Type 3 Research Articles

Automatic control of UAVs: new adaptive rules and type-3 fuzzy stabilizer

Unmanned Aerial Vehicles (UAVs) have become important in an extensive range of fields such as surveillance, environmental monitoring, agriculture, infrastructure inspection, commercial applications, and many others. Ensuring stable flight and precise control of UAVs, especially in adverse weather conditions or turbulent environments, presents significant challenges. Developing control systems that can adapt to these environmental factors while ensuring safe and reliable operation is a main motivation. Considering the challenges, first, an adaptive model is identified using the input/output data sets. New adaptation laws are obtained for dynamic parameters. Then, a Type-3 (T3) Fuzzy Logic System (FLS) is used to compensate for the error of dynamic identification. T3-FLS is tuned by a sliding mode control (SMC) strategy. The robustness is analyzed considering the adaptation error using the SMC approach. The main idea is that the basic dynamics of UAVs are taken into account, and adaptation laws are designed to enhance the modeling accuracy. On the other hand, an optimized T3-FLS with SMC is introduced to eliminate the adaption errors and ensure robustness. Several simulations show that known parameters converge under uncertainty, and the stability is kept, well. Also, output signals follow the desired trajectories under dynamic perturbations, identification errors, and uncertainties.

A new predictive intelligent controller and path planning for mobile robots

This paper studies the synchronization and control of chaotic systems, and a new chaotic-based path is designed for Mobile robots (MRs). The chaotic systems are used to design an unpredictable path for a class of patrol MRs. To enhance security, multiple chaotic systems with a chaotic switching mechanism are introduced for path planning. The main challenge is that the dynamics of MRs are entirely unknown. The physical dynamics are not reliable in practice, because many parameters in MR dynamics are changed due to unknown environmental conditions such as noisy sensors, time delays, friction, and non-ideal actuators. Also, the chaotic switching of reference signals between chaotic signals imposes a high dynamic perturbation. So, a powerful fractional-order predictive controller on the basis of type-3 (T3) fuzzy-logic systems (FLSs) is developed. The estimation and prediction errors of T3-FLSs are compensated by a designed parallel compensator. T3-FLSs are online tuned such that stability is ensured, and the defined cost function for prediction controller is minimized. The suggested scheme is implemented on a real-world MR, and the results demonstrate the febrility and the accuracy. Also, in several simulations, the efficacy of the designed controller is examined. The simulation and experimental results show that the accuracy is improved more than 70% in comparison with conventional predictive controllers under noisy signals and uncertain dynamics.

Prioritizing susceptibility genes for the prognosis of male-pattern baldness with transcriptome-wide association study

BackgroundMale-pattern baldness (MPB) is the most common cause of hair loss in men. It can be categorized into three types: type 2 (T2), type 3 (T3), and type 4 (T4), with type 1 (T1) being considered normal. Although various MPB-associated genetic variants have been suggested, a comprehensive study for linking these variants to gene expression regulation has not been performed to the best of our knowledge.ResultsIn this study, we prioritized MPB-related tissue panels using tissue-specific enrichment analysis and utilized single-tissue panels from genotype-tissue expression version 8, as well as cross-tissue panels from context-specific genetics. Through a transcriptome-wide association study and colocalization analysis, we identified 52, 75, and 144 MPB associations for T2, T3, and T4, respectively. To assess the causality of MPB genes, we performed a conditional and joint analysis, which revealed 10, 11, and 54 putative causality genes for T2, T3, and T4, respectively. Finally, we conducted drug repositioning and identified potential drug candidates that are connected to MPB-associated genes.ConclusionsOverall, through an integrative analysis of gene expression and genotype data, we have identified robust MPB susceptibility genes that may help uncover the underlying molecular mechanisms and the novel drug candidates that may alleviate MPB.

