Fast and high-precision tracking technology for image-based closed-loop cascaded control system with a Risley prism and fast steering mirror.

The Risley prism's compact structure, dynamic responsiveness, and high tracking accuracy make it ideal for photoelectric image tracking. To realize fast and high-precision tracking of the target, we propose an image-based closed-loop tracking cascade control (IBCLTCR-F) system using a single image detector that integrates the Risley prism and fast steering mirror (FSM). Firstly, We propose a cascade control input-decoupling method (CCIDM) for the IBCLTCR-F system to solve the complex problem of coarse-fine control input decoupling in traditional single detector cascaded control systems. Moreover, the CCIDM method ensures that the FSM deflection angle is small and does not exceed its range during the fine tracking process, by using the Risley prism to compensate for the FSM deflection angle. Next, we design the image-based closed-loop tracking controllers of the Risley prism system and FSM system and analyze the stability of the IBCLTCR-F system. Finally, we track static and moving targets through experiments. The experimental results verify the feasibility of the IBCLTCR-F system, the effectiveness of the decoupling method, and the fast and high-precision tracking of the targets.

Construction of Porous Polyureas and Polyamides via Domino Polymerization and Their High-Efficiency Au(III) Adsorption.

The adoption of new synthesis strategy and monomers significantly promotes the construction of porous organic polymers (POPs) and their promising applications. A fabricating method of porous polyimides is developed via sequential imidization and cross-linking reaction among self-condensable building blocks, as reported in the authors' previous manuscript. Herein, porous polyureas (A-POPs) are prepared starting from 4-ethynylaniline and diisocyanate monomers, while porous polyamides (B-POPs) are synthesized from 4-ethynylbenzoic acid and diisocyanate monomers. It is found that decreasing the monomer content in solvent can effectively inhibit the premature phase separation and facilitate the evolution of integrated network. Eventually, a maximum surface area of 425 m2  g-1 is achieved for porous polyureas when the content of monomers is 10%. To the best knowledge, A-POPs are the porous polyureas with the highest surface areas reported up to now. The as-prepared porous polyurea (AN-POP) exhibits the maximum adsorption capacity of 1093.87 ± 5.23 mg g-1 and removal rate of 99.96% for Au(III), due to its high surface area and the coordination between the heteroatoms (N and O) in A-POPs and metal ions. Besides, the porous polyurea also exhibits excellent renewable efficiency and high selectivity to Au(III).

Multivariable Decoupling and Nonlinear Correction Method for Image-Based Closed-Loop Tracking of the Risley Prisms System.

Image-based closed-loop tracking (IBCLT) is an important part of the process of target tracking. The Risley prism system has a unique advantage in improving the target tracking ability because of its compact and lightweight structure. Compared with traditional target tracking equipment, the Risley prism system has two difficulties in the process of IBCLT. First, the Risley prism is a complex coupling system of double input and double output. Second, the Risley prism itself is a nonlinear system. These problems lead to decrease in dynamic response and inconsistent target tracking capabilities. Thus, this paper proposes a method to implement multivariable decoupling and reduce the nonlinear effect. First, the boresight error of IBCLT is decoupled to the azimuth and elevation directions by the rotation matrix error-decoupling (RMED) method. Second, the gains of IBCLT in azimuth and elevation directions are independent variables that comes from two functions of the target elevation angle. The experimental results show that the IBCLT error deviation of different static targets in the field of view is within 0.025 arcsec, which is 70% lower compared with the fixed gain method. Furthermore, the steady-state error deviation of moving targets is controlled within 2.5 arcsec. These experimental results prove the feasibility and effectiveness of the proposed method.

Robust Risley prism control based on disturbance observer for system line-of-sight stabilization.

In this paper, a robust control based on disturbance observer is proposed to improve the tracking accuracy of the Risley prism system (RPS). Applying the flexible thin-wall ring mechanism in the RPS causes a series of tracking and pointing challenges. Disturbances such as friction, shaft deformation, and model perturbation significantly deteriorate the tracking and pointing accuracy of the RPS. Two different observer-based control methods are proposed to guarantee the tracking precision of the RPS. Moreover, the disturbance observation and compensation (DOC) performance of the proposed methods is analyzed and compared. Finally, simulation and experiment results indicate that the proposed control methods, especially the DOC-expanded state observer control mode, obtain the best performance for disturbance rejection in the RPS.

