Ternary organic solar cells contain a single three-component photoactive layer with a wide absorption window, achieved without the need for multiple stacking. However, adding a third component into a well-known binary blend can influence the energetics, optical window, charge carrier transport, crystalline order and conversion efficiency. In the form of binary blends, the low-bandgap regioregular polymer donor poly(3-hexylthiophene-2,5-diyl), known as P3HT, is combined with the acceptor PC₆₁BM, an inexpensive fullerene derivative. Two different non-fullerene acceptors (ITIC and eh-IDTBR) are added to this binary blend to form ternary blends. A systematic comparison between binary and ternary systems was carried out as a function of the thermal annealing temperature of organic layers (100 °C and 140 °C). The power conversion efficiency (PCE) is improved due to increased fill factor (FF) and open-circuit voltage (V_oc) for thermal-annealed ternary blends at 140 °C. The transport properties of electrons and holes were investigated in binary and ternary blends following a Space-Charge-Limited Current (SCLC) protocol. A favorable balanced hole–electron mobility is obtained through the incorporation of either ITIC or eh-IDTBR. The charge transport behavior is correlated with the bulk heterojunction (BHJ) morphology deduced from atomic force microscopy (AFM), contact water angle (CWA) measurement and 2D grazing-incidence X-ray diffractometry (2D-GIXRD). Full article

Bacterial chondronecrosis with osteomyelitis (BCO) lameness is a bone disease characterized by the translocation of bacteria from the gastrointestinal tract, which colonize microfractures in broiler leg bones caused by rapid animal growth rate and weight gain, resulting in lameness. As such, BCO lameness represents a significant challenge for the poultry industry. This study aims to evaluate the effect of spraying broiler chicks on d0 at hatch with an Enterococcus faecium probiotic on the incidence of BCO-induced lameness, utilizing a Staphylococcus aureus challenge model. There were four treatments: (1) negative control (no probiotic + no challenge, NC); (2) positive control (no probiotic + challenge, PC); (3) low dosage (4.0 × 10⁸ CFU/chick + challenge, LOW); and (4) high dosage (2.0 × 10⁹ CFU/chick + challenge, HIGH). On d5, groups two through four were challenged with Staphylococcus aureus through the drinking water at a concentration of 1.0 × 10⁵ CFU/mL. Cumulative lameness incidence was determined through daily evaluations and necropsies conducted on lame birds starting from d22. Data were subjected to a binomial general regression analysis (significant p < 0.05). On d56, the PC group exhibited the highest cumulative lameness incidence (58.0%; p < 0.05), followed by LOW (36.0%), HIGH (28.7%), and NC groups (25.3%), respectively. These results suggest early probiotic application at day-of-hatch successfully reduced the incidence of lameness in challenged birds, thus contributing to understanding of efficient and sustainable broiler production. Full article

In order to improve the pseudocapacitance performance of metal sulfide electrode materials and obtain supercapacitor energy storage devices with excellent electrochemical reversibility and long-term cycle stability, the synthesis of flower-shaped crystal nickel–cobalt sulfide and its supercapacitor performance were studied. NiCo₂S₄ flower-shaped crystal nickel–cobalt sulfide was prepared by the hydrothermal method with nickel foam as the raw material, and electrode materials were added to prepare supercapacitor electrodes for testing of the supercapacitor performance. The physical properties of flower-shaped crystal nickel–cobalt sulfide were tested by a scanning electron microscope and transmission electron microscope, and the voltammetric cycle and constant current charge and discharge of supercapacitor electrodes prepared from this sulfide were analyzed through experiments. The experimental results showed that the flower crystal microstructure had a positive effect on the electrochemical properties. The capacitance value was always high at different current densities, and the capacity was as high as 3867.8 A/g at pH 12. After 2000 voltage–charge–discharge cycle tests, the petal-like sulfide capacity still had a retention rate of 90.57, the flower crystal nickel–cobalt sulfide still showed an excellent supercapacitor performance and the specific capacity was still high, which demonstrates that this sulfide has excellent cyclic stability and durability in electrochemical applications. Full article

