Self-Organizing Type-2 Fuzzy Double Loop Recurrent Neural Network for Uncertain Nonlinear System Control.

Nonlinear systems, such as robotic systems, play an increasingly important role in our modern daily life and have become more dominant in many industries; however, robotic control still faces various challenges due to diverse and unstructured work environments. This article proposes a double-loop recurrent neural network (DLRNN) with the support of a Type-2 fuzzy system and a self-organizing mechanism for improved performance in nonlinear dynamic robot control. The proposed network has a double-loop recurrent structure, which enables better dynamic mapping. In addition, the network combines a Type-2 fuzzy system with a double-loop recurrent structure to improve the ability to deal with uncertain environments. To achieve an efficient system response, a self-organizing mechanism is proposed to adaptively adjust the number of layers in a DLRNN. This work integrates the proposed network into a conventional sliding mode control (SMC) system to theoretically and empirically prove its stability. The proposed system is applied to a three-joint robot manipulator, leading to a comparative study that considers several existing control approaches. The experimental results confirm the superiority of the proposed system and its effectiveness and robustness in response to various external system disturbances.

Quadcopter UAVs Extended States/Disturbance Observer-Based Nonlinear Robust Backstepping Control.

A trajectory tracking control for quadcopter unmanned aerial vehicle (UAV) based on a nonlinear robust backstepping algorithm and extended state/disturbance observer (ESDO) is presented in this paper. To obtain robust attitude stabilization and superior performance of three-dimension position tracking control, the construction of the proposed algorithm can be separated into three parts. First, a mathematical model of UAV negatively influenced by exogenous disturbances is established. Following, an extended state/disturbance observer using a general second-order model is designed to approximate undesirable influences of perturbations on the UAVs dynamics. Finally, a nonlinear robust controller is constructed by an integration of the nominal backstepping technique with ESDO to enhance the performance of attitude and position control mode. Robust stability of the closed-loop disturbed system is obtained and guaranteed through the Lyapunov theorem without precise knowledge of the upper bound condition of perturbations. Lastly, a numerical simulation is carried out and compared with other previous controllers to demonstrate the great advantage and effectiveness of the proposed control method.

Encryption and Decryption of Audio Signal and Image Secure Communications Using Chaotic System Synchronization Control by TSK Fuzzy Brain Emotional Learning Controllers.

In this article, a new idea of chaos synchronization and chaos-based secure communication is developed. First, the chaotic master system is used as a transmitter in chaos-based secure communication, then a drive signal is constructed, and the information message is encrypted into the drive signal to form a transmitted signal for secure communication. Second, in the receiver, a recurrent Takagi-Sugeno-Kang (TSK) fuzzy brain emotional learning cerebellar model articulation controller (RTFBECAC) is developed to control the slave system to follow the master system in the transmitter. Third, after descripting the chaotic signal, the embedded information message can be recovered. Besides, the stability problem is analyzed in detail based on the stability theory. Finally, two simulation examples, including audio signal and image, are introduced to illustrate the effectiveness and the advantages of the proposed method.

Radiomics-based machine learning model for efficiently classifying transcriptome subtypes in glioblastoma patients from MRI.

BACKGROUND: In the field of glioma, transcriptome subtypes have been considered as an important diagnostic and prognostic biomarker that may help improve the treatment efficacy. However, existing identification methods of transcriptome subtypes are limited due to the relatively long detection period, the unattainability of tumor specimens via biopsy or surgery, and the fleeting nature of intralesional heterogeneity. In search of a superior model over previous ones, this study evaluated the efficiency of eXtreme Gradient Boosting (XGBoost)-based radiomics model to classify transcriptome subtypes in glioblastoma patients. METHODS: This retrospective study retrieved patients from TCGA-GBM and IvyGAP cohorts with pathologically diagnosed glioblastoma, and separated them into different transcriptome subtypes groups. GBM patients were then segmented into three different regions of MRI: enhancement of the tumor core (ET), non-enhancing portion of the tumor core (NET), and peritumoral edema (ED). We subsequently used handcrafted radiomics features (n = 704) from multimodality MRI and two-level feature selection techniques (Spearman correlation and F-score tests) in order to find the features that could be relevant. RESULTS: After the feature selection approach, we identified 13 radiomics features that were the most meaningful ones that can be used to reach the optimal results. With these features, our XGBoost model reached the predictive accuracies of 70.9%, 73.3%, 88.4%, and 88.4% for classical, mesenchymal, neural, and proneural subtypes, respectively. Our model performance has been improved in comparison with the other models as well as previous works on the same dataset. CONCLUSION: The use of XGBoost and two-level feature selection analysis (Spearman correlation and F-score) could be expected as a potential combination for classifying transcriptome subtypes with high performance and might raise public attention for further research on radiomics-based GBM models.

Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control.

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

A Computational Framework Based on Ensemble Deep Neural Networks for Essential Genes Identification.

Essential genes contain key information of genomes that could be the key to a comprehensive understanding of life and evolution. Because of their importance, studies of essential genes have been considered a crucial problem in computational biology. Computational methods for identifying essential genes have become increasingly popular to reduce the cost and time-consumption of traditional experiments. A few models have addressed this problem, but performance is still not satisfactory because of high dimensional features and the use of traditional machine learning algorithms. Thus, there is a need to create a novel model to improve the predictive performance of this problem from DNA sequence features. This study took advantage of a natural language processing (NLP) model in learning biological sequences by treating them as natural language words. To learn the NLP features, a supervised learning model was consequentially employed by an ensemble deep neural network. Our proposed method could identify essential genes with sensitivity, specificity, accuracy, Matthews correlation coefficient (MCC), and area under the receiver operating characteristic curve (AUC) values of 60.2%, 84.6%, 76.3%, 0.449, and 0.814, respectively. The overall performance outperformed the single models without ensemble, as well as the state-of-the-art predictors on the same benchmark dataset. This indicated the effectiveness of the proposed method in determining essential genes, in particular, and other sequencing problems, in general.

Robust Fault Estimation Using the Intermediate Observer: Application to the Quadcopter.

In this paper, an actuator fault estimation technique is proposed for quadcopters under uncertainties. In previous studies, matching conditions were required for the observer design, but they were found to be complex for solving linear matrix inequalities (LMIs). To overcome these limitations, in this study, an improved intermediate estimator algorithm was applied to the quadcopter model, which can be used to estimate actuator faults and system states. The system stability was validated using Lyapunov theory. It was shown that system errors are uniformly ultimately bounded. To increase the accuracy of the proposed fault estimation algorithm, a magnitude order balance method was applied. Experiments were verified with four scenarios to show the effectiveness of the proposed algorithm. Two first scenarios were compared to show the effectiveness of the magnitude order balance method. The remaining scenarios were described to test the reliability of the presented method in the presence of multiple actuator faults. Different from previous studies on observer-based fault estimation, this proposal not only can estimate the fault magnitude of the roll, pitch, yaw, and thrust channel, but also can estimate the loss of control effectiveness of each actuator under uncertainties.

Hybrid Neural Network Cerebellar Model Articulation Controller Design for Non-linear Dynamic Time-Varying Plants.

This study proposes a hybrid method to control dynamic time-varying plants that comprises a neural network controller and a cerebellar model articulation controller (CMAC). The neural-network controller reduces the range and quantity of the input. The cerebellar-model articulation controller is the main controller and is used to compute the final control output. The parameters for the structure of the proposed network are adjusted using adaptive laws, which are derived using the steepest-descent gradient approach and back-propagation algorithm. The Lyapunov stability theory is applied to guarantee system convergence. By using the proposed combination architecture, the designed CMAC structure is reduced, and it makes it easy to design the network size and the initial membership functions. Finally, numerical-simulation results demonstrate the effectiveness of the proposed method.

Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration.