LncRNA UCA1 promotes SOX12 expression in breast cancer by regulating m6A modification of miR-375 by METTL14 through DNA methylation.

Breast cancer, a multifactorial disease, represents one of the leading causes of cancer-related morbidity and mortality in women. This study set out to elucidate the underlying mechanism by which lncRNA UCA1 affects the m6A modification of miR-375 by mediating the DNA methylation of METTL14 and then altering SOX12 expression in breast cancer. First, the expression patterns of lncRNA UCA1, miR-375, and apoptosis-related factors were quantitated by means of RT-qPCR and western blot analysis. In addition, the proliferation, invasion, and apoptosis of cells were detected using CCK-8, Transwell, and flow cytometry, respectively. RIP was performed to further uncover the interaction of lncRNA UCA1 and DNA methyltransferases, and MSP was employed for METTL14 promoter region methylation. The DNA methyltransferase enrichment in the METTL14 promoter region was measured by ChIP. The targeting relationship between miR-375 and SOX12 was confirmed by bioinformatics analysis and dual-luciferase report assay. Lastly, the aforementioned mechanism was also verified using tumor xenograft in vivo. It was found the elevated lncRNA UCA1 expression levels serve as a risk factor of poor prognosis in breast cancer. Meanwhile, silencing lncRNA UCA1 could inhibit the proliferation and invasion, but promote apoptosis of breast cancer cells by reducing the DNA methylation of METTL14 and augmenting its expression. Furthermore, METTL14 was observed to mediate the low miR-375 expression through m6A modification, leading to increased SOX12 expression levels in breast cancer. Altogether, findings obtained in our study indicated that silencing lncRNA UCA1 curbed the progression of breast cancer through the METTL14-miR-375-SOX12 axis.

Prevalence, clinical features, risk factors, and outcomes of SLE patients with aortic aneurysm: a cross-sectional retrospective study in a Chinese single center.

OBJECTIVES: The prevalence, clinical features, and outcomes of patients with systemic lupus erythematosus (SLE) complicated with or without aortic aneurysm (AA) were compared in a Chinese single-center cohort. METHODS: Included in this study were SLE patients who received treatment at Shanghai Changhai Hospital between 2000 and 2020. The prevalence, clinical features, and outcomes of these SLE patients with or without AA were compared by Student's t-tests or Fisher's exact tests as appropriate. Risk factors associated with AA occurrence in SLE were evaluated by univariable and multivariable logistic regression analyses. The survival analysis between SLE patients with or without AA was conducted by the Kaplan-Meier method. RESULTS: Of the 1843 SLE patients included in this study, 16 (0.86%) were identified as having AA, and 160 of the remaining 1825 SLE patients without AA were selected as a simple random sample for comparison. The SLE patients with AA showed a higher proportion of smoking and hypertension as compared with those with no AA. Multivariable logistic regression analysis showed that a long SLE duration and anti-RNP positivity were two independent risk factors associated with AA occurrence in SLE patients. The log rank test showed that SLE patients with AA had a significantly higher risk of progression to death. Renal disorder was associated with an even poorer outcome in SLE patients with AA. CONCLUSION: The incidence of AA in SLE patients may be underestimated. The association between AA and SLE, especially in patients with multiple risk factors, should not be ignored. Key Points • The risk of SLE patients developing AA may be higher than that previously estimated. • The risk of SLE patients especially with multiple risk factors developing AA should not be ignored. • The diagnosis of AA should not be forgot when SLE patients present with chest, back, or abdominal symptoms with unexplained causes.

Diagnosis and Individualized Treatment of Three Primary Malignant Tumors: A Case Report.

Continuous optimization of diagnosis and treatment of malignant tumors has led to significantly prolonged survival in cancer patients. Despite the recent increase in the incidence of multiple primary malignant tumors (MPMT), it remains rare in clinical practice; therefore, normative guidance on its etiology, diagnosis, and treatment is insufficient. Here we describe the case of a patient with three primary malignant tumors, namely breast cancer, diffuse astrocytoma, and hepatic malignant perivascular epithelioid cell tumors (PEComa) and discuss relevant literature.

The m6A methyltransferase METTL3 controls epithelial-mesenchymal transition, migration and invasion of breast cancer through the MALAT1/miR-26b/HMGA2 axis.