Angelica sinensis (Oliv.) Diels (A. sinensis) is a medicinal and edible values substance, which could promote blood circulation and enrich blood. It possesses rich chemical components and nutrients, which have significant therapeutic effects on cardiovascular and cerebrovascular diseases. It is commonly used for the prevention and treatment of cardiovascular and cerebrovascular diseases in the elderly, especially in improving ischemic damage to the heart and brain, protecting vascular cells, and regulating inflammatory reactions. This article reviews the main pharmacological effects and clinical research of A. sinensis on cardiovascular and cerebrovascular diseases in recent years, explores the effect of its chemical components on cardiovascular and cerebrovascular diseases by regulating the expression of functional proteins and inhibiting inflammation, anti-apoptosis, and antioxidant mechanisms. It provides a reference for further research on A. sinensis and the development of related drugs. It provides a new reference direction for the in-depth research and application of A. sinensis in the prevention, improvement, and treatment of cardiovascular and cerebrovascular diseases. Full article

In animal husbandry applications, segmenting live pigs in complex farming environments faces many challenges, such as when pigs lick railings and defecate within the acquisition environment. The pig’s behavior makes point cloud segmentation more complex because dynamic animal behaviors and environmental changes must be considered. This further requires point cloud segmentation algorithms to improve the feature capture capability. In order to tackle the challenges associated with accurately segmenting point cloud data collected in complex real-world scenarios, such as pig occlusion and posture changes, this study utilizes PointNet++. The SoftPool pooling method is employed to implement a PointNet++ model that can achieve accurate point cloud segmentation for live pigs in complex environments. Firstly, the PointNet++ model is modified to make it more suitable for pigs by adjusting its parameters related to feature extraction and sensory fields. Then, the model’s ability to capture the details of point cloud features is further improved by using SoftPool as the point cloud feature pooling method. Finally, registration, filtering, and extraction are used to preprocess the point clouds before integrating them into a dataset for manual annotation. The improved PointNet++ model’s segmentation ability was validated and redefined with the pig point cloud dataset. Through experiments, it was shown that the improved model has better learning ability across 529 pig point cloud data sets. The optimal mean Intersection over Union (mIoU) was recorded at 96.52% and the accuracy at 98.33%. This study has achieved the automatic segmentation of highly overlapping pigs and pen point clouds. This advancement enables future animal husbandry applications, such as estimating body weight and size based on 3D point clouds. Full article

Composite foundations have been widely used and promoted in practical engineering applications. However, research on the joint-bearing mechanism of piles and soil within composite foundations is still not comprehensive enough. This paper proposes a method for calculating the additional internal forces of piles and soil within composite foundations. Based on a three-dimensional finite element analysis, this study investigates the variation patterns of the stress, displacement, and additional internal forces of piles and soil in the depth direction under the action of upper loads when using friction piles and end-bearing piles. This research aims to reveal the bearing performance of piles and soil. The results showed that, under the same conditions and due to the presence of end-bearing effects, the internal forces experienced by the entire pile body of the end-bearing piles were more uniform, exhibiting significant advantages in resisting deformation and being able to withstand larger loads. Additionally, the diffusion mechanism of the vertical forces, stresses, and displacements of piles and soil is discussed. Due to the negative frictional resistance of soil and the influence of pile end-bearing effects, the distribution of internal forces and the displacements of piles and soil exhibited different characteristics. This study provides a scientific reference for the theoretical analysis and design of composite foundations. Full article

Purpose: We assess the application and advantages of modifying the trans-unco-discal (TUD) approach which we underwent for cervical myelo-radiculopathy. We present the surgical techniques of the modified TUD approach. Materials and Methods: The material was 180 cases where anterior cervical decompression (ACD) was performed by the modified TUD approach. We classified the material into four groups based on the location of the nerve root and/or spinal cord compression: I, compression of the root at intervertebral foramen (IVF); II, compression of the posterior margin of the vertebral body; III, compression of the IVF and posterior margin of the vertebral body; IV, compression of the bilateral IVF and posterior margin of the vertebral body. We applied the modified TUD approach to these four types. We present the surgical procedures and techniques for the modified TUD approach. The Japanese orthopedic association (JOA) score and neuroradiological alignment were examined. Results: The improvement rate of the JOA score was 78.4% at 6 months post-surgery and 77.5% in the most recent examinations. By the modified TUD approach, compressive lesions of the spinal cord and/or nerve roots were removed, and good alignment was acquired and sustained. Conclusions: ACD by the modified TUD approach safely achieved appropriate decompression for the spinal cord and/or nerve roots, and the patients had a high improvement rate and good alignment. Complications were less common than with other surgical procedures. If the TUD approach and endoscopic approaches can be combined, their application to new area is anticipated. Full article

