As a first step, the arguments for and against the use of animals for medical purposes in general were reviewed. These arguments are summarized briefly in the first part of the article; Secondly, even if people accept in principle the use of animals in medicine and medical research, their use in xenotransplantation mayraise particular difficulties. There are three key issues in the debate over the use of animals in xenotransplantation. The first is whether as a matter of principle, it is (...) considered to be morally acceptable to use animals as organ or tissue source; the second is the ethical acceptability of the use of primates to supply transplant material; the third is the ethical issues raised by the use of genetically modified animals to provide organs for xenotransplantation. If it is agreed to be acceptable in principle, there are then questions to address regarding the welfare of animals within any xenotransplantation program. Finally, the author makes an attempt to discuss these ethical issues in Chinese cultural context. (shrink)

Free will is one of the oldest and most debated topics in the history of philosophy. Both positivist philosophy and humanist philosophy considered the problem of free will to be the most difficult issues to untangle. In recent years, psychologists have begun to apply the methods of empirical science to study the psychological mechanism, impact and expression of free will. The general consensus is that free will is an illusion, but people still believe in its existence. Free will has been (...) found closely related to moral responsibility, moral behavior, creativity, self-esteem and subjective well-being. Future research should define free will in more psychological sense, and to explore the generation mechanism and function of free will in everyday life. Theoretical and methodological advances are need to extend our understanding of free will and its psychological impacts to human being. (shrink)

Driven and influenced by learning theory and information technology, the form of the classroom environment in higher education is constantly changing. While traditional lecture classrooms focus on efficient learning modes and economical space layouts, active learning classrooms focus more on active learning psychology and adaptive space perception. Although existing studies have explored the development of educational and technological domains in the classroom, a comparative study of these two classroom environments and students’ learning perceptions has not been conducted. Hence, using a (...) questionnaire, this study collected subjective perception reports from 316 students in traditional lecture classrooms versus active learning classrooms. By analyzing Likert scales of student satisfaction in two classroom environments, the study found the following: learning support dimensions in both classroom environments required improvements; space and furniture perception, physical and decorative environment are critical factors in improving students’ perceptions in the lecture classroom; space perception is the critical factor in enhancing students’ perception in the active learning classroom. These findings can serve as good references and useful insights for future classroom design and optimization to build enriched and inclusive learning environments to help students gain a more positive perception of learning. (shrink)

Prior studies demonstrate the role of resources in shaping a firm’s entrepreneurial orientation from the resource-based view. We expand this line of research by theorising and testing the impact of resource bricolage on entrepreneurial orientation. Based on the data of 295 start-ups, we find that when start-ups face resource constraints, the strategy of resource bricolage has a significant positive effect on entrepreneurial orientation, and the relationship is positively moderated by top management team heterogeneity. Meanwhile, the relationship is negatively moderated by (...) TMT behavioral integration. The results are expected to provide theoretical guidance for start-ups to overcome resource constraints and achieve smooth survival and growth. (shrink)

Using core self-evaluation theory, the current study assesses the effect of internal work locus of control and bricolage on social entrepreneurship orientation. We adopted the cross-sectional survey design using a sampling frame to engage 400 top executives of social enterprises in mainland China. Three hundred and seventy-two of the executives replied, presenting a response rate of 93%. Results of structural equation modeling analysis show significant positive relationships between internal work locus of control, bricolage, and social entrepreneurship orientation. The positive mediating (...) effect of bricolage on the relationship between internal work locus of control and social entrepreneurship orientation was also found to be true. Consequently, to foster social entrepreneurship orientation, top executives of social enterprises need to gather available resources for bricolage tasks. These findings contribute new knowledge to how internal work locus of control affects social entrepreneurship orientation through the bricolage activity of Chinese social enterprises. Through core self-evaluation theory, we demonstrate the effect of internal work locus of control as a preceding factor in the relationship between bricolage and social entrepreneurship orientation. (shrink)