This paper focuses on motion analysis of a coupled unmanned surface vehicle (USV)-umbilical cable (UC)-unmanned underwater vehicle (UUV) system to investigate the interaction behavior between the vehicles and the UC in the ocean environment. For this, a new dynamic modeling method for investigating a multi-body dynamics system of this coupling system is employed. Firstly, the structure and hardware composition of the proposed system are presented. The USV and UUV are modeled as rigid-body vehicles, and the flexible UC is discretized using the catenary equation. In order to solve the nonlinear coupled dynamics of the vehicles and flexible UC, the fourth-order Runge-Kutta numerical method is implemented. In modeling the flexible UC dynamics, the shooting method is applied to solve a two-point boundary value problem of the catenary equation. The interaction between the UC and the USV-UUV system is investigated through numerical simulations in the time domain. Through the computer simulation, the behavior of the coupled USV-UC-UUV system is analyzed for three situations which can occur. In particular, variation of the UC forces and moments at the tow points and the configuration of the UC in the water are investigated.

Identification of clathrin proteins by incorporating hyperparameter optimization in deep learning and PSSM profiles.

BACKGROUND AND OBJECTIVES: Clathrin is an adaptor protein that serves as the principal element of the vesicle-coating complex and is important for the membrane cleavage to dispense the invaginated vesicle from the plasma membrane. The functional loss of clathrins has been tied to a lot of human diseases, i.e., neurodegenerative disorders, cancer, Alzheimer's diseases, and so on. Therefore, creating a precise model to identify its functions is a crucial step towards understanding human diseases and designing drug targets. METHODS: We present a deep learning model using a two-dimensional convolutional neural network (CNN) and position-specific scoring matrix (PSSM) profiles to identify clathrin proteins from high throughput sequences. Traditionally, the 2D CNNs take images as an input so we treated the PSSM profile with a 20 × 20 matrix as an image of 20 × 20 pixels. The input PSSM profile was then connected to our 2D CNN in which we set a variety of parameters to improve the performance of the model. Based on the 10-fold cross-validation results, hyper-parameter optimization process was employed to find the best model for our dataset. Finally, an independent dataset was used to assess the predictive ability of the current model. RESULTS: Our model could identify clathrin proteins with sensitivity of 92.2%, specificity of 91.2%, accuracy of 91.8%, and MCC of 0.83 in the independent dataset. Compared to state-of-the-art traditional neural networks, our method achieved a significant improvement in all typical measurement metrics. CONCLUSIONS: Throughout the proposed study, we provide an effective tool for investigating clathrin proteins and our achievement could promote the use of deep learning in biomedical research. We also provide source codes and dataset freely at https://www.github.com/khanhlee/deep-clathrin/.

Identifying SNAREs by Incorporating Deep Learning Architecture and Amino Acid Embedding Representation.

SNAREs (soluble N-ethylmaleimide-sensitive factor activating protein receptors) are a group of proteins that are crucial for membrane fusion and exocytosis of neurotransmitters from the cell. They play an important role in a broad range of cell processes, including cell growth, cytokinesis, and synaptic transmission, to promote cell membrane integration in eukaryotes. Many studies determined that SNARE proteins have been associated with a lot of human diseases, especially in cancer. Therefore, identifying their functions is a challenging problem for scientists to better understand the cancer disease as well as design the drug targets for treatment. We described each protein sequence based on the amino acid embeddings using fastText, which is a natural language processing model performing well in its field. Because each protein sequence is similar to a sentence with different words, applying language model into protein sequence is challenging and promising. After generating, the amino acid embedding features were fed into a deep learning algorithm for prediction. Our model which combines fastText model and deep convolutional neural networks could identify SNARE proteins with an independent test accuracy of 92.8%, sensitivity of 88.5%, specificity of 97%, and Matthews correlation coefficient (MCC) of 0.86. Our performance results were superior to the state-of-the-art predictor (SNARE-CNN). We suggest this study as a reliable method for biologists for SNARE identification and it serves a basis for applying fastText word embedding model into bioinformatics, especially in protein sequencing prediction.