Scientific research on romantic love has been relatively sparse but is becoming more prevalent, as it should. Unfortunately, several misconceptions about romantic love are becoming entrenched in the popular media and/or the scientific community, which hampers progress. Therefore, I refute six misconceptions about romantic love in this article. I explain why (1) romantic love is not necessarily dyadic, social, or interpersonal, (2) love is not an emotion, (3) romantic love does not just have positive effects, (4) romantic love is not uncontrollable, (5) there is no dedicated love brain region, neurotransmitter, or hormone, and (6) pharmacological manipulation of romantic love is not near. To increase progress in our scientific understanding of romantic love, I recommend that we study the intrapersonal aspects of romantic love including the intensity of love, that we focus our research questions and designs using a component process model of romantic love, and that we distinguish hypotheses and suggestions from empirical findings when citing previous work. Full article

Waterborne polyurethane, renowned for its lightweight properties, excellent insulation capabilities, and corrosion resistance, has found extensive application in fields such as construction, automotive, leather, and thermal insulation. Nevertheless, during operational usage, waterborne polyurethane materials, akin to other polymeric substances, are susceptible to oxidative aging manifestations like yellowing, cracking, and diminished mechanical performance, significantly curtailing their utility. Consequently, the synthesis of yellowing-resistant polyurethane assumes pivotal significance. This study integrates dynamic reversible reactions into the synthesis process of polyurethane by introducing the dynamic reversible compound 2-hydroxyethyl disulfide as a chain extender, alongside the incorporation of a UV absorber to enhance the polyurethane’s resistance to yellowing. When the disulfide bonds absorb heat, they undergo cleavage, yielding thiols that spontaneously recombine into disulfide bonds at ambient temperatures, allowing for the continuous breaking and reformation of disulfide bonds to absorb heat. Concurrently, in collaboration with the UV absorber, the detrimental effects of ultraviolet radiation on the polyurethane material are mitigated, thereby augmenting its resistance to yellowing. This study scrutinizes the positioning of UV absorber addition, the quantity of UV absorber, and the molar ratio of 1,4-butanediol to 2-hydroxyethyl disulfide, characterizing the functional groups of polyurethane through infrared and Raman spectroscopy. It is observed that the successful preparation of yellowing-resistant polyurethane is achieved, and evaluations on the modified polyurethane through color difference, tensile, and centrifugal tests reveal that the optimal yellowing resistance is attained by adding a UV absorber at a mass fraction of 1% to 3% prior to chain extension, resulting in a color change grade of 2, denoting slight discoloration. Simultaneously, the other properties of polyurethane exhibit relative stability. Notably, when the molar ratio of 1,4-butanediol to 2-hydroxyethyl disulfide is 3:2, the overall performance of the polyurethane remains stable, with exceptional yellowing resistance capabilities attaining a color change grade of 2. Full article

This study endeavors to automate the assessment of competencies within the domain of entrepreneurship, specifically targeting the augmentation of entrepreneurial cognition and conduct within universities in German rural regions, like Lower Franconia. Employing methods, including literature analyses and expert interviews, we formulated and validated an entrepreneurship competence profile and accompanying self-assessment tool. The ensuing evaluative framework is poised for seamless integration into learning management systems, thereby facilitating intelligent competence monitoring within educational environments. Purpose: The aim of this thesis is to develop an automated competence assessment procedure in the field of entrepreneurship. This can be used in the university environment in the long term to promote and teach entrepreneurial thinking and behavior in order to sustainably improve the quality of learning outcomes and achieve targeted promotion of entrepreneurship. Methodology: Based on a relevant literature analysis, four guideline-based expert interviews were created and conducted. The results of the interviews were compiled and validated in a structured competence profile (entrepreneurship competence profile). Based on this competence catalog for entrepreneurs, an empirically valid self-test was created using standard psychometric questionnaire construction methods. Results: The entrepreneurship competence profile and a consequential empirically validated self-test for competence assessment were created. This test provides the basis for the long-term competence development of students and can further be embedded automatically into a learning management system (LMS) as part of intelligent competence monitoring, which allows for the recording of competencies for each student and the individual incorporation of gap closure into the curriculum. Originality/value: In previous research, there were no competence profiles or competence assessment procedures in the field of entrepreneurship that derived relevant competencies directly from actors within this environment. This work illustrates the development of a competence assessment procedure for entrepreneurs and shows which methods can be used to close prevailing research gaps in the field of intelligent competence monitoring. Full article