Background: Cognitive impairment is one of the core symptoms of schizophrenia, which is considered to be significantly correlated to prognosis. In recent years, many studies have suggested that metabolic disorders could be related to a higher risk of cognitive defects in a general setting. However, there has been limited evidence on the association between metabolism and cognitive function in patients with early-stage schizophrenia.Methods: In this study, we recruited 172 patients with early-stage schizophrenia. Relevant metabolic parameters were examined and cognitive function (...) was evaluated by using the MATRICS Consensus Cognitive Battery (MCCB) to investigate the relationship between metabolic disorder and cognitive impairment.Results: Generally, the prevalence of cognitive impairment among patients in our study was 84.7% (144/170), which was much higher than that in the general population. Compared with the general Chinese setting, the study population presented a higher proportion of metabolic disturbance. Patients who had metabolic disturbance showed no significant differences on cognitive function compared with the other patients. Correlation analysis showed that metabolic status was significantly correlated with cognitive function as assessed by the cognitive domain scores (p < 0.05), while such association was not found in further multiple regression analysis.Conclusions: Therefore, there may be no association between metabolic disorder and cognitive impairment in patients with early-stage schizophrenia.Trial Registration: Clinicaltrials.gov, NCT02880462. Registered August 26, 2016. (shrink)

Learning a deep structure representation for complex information networks is a vital research area, and assessing the quality of stereoscopic images or videos is challenging due to complex 3D quality factors. In this paper, we explore how to extract effective features to enhance the prediction accuracy of perceptual quality assessment. Inspired by the structure representation of the human visual system and the machine learning technique, we propose a no-reference quality assessment scheme for stereoscopic images. More specifically, the statistical features of (...) the gradient magnitude and Laplacian of Gaussian responses are extracted to form binocular quality-predictive features. After feature extraction, these features of distorted stereoscopic image and its human perceptual score are used to construct a statistical regression model with the machine learning technique. Experimental results on the benchmark databases show that the proposed model generates image quality prediction well correlated with the human visual perception and delivers highly competitive performance with the typical and representative methods. The proposed scheme can be further applied to the real-world applications on video broadcasting and 3D multimedia industry. (shrink)

Decision-making competence refers to the ability to make better decisions, as defined by decision-making principles posited by models of rational choice. The adult decision-making competence (A-DMC) scale is a relatively mature evaluation tool used for decision-making competence. However, the A-DMC is yet far from other mature psychological evaluation tools, and especially the structure of A-DMC remains unclear. In the current study, we estimated a regularized partial correlation network of decision-making competence in a Chinese sample consisting of 339 adults who were (...) evaluated by the A-DMC, and then the centrality indicators were calculated. The results revealed that all nodes of the decision-making competence networks are positively associated, except for the association of resistance to framing (RF) and resistance to sunk costs (SC). The strongest edge was between RF and applying decision rules (DR; regularized partial correlation = 0.37). The centrality indicators of RF and applying DR were highest, revealing that these two variables may play important roles in the decision-making competence network. Our study conceptualizes the decision-making competence from network perspectives, so as to provide some insights for future researches. (shrink)

Microbial fuel cell is a renewable clean energy. Microorganisms are used as catalysts to convert the chemical energy of organic matter in the sewage into electrical energy to realize sewage treatment and recover energy at the same time. It has good development prospects. However, the output power of MFC is affected by many factors, and it is difficult to achieve a stable voltage output. For the control-oriented single-chamber MFC, a fuzzy integral sliding mode control is designed. The continuous adjustment of (...) the sliding surface ensures that the system only moves on the sliding surface, which eliminates the arrival stage and improves robustness. For chattering existing in the system, the control scheme is further optimized to obtain fuzzy integral sliding mode control, and the fuzzy module adaptively adjusts the control parameters according to the system state, which effectively reduces the system chattering. Experiments prove that the control scheme reduces chattering while ensuring the stable output of the system. (shrink)

The study of cyber-attacks, and in particular the spread of attack on the power cyber-physical system, has recently attracted considerable attention. Identifying and evaluating the important nodes under the cyber-attack propagation scenario are of great significance for improving the reliability and survivability of the power system. In this paper, we improve the closeness centrality algorithm and propose a compound centrality algorithm based on adaptive coefficient to evaluate the importance of single-layer network nodes. Moreover, we quantitatively calculated the decouple degree of (...) cascading failures caused by exposed nodes formed by attack propagation. At last, experiments based on the IEEE 57 test system show that the proposed compound centrality algorithm can match the cyber-attack propagation scenario well, and we give the importance values of the nodes in a specific attack scenario. (shrink)