Classification of longitudinal strain curves measured by speckle-tracking echocardiography in normal and pathological myocardial segments

Abstract Background Two-dimensional speckle-tracking echocardiography (2D-STE) provides a quantitative tool to evaluate LV function at the regional level. The purpose of this study was to classify the types of regional longitudinal strain curves (LSC). Moreover, we propose a novel longitudinal strain curve index (LSCI) which we compared to the wall motion score index (WMSI). Methods We enrolled 100 healthy volunteers and 50 patients with prior myocardial infarction (MI). Each LSC was classified considering the positive peak (peak P), peak maximum strain (PMS), and time to maximum peak strain (TPMS) as follows: Type 1 (Peak P<6%, PMS>6%, TPMS before aortic valve closure [AVC]); Type 2 (Peak P<6%, PMS≥6%, TPMS after AVC); Type 3 (Peak P≥6%, PMS≥6%, TPMS before AVC); Type 4 (Peak P≥6%, PMS≥6%, TPMS after AVC); Type 5 (Peak P<6%, PMS≥6%, TPMS first third of systole); Type 6 (Peak P<6%, PMS<6%); and Type 7 (Peak P≥6%, PMS<6%). The longitudinal curve score index (LCSI) was obtained (sum of LSC type/18 segments). Results A total of seven types of LSC were identified. In the healthy subjects, LSC Type 1 (T1) and Type 2 (T2) were the most frequent. Type 3 (T3) and Type 4 (T4) were found in insignificant percentages while Type 5 (T5), Type 6 (T6), and Type 7 (T7) were not identified. When analyzed for the entire population, LSCI correlated strongly with WMSI (r=0.83, p<0.01). Conclusions Analysis of LSC may provide a substantial support to visual assessment of regional LV function and the LCSI represents an index that is highly reproducible, independent of the examiner’s experience.

A strong secure path planning/following system based on type-3 fuzzy control, multi-switching chaotic systems, and random switching topology

This paper studies the synchronization and control of chaotic systems while proposing a novel chaotic-based path-tracking application for mobile robots (MRs) to ensure their safety and security. In security-based applications that use MRs, such as patrol MRs, the path of the MRs must be complex enough to prevent easy prediction. Multiple chaotic systems with a chaotic switching mechanism are introduced for secure path planning. The main challenges are that the dynamics of MRs are entirely unknown. The modeled dynamics of the MRs are unreliable in practice due to a broad range of uncertainties related to the parameters, operating conditions, environmental impacts, time delays, unmodeled frictions, noisy sensors, and faulty actuators. Also, the chaotic switching of reference signals between chaotic signals imposes a high dynamic perturbation. The main novelties are as follows: (1) a strong secure path is introduced for MRs. (2) A powerful fractional-order predictive controller using type-3 (T3) fuzzy-logic systems (FLSs) is developed. (3) The estimation and prediction errors of T3-FLSs are compensated by a designed parallel compensator. (4) T3-FLSs are tuned online, such that stability is ensured, and prediction accuracy is guaranteed. (5) The suggested scheme is implemented on a real-world MR, and the results demonstrate the feasibility and accuracy of the proposed method. Also, in several simulations, the efficacy of the introduced controller is examined.

FROM DRUSEN TO TYPE 3 MACULAR NEOVASCULARIZATION.

To investigate the imaging features preceding the occurrence of type 3 (T3) macular neovascularization (MNV) using tracked spectral-domain optical coherence tomography. From a cohort of eyes with T3 MNV and ≥ 12 months of previously tracked spectral-domain optical coherence tomography, T3 lesions that developed above soft drusen were selected for optical coherence tomography analysis. Retinal imaging findings at the location where type T3 MNV occurred were analyzed at each follow-up until the onset of T3 MNV. The following optical coherence tomography parameters were assessed: drusen size (height and width), outer nuclear layer/Henle fiber layer thickness at the drusen apex, and the presence of intraretinal hyperreflective foci, retinal pigment epithelium disruption, incomplete retinal pigment epithelium and outer retina atrophy, and complete retinal pigment epithelium and outer retina atrophy. From a cohort of 31 eyes with T3 MNV, T3 lesions developed above soft drusen in 20 eyes (64.5%). Drusen showed progressive growth ( P < 0.001) associated with outer nuclear layer/Henle fiber ( P < 0.001) thinning before T3 MNV. The following optical coherence tomography features were identified preceding the occurrence of T3 MNV, typically at the apex of the drusenoid lesion: disruption of the external limiting membrane/ellipsoid zone and/or the retinal pigment epithelium, hyperreflective foci, and incomplete retinal pigment epithelium and outer retina atrophy/complete retinal pigment epithelium and outer retina atrophy. The results demonstrate specific anatomic alterations preceding the occurrence of T3 MNV that most commonly originates above soft drusen. Drusen growth, reduced outer nuclear layer/Henle fiber thickness, and retinal pigment epithelium atrophy at the drusen apex precede the development of T3 MNV. Identifying these optical coherence tomography features should warrant close monitoring for identification of T3 MNV, which can benefit from prompt intravitreal anti-vascular endothelial growth factor therapy.

