This paper, based on the idea of redundancy angle discretisation, proposes an obstacle avoidance method for the fixed tip pose trajectory of a seven degrees-of-freedom (7-DOF) modular manipulator. First, for the case in which a specific redundancy angle is given, the analytical solutions of the redundant manipulator left 6-DOF subchain are found. Then, through the discretisation of the redundancy angle, the concept of the self-motion space of the tip pose is proposed and is extended to the concept of the self-motion space of the trajectory. Based on this discrete space, a path-planning algorithm is proposed to help select the appropriate redundancy angles to obtain the collision-free solution set of the fixed Cartesian trajectory. However, due to the large fluctuation of the obtained path, a path optimisation method based on the path cost is proposed to smooth the path, and the continuous and collision-free solution set of the manipulator tip’s trajectory is obtained. The method proposed in this paper provides a new thought for the problem of collision-free solution set planning for the Cartesian trajectory of a 7-DOF manipulator and it has great application potential in working environments with high accuracy requirements for the trajectory.

We report that vertical vibration with small amplitude and high frequency can tame convective heat transport in Rayleigh–Bénard convection in a turbulent regime. When vertical vibration is applied, a dynamically averaged ‘anti-gravity’ results that stabilizes the thermal boundary layer and inhibits the eruption of thermal plumes. This eventually leads to the attenuation of the intensity of large-scale mean flow and a significant suppression of turbulent heat transport. Accounting for both the thermally led buoyancy and the vibration-induced anti-gravitational effects, we propose an effective Rayleigh number that helps to extend the Grossmann–Lohse theory to thermal vibrational turbulence. The prediction of the reduction on both the Nusselt and Reynolds numbers obtained by the extended model is found to agree well with the numerical data. In addition, vibrational influences on the mean flow structure and the temporal evolution of Nusselt and Reynolds numbers are investigated. The non-uniform characteristic of vibration-induced ‘anti-gravity’ is discussed. The present findings provide a powerful basis for studying thermal vibrational turbulence and put forward a novel strategy for actively controlling thermal turbulence.

In this paper, we report that reversals of the large-scale circulation in two-dimensional Rayleigh–Bénard (RB) convection can be suppressed by imposing sinusoidally distributed heating to the bottom plate. We examine how the frequency of flow reversals depends on the dimensionless wavenumber $k$ of the spatial temperature modulation with various modulation amplitude $A$. For sufficiently large $k$, the flow reversal frequency is close to that in the standard RB convection under uniform heating. However, when $k$ decreases, the frequency of flow reversal gradually becomes lower and can even be largely reduced. Furthermore, we examine the growth of the corner roll and the global flow structure based on Fourier mode decomposition, and reveal that the size of the corner roll diminishes as the wavenumber decreases. The reason is that the regions occupied by the cold phase can absorb heat from the hot plumes and thus lower their temperature, which reduces the corner roll's kinetic energy input provided by the buoyancy force, and weakens the feeding process of the corner rolls. This results in the locking of the corner roll into a smaller region near the corner, making it harder for a reversal to occur. Using the concept of horizontal convection caused by non-uniform heating, we find a relevant parameter $k/A$ to describe briefly how the reversal frequency depends on wavenumber and modulation amplitude. The present work provides a new way to control the flow reversals in RB convection through modifying temperature boundary conditions.

“Context” has been increasingly featured and acknowledged in second language (L2) research because L2 teaching is recognised to be shaped by the environments in which it is situated. Numerous theoretical perspectives were introduced to L2 research that aim to capture the contextual forces at work in teaching and learning, including but not limited to Activity Theory, Complexity Theory, and Sociocultural Theory. Activity Theory holds that a learner's motives (human needs directed towards an object) are highly malleable, subject to the influence of such contextual variables as institutional rules, community, tools and artefacts available (see Leont'ev, 1978, 1981 who popularised Activity Theory from Sergei Rubenstein's founding and also Engeström's more current work in 1999). Complexity Theory, which has been widely adopted in both physical and social sciences, originates from physics (Martin et al., 2019). Complexity Theory was later introduced into L2 research by Diane Larsen-Freeman who posits that language learning is not only a process but a volatile and emerging system that is shaped by components of the system (e.g., learners, teachers, schools) engaging in constant and vibrant interactions (Larsen-Freeman, 2014). Sociocultural Theory highlights the sociocultural contexts where learning takes place (Lantolf, 2000; Vygotsky, 1978). Informed by a social constructivist view of learning, key concepts such as scaffolding (e.g., teachers’ support for learners) are put forward. In particular, Vygotsky argues that communication plays an indispensable role in language learning. Extrapolating Vygotsky's work to L2 research, Swain (2006) claims that languaging, dialogues among learners to discuss issues in L2 learning, is an important process of learning a L2.

We present a self-biased three-stage GaN-based monolithic microwave integrated circuit low-noise amplifier (LNA) operating between 26 and 29 GHz for 5G mobile communications. The self-biasing circuit, common-source topology with inductive source feedback, and RLC negative feedback loops between gate and drain of the third transistor were implemented to achieve low noise, good port match, high stability, high gain, and compact size. Measurement results show that the LNA has a high and flat gain of 30.5 ± 0.4 dB with noise figure (NF) of 1.65–1.8 dB across the band. The three-stage topology also achieves high linearity, providing the 1 dB compression point output power (P1dB) of 21 dBm in the band. To our knowledge, this combination of NF, gain, and linearity performance represents the state of art of self-biased LNA in this frequency band.