A lot of time and effort is put into reducing waiting times in organizational life. However, jobs can include phases of waiting. The aim of this conceptual paper is to analyze waiting on the job level and provide a theoretical rationale for individual management of waiting times of employees. Wait crafting is introduced based on (job) crafting and its advantages for individuals and organizations outlined. Steps towards integrating the possibility of job crafting and needs for future research are indicated. Full article

CD133, a cancer stem cell (CSC) marker in tumors, including melanoma, is associated with tumor recurrence, chemoresistance, and metastasis. Patient-derived melanoma cell lines were transduced with a Tet-on vector expressing CD133, generating doxycycline (Dox)-inducible cell lines. Cells were exposed to Dox for 24 h to induce CD133 expression, followed by RNA-seq and bioinformatic analyses, revealing genes and pathways that are significantly up- or downregulated by CD133. The most significantly upregulated gene after CD133 was amphiregulin (AREG), validated by qRT-PCR and immunoblot analyses. Induced CD133 expression significantly increased cell growth, percentage of cells in S-phase, BrdU incorporation into nascent DNA, and PCNA levels, indicating that CD133 stimulates cell proliferation. CD133 induction also activated EGFR and the MAPK pathway. Potential mechanisms highlighting the role(s) of CD133 and AREG in melanoma CSC were further delineated using AREG/EGFR inhibitors or siRNA knockdown of AREG mRNA. Treatment with the EGFR inhibitor gefitinib blocked CD133-induced cell growth increase and MAPK pathway activation. Importantly, siRNA knockdown of AREG reversed the stimulatory effects of CD133 on cell growth, indicating that AREG mediates the effects of CD133 on cell proliferation, thus serving as an attractive target for novel combinatorial therapeutics in melanoma and cancers with overexpression of both CD133 and AREG. Full article

Background: Muscle-invasive bladder cancer (MIBC) is a potentially fatal disease, especially in the setting of locally advanced or node-positive disease. Adverse outcomes have also primarily been associated with low-income status, as has been reported in other cancers. While the adoption of neoadjuvant cisplatin-based chemotherapy (NAC) followed by radical cystectomy (RC) and pelvic lymph node dissection (PLND) has improved outcomes, these standard-of-care treatments may be underutilized in lower-income patients. We sought to investigate the economic disparities in NAC and PLND receipt and survival outcomes in MIBC. Methods: Utilizing the National Cancer Database, a retrospective cohort analysis of cT2-4N0-3M0 BCa patients with urothelial histology who underwent RC was conducted. The impact of income level on overall survival (OS) and the likelihood of receiving NAC and PLND was evaluated. Results: A total of 25,823 patients were included. This study found that lower-income patients were less likely to receive NAC and adequate PLND (≥15 LNs). Moreover, lower-income patients exhibited worse OS (Median OS 55.9 months vs. 68.2 months, p < 0.001). Our findings also demonstrated that higher income, treatment at academic facilities, and recent years of diagnosis were associated with an increased likelihood of receiving standard-of-care modalities and improved survival. Conclusions: Even after controlling for clinicodemographic variables, income independently influenced the receipt of standard MIBC treatments and survival. Our findings identify an opportunity to improve the quality of care for lower-income MIBC patients through concerted efforts to regionalize multi-modal urologic oncology care. Full article

Misshapen organic vegetables in the food supply chain can easily be discarded in the market if they do not meet aesthetic standards. E-commerce technology enables the distribution of imperfect organic produce from farmers to potential customers, mitigating agri-food waste issues. Green consumers are prospective customers of imperfect produce because their purchasing decisions are made based on sustainability and environmental considerations. However, each individual’s degree of green consumption differs, impacting their preferences and behaviors toward green buying activity. Considering the gap between the varying levels of green consumers and their intention to purchase imperfect organic produce through e-commerce, this study aimed to profile three distinct green consumers and explore factors affecting their Online Green Purchase Intention (OGPI) for imperfect organic vegetables. The Unified Theory of Acceptance and Use of Technology (UTAUT) was applied in this study, and Web-Based Label Quality (WLQ) was introduced as an extended construct to describe green consumers’ perceptions of the credibility and reliability of labels or product-related information displayed on e-commerce platforms. This study involved 668 internet users from environmental platforms and online communities of organic food enthusiasts. First, the consumers were classified into dark-green, semi/light green, and non-green using a cluster analysis approach. Then, Structural Equation Modeling (SEM) and Multi-Group Analysis (MGA) were employed to determine the factors affecting OGPI among green consumer groups. This research found that Performance Expectancy (PE), Social Influence (SI), and WLQ positively influenced dark-green consumers’ online green purchase intention. Only Performance Expectancy (PE) positively affected semi/light-green consumers’ OGPI. Meanwhile, the Facilitating Condition (FC) positively affected non-green consumers’ online green purchase intentions. This research revealed dark-green consumers as the target segment, broadening customers’ perspectives on accepting imperfect organic products, including e-commerce technology. Moreover, the research results can be utilized for marketing and business purposes and contribute to food policy. Full article

