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A force sensorless impedance controller is proposed in this paper for robot manipulators without using force estimators. From the observation of the impedance control law, the force feedback term can be canceled if the inertia matrix in the target impedance is the same as the robot inertia matrix. However, the inertia matrix in the target impedance is almost always a constant matrix, while the robot inertia matrix is a function of the robot configuration, and hence, they may not be identical in general. A modification of the coefficient matrix for the contact force term in the target impedance is suggested in this paper to enable cancelation of the force feedback term in the impedance control law so that a force sensorless impedance controller without using force estimators can be obtained. The tracking performance in the free space phase and the motion trajectory in the compliant motion phase of the new design are almost the same as those in the traditional impedance control. Modification of the inertia matrix in the target impedance will result in small variations of the contact force which is acceptable in practical applications. For robot manipulators containing uncertainties, an adaptive version of the new controller is also developed in this paper to give satisfactory performance without the need for force sensors. Rigorous mathematical justification in closed-loop stability is given in detail, and computer simulations are performed to verify the efficacy of the proposed design.

Accurate software development effort estimation is critical to the success of software projects. Although many techniques and algorithmic models have been developed and implemented by practitioners, accurate software development effort prediction is still a challenging endeavor in the field of software engineering, especially in handling uncertain and imprecise inputs and collinear characteristics. In this paper, a hybrid in-telligent model combining a neural network model integrated with fuzzy model (neuro-fuzzy model) has been used to improve the accuracy of estimating software cost. The performance of the proposed model is assessed by designing and conducting evaluation with published project and industrial data. Results have shown that the proposed model demonstrates the ability of improving the estimation accuracy by 18% based on the Mean Magnitude of Relative Error (MMRE) criterion.

Natural antisense transcripts （NATs） exist ubiquitously in mammalian genomes and play roles in the regulation of gene expression. However, both the existence of bidirectional antisense RNA regulation and the possibility of proteincoding genes that function as antisense RNAs remain speculative. Here, we found that the protein-coding gene, deoxyhypusine synthase （DHPS）, as the NAT of WDR83, concordantly regulated the expression of WDR83 mRNA and protein. Conversely, WDR83 also regulated DHPS by antisense pairing in a concordant manner. WDR83 and DHPS were capable of forming an RNA duplex at overlapping 3＇ untranslated regions and this duplex increased their mutual stability, which was required for the bidirectional regulation. As a pair of protein-coding cis-sense/antisense transcripts, WDR83 and DHPS were upregulated simultaneously and correlated positively in gastric cancer （GC）, driving GC patbophysiology by promoting cell proliferation. Furthermore, the positive relationship between WDR83 and DHPS was also observed in other cancers. The bidirectional regulatory relationship between WDR83 and DHPS not only enriches our understanding of antisense regulation, but also provides a more complete understanding of their functions in tumor development.

Purinergic receptors and the associated signaling cascades are known to play critical roles in cardiovascular, nervous, respiratory, gastrointestinal and urinogenital systems. Recent studies have also shed light on the importance of nucleotides and purinergic receptors in the regulation of the immune response. With a better understanding of the distribution and the receptor subtypes, the purinoceptors have the potential to become important therapeutic targets in inflammation, chemotaxis and immune-related diseases.

Accurate estimate of soil carbon storage is essential to reveal the role of soil in global carbon cycle. However, there is large uncertainty on the estimation of soil organic carbon（SOC） storage in grassland among previous studies, and the study on soil inorganic carbon（SIC） is still lack. We surveyed 153 sites during plant peak growing season and estimated SOC and SIC for temperate desert, temperate steppe, alpine steppe, steppe meadow, alpine meadow and swamp, which covered main grassland in the Qinghai Plateau during 2011 to 2012. The results showed that the vertical and spatial distributions of SOC and SIC varied by grassland types. The SOC amount mainly decreased from southeast to northwest, whereas the SIC amount increased from southeast to northwest. The magnitude of SOC amount in the top 50 cm across grassland types ranked by： swamp 〉 alpine meadow 〉steppe meadow 〉 temperate steppe 〉 alpine steppe 〉 temperate desert, while the SIC amount showed an opposite order. There was a great deal of variation in proportion of SOC and SIC among different grassland types（from 55.17 to 94.59 for SOC and 5.14 to 44.83 for SIC）. The total SOC and SIC storage was 5.78 Pg and 1.37 Pg, respectively, in the top 50 cm of soil in Qinghai Province. The mixed linear model revealed that grassland types was the predominant factor in spatial variations of SOC amount while grassland types and soil p H accounted for those of SIC amount. Our results suggested that the community shift of alpine meadow towards alpine grassland induced by climate warming would decrease carbon sequestration capacity by 6.0 kg C m^2.

Software effort estimation is a critical part of software engineering. Although many techniques and algorithmic models have been developed and implemented by practitioners, accurate software effort prediction is still a challenging endeavor. In order to address this issue, a novel soft computing framework was previously developed. Our study utilizes this novel framework to develop an approach combining the neuro-fuzzy technique with the System Evaluation and Estimation of Resource - Software Estimation Model (SEER-SEM). Moreover, our study assesses the performance of the proposed model by designing and conducting evaluation with published industrial project data. After analyzing the performance of our model in comparison to the SEER-SEM effort estimation model alone, the proposed model demonstrates the ability of improving the estimation accuracy, especially in its ability to reduce the large Mean Relative Error (MRE). Furthermore, the results of this research indicate that the general neuro-fuzzy framework can work with various algorithmic models for improving the performance of software effort estimation.

