Systematic cold biases exist in the simulation for 2 m air temperature in the Tibetan Plateau (TP) when using regional climate models and global atmospheric general circulation models. We updated the albedo in the Weather Research and Forecasting (WRF) Model lower boundary condition using the Global LAnd Surface Satellite Moderate-Resolution Imaging Spectroradiometer albedo products and demonstrated evident improvement for cold temperature biases in the TP. It is the large overestimation of albedo in winter and spring in the WRF model that resulted in the large cold temperature biases. The overestimated albedo was caused by the simulated precipitation biases and over-parameterization of snow albedo. Furthermore, light-absorbing aerosols can result in a large reduction of albedo in snow and ice cover. The results suggest the necessity of developing snow albedo parameterization using observations in the TP, where snow cover and melting are very different from other low-elevation regions, and the influence of aerosols should be considered as well. In addition to defining snow albedo, our results show an urgent call for improving precipitation simulation in the TP.

Aiming to improve the performance of motion for autonomous underwater vehicle (AUV), a fractional-order PID strategy is proposed. It is a more generalized form for the conventional integer-order PID controller, keeping its simplicity and utilizing the generalized derivative and integral control actions. The fractional-order PID controller has been successfully applied to heading control, diving control and path-following system of AUV on sea trial. In addition, the fractional-order closed-loop system has proven to be stable. By comparing simulations and experiments, the satisfactory performance, such as overshoot, settling time and steady-state error, has been achieved. The cloud-model-based quantum genetic algorithm (CQGA) is employed to tune coefficients of fractional-order PID controller. The quantum bits and quantum superposition states avoid the pressure of selection and maintain the diversity of population in chromosome coding. Due to the randomness and stability tendency of cloud droplets, the cloud crossover operator and the cloud mutation operator can effectively overcome the shortcomings of premature and slow searching speed. Numerical simulations show that the CQGA is more efficient to find the optimal coefficients of fractionalorder PID controller than GA. INDEX TERMS Fractional-order PID, AUV, cloud-model-based quantum genetic algorithm (CQGA), steady error.

BackgroundSchistosomiasis is a huge threat to human and animal health. Apart from bovines, goats play an important role in the transmission of schistosomiasis in some endemic areas of China. An accessible, quality-assured goat schistosomiasis diagnostic technique is needed. Recently, our laboratory identified two recombinant diagnostic antigens, SjPGM and SjRAD23 via an immuno-proteomic method. The application of these two recombinant antigens to develop a higher sensitivity and specificity technique for the sheep schistosomiasis diagnosis is urgently needed.MethodsEpitopes of SjPGM and SjRAD23 were predicted and three polypeptides, two from SjRAD23 and one from SjPGM, were selected. Recombinant plasmids containing two to three DNA sequences encoding predicted polypeptides or large hydrophilic region of Sj23 (LHD-Sj23) were constructed and expressed. Eight recombinant schistosome antigens including four multi-epitope proteins and four recombinant single-molecule antigens as well as SEA, were assessed by ELISA in 91 sera from schistosome-infected goats, 44 sera from non-infected goats, 37 sera from Orientobilharzia-infected goats, and 12 from Haemonchus contortus-infected goats.ResultsELISA tests showed that three multi-epitope proteins had higher sensitivity than the four single-molecule antigens (rSjRAD23, rSjPGM, rBSjRAD23-1, rBSj23) and the multi-epitope protein rBSjPGM-BSjRAD23-1-BSj23 had the highest sensitivity (97.8 %, 89/91) and maintained good specificity (100 %, 44/44) as well as low cross-reactivity with haemonchosis (8.33 %, 3/12) and orientobilharziasis (13.51 %, 5/37) in the diagnosis of goat schistosomiasis. In contrast, when SEA was applied as a diagnosis antigen, it had 100 % (91/91) sensitivity, 75 % (33/44) specificity, 25 and 83.78 % cross-reactivity with haemonchosis (3/12) and orientobilharziasis (31/37), respectively.ConclusionsThe application of recombinant multi-epitope proteins may increase the sensitivity of diagnosis technique and retain high specificity of single-molecule antigens for schistosomiasis, and the recombinant antigen rBSjPGM-BSjRAD23-1-BSj23 has the potential to be used as a diagnosis antigen for goat schistosomiasis.