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SummaryDesigning the boundary layer thickness and switching gain in the nonlinear part of sliding mode controller (SMC) is one of the main subjects in SMC design that needs human experience, knowledge on the amplitude of disturbances, and information about the bounds of system uncertainties. In this paper, to reduce the trial-and-error effort by the designer(s) two different fitness functions in the horizontal and vertical planes are presented and a heuristic method is used for their optimization. The optimal switching gain in the proposed approach properly compensates the unmodeled dynamics, model uncertainty, and external disturbances. Chattering phenomenon in control signals and noise measurement effect are reduced by the optimal selection of boundary layer thickness. This proposed method is applied to an autonomous underwater vehicle (AUV) and evaluated through the real-time and cost-effective manner. The execution code is implemented on a single-board computer (SBC) through the xPC Target and is evaluated by the processor-in-the-loop (PIL) test. The results of the PIL test in the two different test cases indicate that the chattering phenomenon and amplitude of control signal applied to the actuators are reduced in comparison with the three conventional approaches in the AUV motion control.

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Background Non-suicidal self-injury (NSSI) is a serious public health problem prevalent among adolescents and young adults. The present study examines the factor structure, internal consistency, and validity of the Persian version of the Inventory of Statements About Self-injury (ISAS), a self-report measure designed to comprehensively assess non-suicidal self-injury (NSSI). Methods A total of 655 Iranian school-attending adolescents completed study measures online, and 246 youth (37.70 %) (M age = 15.38, SD ± 0.50; 53 % female) reported a history of NSSI at least once during their lifetime. Results Confirmatory factor analysis supported the proposed two-factor model of ISAS (i.e., Interpersonal and Intrapersonal dimensions), which were internally consistent and yielded direct associations with converging correlates (e.g., depression, anxiety, irritability, and anger). Conclusions Findings indicated that the Persian version of the ISAS has sound psychometric properties and is a valid and reliable self-report measure of NSSI.

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Background: Non-suicidal self-injury (NSSI) is a serious public health problem with increasing prevalence among adolescents and young adults. The present study examines the factor structure, internal consistency, and validity of the Inventory of Statements About Self-injury (ISAS), a self-report measure designed to comprehensively assess non-suicidal self-injury (NSSI). Methods: A total of 655 Iranian school-attending adolescents completed study measures online. A total of 246 (37.70%) (M age = 15.38, SD ± .50; 53% female) respondents reported a history of NSSI at least once during their lifetime. Results: Confirmatory factor analysis supported the proposed two-factor model of ISAS (i.e., Interpersonal and Intrapersonal dimensions). ISAS dimensions had good internal consistency and yielded direct associations with converging correlates (e.g., depression, anxiety, irritability, and anger). Conclusions: Findings indicated that the Persian version of the ISAS has sound psychometric properties and is a valid and reliable self-report measure of NSSI.