The aims of our research are to evaluate the prediction performance of the proposed neuro-fuzzy model with System Evaluation and Estimation of Resource Software Estimation Model (SEER-SEM) in software estimation practices and to apply the proposed architecture that combines the neuro-fuzzy technique with different algorithmic models. In this paper, an approach combining the neuro-fuzzy technique and the SEER-SEM effort estimation algorithm is described. This proposed model possesses positive characteristics such as learning ability, decreased sensitivity, effective generalization, and knowledge integration for introducing the neuro-fuzzy technique. Moreover, continuous rating values and linguistic values can be inputs of the proposed model for avoiding the large estimation deviation among similar projects. The performance of the proposed model is accessed by designing and conducting evaluation with published projects and industrial data. The evaluation results indicate that estimation with our proposed neuro-fuzzy model containing SEER-SEM is improved in comparison with the estimation results that only use SEER-SEM algorithm. At the same time, the results of this research also demonstrate that the general neuro-fuzzy framework can function with various algorithmic models for improving the performance of software effort estimation.

Susceptibilities to stress corrosion cracking （SCC） of X80 pipeline steel in high pH solutions with various concentrations of HC03 at a passive potential of-0.2 V vs. SCE were investigated by slow strain rate tensile （SSRT） test. The SCC mechanism and the effect of HC03 were discussed with the aid of electrochemical techniques. It is indicated that X80 steel shows enhunced susceptibility to SCC with the concentration of HCO3 increasing from 0.15 to 1.00 mol/L, and the susceptibility can be evaluated in terms of current density at -0.2 V vs. SCE. The SCC behavior is controlled by the dissolution-based mechanism in these circumstances. Increasing the concentration of HCO3 not only increases the risk of rupture of passive films but also promotes the anodic dissolution of crack tips. Besides, little susceptibility to SCC is found in dilute solution containing 0.05 mol/L HCO3 for X80 steel. This can be attributed to the inhibited repassivation of passive films, manifesting as a more intensive dissolution in the non-crack tip areas than at the crack tips.

Recently zero-dimensional (0-D) inorganic–organic metal halides (IOMHs) have become a promising class of optoelectronic materials. Herein, we report a new photoluminescent (PL) 0-D antimony(III)-based IOMH single crystal, namely [H2BPZ][SbCl5]·H2O (BPZ = benzylpiperazine). Photophysical characterizations indicate that [H2BPZ][SbCl5]·H2O exhibits singlet/triplet dual-band emission. Density functional theory (DFT) calculations suggest that [H2BPZ][SbCl5]·H2O has the large energy difference between singlet and triplet states, which might induce the dual emission in this compound. Temperature-dependent PL spectra analyses suggest the soft lattice and strong electron–phonon coupling in this compound. Thermogravimetric analysis shows that the water molecules in the lattice of the title crystal could be removed by thermal treatment, giving rise to a dehydrated phase of [H2BPZ][SbCl5]. Interestingly, such structural transformation is accompanied by a reversible PL emission transition between red light (630 nm, dehydrated phase) and yellow light (595 nm, water-containing phase). When being exposed to an environment with 77% relative humidity, the emission color of the dehydrated phase was able to change from red to yellow within 20 s, and the red emission could be restored after reheating. The red to yellow emission switching could be achieved in acetone with water concentration as low as 0.2 vol%. The reversible PL transition phenomenon makes [H2BPZ][SbCl5]·H2O a potential material for luminescent water-sensing.

Bismuth-halide-based inorganic-organic hybrid materials (Bi-IOHMs) are desirable in luminescence-related applications due to their advantages such as low toxicity and chemical stability. Herein, two Bi-IOHMs of [Bpy][BiCl4(Phen)] (1, Bpy = N-butylpyridinium, Phen = 1,10-phenanthroline) and [PP14][BiCl4(Phen)]·0.25H2O (2, PP14 = N-butyl-N-methylpiperidinium), containing different ionic liquid cations and same anionic units, have been synthesized and characterized. Single-crystal X-ray diffraction reveals that compounds 1 and 2 crystallize in the monoclinic space group of P21/c and P21, respectively. They both possess zero-dimensional ionic structures and exhibit phosphorescence at room temperature upon excitation of UV light (375 nm for 1, 390 nm for 2), with microsecond lifetime (24.13 μs for 1 and 95.37 μs for 2). Hirshfeld surface analysis has been utilized to visually exhibit the different packing motifs and intermolecular interactions in 1 and 2. The variation in ionic liquids makes compound 2 have a more rigid supramolecular structure than 1, resulting in a significant enhancement in photoluminescence quantum yield (PLQY), that is, 0.68% for 1 and 33.24% for 2. In addition, the ratio of the emission intensities for compounds 1 and 2 shows a correlation with temperature. This work provides new insight into luminescence enhancement and temperature sensing applications involving Bi-IOHMs.