ObjectiveThis study took users of short-form mobile videos as research participants to explore the role of their boredom proneness in mediating the relationship between the use of mobile social media and subjective well-being.MethodsA sample of 656 users was evaluated by the Problematic Mobile Social Media Usage Assessment Questionnaire, General Well-Being Schedule, and Boredom Proneness Scale.ResultsFirstly, significant interactions were found between monthly living expenses and the UMSM of the participants, which were recognized as factors affecting SWB. Secondly, the level of living (...) expenses had little effect on the high-level and low-level groups of the UMSM but imposed a significant impact on the medium-level group. Thirdly, the UMSM showed an influence that could positively predict boredom; both the UMSM and boredom demonstrated a negative predictive effect on SWB.ConclusionThe findings indicate that the inappropriate use of mobile social media negatively affects users’ subjective well-being; boredom partially mediated the relationship between the use of mobile social media and SWB. (shrink)

Background: Both anxiety and depression in family caregivers of advanced cancer patients are common, and they have a negative influence on both the FCs and the patients. Some studies suggested that a variety of interventions could alleviate the psychological symptoms of FCs. However, there is no consensus on much more effective methods for intervention, and relatively high-quality research is blank in psychological problems of these population in China. The validity of mindfulness-based stress reduction and psychological consultation guided by the needs (...) assessment tool in the psychological status of caregivers will be compared in this study to select a more suitable intervention for the FCs of advanced cancer patients in China.Methods and Analysis: A randomized N-of-1 trial would be conducted at the Cancer Hospital, Chinese Academy of Medical Sciences. Fifty eligible FCs of advanced cancer patients will be recruited, and all will receive three cycles of psychological intervention treatment, with each cycle including both of MBSR and psychological consultation guided by the NST. MBSR and psychological consultation guided by the NST will be compared with each other in each cycle, and the intervention sequence will be based on the random number table generated after the informed consent has been completed. Each treatment period is 2 weeks, and the interval between different treatment cycles or treatment periods is 1 week. The self-reported scales are measured at the beginning and end of each treatment period, including the Self-Rating Anxiety Scale, the Self-Rating Depression Scale, Distress Thermometer, Zarit Burden Interview, Chinese version of the Medical Outcomes Study 12-item Short Form, and Family Carer Satisfaction with Palliative Care scale.Dissemination: The protocol of the study was approved by the Institutional Review Board of the Ethical Committee of the Cancer Hospital, Chinese Academic of Medical Science. The results will be published in a peer-reviewed medical journal. The study is registered at Chinese Clinical Trials Registry with the trial registration number chiCTR2000033707. This study employs an innovative methodological approach on the effectiveness of MBSR and psychological consultation guided by the NST for psychological status of FCs of advanced cancer patients. The findings of the study will be helpful to provide high-quality evidence-based medical data for psychological intervention of FCs of advanced cancer patients, and guide clinicians on best quality treatment recommendations. (shrink)

Till now, comprehensive and quantitatively meaningful analyses of stock market participation outcomes of retail investors have been limited by data sources in developing countries. This article devised a special questionnaire related to stock investment to measure the financial literacy and stock investment return for the subjects with stockownership in China and to theoretically and empirically study the effects of objective FL, self-assessed FL, and their composite FL on SIR. The results of the comparative analysis showed that self-assessed FL has a (...) greater effect on SIR than objective FL, and the effect is mediated by risk preference. In addition, we found that competent and overconfident respondents have higher SIR, while under confident respondents cannot gain from the stock market. We also found that risk preference has a positive mediating effect in the relationship between competence and overconfidence and SIR, and a negative mediating effect in the relationship between under confidence and SIR. We thus concluded that confident investors can gain more stockholding returns via taking more risks regardless of the level of their actual financial knowledge. Our findings would be a meaningful complement to the studies of stock market participation. (shrink)

Specific to the NCSs where sensor signals can be processed centrally, a collaborative design scheme of dynamic game scheduling and advanced control theory was proposed in the present study. Firstly, by using the Jordan standard state space equation of the research object, the three elements of state noncooperative game were built, and the existence and uniqueness of Nash equilibrium solution were verified. In addition, the iterative equation of the scheduling matrix was derived by complying with the designed utility function. Secondly, (...) refer to the number of restricted states the order of sliding mode was determined. And based on it, the corresponding sliding surface was designed. Subsequently, the quadratic optimization theory was adopted to regulate the control value following the implementation of the scheduling strategy to ensure that the control quality was further enhanced in the limited network service. Lastly, a TrueTime simulation example is established to verify the effectiveness of the proposed scheme. (shrink)

