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In this paper, a robust adaptive finite-time (FT) tracking control scheme is proposed for Euler-Lagrange systems (ELSs) subject to nonparametric uncertainties, unknown disturbances and input saturation. In the design procedure, a Gaussian error function is utilized to approximate the input saturation nonlinearity. Following that, by employing the natural property that the upper bound of model parameters uncertainties is linear-in-parameters, the lumped uncertain term caused by uncertain model parameters and external disturbances is formulated by a linear-parametric form with a single parameter. And then, a novel robust adaptive tracking control law is designed to resolve the tracking control problem of uncertain ELSs. The proposed control scheme is featured by FT convergence rate, and robustness against uncertainties and unknown disturbances. Furthermore, the robust adaptive FT tracking control scheme is insensitive to the character of the uncertainties, and is with low computational burden and easy to implement in engineering applications. And its rigorous stability is analyzed with the aid of the Lyapunov stability theory, and its effectiveness is verified by simulation results and comparison.

Background: Because Pertuzumab hasn't been approved in China until 2020y, trastuzumab has been standard neoadjuvant treatment for HER2-positive breast cancer. But we don't know which is the optimal chemotherapy with or without anthracyclines in the trastuzumab-based HER2-blockade. We designed this clinical trial to compare efficacy and safety between anthracycline and carboplatin in combination with docetaxel and trastuzumab as neoadjuvant therapy. Methods: From Apr, 2013 to Apr, 2019, 124 patients were enrolled. 60 patients were randomly assigned to the ATH-TH group and 64 to the TCH group. The treatment plan is showed as following, 1. TCH group: Trastuzumab(8mg/kg loading dose followed by 6mg/kg maintenance dose on day 1 every 3 weeks) combined with carboplatin(AUC=6 on day1 every 3 weeks) and docetaxel (75mg/m2 d1 every 3 weeks), total 6 cycles ; 2. ATH-TH group: Trastuzumab combined with doxorubicin( 50mg/m2 on day1 every 3 weeks) and docetaxel (75mg/m2 d1 every 3 weeks) after 4 cycles, followed by Trastuzumab plus docetaxel (75mg/m2 d1 every 3 weeks) 4 cycles. Primary endpoint was pCR(ypT0/is/ypN0). Second endpoints included safety, event-free and overall survial (EFS and OS). This trial is registered with ClinicalTrials.gov, number NCT 02510781.Results: Baseline Patients’ characteristics were well balanced between ATH-TH group and TCH group: median age 49y/48y, hormone receptor positive 51.7% vs 46.9%, II stage 60.0% VS 64.0%, III stage 33.3% VS 32.8%. The pCR rate was no significant difference(P=0.457) in ATH-TH 56.7%(95% CI:43.8%-69.6% ) and TCH group 50.0% ( 95% CI :37.4%-62.6%) .In hormone positive subgroup, the pCR rate was 36.7% ( 95% CI:18.4%-55.0% )for TCH group, and 51.6% (95% CI:33.0%-70.2%) for ATH-TH group (P=0.24). In hormone negative subgroup, the pCR rate was 61.8% (95% CI:44.6%-79.0% )for TCH group, and 62.1% ( 95% CI:43.3%-80.9%) for ATH-TH group (P=0.98). The most common adverse events were hematologic toxicities. ATH-TH group had higher 3/4 grade leukocyte decrease rates than TCH group ( 86.7% VS 43.8%, p Citation Format: Tao Wang, Jin-Mei Zhou, Xiao-Peng Hao, Hui-Qaing Zhang, Shao-Hua Zhang, Li Bian, Ze-Fei Jiang. A randomized, opened, phase II trial assessing the efficacy and safety of ATH-TH(doxorubicin/docetaxel/trastuzumab followed by docetaxel/trastuzumab) versus TCH(docetaxel/carboplatin/trastuzumab) as neoadjuvant treatment in HER2-positive breast cancer [abstract]. In: Proceedings of the 2020 San Antonio Breast Cancer Virtual Symposium; 2020 Dec 8-11; San Antonio, TX. Philadelphia (PA): AACR; Cancer Res 2021;81(4 Suppl):Abstract nr PS13-14.

A facile and simple method has been developed for the condensation of 1,2-diaminobenzenes with α-bromoketones to form quinoxalines with good yields using cetyltrimethyl ammonium bromide (CTAB) in aqueous media. The efficiency of this reaction was demonstrated by the compatibility with nitro, methyl, methoxy, fluoro chloro bromo and furanyl groups. The important features of the methodology are broad substrate scope, simple workup, and no requirement for metal catalysts.

In the title compound, C17H11FN4O3S2, the five-membered thiazolidinone and thiadiazole rings are almost planar, with r.m.s. deviations of 0.017 and 0.0019 Å, respectively. The 4-fluorophenyl ring is almost perpendicular to the thiadiazole ring, making a dihedral angle of 89.5 (3)°. The 4-nitrophenyl ring is nearly coplanar with the thiadiazole ring, the dihedral angle being 7.9 (3)°. The crystal structure is stabilized by two intermolecular C—H...O hydrogen bonds.