BACKGROUND: Previous studies have revealed the key functions of N6-methyladenosine (m6A) modification in breast cancer (BC). MALAT1 as a highly m6A modified lncRNA associated with cancer development and metastasis, but the functional relevance of m6A methyltransferase and MALAT1 in BC is still unknown. Here, our study investigated the effects of the novel m6A methyltransferase METTL3 on epithelial-mesenchymal transition (EMT) in BC via the MALAT1/miR-26b/HMGA2 axis. METHODS: Firstly, we collected clinical BC samples and cultured BC cells, and detected mRNA and protein levels in the human samples and human cell lines by RT-qPCR and Western blot, respectively. Then, the binding of MALAT1 and miR-26b and the targeting relationship between miR-26b and HMGA2 were examined by dual-luciferase assay. Moreover, the binding of MALAT1 and miR-26b was tested by RNA pull down and RNA immunoprecipitation (RIP) assays. Methylated-RNA immunoprecipitation (Me-RIP) was used to detect the m6A modification level of MALAT1. The interaction of METTL3 and MALAT1 was detected by photoactivatable ribonucleoside-crosslinking immunoprecipitation (PAR-CLIP). Finally, effects on invasion and migration were detected by Transwell. RESULTS: In BC, the level of miR-26b was consistently low, while the levels of METTL3, MALAT1 and HMGA2 were high. Further experiments showed that METTL3 up-regulated MALAT1 expression by modulating the m6A modification of MALAT1, and that MALAT1 could promote the expression of HMGA2 by sponging miR-26b. In BC cells, we found that silencing METTL3 could inhibit EMT and tumor cell invasion by suppressing MALAT1. Furthermore, MALAT1 mediated miR-26b to target HMGA2 and promote EMT, migration, and invasion. In summary, METTL3 promoted tumorigenesis of BC via the MALAT1/miR-26b/HMGA2 axis. CONCLUSIONS: Silencing METTL3 down-regulate MALAT1 and HMGA2 by sponging miR-26b, and finally inhibit EMT, migration and invasion in BC, providing a theoretical basis for clinical treatment of BC.

Disturbance compensation of a multiaperture imaging system based on a coupling rotating prism using an improved model compensation control.

In this paper, a cascade double-loop control (DLC) combined with modeling compensation methods is proposed to improve the tracking precision of the multiaperture imaging system (MAIS). The application of the flexible thin-wall ring mechanism in the coupling rotating prism (CRP) system causes a series of tracking and pointing challenges. Disturbances such as friction, shaft deformation, and model perturbation significantly deteriorate the tracking and pointing accuracy of the CRP. Two different modeling compensation methods that are interfaced with classical DLC are proposed to guarantee the tracking precision of the MAIS. Moreover, the disturbance observation and compensation performance of two different modeling compensation methods are analyzed and compared. Finally, simulation and experiment results indicate that the proposed control methods, especially model compensation based on speed close-loop control, obtain the best performance for disturbance rejection in the MAIS.

Preparation of Porous Carbon Materials Derived from Hyper-Cross-Linked Asphalt/Coal Tar and Their High Desulfurization Performance.

The development of simple and highly effective desulfurization technology is attracting more and more interest in both industrial and academic fields. Here, a new family of precursors was prepared based on hyper-cross-linked asphalt and coal tar building blocks. Thanks to the preintroduced porous structure, the precursors were converted into carbons with high surface area and large micropore volume via a uniform carbonization process. The synergistic effects of high surface area, abundant microporous structure, and the introduced polar functional groups endow the carbon materials with high desulfurization performance. The results of repeated experiments show that the adsorption capacities of five carbonized samples are higher than 40 mg S g-1, and the theoretical maximum adsorption capacity reaches 44.7 mg S g-1. Particularly, the adsorption equilibrium of all the carbonized samples can be reached in 5 min. Moreover, the recycle adsorption performance was also studied. Toluene exhibits the best elution effect among three eluents (iso-octane, para-xylene, and toluene) and the adsorption capacity remains 89% of the initial adsorption capacity after two adsorption-desorption cycles. It is believed that both innocent treatment of byproducts from petroleum industry and their high-value application for deep desulfurization in liquid hydrocarbon fuels benefit environmental protection and sustainable development.

Mono-Component Feature Extraction for Condition Assessment in Civil Structures Using Empirical Wavelet Transform.

