An important goal for humanoid robots is to achieve fast, flexible and stable walking. In previous research, the structure and walking algorithms evolved separately, resulting in a slow evolution speed and lack of an initial design basis. This paper proposes comprehensively considering body morphology and walking patterns, exploring the relationship between them and their influence on the motion ability. The method parameterizes the body morphology and walking patterns. Then a response surface model is established to describe the complex relationship between these parameters and finally obtain the optimized parameters, which provides a reference for the structural design and gait generation.

We conducted the first detailed mineral magnetic investigation of more than nine loess–paleosol couplets of the composite Titel-Stari Slankamen loess section in Serbia, which provides one of the longest and most complete terrestrial record of paleoclimatic changes in Europe since ~1.0 Ma. The results show that the ferrimagnetic mineral assemblage of the loess units is dominated by partially oxidized multidomain (MD) and pseudo-single domain (PSD) magnetite; however, with an increasing degree of pedogenesis, the eolian contribution is gradually masked by pedogenic superparamagnetic(SP) and single-domain (SD) ferrimagnets (mainly maghemite). The overall consistency of ferrimagnetic grain-size parameters indicates an absence of dissolution of the fine-grained ferrimagnetic fraction despite changes in climate regime over the past 1.0 Ma. The variations of normalized dJ/dT@120K and normalized χheating@530°C reflect a long-term stepwise increase in aridity during glacials with a major step at ~0.6–0.5 Ma, over the last 1.0 Ma. Overall, the results provide an improved basis for the future use of the magnetic properties of Serbian loess deposits for paleoclimatic reconstruction.

A geochemical method to characterize post-depositional melting and elution is demonstrated using inductively coupled plasma mass spectrometry to measure concentrations of dissolved and insoluble fractions of major crustal elements in snow samples collected from March 2006 to January 2010 at Urumqi Glacier No. 1, Tien Shan. Dust from these samples has compositional homogeneity, suggesting that dust has a stable dissolved fraction percentage (DFP, calculated as dissolved/(dissolved + insoluble)%). Calcium has the highest DFP (averaging 61.5 ± 19.4%), followed by Na (30.4 ± 19.6%), Mg (13.2 ± 9.8%), and K (7.9 ± 9.8%). Acid input can affect dissolution of Na and Ca. Taking DFP values of unmelted samples as the reference, the higher DFPs refer to strengthened dissolution from acid input, while the lower ones refer to elution. Based on the DFP difference between unmelted and eluted states, an elution sequence Ca > Na > Mg > K is obtained. Some details such as the beginning and the ending stages of elution can be found by DFP and acid input index, while using ion concentration is not capable of this. Our results reveal that acid input is an important mechanism for DFP changes, that the DFP index can provide an effective assessment of snow elution, and that this will aid in understanding low latitude ice cores.

The volume distribution of atmospheric dust particles (microparticles) of 1–30 μm diameter in Muztagata, Dunde, Dasuopu and Everest ice cores from the Tibetan Plateau was measured and fitted as a log-normal function in order to characterize their basic size properties. Our results reveal that whether the volume distribution fits the log-normal function or not largely depends on the dust concentration and the specific dust-storm event but is independent of physiographical location and season. Our results show only high-concentration samples obey the log-normal distribution in volume, with mode sizes ranging from 3 to 161 μm. The log-normal distribution was largely attributed to the mid-sized particles between 3 and 15 μm, which contribute most (>70%) of the total volume. The volume size distribution characteristics for mineral dust particles from ice cores reveal that the coarse particles might be common in the upper-level troposphere over the Tibetan Plateau. These dust size features are useful to advance our understanding of dust effects on climate, and provide clues to better characterize atmospheric dynamics over the Tibetan Plateau that will help to improve the current models.

This study aimed to describe the expression profiles of microRNAs (miRNAs) from mammary gland tissues collected from dairy cows with Streptococcus agalactiae-induced mastitis and to identify differentially expressed miRNAs related to mastitis. The mammary glands of Chinese Holstein cows were challenged with Streptococcus agalactiae to induce mastitis. Small RNAs were isolated from the mammary tissues of the test and control groups and then sequenced using the Solexa sequencing technology to construct two small RNA libraries. Potential target genes of these differentially expressed miRNAs were predicted using the RNAhybrid software, and KEGG pathways associated with these genes were analysed. A total of 18 555 913 and 20 847 000 effective reads were obtained from the test and control groups, respectively. In total, 373 known and 399 novel miRNAs were detected in the test group, and 358 known and 232 novel miRNAs were uncovered in the control group. A total of 35 differentially expressed miRNAs were identified in the test group compared to the control group, including 10 up-regulated miRNAs and 25 down-regulated miRNAs. Of these miRNAs, miR-223 exhibited the highest degree of up-regulation with an approximately 3-fold increase in expression, whereas miR-26a exhibited the most decreased expression level (more than 2-fold). The RNAhybrid software predicted 18 801 genes as potential targets of these 35 miRNAs. Furthermore, several immune response and signal transduction pathways, including the RIG-I-like receptor signalling pathway, cytosolic DNA sensing pathway and Notch signal pathway, were enriched in these predicted targets. In summary, this study provided experimental evidence for the mechanism underlying the regulation of bovine mastitis by miRNAs and showed that miRNAs might be involved in signal pathways during S. agalactiae-induced mastitis.

