Abstract: An adaptive robust estimation method and system for parameters of an unmanned surface vessel belongs to the field of automatic control. First, an augmented state estimation problem considering an external disturbance for the unmanned surface vessel is constructed; augmented state vectors include a state vector of the unmanned surface vessel, a parameter vector, and an unknown input vector; and then, depending on a real-time input vector and a measurement vector of a system, a designed adaptive robust unscented Kalman filtering method is employed to obtain model parameters of the unmanned surface vessel.

Abstract: The present disclosure discloses a distributed secure state reconstruction method based on a double-layer dynamic switching observer.

Abstract: The present disclosure discloses a distributed secure state reconstruction method based on a double-layer dynamic switching observer.

Abstract: The present invention relates to a medicinal water-soluble antifungal macromolecular compound used for treating infectious diseases, especially, relates to a poly-conjugate which includes an active drug substance and a macro-molecular polymer which are combined with each other through chemical bonds. The active drug substance is a polyene macrolide compound such as amphotericin B. Also provided are a method of preparing the poly-conjugate, a method for increasing solubility of the active drug substance and a method for treating fungal infection, which is any disease related to fungus, such as sepsis, endocarditis, meningitis (caused by cryptococcus and other fungus), abdominal infection (including those related to dialysis), pulmonary infection, urinary tract infection and the like. The poly-conjugate has excellent properties in biological performance and/or physical performance and/or chemical performance.