This paper proposes a methodology to process and interpret the complex signals acquired from the health monitoring of civil structures via scale-space empirical wavelet transform (EWT). The FREEVIB method, a widely used instantaneous modal parameters identification method, determines the structural characteristics from the individual components separated by EWT first. The scale-space EWT turns the detecting of the frequency boundaries into the scale-space representation of the Fourier spectrum. As well, to find meaningful modes becomes a clustering problem on the length of minima scale-space curves. The Otsu's algorithm is employed to determine the threshold for the clustering analysis. To retain the time-varying features, the EWT-extracted mono-components are analyzed by the FREEVIB method to obtain the instantaneous modal parameters and the linearity characteristics of the structures. Both simulated and real SHM signals from civil structures are used to validate the effectiveness of the present method. The results demonstrate that the proposed methodology is capable of separating the signal components, even those closely spaced ones in frequency domain, with high accuracy, and extracting the structural features reliably.

Highly Sensitive and Selective Colorimetric Detection of Creatinine Based on Synergistic Effect of PEG/Hg2+-AuNPs.

A colorimetric sensor, based on the synergistic coordination effect on a gold nanoparticle (AuNP) platform has been developed for the determination of creatinine. The sensor selects citrate stabilized AuNPs as a platform, polyethylene glycol (PEG) as a decorator, and Hg2+ as a linkage to form a colorimetric probe system (PEG/Hg2--AuNPs). By forming hydrogen bond between the oxygen-containing functional groups of PEG and citrate ions on the surface of AuNPs, this probe shows good stability. PEG coordinated with Hg2+ synergistically and specifically on the surface of dispersed AuNPs, and the existence of creatinine could induce the aggregation of AuNPs with a corresponding color change and an obvious absorption peak shift within 5 min. This PEG/Hg2+-AuNPs probe towards creatinine shows high sensitivity, and a good linear relationship (R2 = 0.9948) was obtained between A620-522 nm and creatinine concentration, which can achieve the quantitative calculations of creatinine. The limit of detection (LOD) of this PEG/Hg2+-AuNPs probe was estimated to be 9.68 nM, lower than that of many other reported methods (Supplementary Materials Table S3). Importantly, the sensitive probe can be successfully applied in a urine simulating fluid sample and a bovine serum sample. The unique synergistic coordination sensing mechanism applied in the designation of this probe further improves its high selectivity and specificity for the detection of creatinine. Thus, the proposed probe may give new inspirations for colorimetric detection of creatinine and other biomolecules.

A New Disturbance Feedforward Control Method for Electro-Optical Tracking System Line-Of-Sight Stabilization on Moving Platform.

A feedforward control was proposed based on the decoupling of target movement and disturbance from gyro signals to improve the stabilization precision of line-of-sight (LOS) for an electro-optical tracking system (EOTS) on a moving platform. Signals measured by gyros mounted on gimbal consist of target movement and disturbance. To remove target movement and obtain middle and high frequency disturbance velocity, the gyro signals were filtered by a high pass filter. The disturbance velocity was integrated into the position signal and fed forward to the inner position loop of the fast steering mirror. A detailed analysis was provided to show the proposed approach, to improve disturbance suppression performance with only slight weakening of target tracking ability. The proposed feedforward control was effectively verified through a series of comparative simulations and experiments. Besides, the method was applied in a real ship-based project.

Analysis of the Subdivision Errors of Photoelectric Angle Encoders and Improvement of the Tracking Precision of a Telescope Control System.

Photoelectric angle encoders, working as position sensors, have a great influence on the accuracy and stability of telescope control systems (TCS). In order to improve the tracking precision of TCS, a method based on subdivision error compensation for photoelectric angle encoders is proposed. First, a mathematical analysis of six types of subdivision errors (DC error, phase error, amplitude error, harmonic error, noise error, and quantization error) is presented, which is different from the previously used analysis based on the Lissajous figure method. In fact, we believe that a mathematical method is more efficient than the figure method for the expression of subdivision errors. Then, the distribution law and period length of each subdivision error are analyzed. Finally, an error compensation algorithm is presented. In a real TCS, the elevation jittering phenomenon occurs, which indicates that compensating for the amplitude error is necessary. A feed-forward loop is then introduced into the TCS, which is position loop- and velocity loop-closed, leading to a decrease of the tracking error by nearly 54.6%, from 2.31" to 1.05", with a leading speed of 0.25°/s, and by 40.5%, from 3.01" to 1.79", with a leading speed of 1°/s. This method can realize real-time compensation and improve the ability of TCS without any change of the hardware. In addition, independently of the environment and the kind of control strategy used, this method can also improve the tracking precision presumably because it compensates the measuring error inside the photoelectric angle encoder.