Distribution pattern and change prediction of Phellodendron habitat in China under climate change.

Phellodendron has always been of great significance in promoting human health and ecological restoration. However, human activities and climate change have severely affected habitat, population dynamics and sustainable use of Phellodendron. Little is known about the geographical distribution pattern and their responses to climate change of Phellodendron. In order to reveal the impact of climate change on Phellodendron, we conducted a study based on natural distribution data of two species (297 occurrence points), 20 environmental factors, and an optimized MaxEnt model. Our results identified the main environmental factors influencing Phellodendron, predicted their potential geographical distribution, and assessed migration trends under climate change in China. Our analysis showed that Ph. amurense and Ph. chinense have potential suitable habitats of 62.89 × 104 and 70.71 × 104 km2, respectively. Temperature and precipitation were found to play an essential role in shaping the present geographical distribution of Phellodendron populations. Based on two future climate scenarios, we forecasted that the potential suitable habitat of Ph. amurense would decrease by 12.52% (SSP245) and increase by 25.28% (SSP585), while Ph. chinense would decline by 19.61% (SSP245) and 15.78% (SSP585) in the late-21st century. The potential suitable habitats of Ph. amurense and Ph. chinense would shift to northward and westward, respectively. Hydrothermal change was found to be the primary driver of the suitable habitat of Phellodendron populations in the future. We recommend establishing nature reserves for existing Phellodendron populations, especially Ph. chinense. Our study provided a practical framework for the impact of climate change on the suitable habitat of Phellodendron species and guided regional cultivation, long-term conservation, and sustainable use.

Event-based adaptive tracking control for robotic systems with deferred position constraints and unknown backlash-like hysteresis.

This paper proposes an event-based adaptive tracking control scheme for the n-link robotic systems in the presence of unknown backlash-like hysteresis (BLH) and deferred position constraints. By combining a transformation error with an asymmetric Lyapunov function, the devised control tactic achieves that the position constraints of robotic systems are not violated after user pre-specified time. In contrast to the results of robotic systems with position constraints, this paper removes a common assumption condition generated by the conventional barrier Lyapunov function method. Then, the adverse effect of unknown BLH can be offset by the Nussbaum function. Meanwhile, an event-triggered mechanism is designed to economize on the network bandwidth resources. Finally, based on the Lyapunov theory, an event-based adaptive tracking control tactic is proposed to ensure that all the signals of robotic systems are bounded under unknown BLH and deferred position constraints. Some simulation results proof that the devised control scheme is valid.

Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function.

BACKGROUND: Robot-assisted manipulation is promising for solving problems such as understaffing and the risk of infection in gastro-intestinal endoscopy. However, the commonly used friction rollers in few existing systems have a potential risk of deforming flexible endoscopes for non-uniform clamping. METHODS: This paper presents a robotic system for a standard flexible endoscope and focuses on a novel gastroscope intervention mechanism (GIM), which provides circumferentially uniform clamping with an airbag. The GIM works with a relay-on mechanism in a way similar to manual operation. The shear stiffness of airbag and the critical slipping force (CSF) were analysed to determine the parameters of the airbag. A fuzzy PID controller was employed to realize a fast response and high accuracy of pneumatic actuation. Experiments were performed to evaluate the accuracy, stiffness and CSF. In vitro and in vivo animal experiments were also carried out. RESULTS: The GIM realized an accuracy of 0.025 ± 0.2 mm and -0.03 ± 0.25° for push-pull and rotation without delivery resistance. Under < 10 N delivery resistance, the error caused by the airbag stiffness was < 0.24 mm. A quadratic polynomial could be used to describe the relationship between the CSF and pneumatic pressure. CONCLUSIONS: The novel GIM could effectively deliver gastroscopes. The pneumatic-driven clamping method proposed could protect the gastroscope by circumferentially uniform clamping force and the CSF could be properly controlled to guarantee operating safety. Copyright © 2016 John Wiley & Sons, Ltd.