A non‐linear fractional‐order type‐3 fuzzy control for enhanced path‐tracking performance of autonomous cars

AbstractPath‐tracking and lane‐keeping efficiency of driverless cars remain critical characteristics of the efficient and safe deployment of such vehicles in future intelligent transportation systems. This study introduces a robust type‐3 (T3) fuzzy controller implementation for the path‐tracking task of driverless cars during critical driving conditions and subject to exogenous disturbances. Unlike many existing control paradigms, the proposed scheme is independent of the parameter information and assumes the system dynamics are unknown and non‐linear. Control inputs are constructed to improve robustness by eliminating the error bounds while ensuring stability by leveraging the Lyapunov stability theorem and Barbalat's lemma. Also, a predicate scheme based on non‐linear predictive control technique is introduced to enhance the lateral displacement. Based on the obtained results, the schemed controller exhibits competitive effectiveness in path‐tracking tasks, and strong efficiency under various road conditions, parametric uncertainties, and unknown disturbances.

An Observer-Based Type-3 Fuzzy Control for Non-Holonomic Wheeled Robots

Non-holonomic wheeled robots (NWR) comprise a type of robotic system; they use wheels for movement and offer several advantages over other types. They are efficient, highly, and maneuverable, making them ideal for factory automation, logistics, transportation, and healthcare. The control of this type of robot is complicated, due to the complexity of modeling, asymmetrical non-holonomic constraints, and unknown perturbations in various applications. Therefore, in this study, a novel type-3 (T3) fuzzy logic system (FLS)-based controller is developed for NWRs. T3-FLSs are employed for modeling, and the modeling errors are considered in stability analysis based on the symmetric Lyapunov function. An observer is designed to detect the error, and its effect is eliminated by a developed terminal sliding mode controller (SMC). The designed technique is used to control a case-study NWR, and the results demonstrate the good accuracy of the developed scheme under non-holonomic constraints, unknown dynamics, and nonlinear disturbances.

Optimal type-3 fuzzy control and analysis of complicated financial systems

The financial systems have complicated dynamics and are perturbed by various uncertainties and disturbances. Chaos theory provides a practical approach to analyzing financial systems. The chaotic systems have unpredictable random characteristics that help to analyze the financial systems better. Recently, type-3 (T3) fuzzy logic systems (FLSs) have been developed for high-uncertain systems. T3-FLSs provide a reliable tool to cope with high-noisy environments. In T3-FLSs, the upper/lower bounds of uncertainties are fuzzy values. This property results in a strong tool to model more levels of uncertainties. Control, modeling, and forecasting accuracy in financial systems are so important. Then, better systems with higher accuracy are required. In this paper, a new T3-FLS based controller is introduced for chaotic financial systems. By solving a Riccati equation, sufficient conditions are concluded for optimality and robustness. T3-FLSs are learned to minimize the error and stabilize the whole system. A new optimal learning rules are extracted for T3-FLSs. Various benchmark chaotic model of financial systems are considered for examining the efficacy of the introduced approach, and the excellent response and superiority of the suggested approach is verified. Also, a comparison with other methods demonstrates the better efficiency of the suggested scheme.

