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This paper proposes a generalized grey target decision method (GGTDM) with index and weight both containing mixed attribute values based on Kullback-Leibler (K-L) distance. The proposed approach builds the weight function converting the mixed attribute-based weights into the certain number-based weights and takes the comprehensive weighted K-L distance as the decision-making basis (DMB). The proposed approach conducts its task in the following steps. First, all indices of alternatives are converted into binary connection numbers. Second, the two-tuple (determinacy, uncertainty) numbers originated from index binary connection numbers are obtained. Third, the two-tuple (determinacy, uncertainty) numbers of target center are calculated. Following that the certain number-based weights are obtained by the weight function. Then the comprehensive weighted K-L distance of each alternative and its target center is calculated. And the final decision making is based on the value of comprehensive weighted K-L distance with which the smaller the better. A case study illustrates the proposed approach with its effectiveness of converting the uncertain weights into the certain weights and the accurate results comparing with other decision-making methods.

An intelligent firefighting robot was developed in this paper, and the overall structure and main technical parameters were introduced. The relationships among the parameters on the ramp were studied and analysed, such as the position of the centre of gravity, the length of the track grounding, the width and the slope angle, which provided a reference for the rational configuration of the structural parameters of the robot. Finally, 50kg counterweight was added to the robot according to the analysis structure. And the multi robot finite element analysis was carried out. The results showed that the maximum deformation of the bearing beam is 3.35mm, and the maximum stress value is 92.2MPa, which can meet the use conditions. Finally, the robot was tested on the actual slope, and the results showed that the robot can span 32 degrees of building steps, which was greatly improved the robot’s environmental adaptability.

Additional file 3: Supplementary Table 2.

Predation has been a major driver of the evolution of prey species, which consequently develop antipredator adaptations. However, little is known about the genetic basis underpinning the adaptation of prey to intensive predation. Here, we describe a high-quality chromosome-level genome assembly (approx. 145 Mb, scaffold N50 11.45 Mb) of Daphnia mitsukuri, a primary forage for many fish species. Transcriptional profiling of D. mitsukuri exposed to fish kairomone revealed that this cladoceran responds to predation risk through regulating activities of Wnt signalling, cuticle pattern formation, cell cycle regulation and anti-apoptosis pathways. Genes differentially expressed in response to predation risk are more likely to be members of expanded families. Our results suggest that expansions of multiple gene families associated with chemoreception and vision allow Daphnia to enhance detection of predation risk, and that expansions of those associated with detoxification and cuticle formation allow Daphnia to mount an efficient response to perceived predation risk. This study increases our understanding of the molecular basis of prey defences, being important evolutionary adaptations playing a stabilizing role in community dynamics.

In this paper, the problem of the delay-dependent robust H∞ control for a class of uncertain neutral systems with mixed time-varying delays is studied. Firstly, a robust delay-dependent asymptotic stability criterion is shown by linear matrix inequalities (LMIs) after introducing a new Lyapunov–Krasovskii functional (LKF). The LKF including vital terms is expected to obtain results of less conservatism by employing the technique of various efficient convex optimization algorithms and free matrices. Then, based on the obtained criterion, analyses for uncertain systems and H∞ controller design are presented. Moreover, on the analysis of the state-feedback controller, different from the traditional method which multiplies the matrix inequality left and right by some matrix and its transpose, respectively, we can obtain the state-feedback gain directly by calculating the LMIs through the toolbox of MATLAB in this paper. Finally, the feasibility and validity of the method are illustrated by examples.

Additional file 2: Supplementary Table 1: The sequences of gene primers used for qRT-PCR.

Additional file 1.