment via the shikimate pathway. The pigment in the fruiting body of A. cornea was γ-glutaminyl-3,4-dihydroxy-benzoate. During pigment synthesis, α-D-glucose-1P, citrate, 2-Oxoglutarate, and glutamate were four important intermediate metabolites, whereas polyphenol oxidase and other 20 enzyme genes were the key enzymes. This study sheds light on the genetic blueprint and evolutionary history of the white A.cornea genome, revealing the mechanism of pigment synthesis in A.cornea. It has important theoretical and practical implications for understanding the evolution of basidiomycetes, molecular breeding of white A.cornea, and deciphering the genetic regulations of edible fungi. Additionally, it provides valuable insights for the study of phenotypic traits in other edible fungi.

Characterization, antioxidant activity, and mineral profiling of Auricularia cornea mushroom strains.

Background: Mushrooms are considered as next-generation healthy food components. Owing to their low-fat content, high-quality proteins, dietary fiber, and rich source of nutraceuticals. They are ideally preferred in formulation of low-caloric functional foods. In this view, the breeding strategies of mushroom Auricularia cornea (A. cornea) focusing on high yield and higher quality with rich nutritional values and health benefits are still needed. Materials and methods: A total of 50 strains of A. cornea were used to analyze the bio efficiency and the time required for fruiting body formation following the cultivation experiment. The calorimetric method was used to evaluate the antioxidant activity and quantify the crude polysaccharides and minerals content thereafter. Results: The results showed that the time required for fruiting body formation and biological efficiency varied significantly among the selected strains. Noticeably, the wild domesticated strain Ac13 of A. cornea mushroom showed the shortest fruit development time (80 days). Similarly, the hybrid strains including Ac3 and Ac15 possessed the highest biological efficiency (82.40 and 94.84%). Hybrid strains Ac18 (15.2%) and cultivated strains Ac33 (15.6%) showed the highest content of crude polysaccharides, while cultivated strains Ac1 and Ac33, demonstrated the highest content of total polysaccharides in the fruiting body (216 mg. g-1 and 200 mg. g-1). In the case of mineral content, the highest zinc contents were observed from the cultivated strain Ac46 (486.33 mg·kg-1). The maximum iron content was detected from the hybrid strain Ac3 (788 mg·kg-1), and the wild domesticated strain Ac28 (350 mg·kg-1). The crude polysaccharides of the A. cornea strain showed significant antioxidant potential, and the ability of Ac33 and Ac24 to scavenge DPPH radicals and ABTS, which was significantly improved compared to other strains, respectively. Principal component analysis was applied to examine the agronomic traits and chemical compounds of various strains of A. cornea mushrooms. The results revealed that cultivated, wild domesticated, and hybrid strains of A. cornea exhibited distinct characteristics in terms of growth, yield, and nutritional properties. Conclusion: The crude polysaccharides from A. cornea mushroom strains act as natural antioxidants, the wild, hybrid, and commercial A. cornea mushroom strains can achieve rapid growth, early maturation, and high yields. The evaluation of biochemical indexes and nutritional characteristics of strains with excellent traits provided a scientific basis for initiating high-quality breeding, provided germplasm resources for the production of "functional food" with real nutritional and health value.

An automatic interpretable deep learning pipeline for accurate Parkinson's disease diagnosis using quantitative susceptibility mapping and T1-weighted images.

Parkinson's disease (PD) diagnosis based on magnetic resonance imaging (MRI) is still challenging clinically. Quantitative susceptibility maps (QSM) can potentially provide underlying pathophysiological information by detecting the iron distribution in deep gray matter (DGM) nuclei. We hypothesized that deep learning (DL) could be used to automatically segment all DGM nuclei and use relevant features for a better differentiation between PD and healthy controls (HC). In this study, we proposed a DL-based pipeline for automatic PD diagnosis based on QSM and T1-weighted (T1W) images. This consists of (1) a convolutional neural network model integrated with multiple attention mechanisms which simultaneously segments caudate nucleus, globus pallidus, putamen, red nucleus, and substantia nigra from QSM and T1W images, and (2) an SE-ResNeXt50 model with an anatomical attention mechanism, which uses QSM data and the segmented nuclei to distinguish PD from HC. The mean dice values for segmentation of the five DGM nuclei are all >0.83 in the internal testing cohort, suggesting that the model could segment brain nuclei accurately. The proposed PD diagnosis model achieved area under the the receiver operating characteristic curve (AUCs) of 0.901 and 0.845 on independent internal and external testing cohorts, respectively. Gradient-weighted class activation mapping (Grad-CAM) heatmaps were used to identify contributing nuclei for PD diagnosis on patient level. In conclusion, the proposed approach can potentially be used as an automatic, explainable pipeline for PD diagnosis in a clinical setting.

Neural-Network-Based Adaptive Fault-Tolerant Cooperative Control of Heterogeneous Multiagent Systems With Multiple Faults and DoS Attacks.

