Novel sliding mode control of the manipulator based on a nonlinear disturbance observer.

To achieve high-performance trajectory tracking for a manipulator, this study proposes a novel sliding mode control strategy incorporating a nonlinear disturbance observer. The observer is designed to estimate unknown models in real-time, enabling feedforward compensation for various uncertainties such as modeling errors, joint friction, and external torque disturbances. The control law is formulated by integrating the Backstepping method, Lyapunov theory, and global fast terminal sliding mode theory, ensuring global convergence to zero within finite time and enhancing system robustness.

Utilizing a synergistic strategy that combines electromagnetic and chemical enhancement to analyze the SERS effect of the FeO@GO@Ag on PAHs detection.

A comprehensive understanding of the enhancement mechanism of the substrate material is crucial to ensure the repeatability and functionality of SERS detection technology. Therefore, this study introduces a theoretical analysis method that integrates electromagnetic and chemical enhancement to achieve a comprehensive understanding of the SERS effect on the magnetic composite substrate. The visual model is employed in this study to comprehensively analyze and illustrate the electric field enhancement and optical effects of composite substrate materials.

Multi-objective optimization design and experiment for a magnetic micro-vibration isolator considering stiffness trade-offs.

Vibration substantially degrades machining quality and measurement accuracy in ultra-precision processes, necessitating the implementation of vibration isolators to mitigate these effects. Magnetic vibration isolators represent a promising alternative due to their wide isolation frequency range, low energy consumption, and compatibility with vacuum environments. In designing the quasi-zero stiffness magnetic vibration isolator, the particle swarm optimization algorithm is employed to balance multiple performance indicators.

Polysulfide regulation by defect-modulated TaN electrocatalyst toward superior room-temperature sodium-sulfur batteries.

Resolving low sulfur reaction activity and severe polysulfide dissolution remains challenging in metal-sulfur batteries. Motivated by a theoretical prediction, herein, we strategically propose nitrogen-vacancy tantalum nitride (TaN) impregnated inside the interconnected nanopores of nitrogen-decorated carbon matrix as a new electrocatalyst for regulating sulfur redox reactions in room-temperature sodium-sulfur batteries. Through a pore-constriction mechanism, the nitrogen vacancies are controllably constructed during the nucleation of TaN.

Response of soil CO emissions and water-carbon use efficiency of winter wheat to different straw returning methods and irrigation scenarios.

Background: The shortage of water resources and the increase of greenhouse gas emissions from soil seriously restrict the sustainable development of agriculture. Under the premise of ensuring a stable yield of winter wheat through a reasonable irrigation scenario, identifying a suitable straw returning method will have a positive effect on agricultural carbon sequestration and emission reduction in North China Plain.

Results: Straw burying (SR) and straw mulching (SM) were adopted based on traditional tillage under in the winter wheat growing season of 2020-2021 and 2021-2022.

Robust Switchable Polarization and Coupled Electronic Characteristics of Magnesium-Doped Zinc Oxide.

Ferroelectrics possess a spontaneous polarization that is switchable by an electric field and is critical for the development of low-energy nanoelectronics and neuromorphic applications. However, apart from a few recent developments, the realization of switchable polarization in metal oxides with simpler structures has been a major challenge. Here, we demonstrate the presence of robust switchable polarization at the level of a single nanocrystallite in magnesium-doped zinc oxide thin films with polar wurtzite crystal structures.

Precipitation and local adaptation drive spatiotemporal variations of aboveground biomass and species richness in Tibetan alpine grasslands.

The Tibetan Plateau contains the highest and largest alpine pasture in the world, which is adapted to the cold and arid climate. It is challenging to understand how the vast alpine grasslands respond to climate change. We aim to test the hypothesis that there is local adaptation in elevational populations of major plant species in Tibetan alpine grasslands, and that the spatiotemporal variations of aboveground biomass (AGB) and species richness (S) can be mainly explained by climate change only when the effect of local adaptation is removed.

Flare and change in disease activity among patients with stable rheumatoid arthritis following coronavirus disease 2019 vaccination: A prospective Chinese cohort study.

Background: Vaccination has been shown effective in controlling the global coronavirus disease 2019 (COVID-19) pandemic and reducing severe cases. This study was to assess the flare and change in disease activity after COVID-19 vaccination in patients with stable rheumatoid arthritis (RA).

Methods: A prospective cohort of RA patients in remission or with low disease activity was divided into a vaccination group and a non-vaccination group based on their COVID-19 vaccination status.

Increased precipitation leads to earlier green-up and later senescence in Tibetan alpine grassland regardless of warming.

It is debatable whether warming or increased precipitation primarily drives the changes of spring and autumn phenology in alpine grasslands at high elevations like the Tibetan Plateau. We aim to test the hypothesis that increased precipitation and soil moisture rather than warming significantly advance spring green-up dates (GUD) of dominant species in a semiarid alpine grassland, while both increases of temperature and precipitation delay their autumn senescence dates (SD). We conducted a 2-year manipulative experiment with infrared warming (ambient, +2 °C) and precipitation increase for each of rainfall events (ambient, +15 %, +30 %) during the growing season in a Tibetan alpine grassland.

A Moving Magnetic Grid-Type Long-Range Linear Absolute Displacement Sensor.