An interesting phenomenon called “hidden opportunity cost of time effect” was detected in intertemporal choices. The majority of our participants preferred the smaller but sooner (SS) option to the larger but later (LL) option if opportunity cost was explicit. However, a higher proportion of participants preferred the LL to SS option if opportunity cost was hidden. This shift violates the invariance principle and opens a new way to encourage future-oriented behavior. By simply mentioning the ‘obvious’ opportunity cost of alternatives, decision (...) makers can be more informed in prioritizing their long-term goals rather than short-term goals. (shrink)

The virtual brand community has become an important marketing tool for companies. A successful brand community marketing strategy should attract a large number of consumers. Although past studies have revealed consumer motivations for participating in virtual brand communities, they fail to answer an important question: Why is it so easy for some virtual brand communities to attract users while others have such difficulty? In this study, product characteristics are hypothesized to be important factors that determine consumer motivation to participate in (...) brand communities. Product characteristics can directly affect how actively consumers participate in brand communities. The results of questionnaires show that product complexity, product symbolism, and product satisfaction have a positive influence on consumers’ willingness to participate in brand communities. Notably, the duration of product use has a regulating effect on the influence of product satisfaction and product symbolism. A long period of product use weakens the influence of product satisfaction on consumers’ willingness to participate in brand communities. On the contrary, a long period of product use strengthens the influence of product symbolism on consumers’ willingness to participate in brand communities. This study enriches the literature on brand community participation and has implications for companies that aim to utilize brand communities for marketing. (shrink)

The integration of event-related potential and functional magnetic resonance imaging helps to obtain and study neural networks with high temporal and spatial resolution. EEG/fMRI data proves that in the visual tristimulus oddball paradigm, two P300 potentials induced by target stimulation and novel stimulation are detected at the frontal-middle, center, and mid-apical electrodes. Previous studies have shown that P3a and P3b have different spatial distributions of brain activation, but it is unclear whether they have the same neural mechanism. The purpose of (...) this study is to determine the neuropsychological mechanisms of P3a and P3b, as well as the spatiotemporal differences in neurodynamics between the two ERP subcomponents. In a group of 25 subjects, P300 ERP induced by target stimulation and novel stimulation can be detected at the Fz, Cz, and Pz electrodes. At Cz and Fz, compared with P3b related to the target stimulus, the P3a related to the novel stimulus has a higher amplitude and the waveform declines more slowly. But at Pz, P3b has a higher amplitude than P3a. P3a appeared earlier than P3b at Cz and Fz, but the opposite phenomenon was observed at the Pz electrode. The activated brain regions of P3a included the left frontal-parietal lobe region, left anterior wedge lobe region, and right insula, while the target-driven P3b was significantly associated with BOLD changes in the bilateral fusiform gyrus, the left frontal region, and the bilateral insula. The results showed that the integration of the spatial and temporal information of the two imaging modes, namely, ERP and fMRI, proves the existence of the different brain function processes of the two P300 subcomponents. Through the analysis of the composition of P300, the results further proved that the top-down and bottom-up processing processes have played a role in the occurrence of attention capture. It is just that the modulation effects of the two processing mechanisms are different in different tasks. Therefore, it should be noted that the captured neural mechanism is not a single top-down or bottom-up processing process but should be the result of the interaction between the two. (shrink)

Through empirical studies or laboratory tests, previous studies have shown that sport-confidence, attention, and emotion regulation are key factors in archery performance. The present study aims to further identify the effects and pathways of sport-confidence, attention, and cognitive reappraisal on real-world archery performance by constructing a hypothesized model to provide a basis for scientific training of athletes to improve sport performance. A survey design was utilized on a sample of 61 athletes from the Chinese National Archery Team to test the (...) model. The measurement and hypothesized models were tested using partial least squares structural equation modeling. The results indicate that the model fit well and explained 33.6% of the variance in archery performance. Sport-confidence and attention were important predictive indicators of archery performance, while the relationship between cognitive reappraisal and archery performance showed considerable complexity. We conclude that the development of sport-confidence and attention of archery athletes should be strengthened, but athletes who use cognitive reappraisal in archery competition should be mindful of its potential appropriation of cognitive resources and should be directed to improve sport-confidence or develop a positive orientation to arouse excitement. (shrink)