Intellectual disability (ID), which affects around 2% to 3% of the population, accounts for 0.63% of the overall prevalence of neurodevelopmental disorders (NDD). ID is characterized by limitations in a person’s intellectual and adaptive functioning, and is caused by pathogenic variants in more than 1000 genes. Here, we report a rare missense variant (c.350T>C; p.(Leu117Ser)) in HACE1 segregating with NDD syndrome with clinical features including ID, epilepsy, spasticity, global developmental delay, and psychomotor impairment in two siblings of a consanguineous Pakistani kindred. HACE1 encodes a HECT domain and ankyrin repeat containing E3 ubiquitin protein ligase 1 (HACE1), which is involved in protein ubiquitination, localization, and cell division. HACE1 is also predicted to interact with several proteins that have been previously implicated in the ID phenotype in humans. The p.(Leu117Ser) variant replaces an evolutionarily conserved residue of HACE1 and is predicted to be deleterious by various in silico algorithms. Previously, eleven protein truncating variants of HACE1 have been reported in individuals with NDD. However, to our knowledge, p.(Leu117Ser) is the second missense variant in HACE1 found in an individual with NDD. Full article

The consumption of fisheries and aquaculture products has been increasing in recent decades, and it is necessary to strike a balance between production and sustainability in aquaculture; this is essential homework to support the demand for human food. This study aimed to investigate the sensory and nutritional characteristics of a sausage made from the fillet of the native fish Old Blue (Andinoacara rivulatus) to stimulate the local economy. A multifactorial A*B*C design was used, with Factor A being rearing systems (wild and farmed), Factor B being types of protein (quinoa meal and soybean meal), and Factor C being lipids of animal (pork fat) and vegetable (sunflower oil) origin. Highly significant differences were observed in all formulas, according to Tukey (p < 0.05). The highest protein percentage was with soybean flour at 11.24%, while quinoa flour had 10.80% of the product. In sensory characteristics, the best attributes were for texture in the mouth with a hedonic scale from 0 to 5, with 4.2 firmness being mostly acceptable, odor at 4.5, the aromatic attribute with the highest and best value, and color was the clearest at 4.3 acceptability. The flavor was 4.3, mostly more pleasant according to the tasters. The yield of farmed fillets was 23.16% compared to wild 13.89%, and the balance of sausage yield was 393 g with a yield of 76.33% of the total weight. Microbiological analysis of the sausage with the native species showed the absence of pathogenic microorganisms. A commercial shelf life of 30 days was also established for the sausage, demonstrating an added value through this processing, allowing its exploitation in areas further away from the fishing sites and, thus, a greater possibility of social development in the area. Full article

With increased worldwide energy demand and carbon dioxide emissions from the use of fossil fuels, severe problems are being experienced in modern times. Energy is one of the most important resources for humankind, and its needs have been drastically increasing due to energy consumption, the rapid depletion of fossil fuels, and environmental crises. Therefore, it is important to identify and search for an alternative to fossil fuels that provides energy in a reliable, constant, and sustainable way that could use available energy sources efficiently for alternative renewable sources of fuel that are clean, non-toxic, and eco-friendly. In this way, there is a dire need to develop technologies for biofuel production with a focus on economic feasibility, sustainability, and renewability. Several technologies, such as biological and thermochemical approaches, are derived from abundant renewable biological sources, such as biomass and agricultural waste, using advanced conversion technologies for biofuel production. Biofuels are non-toxic, biodegradable, and recognized as an important sustainable greener energy source to conventional fossil fuels with lower carbon emissions, combat air pollution, empower rural communities, and increase economic growth and energy supply. The purpose of this review is to explain the basic aspects of biofuels and their sustainability criteria, with a particular focus on conversion technologies for biofuel production, challenges, and future perspectives. Full article

