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We present a novel nonlinear adaptive path following controller that compensates for drift forces though time-varying sideslip for amphibious hovercrafts. The sideslip arises and changes with time during path following when the hovercraft is subject to drift forces caused by ocean disturbances or control forces. The time-varying sideslip of hovercraft is estimated online and independent of the tracking error by a bounded-gain-forgetting (BGF) adaptive estimator. Then, a line-of-sight (LOS) guidance law based on BGF is designed to follow the desired path accurately in the presence of ocean disturbances, in which the parameter estimation and the tracking errors are both proven to be bounded. Furthermore, the closed-loop cascade BGF-LOS guidance system, which is composed of tracking subsystem and sideslip parameter estimation subsystem, is proven to be input-to-state stable (ISS) according to the stability theory of cascaded system. The proposed guidance law is intended for maneuvering of an amphibious hovercraft in the horizontal-plane to follow a predefined parametrized curve without time constraints. The theoretical results are supported by two cases studies of an amphibious hovercraft.

Additional file 1: Supplemental Table 1. Summary of epidemiological studies on wildfire smoke exposure and cardiovascular effects. Supplemental Table 2. Summary of studies on indoor and ambient biomass smoke exposure and cardiovascular effects. Supplemental Table 3. Summary of intervention and controlled human exposure studies of wood smoke exposure and cardiovascular effects. Supplemental Table 4. Summary of in vivo animal studies on wood smoke exposure and cardiovascular effects. Supplemental Table 5. Summary of in vitro studies on wood smoke exposure and biological effects related to cardiovascular system.

Additional file 1. Additional Figure 1 and Table 1-10.

Stratigraphical and palaeontological researches on the continental Upper Cretaceous beds of the Castigno valley (Villespassans, Hérault, southern France) began in the 1890s with the work of the local researcher Jean Miquel. The study of the dinosaur remains from that locality by Charles Depéret in 1900 greatly added to the knowledge of the Late Cretaceous dinosaurs of France. Stratigraphical misinterpretations by Depéret and Miquel then led Emile Haug to believe that the Castigno dinosaurs came from the base of the Tertiary (Montian). This mistake was corrected by Albert F. de Lapparent in 1938. Recent researches at Castigno and at the nearby Combebelle site have yielded remains of various vertebrate groups (amphibians, squamates, turtles, crocodiles, dinosaurs, birds) from several fossil-bearing horizons, corresponding to different depositional environments (fluvial followed by lacustrine), probably referrable to the upper Campanian. The Castigno- Combebelle sedimentary series is clearly important for our understanding of vertebrate faunal succession in the Late Cretaceous of Languedoc., Les recherches stratigraphiques et paléontologiques sur le Crétacé supérieur continental du vallon de Castigno (Villespassans, Hérault, Occitanie) ont débuté dans les années 1890 avec les travaux du chercheur local Jean Miquel. L'étude des restes de dinosaures provenant de ce site par Charles Depéret en 1900 a contribué de façon importante à améliorer la connaissance des dinosaures du Crétacé supérieur de France. Des confusions stratigraphiques dues à Depéret et Miquel firent ensuite croire à Emile Haug que les dinosaures de Castigno dataient de la base du Tertiaire (Montien). Cette erreur fut corrigée par Albert F. de Lapparent en 1938. Les recherches récentes à Castigno et sur le site voisin de Combebelle ont livré des restes de divers groupes de vertébrés (amphibiens, squamates, tortues, crocodiles, dinosaures, oiseaux) provenant de plusieurs niveaux fossilifères, correspondant à des milieux de dépôt différents (fluviatiles puis lacustres), attribuables probablement au Campanien supérieur. La série sédimentaire de Castigno-Combebelle est d'une importance certaine pour la compréhension de la succession des faunes de vertébrés du Crétacé supérieur en Languedoc.