Consumers may sense hypocrisy in corporate social responsibility if they note inconsistency in enterprises’ words and deeds related to CSR. This inconsistency originates from the intentional selfish actions and unintentional actions of enterprises. Studies have revealed that consumers’ perception of hypocrisy has a negative influence on enterprise operation. However, studies have not examined how corporate responses to consumers’ hypocrisy perception affect consumers’ attitude and behavior. Therefore, the present study attempted to determine the measures that should be undertaken by enterprises to (...) reduce consumers’ negative response to them when consumers perceive them to be hypocritical. We conducted a situational simulation experiment to explore the effect of the match between corporate hypocrisy manifestation and the corporate response strategy on consumers’ negative behaviors toward an enterprise and to test the mechanism influencing this effect. The results indicated that the interaction between the type of corporate hypocrisy and the corporate response strategy has a significant effect on consumers’ negative behaviors toward an enterprise. Consumers’ negative emotions have a mediating influence on the aforementioned effect. This study explored the response strategies of enterprises during a corporate hypocrisy crisis, classified corporate hypocrisy crises into two types according to the different manifestations of corporate hypocrisy, and introduced situational crisis communication theory into research on corporate hypocrisy. The present results help expand knowledge on corporate hypocrisy. (shrink)

The energy hole is a severe problem for underwater acoustic distributed networks in that it affects the normal operations of the network and shortens the network’s life span. To deal with this problem, a loop-free routing control technique is proposed in this paper. The classical shortest-path routing control method is used to generate multiple disjointed routing tables. The residual energy of the nodes and the changing information of the uplink/downlink matrix are added to the data frames for distribution. The source (...) node specifies the routing path to transmit the data frames based on the changing information, and the relay nodes route the data frames strictly according to the routing path designated by the source node. Besides, the energy consumption of the relay node is saved by replying to the pseudo-ACK frame. Simulation experiments are implemented in four typical scenarios, and the results reflect that the proposed technique could extend the network’s life span by approximately 10% when compared to other mature techniques. Besides, it has no other negative effects on the normal operations of the network. (shrink)

ObjectiveThe impact of the mindfulness-based stress reduction program on psychological outcomes and quality of life in lung cancer patients remains unclear. This meta-analysis aimed to evaluate the effectiveness of the MBSR program on psychological states and QoL in lung cancer patients.MethodsEligible studies published before November 2021 were systematically searched from PubMed, EMBASE, Cochrane Library, PsycINFO, China National Knowledge Infrastructure, and Wanfang databases. The risk of bias in eligible studies was assessed using the Cochrane tool. Psychological variables and QoL were evaluated (...) as outcomes. We used the Grading of Recommendations Assessment, Development and Evaluation system to grade the levels of evidence. Statistical analysis was conducted using RevMan 5.4 and STATA 14.0.ResultsA total of 17 studies involving 1,680 patients were included for meta-analysis eventually. MBSR program significantly relieved cancer-related fatigue and negative psychological states, enhanced positive psychological states, and improved quality of sleep. Evidence on MBSR programs' overall treatment effect for QoL revealed a trend toward statistical significance.ConclusionBased on our findings, the MBSR program shows positive effects on psychological states in lung cancer patients. This approach should be recommended as a part of the rehabilitation program for lung cancer patients.Systematic Review Registrationhttps://archive.org/details/osf-registrations-mwvbq-v1, identifier: 10.17605/OSF.IO/MWVBQ. (shrink)

Autophagy promotes both health and disease, depending on tissue types and genetic contexts, yet the regulatory mechanism remain incompletely understood. Our recent publication has uncovered a coherent FOXO‐SNAI feed‐forward loop in autophagy, which is evolutionarily conserved from Drosophila to human. In addition, it's revealed that DNA binding plays a critical role in intracellular localization of nucleocytoplasmic shuttling proteins. Based on these findings, herein we further integrate mechanistic insights of FOXO‐SNAI regulatory interplay in autophagy and unravel the potential link of FOXO‐induced (...) autophagy with SNAI in diseases. Besides, the generality of DNA‐retention mechanism on transcription factor nuclear localization is illustrated with wide‐ranging discussion, and more functions potentially regulated by FOXO‐SNAI feedforward loop are provided. Elucidation of these unsolved paradigms will expand the understanding of FOXO‐SNAI interplay and facilitate the development of new therapeutics targeting FOXO‐SNAI axis in diseases. (shrink)

