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In this paper, a soft-switching proximate time-optimal control (PTOC) is proposed based on the model-compensation extended state observer (ESO) and Takagi-Sugeno fuzzy switching, for the fast set-heading tracking of underactuated autonomous underwater vehicle (AUV). First, based on Pontryagin's maximum principle, a time-optimal control (TOC) law is derived for the first-order Nomoto model of the underactuated AUV. Then, a model-compensation active disturbance rejection control (ADRC) is developed; the outstanding characteristic is that the nonlinear heading dynamic model is compensated to a first-order Nomoto model rather than by a double integral system through implementing a model-compensation ESO (MC-ESO). The regular ESO is replaced with a reduced-order ESO (RESO) to reduce complexity, and the model-compensation RESO (MC-RESO) is designed by adding the known partial model to RESO. Based on the controller scaling method, a parameter self-tuning strategy is proposed for model-compensation ADRC (MC-ADRC) with changed plant parameters at different velocities. Finally, the soft-switching PTOC is developed for heading control, and the MC-RESO is adopted to estimate the unmeasured velocity and unknown total disturbances for feedback and compensation. The TOC with an unsaturated region (RTOC) is employed to enhance the robustness by using a switching region to replace the switching curve, and a soft-switching strategy between ADRC (near the origin) and RTOC (far from origin) is designed based on the Takagi-Sugeno fuzzy mode. Several simulations are carried out, the effectiveness of self-tuning MC-ADRC is verified, and the proposed soft-switching PTOC shows better performance compared with MC-ADRC.

Recently, there has been a growing interest in the biocontrol activity of volatile organic compounds (VOCs) produced by microorganisms. This study specifically focuses on the effects of VOCs produced by the co-culture of Burkholderia vietnamiensis B418 and Trichoderma harzianum T11-W for the control of two phytopathogenic fungi, Botrytis cinerea and Fusarium oxysporum f. sp. cucumerium Owen. The antagonistic activity of VOCs released in mono- and co-culture modes was evaluated by inhibition assays on a Petri dish and in detached fruit experiments, with the co-culture demonstrating significantly higher inhibitory effects on the phytopathogens on both the plates and fruits compared with the mono-cultures. Metabolomic profiles of VOCs were conducted using the solid–liquid microextraction technique, revealing 341 compounds with significant changes in their production during the co-culture. Among these compounds, linalool, dimethyl trisulfide, dimethyl disulfide, geranylacetone, 2-phenylethanol, and acetophenone were identified as having strong antagonistic activity through a standard inhibition assay. These key compounds were found to be related to the improved inhibitory effect of the B418 and T11-W co-culture. Overall, the results suggest that VOCs produced by the co-culture of B. vietnamiensis B418 and T. harzianum T11-W possess great potential in biological control. [ABSTRACT FROM AUTHOR]

Achieving formation tracking control of underactuated autonomous underwater vehicles (AUVs) under communication delays presents a significant challenge. To address this challenge, a distributed prescribed performance control protocol based on a real-time state information online predictor (RSIOP) is proposed in this paper. First, we innovatively designed an RSIOP to achieve active compensation for the delayed state information of neighboring AUVs. Next, considering formation performance and safety, a low-complexity and practical nonlinear mapping function was used to implement prescribed performance tracking control for the AUV formation. Additionally, the adverse effects of external disturbance uncertainties and input saturation are also considered. Finally, the simulation tests demonstrated that the proposed formation control protocol can successfully achieve the predetermined formation tracking tasks in the presence of time-varying communication delays and external disturbances, while also enabling real-time changes in formation configuration during the process. Throughout, the protocol maintains input saturation limits, and the actual control inputs remain smooth, with no significant oscillations. Furthermore, comparative simulation tests verified the necessity of the RSIOP developed in this study and quantitatively demonstrated that the proposed control method exhibits superior performance in terms of formation control accuracy, error convergence speed, and transient-state constraints. [ABSTRACT FROM AUTHOR]

Internet based education media are developing at an amazing rate and being seen as an upstart that will likely take the place of traditional education means worldwide in the future. This paper presents the results of a comparative analysis on user preferences for four major categories of internet-based media used in China. In this paper, we first sort the current pervasive media into four different types and summarize their different characteristics, then we classify the users by two-step clustering analysis, based on which we finally figure out the preference of each user cluster and identify the major influencing factors.

This study aimed to investigate the efficiency of the secondary metabolites (SMs) produced by a co-culture of Trichoderma harzianum TW21990 and Burkholderia vietnamiensis B418 in the control of Colletotrichum siamense CM9. A fermentation filtrate of B418 + TW21990 co-culture (BT21) produced a notable increase in the inhibition rate of CM9 compared to those of TW21990 and B418 monocultures, which reached 91.40% and 80.46% on PDA plates and strawberry leaves, respectively. The BT21 fermentation broth exhibited high control efficiency on strawberry root rot of 68.95% in a pot experiment, which was higher than that in the monocultures and fluazinam treatment. In addition, BT21 treatment promoted strawberry root development, improved antioxidative enzyme activities in the leaves and roots, and enhanced the total chlorophyll content of the strawberry leaves. UHPLC-MS/MS analysis of fermentation filtrates was performed to elucidate SM variations, revealing 478 and 795 metabolites in BT21 co-culture in positive and negative ion modes, respectively. The metabolomic profiles suggested abundant SMs with antagonistic capabilities and growth-promoting effects: 3-(propan-2-yl)-octahydropyrrolo [1,2-a]pyrazine-1,4-dione (cyclo(L-Pro-L-Val)), 3-[(4-hydroxyphenyl)methyl]-octahydropyrrolo[1,2-a]pyrazine-1,4-dione (cyclo(L-Pro-L-Tyr)), 3-indoleacetic acid (IAA), 2-hydroxycinnamic acid, 4-aminobutyric acid (GABA), bafilomycin B1, and DL-indole-3-lactic acid (ILA) were significantly enhanced in the co-culture. Overall, this study demonstrates that a co-culture strategy is efficient for inducing bioactive SMs in T. harzianum and B. vietnamiensis, which could be exploited as a novel approach for developing biocontrol consortia. [ABSTRACT FROM AUTHOR]