In this article, the issue of adaptive fault-tolerant cooperative control is addressed for heterogeneous multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with actuator faults and sensor faults under denial-of-service (DoS) attacks. First, a unified control model with actuator faults and sensor faults is developed based on the dynamic models of the UAVs and UGVs. To handle the difficulty introduced by the nonlinear term, a neural-network-based switching-type observer is established to obtain the unmeasured state variables when DoS attacks are active. Then, the fault-tolerant cooperative control scheme is presented by utilizing an adaptive backstepping control algorithm under DoS attacks. According to Lyapunov stability theory and improved average dwell time method by integrating the duration and frequency characteristics of DoS attacks, the stability of the closed-loop system is proved. In addition, all vehicles can track their individual references, while the synchronized tracking errors among vehicles are uniformly ultimately bounded. Finally, simulation studies are given to demonstrate the effectiveness of the proposed method.

Longitudinal modifiable risk and protective factors of internet gaming disorder: A systematic review and meta-analysis.

Background and aims: The study aims to thoroughly understand the causal and precedent modifiable risk or protective factors for Internet Gaming Disorder (IGD), a newly defined and prevalent mental disorder. Methods: We performed a systematic review on quality-designed longitudinal studies based on five online databases: MEDLINE, PsycINFO, Embase, PubMed, and Web of Science. Studies were included in the meta-analysis if they addressed IGD, adopted longitudinal, prospective, or cohort study designs, presented modifiable factors of IGD, and reported the effect sizes for correlations. Pooled Pearson's correlations were calculated using the random effects model. Results: Thirty-nine studies with 37,042 subjects were included. We identified 34 modifiable factors, including 23 intrapersonal factors (e.g., gaming time, loneliness, etc.), 10 interpersonal factors (e.g., peer relationship, social support, etc.), and 1 environmental factor (i.e., school engagement). Age, the male ratio, study region, and study years were significant moderators. Discussion and conclusions: Intrapersonal factors were stronger predictors than interpersonal and environmental factors. It may imply that individual-based theories are more powerful to explain the development of IGD. Longitudinal research on the environmental factors of IGD was lacking; more studies are warranted. The identified modifiable factors would help to guide effective interventions for IGD reduction and prevention.

Locus coeruleus and substantia nigra neuromelanin magnetic resonance imaging differentiates Parkinson's disease and essential tremor.

BACKGROUND: Differential diagnosis of essential tremor (ET) and Parkinson's disease (PD) can still be a challenge in clinical practice. These two tremor disorders may have different pathogenesis related to the substantia nigra (SN) and locus coeruleus (LC). Characterizing neuromelanin (NM) in these structures may help improve the differential diagnosis. METHODS: Forty-three subjects with tremor-dominant PD (PDTD), 31 subjects with ET, and 30 age- and sex-matched healthy controls were included. All subjects were scanned with NM magnetic resonance imaging (NM-MRI). NM volume and contrast measures for the SN and contrast for the LC were evaluated. Logistic regression was used to calculate predicted probabilities by using the combination of SN and LC NM measures. The discriminative power of the NM measures in detecting subjects with PDTD from ET was assessed with a receiver operative characteristic curve, and the area under the curve (AUC) was calculated. RESULTS: The NM contrast-to-noise ratio (CNR) of the LC, the NM volume, and CNR of the SN on the right and left sides were significantly lower in PDTD subjects than in ET subjects or healthy controls (all P < 0.05). Furthermore, when combining the best model constructed from the NM measures, the AUC reached 0.92 in differentiating PDTD from ET. CONCLUSION: The NM volume and contrast measures of the SN and contrast for the LC provided a new perspective on the differential diagnosis of PDTD and ET, and the investigation of the underlying pathophysiology.

Velvet Family Members Regulate Pigment Synthesis of the Fruiting Bodies of Auricularia cornea.

Color is a crucial feature to consider when breeding and improving strains of Auricularia cornea. To uncover the mechanism of white strain formation in A. cornea, this study selected parental strains that were homozygous for the color trait and analyzed the genetic laws of A. cornea color through genetic population construction, such as test-cross, back-cross, and self-cross populations, and the statistical analysis of color trait segregation. Moreover, the study developed SSR molecular markers to construct a genetic linkage map, perform the fine mapping the color-controlling genetic locus, and verify candidate genes using yeast two-hybrid, transcriptome analysis, and different light treatments. The results of the study indicated that the color trait of A. cornea is controlled by two pairs of alleles. When both pairs of loci are dominant, the fruiting body is purple, while when both pairs of loci are recessive or one pair of loci is recessive, the fruiting body is white. Based on the linkage map, the study finely mapped the color locus within Contig9_29,619bp-53,463bp in the A. cornea genome and successfully predicted the color-controlling locus gene A18078 (AcveA), which belongs to the Velvet factor family protein and has a conserved structure domain of the VeA protein. It can form a dimer with the VelB protein to inhibit pigment synthesis in filamentous fungi. Lastly, the study validated the interaction between AcVeA and VelB (AcVelB) in A. cornea at the gene, protein, and phenotype levels, revealing the mechanism of inhibition of pigment synthesis in A. cornea. Under dark conditions, dimerization occurs, allowing it to enter the nucleus and inhibit pigment synthesis, leading to a lighter fruiting body color. However, under light conditions, the dimer content is low and cannot enter the nucleus to inhibit pigment synthesis. In summary, this study clarified the mechanism of white strain formation in A. cornea, which could aid in improving white strains of A. cornea and studying the genetic basis of color in other fungi.

