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A liquid chromatography-tandem mass spectrometry (LC-MS) method for screening 53 stimulants in animal foods was developed. The method uses 2% formic acid-acetonitrile/water (80/20) as the extraction solvent and carries out one-step purification by FaVEx-AP solid phase extraction column. Endeavorsil C18 column was used for separation, and multiple reaction monitoring (MRM) mode was used for data acquisition and analysis. The results showed that the correlation coefficient (R2) was more than 0.99. The detection limit and quantification limit were 0.25–10μg/kg and 1–10μg/kg. The recoveries were 62.25%–123.32% and the relative standard deviation (RSD) was 1.17%–22.03%. The method is rapid, simple and accurate, and is suitable for the determination of 53 kinds of stimulants in animal-derived foods.

Designing of a sliding mode observer was finished based on the motion model of autonomous underwater vehicle (AUV). A Flutter decrease strategy for the sliding mode observer was discussed and the sliding mode observer was applied to the fault diagnosis of the AUV. Simulation experiment without faults was designed. Simulation experiment of sensor fault diagnosis and field trial of thruster fault diagnosis were undertaken. The validity and feasibility of this method were validated based on the analysis of the simulation and field trial results.