In order to overcome the shortcomings of the traditional magnetic absolute linear displacement sensors in which cables affect the flexibility and measurement range in linear motor transmission systems, this paper proposes a novel cable-free moving magnetic grid-type long-range absolute displacement sensor. The sensor consists of a magnetic grid and a signal acquisition board. The magnetic grid is a moving component that contains two rows of permanent magnet arrays, one for relative displacement measurement and the other for the displacement interval code.

Electrolytes for Multivalent Metal-Ion Batteries: Current Status and Future Prospect.

Electrochemical energy storage has experienced unprecedented advancements in recent years and extensive discussions and reviews on the progress of multivalent metal-ion batteries have been made mainly from the aspect of electrode materials, but relatively little work comprehensively discusses and provides an outlook on the development of electrolytes in these systems. Under this circumstance, this Review will initially introduce different types of electrolytes in current multivalent metal-ion batteries and explain the basic ion conduction mechanisms, preparation methods, and pros and cons. On this basis, we will discuss in detail the research and development of electrolytes for multivalent metal-ion batteries in recent years, and finally, critical challenges and prospects for the application of electrolytes in multivalent metal-ion batteries will be put forward.

Compromised ultrasound remission, functional ability and clinical decision associated with overlapping Sjögren's syndrome in rheumatoid arthritis patients: results from a propensity-score matched cohort from 2009 to 2019.

Objectives: Rheumatoid arthritis (RA) patients with Sjögren's syndrome (SS) often present with more severe synovitis. We intended to clarify the impact of overlapping SS on ultrasound remission, functional ability and clinical decision-making in RA patients in a real-world cohort from 2009 to 2019.

Methods: The medical records of RA patients in our medical centre from 2009 to 2019 were reviewed.

Overlapping Sjogren's syndrome reduces the probability of reaching target in rheumatoid arthritis patients: a propensity score matched real-world cohort from 2009 to 2019.

Background: Overlapping Sjogren's syndrome (SS) is not uncommon in rheumatoid arthritis (RA) and considered as a probable detrimental factor of RA. But data on the impact of overlapping SS on RA therapeutic response is limited. Our current study aimed to identify the effect in a real-world cohort from 2009 to 2019.

Aberrant distribution of CD3+CD56+ NKT-like cells in patients with primary Sjögren's syndrome.

Objectives: To elucidate the potential role of CD3+CD56+ NKT-like cells in the pathogenesis of primary Sjögren's syndrome (pSS).

Methods: We enrolled pSS patients and healthy controls and examined the peripheral population, the surface chemokine receptors and the proinflammatory cytokine production of NKT-like cells by flow cytometry. The infiltration of NKT-like cells in the labial salivary gland (LSG) was examined by immunofluorescence.

Clinical Profile and Significance of Mucocutaneous Lesions of Primary Sjögren's Syndrome: A Large Cross-sectional Study with 874 Patients.

Background: Mucocutaneous lesions are common features of primary Sjögren's syndrome (pSS), but only a few studies have focused on them. To demonstrate the profile of mucocutaneous lesions of pSS and further explore their potential clinical significance, we performed a cross-sectional study on 874 patients.

Methods: Demographic data, clinical manifestations, and laboratory results of 874 pSS patients were collected.

Association of IL12A Expression Quantitative Trait Loci (eQTL) With Primary Biliary Cirrhosis in a Chinese Han Population.

Genome-wide association studies in European individuals have revealed that IL12A is strongly associated with primary biliary cirrhosis (PBC). However, this association was not detected in replicative studies conducted in Chinese Han and Japanese populations.To verify contributions of genetic variants of IL12A to the pathogenesis of PBC in Chinese populations, a replicative study of 22 single nucleotide polymorphisms (SNPs) around the IL12A gene locus was performed in a cohort of 586 PBC cases and 726 healthy controls.

A rare nonsynonymous variant in the lipid metabolic gene HELZ2 related to primary biliary cirrhosis in Chinese Han.

Background: Several genome-wide association studies of primary biliary cirrhosis (PBC) in European and Japanese origins have shown significant association of dozens of genetic loci contributive to the susceptibility of PBC. Most of the loci were related to immune response pathway. In this study, we tested whether the lipid metabolic gene HELZ2 was associated with the pathogenesis of PBC.

The Distribution and the Fibrotic Role of Elevated Inflammatory Th17 Cells in Patients With Primary Biliary Cirrhosis.

T helper (Th) 17 cells were reported to have the property of proinflammation and profibrosis. We first investigate the levels of Th17 cells in primary biliary cirrhosis (PBC) patients, and then explore their distribution and fibrotic role in the disease.We compared the circulating Th17 and hepatic interleukin (IL)-17-positive cells between patients and healthy controls (HCs) at different disease stages by flow cytometry and immunohistochemistry, respectively.

Serum IgG subclasses in autoimmune diseases.

To characterize serum IgG subclass levels in several autoimmune diseases, including primary Sjogren syndrome (pSS), systemic sclerosis (SSc), systemic lupus erythematosus (SLE), and primary biliary cirrhosis (PBC). We aimed to analyze serum IgG subclass distribution and to test whether serum IgG4 levels are elevated in these diseases. Serum IgG subclass levels from 102 pSS, 102 SSc, 100 SLE, and 59 PBC patients, as well as 40 healthy controls (HCs), were measured using the immunonephelometric assay.