Distributed Neural Adaptive Impedance Control for Cooperative Manipulation With Unknown Objects.

Existing cooperative manipulation methods for multiple manipulator systems usually assume that the grasp matrix and the desired trajectory of each manipulator are known in advance. In this work, distributed neural adaptive impedance control (AIC) strategies integrating fully distributed observers are proposed to remove both limitations. Specifically, two fully distributed finite-time observers are designed to estimate the actual and ideal states of the reference point without using global information.

Effects of Mixed Organic Acids and Essential Oils in Drinking Water on Growth Performance, Intestinal Digestive Capacity, and Immune Status in Broiler Chickens.

In order to evaluate the effects of acidifiers and essential oils in drinking water on growth, intestinal digestive capacity, and immune status in broilers, a total of 480, 1-day-old Arbore Acres broilers were randomly assigned to four treatments including normal tap water (Ctr) and tap water supplemented with acidifier I (ACI), acidifier I and essential oils (ACI+EO), and acidifier II (ACII). Both ACI+EO and ACII increased final body weight. The pH value of the crop and gizzards was reduced by ACI+EO, and ACII decreased the pH values of the proventriculus and gizzards ( < 0.

Dietary methionine restriction alleviates oxidative stress and inflammatory responses in lipopolysaccharide-challenged broilers at early age.

In this study, we investigated the effect of dietary methionine restriction (MR) on the antioxidant function and inflammatory responses in lipopolysaccharide (LPS)-challenged broilers reared at high stocking density. A total of 504 one-day-old male Arbor Acre broiler chickens were randomly divided into four treatments: 1) CON group, broilers fed a basal diet; 2) LPS group, LPS-challenged broilers fed a basal diet; 3) MR1 group, LPS-challenged broilers fed a methionine-restricted diet (0.3% methionine); and 4) MR2 group, LPS-challenged broilers fed a methionine-restricted diet (0.

Evaluation of Liquid Organic Acids on the Performance, Chyme pH, Nutrient Utilization, and Gut Microbiota in Broilers under High Stocking Density.

This study aimed to evaluate the efficacy of organic acids (OAs) in starter broilers and to investigate whether supplemental OAs could alleviate the high stocking density (HSD) stress condition in grower broilers. A total of 408 1-day-old Arbor Acres broilers were assigned into two groups without or with liquid OAs in the starter phase. In the grower phase, each group in the starter phase was divided into a normal stocking density and an HSD.

One-pot room-temperature synthesis of a BiOCl hierarchical microsphere assembled from nanosheets with exposed {001} facets for enhanced photosensitized degradation.

BiOCl hierarchical microspheres assembled from nanosheets with exposed {001} facets were successfully synthesized using PEG-2000 as template by a one-pot room-temperature hydrolysis method. The PEG-modified BiOCl photocatalyst exhibits a significantly enhanced RhB photosensitized degradation activity under visible light. After 10 min white LED irradiation, the degradation efficiency of RhB by the PEG-modified BiOCl sample reaches 99.

Dietary Supplemental Chromium Yeast Improved the Antioxidant Capacity, Immunity and Liver Health in Broilers under High Stocking Density.

This study was conducted to investigate the effects of different levels of yeast chromium on growth performance, organ index, antioxidant capacity, immune performance and liver health of broilers under high stocking density. A total of 684 1-day-old Arbor Acres broilers were selected and fed a common diet from 1 to 22 days of age. At the end of 22 days, broilers with similar weight were randomly divided into six treatments, with six replications in each treatment.

Low Level of Dietary Organic Trace Minerals Improved Egg Quality and Modulated the Status of Eggshell Gland and Intestinal Microflora of Laying Hens During the Late Production Stage.

This study aimed to investigate the effects of dietary organic trace minerals on egg quality and intestinal microflora of laying hens during the late production stage. In total, 1,080 Jinghong-1 laying hens aged 57 weeks were randomly assigned to five treatment groups: CON, basal diet containing about 6, 29, 49, and 308 mg·kg of Cu, Mn, Zn, and Fe; IT100, basal diet supplemented with 10, 80, 80, and 60 mg·kg of Cu, Mn, Zn, and Fe (each as inorganic sulfates), respectively; OT20, basal diet supplemented with 2, 16, 16, and 12 mg·kg of Cu, Mn, Zn, and Fe (each as organic trace minerals chelated with lysine and methionine in the ratio of 2:1 amino acid: organic trace minerals), respectively; OT30, basal diet supplemented with 3, 24, 24, and 18 mg·kg of organic Cu, Mn, Zn, and Fe, respectively; and OT50, basal diet supplemented with 5, 40, 40, and 30 mg·kg of organic Cu, Mn, Zn, and Fe, respectively. Overall, OT20, OT30, and OT50 had equal or higher potential to promote Cu, Mn, Zn, and Fe deposition in egg yolks compared with IT100.