O liberalismo português iniciou o seu longo período de implantação com a Revolução de 24 de Agosto de 1820 e com a aprovação, dois anos depois, da Constituição de 1822, a primeira lei fundamental do país, que deu começo à construção do seu Estado de Direito. Nos dezoito anos seguintes, Portugal aprovaria mais duas constituições (1826 e 1838), correspondendo, cada uma delas, a um paradigma do constitucionalismo liberal de oitocentos. Por essa razão o estudo deste período torna-se particularmente relevante para (...) o conhecimento do liberalismo constitucional, não somente de Portugal, mas de todo o século XIX europeu. (shrink)

In 1958, a group of New-Confucians issued "A Manifesto for a Re-Appraisal of Sinology and Reconstruction of Chinese Culture." Equally in 1958, the British philosopher Elizabeth Anscombe published her classical paper "Modern Moral Philosophy." These two papers have the same target — modern Western morality — and the solutions they proposed respectively. Yet Anscombe's paper did not mention Confucianism, and the "Manifesto" ignored Aristotelian tradition of virtue. Furthermore, from 1960s to 1990s, the revival movement of Confucianism and the revival movement (...) of Aristotelian ethics have not had much dialogue. This paper seeks to explain this phenomenon by comparing these two historically important documents. In particular it tries to understand why the "Manifesto" fails to see the similarities between Aristotle and Confucius. /// 摘要 1958年，现代新儒家发表了 "为中国文化敬告世界人士宣言"。该宣言批判 西方文化的缺陷，并通过探索中国文化对世界人类问题的贡献而倡导中国文化的复 兴。同样在1958年，英国学者安思康发表了 "近代道德哲学"。这两篇文献有着共 同的批评目标一一近现代西方道德，而且，各自提出的解决方案也有相似之处。然 而，安思康并没有提及孔子，而宣言也漠视亚里士多德传统。进一步说，从19世纪 60年代到90年代，由他们所分别推动的新儒学复兴与德性伦理学复兴这两大运动之 间缺少对话和交流。通过比较分析这两篇同年发表的历史性文献，不仅可以找到两 大复兴运动对话缺失的原因，而且还可以解释为什么 "宣言" 没有能够发现孔子与 亚里士多德在德性伦理学方面的一致性。. (shrink)

David Lewis’s classical counterfactual theory of causation fails to capture what we call the “reliability constraint on causation,” according to which c causes e only if e would occur in pertinently similar circumstances where c occurs. In this article, we put forward a modified counterfactual account of causation that attempts to accommodate the reliability constraint. Our account adopts a strengthened possible-worlds semantics while retaining the strong centering thesis. Moreover, by contrasting our approach with several alternative counterfactual approaches to reliability, we (...) aim to argue that our account is more plausible than the competing accounts. (shrink)

The integrated scheduling algorithm of process sequence time-selective strategy is an advanced algorithm in the field of integrated scheduling. The proposed algorithm points out the shortcomings of the process sequence time-selective strategy. Generally, there are too many “trial scheduling” times. The authors propose that there is no need to make “trial scheduling” at every “quasi-scheduling time point.” In fact, the process scheduling scheme can be obtained by trial scheduling on some “quasi-scheduling time points.” The scheduling result is the same as (...) that of the sequence timing strategy. The proposed algorithm reduces the runtime of scheduling algorithm and improves the performance of the algorithm without reducing the optimization effect. (shrink)

This paper presents an active fault-tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault-tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme is able to estimate sensor faults while eliminating the effect of external disturbances. Moreover, the proposed fault-tolerant control scheme is capable to eliminate the adverse effect of external disturbances as well by designing a disturbance observer to effectively estimate the unknown external disturbances (...) and integrating with the designed integral sliding-mode controller. In this case, the continuous operation of the quadrotor helicopter is ensured while avoiding the unexpected control chattering. In addition, the stability of the closed-loop system is theoretically proved. Finally, the effectiveness and advantages of the proposed scheme are validated and demonstrated through comparative numerical simulations of the quadrotor helicopter under different faulty and uncertain scenarios. (shrink)