Type-3 Fuzzy Control of Robotic Manipulators

In this paper, the control of robotic manipulators (RMs) is studied. The RMs are widely used in industry. The RMs are multi-input-multi-output systems, and their dynamics are highly nonlinear. To improve the accuracy in practice, it is impossible to ignore the influence of nonlinear dynamics and the interaction of inputs–outputs. Non-structural uncertainties such as friction, disturbance, and unmodeled dynamics are other challenges of these systems. Recently, type-3 (T3) fuzzy logic systems (FLSs) have been suggested that result in better accuracy in a noisy environment. In this paper, a new control idea on the basis of T3-FLSs is suggested. T3-FLSs are used to estimate the dynamics of RMs and the symmetrical perturbations. The T3-FLSs are learned using online laws to enhance the stability. To eliminate the effect of the interconnection of inputs and estimation errors, a compensator is developed. By several simulations, the superiority of the suggested controller is demonstrated.

Novel and recurrent COMP gene variants in five Japanese patients with pseudoachondroplasia: skeletal changes from the neonatal to infantile periods.

Pseudoachondroplasia (PSACH) is an autosomal dominant skeletal dysplasia caused by pathogenic variants of cartilage oligomeric matrix protein (COMP). Clinical symptoms of PSACH are characterized by growth disturbances after the first year of life. These disturbances lead to severe short stature with short limbs, brachydactyly, scoliosis, joint laxity, joint pain since childhood, and a normal face. Epimetaphyseal dysplasia, shortened long bones, and short metacarpals and phalanges are common findings on radiological examination. Additionally, anterior tonguing of the vertebral bodies in the lateral view is an important finding in childhood because it is specific to PSACH and normalizes with age. Here, we report five Japanese patients with PSACH, with one recurrent (p.Cys351Tyr) and four novel heterozygous pathogenic COMP variants (p.Asp437Tyr, p.Asp446Gly, p.Asp507Tyr, and p.Asp518Val). These five pathogenic variants were located in the calcium-binding type 3 (T3) repeats. In four of the novel variants, the affected amino acid was aspartic acid, which is abundant in each of the eight T3 repeats. We describe the radiological findings of these five patients. We also retrospectively analyzed the sequential changes in the vertebral body and epimetaphysis of the long bones from the neonatal to infantile periods in a patient with PSACH and congenital heart disease.

A De Novo‐Designed Type 3 Copper Protein Tunes Catechol Substrate Recognition and Reactivity

AbstractDe novo metalloprotein design is a remarkable approach to shape protein scaffolds toward specific functions. Here, we report the design and characterization of Due Rame 1 (DR1), a de novo designed protein housing a di‐copper site and mimicking the Type 3 (T3) copper‐containing polyphenol oxidases (PPOs). To achieve this goal, we hierarchically designed the first and the second di‐metal coordination spheres to engineer the di‐copper site into a simple four‐helix bundle scaffold. Spectroscopic, thermodynamic, and functional characterization revealed that DR1 recapitulates the T3 copper site, supporting different copper redox states, and being active in the O2‐dependent oxidation of catechols to o‐quinones. Careful design of the residues lining the substrate access site endows DR1 with substrate recognition, as revealed by Hammet analysis and computational studies on substituted catechols. This study represents a premier example in the construction of a functional T3 copper site into a designed four‐helix bundle protein.

A De Novo-Designed Type 3 Copper Protein Tunes Catechol Substrate Recognition and Reactivity.

De novo metalloprotein design is a remarkable approach to shape protein scaffolds toward specific functions. Here, we report the design and characterization of Due Rame 1 (DR1), a de novo designed protein housing a di-copper site and mimicking the Type 3 (T3) copper-containing polyphenol oxidases (PPOs). To achieve this goal, we hierarchically designed the first and the second di-metal coordination spheres to engineer the di-copper site into a simple four-helix bundle scaffold. Spectroscopic, thermodynamic, and functional characterization revealed that DR1 recapitulates the T3 copper site, supporting different copper redox states, and being active in the O2 -dependent oxidation of catechols to o-quinones. Careful design of the residues lining the substrate access site endows DR1 with substrate recognition, as revealed by Hammet analysis and computational studies on substituted catechols. This study represents a premier example in the construction of a functional T3 copper site into a designed four-helix bundle protein.