Magnetostratigraphic dating of the fluvio-lacustrine sequence in the Nihewan Basin, North China, has permitted the precise timing of the basin infilling and associated Nihewan mammalian faunas. The combined evidence of new paleomagnetic findings from the Hongya and Huabaogou sections of the eastern Nihewan Basin and previously published magnetochronological data suggests that the Nihewan Formation records the tectono-sedimentary processes of the Plio–Pleistocene Nihewan Basin and that the Nihewan faunas can be placed between the Matuyama–Brunhes geomagnetic reversal and the onset of the Olduvai subchron (0.78–1.95 Ma). The onset and termination of the basin deposition occurred just prior to the Gauss–Matuyama geomagnetic reversal and during the period from the last interglaciation to the late last glaciation, respectively, suggesting that the Nihewan Formation is of Late Pliocene to late Pleistocene age. The Nihewan faunas, comprising a series of mammalian faunas (such as Maliang, Donggutuo, Xiaochangliang, Banshan, Majuangou, Huabaogou, Xiashagou, Danangou and Dongyaozitou), are suggested to span a time range of about 0.8–2.0 Ma. The combination of our new and previously published magnetostratigraphy has significantly refined the chronology of the terrestrial Nihewan Formation and faunas.

The head-on collision, merging and internal mixing dynamics of two unequal-sized droplets were experimentally studied and interpreted, using water, $n$-decane and $n$-tetradecane to identify the distinguishing effects of surface tension and liquid viscosity on the merging and mixing patterns. It is shown that, upon merging of water and $n$-decane droplets, mushroom-like jets of dissimilar characteristics develop within the merged mass for small and large values of the impact Weber number (We), and that such jets are not developed for intermediate values of We. Furthermore, such jet-like mixing patterns were not observed for droplets of $n$-tetradecane, which has smaller surface tension and larger viscosity as compared to water. A regime nomogram relating the Ohnesorge and symmetric Weber numbers is constructed, providing a unified interpretation of the internal mixing patterns. Numerical simulations based on an improved volume-of-fluid method and an adaptive mesh refinement algorithm provide auxiliary diagnoses of the flow fields and the observed phenomena.

Using a field emission scanning electron microscope and energy-dispersive X-ray spectrometer (FESEM−EDS), individual insoluble dust particles in ice cores recovered from the northern (Dunde), western (Muztagata) and south-eastern (Palong-Zangbo) Tibetan Plateau were analysed in order to reveal the mineralogical and morphological characteristics of the analogue of long-range transported Asian dust. The results reveal that the dust particles are mainly composed of quartz (17–36%, number abundance), clay (37–48%) and feldspar (12–18%). Illite and chlorite are the dominant clay species, while kaolinite is rarely observed. For the three sites, regional differences in the mineral assemblages are significant, in particular the abundance of quartz, chlorite and muscovite species, reflecting the regional provenance of these dust particles and the climatic regime in their source areas. Oxide ratios in clays indicate different weathering strengths of the particles in their source regions, with a higher K2O/(SiO2 + Al2O3) in the western and northern Tibetan Plateau. The individual particles have modes of 1.48 and 1.53 in the aspect ratio and circularity distribution respectively. No significant relationship between aspect ratio and circularity was found. Quartz and feldspar particles have a narrow aspect ratio distribution. Muscovite particles have the coarsest grain size, while chlorite particles have the finest.

Magnesium alloys are potential biodegradable biomaterials in hard tissue implants. However, the fast degradation rate in the biological environment has hampered widespread applications. We propose to use a ZrO2 coating in conjunction with a Zr transition layer to improve the corrosion resistance of AZ91 magnesium alloy. X-ray photoelectron spectroscopy discloses that the coating is composed of ZrO2. The Vickers hardness measurement demonstrates that the surface hardness of the alloy is significantly enhanced. The electrochemical behavior of the coated sample is systematically evaluated by means of potentiodynamic polarization, open-circuit potential evolution, and electrochemical impedance spectroscopy. The electrochemical results indicate that the corrosion resistance of the coated alloy is enhanced significantly, and the electrode-controlled processes in a coated alloy–solution system are discussed.

Fast degradation rates in the physiological environment constitute the main limitation for magnesium alloys used in biodegradable hard tissue implants. In this work, the corrosion behavior of AZ91 magnesium alloy in simulated body fluids (SBF) was systematically investigated to determine its performance in a physiological environment. The influence of the main constituent phases on the corrosion behavior was studied by in situ visual observation and scanning electron microscopy. Energy dispersive x-ray spectrometry and Fourier transfer infrared spectroscopy revealed that both calcium and magnesium phosphates are present in the corroded products besides magnesium oxide. Electrochemical methods including open circuit potential evolution and electrochemical impedance spectroscopy were used to investigate the mechanism. The corresponding electrode controlled processes and evolution of the corrosion products layer were discussed. The degradation rate after immersion in SBF for seven days was calculated from both the weight loss and hydrogen evolution methods.