Adaptive Integral Sliding Mode Control Using Fully Connected Recurrent Neural Network for Position and Attitude Control of Quadrotor.

This article proposes an adaptive integral sliding mode control (ISMC) strategy for quadrotor control that ensures faster and finite-time convergence along with chattering attenuation. Quadrotor dynamics are assumed to be unknown because of the high degree of parametric uncertainties, including external disturbances. The equivalent control law obtained by ISMC consists of quadrotor dynamics and, thus, cannot be applied to the quadrotor.

[The clinical value of combining multiple features of CT in discriminating between benign and malignant lung lesions].

Objective: To develop a set of combined criteria of multiple features of chest CT for discriminating between benign and malignant lung lesions.

Methods: Patients whose chest CT showed abnormalities were recruited from the West China Hospital in March and April 2010. The patients were examined with bronchoscopy and the results of CT and pathology were compared.