OPTICAL COHERENCE TOMOGRAPHY ANGIOGRAPHY CHARACTERIZATION OF EVOLVING LESIONS IN FELLOW EYES OF EXUDATIVE TYPE 3 MACULAR NEOVASCULARIZATION PATIENTS.

To investigate fellow eyes of newly diagnosed unilateral exudative Type 3 (T3) macular neovascularization (MNV) patients by assessing the presence and progression of a preclinical neovascular component during a 3-year follow-up. This is a longitudinal study involving three retinal referral centers. Patients affected by unilateral exudative treatment-naive T3 MNV were enrolled. Twenty-four eyes of 24 patients (79 ± 6 years old) were enrolled. Nine eyes (37%) displayed a nonexudative T3 MNV at baseline that developed exudation after a mean of 9 ± 9 months. Fifteen eyes that did not display a nonexudative Type 3 MNV at baseline. Five eyes (21%) did not display neovessels at baseline, but showed a nonexudative T3 after 13 ± 9 months, and exudation after 8 ± 3 months. Five eyes (21%) developed active exudative T3 MNV after 23 ± 9 months, with no detectable nonexudative stage at baseline. Five eyes (21%) did not show MNV, but progressed to geographic atrophy by 36 months of follow-up. Overall, T3 MNV in the fellow eye accounted for 79%, all developing exudation over 3 years of follow-up. The occurrence of a nonexudative T3 MNV is a frequent event in the fellow eye of patients newly diagnosed with unilateral exudative T3 MNV and it precedes the development of exudation over 3 years (prevalence of 37% and cumulative incidence of 79%). Optical coherence tomography angiography approach may be used to perform an early diagnosis and treatment of patients with T3 MNV.

A New Type-3 Fuzzy Predictive Approach for Mobile Robots

Wheeled mobile robots are widely used for their excellent mobility and high maneuverability. The intelligentization of mobile robots to perform autonomous movement is one of the favorite topics in the robotic field. This paper proposes a new intelligent path-following scheme for mobile robots. A secure path is designed by the chaotic systems and an unknown switching mechanism. The proposed controller is constructed by the type-3 (T3) fuzzy logic systems (FLSs) and a predictive compensator. The T3-FLSs are taught to obtain good accuracy. In addition, the stability is mathematically investigated and guaranteed by the designed compensator. The simulations show that the case-study robot follows the planned secure path well and resists uncertainties.

An Integrated Analysis of Inflammatory Endotypes and Clinical Characteristics in Chronic Rhinosinusitis with Nasal Polyps.

ObjectiveChronic rhinosinusitis with nasal polyps (CRSwNP) is mainly characterised by type 1 (T1), type 2 (T2) and type 3 (T3) inflammatory endotypes. However, correlations between inflammatory endotypes and clinical features in CRSwNP have not been demonstrated sufficiently. This study aimed to determine the endotype-phenotype associations in CRSwNP.MethodsClinical data of 31 control subjects and 106 CRSwNP patients were analysed. Interferon (IFN)-γ (T1), Charcot-Leyden crystal galectin (CLC) (T2) and Interleukin (IL)-17A (T3) were used as biomarkers to identify the inflammatory endotypes.ResultsThe mRNA expression level of IFN-γ was positively correlated with IL-17A (r = 0.817; P < 0.0001). Headache/facial pain (P = 0.039) was associated with T1 endotype. Smell loss (P = 0.025) was associated with T2 endotype. Purulent rhinorrhea (P = 0.001) was associated with T3 endotype. Atopy (P = 0.030), asthma (P = 0.005) and recurrence (P = 0.022) were more frequent in T2 endotype. Total Symptom Scores (TSS) of T2 (P < 0.001) and T3 (P = 0.009) endotype were higher than non-T2 and non-T3, respectively. Sino Nasal Outcome Test-22 (SNOT-22) total scores of T3 (P = 0.054) endotype were higher than non-T3.ConclusionIdentifications of endotype-phenotype associations are useful in clinical diagnoses and targeted therapies for patients with CRSwNP.