High Dietary Organic Iron Supplementation Decreases Growth Performance and Induces Oxidative Stress in Broilers.

Although Iron (Fe) is an essential nutrient that plays a vital role in respiratory processes, excessive Fe in the diet can affect the health of broilers. We investigated the effects of diet supplemented with high levels of iron chelates with lysine and glutamic acid (Fe−LG) on the growth performance, serum biochemical parameters, antioxidant status, and duodenal mRNA expression of Fe transporters in broilers. A total of 800 1-day-old male Arbor Acres broilers were assigned to 5 groups, with 8 replicates each.

Multivalent Phthalocyanine-Based Cationic Polymers with Enhanced Photodynamic Activity for the Bacterial Capture and Bacteria-Infected Wound Healing.

The solubility and photosensitive activity of phthalocyanine are crucial to photodynamic antibacterial performance. However, highly conjugated phthalocyanine with high singlet oxygen generation efficiency tends to aggregate in aqueous environments, leading to poor solubility and photodynamic antibacterial activity. Herein, we propose a novel photodynamic antibacterial therapeutic platform by a phthalocyanine-based polymeric photosensitizer for the efficient healing of a bacteria-infected wound.

Adaptive Sliding-Mode Disturbance Observer-Based Finite-Time Control for Unmanned Aerial Manipulator With Prescribed Performance.

In this article, an adaptive sliding-mode disturbance observer (ASMDO)-based finite-time control scheme with prescribed performance is proposed for an unmanned aerial manipulator (UAM) under uncertainties and external disturbances. First, to take into account the dynamic characteristics of the UAM, a dynamic model of the UAM with state-dependent uncertainties and external disturbances is introduced. Then, note that a priori bounded uncertainty may impose a priori constraint on the system state before obtaining closed-loop stability.

Geometric-based prescribed performance control for unmanned aerial manipulator system under model uncertainties and external disturbances.

In this paper, a robust control strategy with a cascade structure is designed for the underactuated unmanned aerial manipulator (UAM) to perform favorable trajectory tracking, in the presence of model uncertainties and time-varying external disturbances (e.g. wind drag).

Gliding grasping analysis and hybrid force/position control for unmanned aerial manipulator system.

In this paper, considering the control difficulty of the unmanned aerial manipulator (UAM) interacting with environments, a force analysis during gliding grasping and a hybrid force/position control strategy are proposed for the UAM to enhance control performances during dynamic gliding grasping respectively. First, the instantaneous contact force during the gliding grasping is analyzed by the impulse and momentum theorem, and some factors affecting grasping performance are considered to complete an analysis of grasping force including the irregular shape of the object, the object scrolling, and geometrically asymmetric grasping. Meanwhile, the mass of the grasping object and the inertia tensor are considered unknown bounded items.

Photo-initiated enhanced antibacterial therapy using a non-covalent functionalized graphene oxide nanoplatform.

This study describes a novel antibacterial phototherapeutic platform for highly efficient healing of bacteria-infected wounds. It is based on the photodynamic and physical actions of a zinc tetraaminophthalocyanine-modified graphene oxide nanocomposite produced via non-covalent functionalization. The nanocomposite is positively charged and can easily capture negatively charged bacteria via electrostatic interactions.

PEGylated Phthalocyanine-Functionalized Graphene Oxide with Ultrahigh-Efficient Photothermal Performance for Triple-Mode Antibacterial Therapy.

This study proposes a novel multifunctional synergistic antibacterial phototherapy technique for the rapid healing of bacteria-infected wounds. By binding PEGylated phthalocyanines to the surface of graphene oxide noncovalent functionalization, the photothermal conversion efficiency of the obtained nanocomposites can be significantly increased, which shows that the sample temperature can achieve nearly 100 °C after only 10 min of 450 nm light illumination at a concentration ≥25 μg/mL. Moreover, the nanocomposites can rapidly generate singlet oxygen under 680 nm light irradiation and physically cut bacterial cell membranes.

Distributed Group Coordination of Multiagent Systems in Cloud Computing Systems Using a Model-Free Adaptive Predictive Control Strategy.

