Performing clustering analysis is one of the important research topics in cancer discovery using gene expression profiles, which crucial facilitating successful diagnosis and treatment cancer. While there are quite a number works perform tumor clustering, few them considers how to incorporate fuzzy theory together with an optimization process into consensus framework improve performance analysis. In this paper, we first propose random double based cluster ensemble (RDCCE) on data....

This paper proposes a trajectory tracking control scheme consisting of fast finite-time super-twisting sliding mode (FSTSMC) approach and an extended state higher-order observer (ESHSMO) for unmanned underwater vehicles (UUVs) with external disturbances model uncertainties. Firstly, the convergence is designed based on technique technique. Next, basis uncertainties observation, proposed, finite time stabilization property errors proved by Lyapunov theory. Finally, through numerical...

This paper presents a fault-tolerant model predictive control approach for cross-rudder autonomous underwater vehicles to achieve heading control, considering rudder stuck faults and unknown disturbances. Specifically, additive in the rudders are addressed, an active strategy is employed. Fault models of have been established develop method. In controller design, complete failure incorporated ensure angle vehicle faulty conditions. Furthermore, fault term decoupled from input, along with...

This paper proposes a neural network-based nonsingular terminal sliding mode controller with prescribed performances for the target tracking problem of underactuated underwater robots. Firstly, mathematical formulation is presented an robot model and corresponding control objectives. Then, errors from line-of-sight guidance law are transformed using performance technique to achieve good dynamic steady-state that meet pre-set conditions. Meanwhile, considering model’s uncertainties external...

AUV docking requires the platform to have both wide range cruising and accurate operating abilities, against challenges of ocean currents, obstacles, constraints. This paper proposed an evolutionary-based method, for purpose path optimization. First, environment constraints are analyzed modeled. Next, control points designed satisfy model Then, adaptive law quantum behavior introduced in particle swarm optimization (PSO), achieve global time-optimization. Finally, approach is evaluated via...

In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein material points or only attitude/longitudinal dynamics are considered, this article proposes a distributed fixed-time fault-tolerant control methodology for networked fixed-wing UAVs whose six-degree-of-freedom twelf-state-variables subject to actuator faults and full-state constraints. More precisely, state transformations the scaling function devised keep involved velocity attitude within their...

In this paper, the precise control of underwater manipulator has studied under conditions uncertain dynamics and time-varying external interference. An improved adaptive model predictive (MPC) method is proposed for a multiple-degrees-of-freedom (DOF) manipulator. method, Gaussian process regression (GPR) algorithm been embedded into trajectory tracking The GPR used to predict water resistance, additional mass, buoyancy interference in real time, law calculated by terminal constraint MPC...

Investigating the physicochemical properties and embedding forms of residual carbon (RC) slag particles (SPs) in coal gasification fine (FS) is basis for achieving its separation utilization. An in-depth understanding their compositional characteristics allows targeted treatment utilization programs different components. In this work, RC SPs FS were systematically investigated. innovative calculation method proposed to determine mass fraction dispersed particles, mineral-rich carbon–ash...

Given an image, our proposed model can extract its dominant high-level semantics information through low-level feature extraction and image classification. It contains 3 main parts: segmentation, To knowledge, this is the first that applies Color Edge Directivity Descriptor (CEDD), a multiple algorithm, into field. Further, we also introduce new padding strategy for region representation, which especially suitable widely-used non-arbitrary over-segmentation. Finally, experiment shows CEDD...

Recent advances in SoC technology offer the possibility to realize function of wireless sensor network node a single chip. In this paper reconfigurable for quick transmission voice data is being described. Compared with existing works, we can implement different types components depends on application which meant use. Using Verilog, provide detailed description implementation MAC layer controller protocol based IEEE 802.15.4 protocol. An improved CSMA/CA mechanism introduced data, enhancing...

Oxidized single‐walled carbon nanotubes (o‐SWNTs) was modified by covalently and noncovalently linking PEG to the o‐SWNTs. The influence of oxidation time, molecular weight, type linkage on blood clearance time PEG‐modified (SWNTs) investigated. toxicity profile SWNTs linked (c‐PEG‐o‐SWNTs) in rats has also been determined. pharmacokinetics c‐PEG‐o‐SWNTs their distribution vital organs were monitored Raman spectroscopy, homogenate isoliquiritigenin (ISL) determined HPLC. Photos tissue...

The vibration control problem of the flexible manipulator with unknown direction is studied in this paper. Using Hamilton's principle, we derive partial differential equation (PDE) dynamic model system, which can accurately characterise manipulator. On basis, a boundary approach proposed, and Nussbaum function adopted controller design to circumvent directions. Under action proposed controller, reach desired angle eliminate without knowing direction. asymptotic stability whole closed-loop...

The accurate target detection under different environmental conditions and the real-time positioning are vital for successful accomplishment of underwater missions Remotely operated vehicles (ROVs). In this paper, we propose a vision-based approach to detect estimate position attitude artificial targets. proposed is composed an algorithm YOLO-T algorithm. Firstly, modify structure YOLOv5 using Ghost module SE attention improve calculation time detection. Secondly, series image processing...