A New Type-3 Fuzzy PID for Energy Management in Microgrids

More recently, type-3 (T3) fuzzy logic systems (FLSs) with better learning ability and uncertainty modeling have been presented. On other hand, the proportional-integral-derivative (PID) is commonly employed in most industrial control systems, because of its simplicity and efficiency. The measurement errors, nonlinearities, and uncertainties degrade the performance of conventional PIDs. In this study, for the first time, a new T3-FLS-based PID scheme with deep learning approach is introduced. In addition to rules, the parameters of fuzzy sets are also tuned such that a fast regulation efficiency is obtained. Unlike the most conventional approaches, the suggested tuning approach is done in an online scheme. Also, a nonsingleton fuzzification is suggested to reduce the effect of sensor errors. The proposed scheme is examined on a case-study microgrid (MG), and its good frequency stabilization performance is demonstrated in various hard conditions such as variable load, unknown dynamics, and variation in renewable energy (RE) sources.

OCT Predictors of 3-Year Visual Outcome for Type 3 Macular Neovascularization

To identify baseline OCT predictors of the 3-year visual outcome for type 3 (T3) macular neovascularization (MNV) secondary to age-related macular degeneration (AMD) treated by anti-vascular endothelial growth factor (VEGF) therapy. Retrospective longitudinal study. Forty eyes of 30 patients affected by exudative treatment-naive T3 MNV were enrolled. Baseline best-corrected visual acuity (BCVA) and several baseline OCT features were assessed and included in the analysis. Univariate and multivariate analyses served to identify risk factors associated with the 3-year BCVA. Baseline OCT features that are associated with bad or good visual outcomes of T3 MNV treated by anti-VEGF injections. Mean baseline BCVA was 0.34 ± 0.28 logarithm of the minimum angle of resolution (LogMAR), which significantly decreased to 0.52 ± 0.37 LogMAR at the end of the 3-year follow-up (P= 0.002). In the univariate analysis, the following baseline features were associated with the 3-year BCVA outcome: baseline BCVA (P= 0.004), foveal involvement of exudation (P= 0.004), and presence of subretinal fluid (SRF; P= 0.004). In the multivariate model, baseline BCVA (P= 0.032), central macular thickness (P= 0.036), number of active T3 lesions (P= 0.034), and presence of SRF (P= 0.008) were associated with the 3-year BCVA outcome. Interestingly, 3-year BCVA was significantly lower in 19 eyes with SRF at the baseline (0.69 ± 0.42 LogMAR) than 21 eyes without SRF (0.37 ± 0.24 LogMAR; P= 0.004). We identified structural OCT features associated with BCVA outcome after 3-year treatment with anti-VEGF injections. In contrast to previous studies on neovascular AMD, in our series, the presence of SRF at baseline was the most significant independent negative predictor of functional outcomes. Current findings may be employed to identify less favorable T3 patterns potentially deserving a more intensive treatment.

Effects of Type 1, 2, and 3 Immunity on the Viral Susceptibility of Human Keratinocytes

Atopic dermatitis (AD) is a chronic inflammatory skin condition characterized by increased susceptibility to cutaneous viral infections. Type 2 (T2) immunity predominates in AD skin lesions, but expression profiling has demonstrated involvement of Type 1 (T1) and/or Type 3 (T3) cytokines. We investigated whether these cell-mediated immune pathways effect cutaneous viral infection.

A Type‐3 Fuzzy Approach for Stabilization and Synchronization of Chaotic Systems: Applicable for Financial and Physical Chaotic Systems

In this paper, a new approach is presented for stabilizing and synchronizing financial chaotic systems. A new type‐3 (T3) fuzzy‐based system (FLS) with an online optimization scheme is designed to cope with chaotic behavior, high‐level uncertainties, and unknown dynamics. An adaptive compensator also eliminates the effect of approximation errors (AEs) and perturbations. The stability of the dynamics of synchronization errors is guaranteed by the use of the Lyapunov method. Several simulations and comparisons demonstrate the superiority of the suggested control and synchronization scenarios.