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This study proposes a reinforcement learning‐based finite‐time cross‐media tracking control approach for a slender body cross‐media vehicle encountering unknown hydrodynamics, wind, and wave disturbances. Initially, a reinforcement learning framework consisting of the actor neural network and critic neural network is constructed. The critic neural network monitors the actions of the actor neural network and approximates the cost function, while the actor neural network estimates the unknown hydrodynamics and disturbances, minimising the cost function to optimise performance. Subsequently, the command filter featuring finite‐time convergence is formulated, effectively managing the corresponding filter error through a proposed error compensating signal. By integrating these techniques, a reinforcement learning‐based finite‐time control strategy is developed, circumventing the singularity issue inherent in traditional finite‐time backstepping strategies. Comparative analysis with existing methods demonstrates the strong robustness of the proposed scheme against unknown hydrodynamics and disturbances, ensuring finite‐time convergence of the system's states and optimising controller performance. Finally, simulations confirm the effectiveness and superiority of the presented approach. [ABSTRACT FROM AUTHOR]

In this paper, the problems of system design, dynamic modeling, and trajectory tracking control of coaxial hybrid aerial underwater vehicles (HAUVs) with time-varying model parameters and composite marine environment disturbances are investigated. It is clear that a stable transition between different media remains a challenge in the practical implementation of amphibious tasks. For HAUVs, accurate dynamic modeling to describe complex dynamic variations during vehicle takeoff from underwater to air is a huge challenge. Meanwhile, due to the rapid changes in model parameters and the external environment, vehicles are likely to fall into the sea during the cross-domain process. An integrated continuous dynamic model considering hydrodynamic changes is established by introducing a linear switching coefficient during the process of trans-medium motion. A nonsingular fast terminal sliding-mode control (NFTSMC) algorithm combined with adaptive technology is used to design the position and attitude of the controller. With no previous knowledge of external interferences and lumped uncertainties of the HAUV, the adaptive NFTSMC (ANFTSMC) algorithm achieves the control objectives; at the same time, the inherent chattering problems of sliding mode control (SMC) are weakened. The finite-time stability of the global system is proven strictly using a series of mathematical derivations based on Lyapunov theory. The effect of the controller applied is analyzed through a series of simulations with representative working conditions. The results show that the proposed ANFTSMC can realize a "seamless" air–water trans-medium process, which proves the superiority and robustness of the proposed control algorithm. [ABSTRACT FROM AUTHOR]

Recent advances in optical microscopy, such as total internal reflection and confocal scanning laser techniques, now permit the direct three-dimensional tracking of large numbers of colloidal particles both near and far from interfaces. A novel application of this technology, currently being developed by one of the authors under the name of diffusing colloidal probe microscopy (DCPM), is to use colloidal particles as probes of the energetic characteristics of a surface. A major theoretical challenge in implementing DCPM is to obtain the potential energy of a single particle in the external field created by the surface, from the measured particle trajectories in a dense colloidal system. In this paper we develop an approach based on an inversion of density-functional theory (DFT), where we calculate the single-particle-surface potential from the experimentally measured equilibrium density profile in a nondilute colloidal fluid. The underlying DFT formulation is based on the recent work of Zhou and Ruckenstein [Zhou and Ruckenstein, J. Chem. Phys. 112, 8079 (2000)]. For model hard-sphere and Lennard-Jones systems, using Monte Carlo simulation to provide the “experimental” density profiles, we found that the inversion procedure reproduces the true particle-surface-potential energy to an accuracy within typical DCPM experimental limitations (∼0.1kT) at low to moderate colloidal densities. The choice of DFT closures also significantly affects the accuracy. [ABSTRACT FROM AUTHOR]

Objective: In clinical practice, imaging manifestations of diffuse lung parenchymal lesions are common and indicative of various diseases, making differential diagnosis difficult. Some of these lesions are eventually diagnosed as lung cancer., Methods: Because respiratory microorganisms play an important role in lung cancer development, we searched for microbial markers that could predict the risk of lung cancer by retrospectively analyzing the lower respiratory tract (LRT) microbiome of 158 patients who were hospitalized in the First Affiliated Hospital of Guangzhou Medical University (March 2021-March 2023) with diffuse lung parenchymal lesions. The final diagnosis was lung cancer in 21 cases, lung infection in 93 cases, and other conditions (other than malignancy and infections) in 44 cases. The patient's clinical characteristics and the results of metagenomic next-generation sequencing of bronchoalveolar lavage fluid (BALF) were analyzed., Results: Body mass index (BMI) and LRT microbial diversity (Shannon, Simpson, species richness, and Choa1 index) were significantly lower (P< 0.001, respectively) and Lactobacillus acidophilus relative abundance in the LRT was significantly higher (P< 0.001) in patients with lung cancer. The relative abundance of L. acidophilus in BALF combined with BMI was a good predictor of lung cancer risk (area under the curve = 0.985, accuracy = 98.46%, sensitivity = 95.24%, and specificity = 100.00%; P< 0.001)., Conclusion: Our study showed that an imbalance in the component ratio of the microbial community, diminished microbial diversity, and the presence of specific microbial markers in the LRT predicted lung cancer risk in patients with imaging manifestations of diffuse lung parenchymal lesions., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2024 Wang, Xiao, Lu, Wu, Chen, Zhang and Lu.)