This article studies the group coordinated control problem for distributed nonlinear multiagent systems (MASs) with unknown dynamics. Cloud computing systems are employed to divide agents into groups and establish networked distributed multigroup-agent systems (ND-MGASs). To achieve the coordination of all agents and actively compensate for communication network delays, a novel networked model-free adaptive predictive control (NMFAPC) strategy combining networked predictive control theory with model-free adaptive control method is proposed.

Effects of organic chromium sources on growth performance, lipid metabolism, antioxidant status, breast amino acid and fatty acid profiles in broilers.

Background: Trivalent chromium (Cr) is involved in carbohydrate, lipid, protein and nucleic acid metabolism in animals. This study evaluated the effects of different organic Cr forms with Cr methionine (CrMet), Cr picolinate (CrPic), Cr nicotinate (CrNic), and Cr yeast (Cr-yeast) at the level of 400 μg kg Cr, on growth performance, lipid metabolism, antioxidant status, breast amino acid and fatty acid profiles of broilers. In total, 540 one-day-old Arbor Acres male broilers were randomly assigned to five treatments with six replicates (18 broilers per replicate) until day 42.

Composite-Learning-Based Adaptive Neural Control for Dual-Arm Robots With Relative Motion.

This article presents an adaptive control method for dual-arm robot systems to perform bimanual tasks under modeling uncertainties. Different from the traditional symmetric bimanual robot control, we study the dual-arm robot control with relative motions between robotic arms and a grasped object. The robot system is first divided into two subsystems: a settled manipulator system and a tool-used manipulator system.

Consensus With Persistently Exciting Couplings and Its Application to Vision-Based Estimation.

The problem of consensus in networked agent systems is revisited and applied to vision-based localization. A class of new consensus dynamics is introduced first, and sufficient conditions including the persistence of excitation on the coupling matrix for reaching consensus are derived. As an application of the proposed consensus dynamics, an adaptive localization algorithm then is proposed for autonomous robots equipped with primarily visual sensors in GPS-denied environments.

Regulation of phosphate transport and AMPK signal pathway by lower dietary phosphorus of broilers.

Lower available P (aP) was used as a base value in nutritional strategies for mitigating P pollution by animal excreta. We hypothesized that the mechanism regulating phosphate transport under low dietary P might be related with the AMPK signal pathway. A total of 144 one-day-old Arbor Acres Plus broilers were randomly allocated to control (HP) or trial (LP) diets, containing 0.

Effect of early dietary energy restriction and phosphorus level on subsequent growth performance, intestinal phosphate transport, and AMPK activity in young broilers.

We aimed to determine the effect of low dietary energy on intestinal phosphate transport and the possible underlying mechanism to explain the long-term effects of early dietary energy restriction and non-phytate phosphorus (NPP). A 2 × 3 factorial experiment, consisting of 2 energy levels and 3 NPP levels, was conducted. Broiler growth performance, intestinal morphology in 0-21 days and 22-35 days, type IIb sodium-phosphate co-transporter (NaPi-IIb) mRNA expression, adenylate purine concentrations in the duodenum, and phosphorylated adenosine monophosphate-activated protein kinase (AMPK-α) activity in 0-21 days were determined.

Effects of different rearing systems on growth, small intestinal morphology and selected indices of fermentation status in broilers.

A 3×2 factorial experiment was conducted to determine the effects of rearing system and stocking density on the growth performance, intestinal morphology and fermentation status of broilers. Broilers were kept on three rearing systems: floor litter rearing (FRS), plastic net rearing (NRS) and multilayer cage rearing system (CRS), each with two stocking densities (normal and high stocking densities). Results showed that on 7 to 28 days of age, body weight gain appeared as FRS > NRS > CRS.

Effects of age on intestinal phosphate transport and biochemical values of broiler chickens.

Objective: The objective of this experiment was to characterize the mRNA expression profile of type IIb sodium-inorganic phosphate cotransporter (NaPi-IIb) and the biochemical values of serum alkaline phosphatase (AKP), calcium, inorganic phosphorus, tibial ash and minerals of broiler chickens with aging.

Methods: A total of 56 one-day-old Arbor Acres male broiler chickens were used. Broiler chickens were weighed and samples were collected weekly from day 1.

Effect of Dietary Nutrient Density on Small Intestinal Phosphate Transport and Bone Mineralization of Broilers during the Growing Period.

A 2 × 4 factorial experiment was conducted to determine the effects of dietary nutrient density on growth performance, small intestinal epithelial phosphate transporter expression, and bone mineralization of broiler chicks fed with diets with different nutrient densities and nonphytate phosphorus (NPP) levels. The broilers were fed with the same starter diets from 0 to 21 days of age. In the grower phase (day 22 to 42), the broilers were randomly divided into eight groups according to body weight.