Safety Flight Control Design of a Quadrotor UAV With Capability Analysis.

This article considers the safety control problem of a quadrotor unmanned aerial vehicle (UAV) subject to actuator faults and external disturbances, based on the quantization of system capability and safety margin. First, a trajectory function is constructed online with backpropagation of system dynamics. Therefore, a degraded trajectory is gracefully regenerated, via the tradeoff between the remaining system capability and the expected derivatives (velocity, jerk, and snap) of the trajectory. Second, a control-oriented model is established into a form of strict feedback, integrating actuator malfunctions and disturbances. Therefore, a retrofit dynamic surface control (DSC) scheme based on the control-oriented model is developed to improve the tracking performance. When comparing to the existing control methods, the compensation ability is analyzed to determine whether the faults and disturbances can be handled or not. Finally, simulation and experimental studies are conducted to highlight the efficiency of the proposed safety control scheme.

Distributed Active Fault-Tolerant Cooperative Control for Multiagent Systems With Communication Delays and External Disturbances.

This article investigates the distributed active fault-tolerant cooperative control problem for leader-follower multiagent systems (MASs) in the presence of multiple faults, communication delays, and external disturbances. A new distributed consensus protocol is put forward to ensure the state consensus of MASs, which can be served as a nominal controller in fault-free cases with communication delays and external disturbances. A novel distributed time-delay intermediate observer, which can estimate system states and multiple faults simultaneously, is derived based on the time-delay closed-loop system equation. By integrating a fault compensation mechanism into the nominal controller, a distributed active fault-tolerant consensus controller is constructed for the follower agents to eliminate the adverse effects of multiple faults. Simulation examples are provided to demonstrate the effectiveness of the proposed method.

Diagnosing Parkinson's disease by combining neuromelanin and iron imaging features using an automated midbrain template approach.

BACKGROUND AND PURPOSE: Early diagnosis of Parkinson's disease (PD) is still a clinical challenge. Most previous studies using manual or semi-automated methods for segmenting the substantia nigra (SN) are time-consuming and, despite raters being well-trained, individual variation can be significant. In this study, we used a template-based, automatic, SN subregion segmentation pipeline to detect the neuromelanin (NM) and iron features in the SN and SN pars compacta (SNpc) derived from a single 3D magnetization transfer contrast (MTC) gradient echo (GRE) sequence in an attempt to develop a comprehensive imaging biomarker that could be used to diagnose PD. MATERIALS AND METHODS: A total of 100 PD patients and 100 age- and sex-matched healthy controls (HCs) were imaged on a 3T scanner. NM-based SN (SNNM) boundaries and iron-based SN (SNQSM) boundaries and their overlap region (representing the SNpc) were delineated automatically using a template-based SN subregion segmentation approach based on quantitative susceptibility mapping (QSM) and NM images derived from the same MTC-GRE sequence. All PD and HC subjects were evaluated for the nigrosome-1 (N1) sign by two raters independently. Receiver Operating Characteristic (ROC) analyses were performed to evaluate the utility of SNNM volume, SNQSM volume, SNpc volume and iron content with a variety of thresholds as well as the N1 sign in diagnosing PD. Correlation analyses were performed to study the relationship between these imaging measures and the clinical scales in PD. RESULTS: In this study, we verified the value of the fully automatic template based midbrain deep gray matter mapping approach in differentiating PD patients from HCs. The automatic segmentation of the SN in PD patients led to satisfactory DICE similarity coefficients and volume ratio (VR) values of 0.81 and 1.17 for the SNNM, and 0.87 and 1.05 for the SNQSM, respectively. For the HC group, the average DICE similarity coefficients and VR values were 0.85 and 0.94 for the SNNM, and 0.87 and 0.96 for the SNQSM, respectively. The SNQSM volume tended to decrease with age for both the PD and HC groups but was more severe for the PD group. For diagnosing PD, the N1 sign performed reasonably well by itself (Area Under the Curve (AUC) = 0.783). However, combining the N1 sign with the other quantitative measures (SNNM volume, SNQSM volume, SNpc volume and iron content) resulted in an improved diagnosis of PD with an AUC as high as 0.947 (using an SN threshold of 50ppb and an NM threshold of 0.15). Finally, the SNQSM volume showed a negative correlation with the MDS-UPDRS III (R2 = 0.1, p = 0.036) and the Hoehn and Yahr scale (R2 = 0.04, p = 0.013) in PD patients. CONCLUSION: In summary, this fully automatic template based deep gray matter mapping approach performs well in the segmentation of the SN and its subregions for not only HCs but also PD patients with SN degeneration. The combination of the N1 sign with other quantitative measures (SNNM volume, SNQSM volume, SNpc volume and iron content) resulted in an AUC of 0.947 and provided a comprehensive set of imaging biomarkers that, potentially, could be used to diagnose PD clinically.