The aim of this study is to determine the total iodine content in Korean abalone (Haliotis discus hannai) and to investigate the bioavailability of iodine using an in vitro method. This research paper focuses on total iodine quantification in abalone (Haliotis discus hannai) and its components (viscera and muscle) using inductively coupled plasma mass spectrometry (ICP-MS). Additionally, an in vitro bioavailability study explored iodine absorption potential. Abalone pretreatment involved both the European standard method (ES) and microwave-assisted extraction method (MAE). The limits of detection (LOD) were 0.11 ng/g for both ES and MAE, with a limit of quantification (LOQ) of 5.4 ng/g for MAE. Accuracy, assessed using a reference material (fish muscle, ERM—BB422), showed values of 1.5 ± 0.010 mg/kg for ES and 1.6 ± 0.066 mg/kg for MAE, within an acceptable range of 1.4 ± 0.42 mg/kg. Precision, evaluated using the Horwitz ratio (HorRat) with a reference material, was determined to be 0.45 for ES and 0.27 for MAE. Therefore, total iodine contents were estimated as 74 ± 2.2 µg/g for abalone viscera and 17 ± 0.77 µg/g for abalone muscle with ES, and 76 ± 1.0 µg/g for abalone viscera and 17 ± 0.51 µg/g for abalone muscle with MAE. Recovery tests demonstrated an acceptable range of 90–110%. In the in vitro bioavailability assessment, digestion efficiency yielded ranges of 42–50.2% for viscera and 67–115% for muscle. Absorption efficiency variations were determined as 37–43% for viscera and 48–75% for muscle. Full article

Peanut is an important oilseed and a widely cultivated crop worldwide. Knowledge of the phylogenetic relationships and information on the chloroplast genomes of wild and cultivated peanuts is crucial for the evolution of peanuts. In this study, we sequenced and assembled 14 complete chloroplast genomes of Arachis. The total lengths varied from 156,287 bp to 156, 402 bp, and the average guanine–cytosine content was 36.4% in 14 Arachis species. A total of 85 simple sequence repeats (SSRs) loci were detected, including 3 dinucleotide and 82 polynucleotide SSRs. Based on 110 complete chloroplast genomes of Arachis, a phylogenetic tree was constructed, which was divided into two groups (I and II). A total of 79 different genes were identified, of which six double-copy genes (ndhB, rpl2, rpl23, rps7, ycf1, and ycf2) and one triple-copy gene (rps12) are present in all 14 Arachis species, implying that these genes may be critical for photosynthesis. The dN/dS ratios for four genes (rps18, accD, clpP, ycf1) were larger than 1, indicating that these genes are subject to positive selection. These results not only provided rich genetic resources for molecular breeding but also candidate genes for further functional gene research. Full article

Motivated by the growing threat of distributed denial-of-service (DDoS) attacks and the emergence of quantum computing, this study introduces a novel “quanvolutional autoencoder” architecture for learning representations. The architecture leverages the computational advantages of quantum mechanics to improve upon traditional machine learning techniques. Specifically, the quanvolutional autoencoder employs randomized quantum circuits to analyze time-series data from DDoS attacks, offering a robust alternative to classical convolutional neural networks. Experimental results suggest that the quanvolutional autoencoder performs similarly to classical models in visualizing and learning from DDoS hive plots and leads to faster convergence and learning stability. These findings suggest that quantum machine learning holds significant promise for advancing data analysis and visualization in cybersecurity. The study highlights the need for further research in this fast-growing field, particularly for unsupervised anomaly detection. Full article

This paper proposes a quadrotor system control scheme using an intelligent–proportional–integral–differential control (I-PID)-based controller augmented with a radial basis neural network (RBF neural network) and the proposed adaptive robust term. The I-PID controller, similar to the widely utilized PID controller in quadrotor systems, demonstrates notable robustness. To enhance this robustness further, the time-delay estimation error was compensated with an RBF neural network. Additionally, an adaptive robust term was proposed to address the shortcomings of the neural network system, thereby constructing a more robust controller. This supplementary control input integrated an adaptation term to address significant signal changes and was amalgamated with a reverse saturation filter to remove unnecessary control input during a steady state. The adaptive law of the proposed controller was designed based on Lyapunov stability to satisfy control system stability. To verify the control system, simulations were conducted on a quadrotor system maneuvering along a spiral path in a disturbed environment. The simulation results demonstrate that the proposed controller achieves high tracking performance across all six axes. Therefore, the controller proposed in this paper can be configured similarly to the previous PID controller and shows satisfactory performance. Full article