Physical representation of coherent motions in wall-bounded turbulence satisfying Townsend's attached-eddy hypothesis (AEH) is still an open question to be debated. Here, we apply proper orthogonal decomposition (POD) to instantaneous snapshots of $u$ component velocity fields in the streamwise–wall-normal plane of three turbulent boundary layers, which cover a frictional Reynolds number ($Re$) of $Re_\tau \approx 1000{\sim} 4000$ and were either measured by large-field-of-view planar particle image velocimetry or calculated by direct numerical simulation. The $u$ component POD modes characterized by streamwise recurring large-scale motions are decomposed into wall-attached and wall-detached parts depending on the wall-attachment condition. The former, i.e. wall-attached POD eddies, are believed to be the prime statistical representations of attached eddies. The reason lies in three aspects. Firstly, wall-attached POD eddies are geometrically self-similar and statistically independent. Secondly, the wall-normal variation of the variance of reduced-order streamwise velocity components $\tilde {u}_{AE}$, which is only contributed by wall-attached POD eddies, presents logarithmic decay in the inertial flow region. Thirdly, analysis on the scaling behaviour of the high-even-order moment, moment generating function, as well as longitudinal two-point structure function, all indicate a quasi-Gaussian behaviour of $\tilde {u}_{AE}$. None of these AEH-predicted behaviours are evident when the contribution of superstructure-like POD eddies are considered. Furthermore, wall-detached POD eddies are found to also present quasi-Gaussian behaviour. They might be treated as passive fragments of wall-attached ones.

The modulations of high/low-speed large-scale motions (H/L-SMs) on the turbulent/non-turbulent interface (TNTI) and turbulent entrainment are investigated in turbulent boundary layers via both experimental and numerical studies. The spanwise locations of large-scale motions can be locked by the spanwise heterogeneity, so the boundary layers over such a configuration are investigated first as an instructive case. In the engulfment process, it is found that irrotational ‘bubbles’ near the TNTI are more likely to originate from engulfment, while bubbles far from the TNTI could be produced by the local turbulence itself. Additionally, H-SMs are found to enhance the engulfment by the sweep flow. In the nibbling process, a competition relationship is observed: L-SMs induce stronger instantaneous ‘nibbling’ events by transporting more fluids towards the TNTI, while the H-SMs induced a more distorted TNTI. Consequently, the integral nibbling flux is greater above H-SMs. Furthermore, the explored mechanisms are verified to be insensitive to the wall shapes such as smooth and homogeneous roughness walls, which demonstrates that these modulations are universal for turbulent boundary layers. Finally, a conceptual modulation model is proposed to illustrate the entrainment process above the large-scale motions.

Celestial navigation is an important means of maritime navigation; it can automatically achieve inertially referenced positioning and orientation after a long period of development. However, the impact of different accuracy of observations and the influence of nonstationary states, such as ship speed change and steering, are not taken into account in existing algorithms. To solve this problem, this paper proposes an adaptively robust maritime celestial navigation algorithm, in which each observation value is given an equivalent weight according to the robust estimation theory, and the dynamic balance between astronomical observation and prediction values of vessel motion is adjusted by applying the adaptive factor. With this system, compared with the frequently used least square method and extended Kalman filter algorithm, not only are the real-time and high-precision navigation parameters, such as position, course, and speed for the vessel, calculated simultaneously, but also the influence of abnormal observation and vessel motion status change could be well suppressed.

The present study aimed to explore the association between dietary patterns in abdominal obesity obtained by reduced-rank regression (RRR) with visceral fat index (VFI) as a dependent variable and dyslipidemia in rural adults in Henan, China. A total of 29538 people aged 18–79 were selected from the Henan Rural Cohort Study. RRR analysis was used to identify dietary patterns; logistic regression analysis and restricted cubic spline regression models were applied to analyze the association between dietary patterns in abdominal obesity and dyslipidemia. VFI was used as a mediator to estimate the mediation effect. The dietary pattern in abdominal obesity was characterized by high carbohydrate and red meat intake and low consumption of fresh fruits, vegetables, milk, etc. After full adjustment, the highest quartile of dietary pattern scores was significantly associated with an increased risk of dyslipidemia (OR: 1·33, 95 % CI 1·23–1·44, Ptrend < 0·001), there was a non-linear dose–response relationship between them (Poverall-association < 0·001, Pnon-lin-association = 0·022). The result was similar in dose-response between the dietary pattern scores and VFI. The indirect effect partially mediated by VFI was significant (OR: 1·07, 95 % CI 1·06–1·08). VIF explained approximately 53·3 % of odds of dyslipidemia related to the dietary pattern. Abdominal obesity dietary pattern scores positively affected VFI and dyslipidemia; there was a dose-response in both relationships. Dyslipidemia progression increased with higher abdominal obesity dietary pattern scores. In addition, VFI played a partial mediating role in relationship between abdominal obesity dietary pattern and dyslipidemia.

Epidemiological studies have shown that higher intake of flavonoid is inversely associated with CHD risk. However, which flavonoid subclass could reduce CHD risk has remained controversial. The present meta-analysis of prospective cohort studies aimed to quantitatively assess the associations between flavonoid subclasses and CHD risk. A systematic literature search was implemented from PubMed and Web of Science databases up to March 2021, and eligible studies were identified. Multivariate-adjust relative risks (RR) with corresponding 95 % CI were pooled by using a random-effects model. A restricted cubic spline regression model was performed for non-linear dose–response analysis. A total of 19 independent prospective cohort studies with 894 471 participants and 34 707 events were included. The results showed that dietary intakes of anthocyanins (RR = 0·90; 95 % CI: 0·83, 0·98), proanthocyanidins (RR = 0·78; 95 % CI: 0·65, 0·94), flavonols (RR = 0·88; 95 % CI: 0·79, 0·98), flavones (RR = 0·94; 95 % CI: 0·89, 0·99) and isoflavones (RR = 0·90; 95 % CI: 0·83, 0·98) were negatively associated with CHD risk. Dose–response analysis showed that increment of 50 mg/d anthocyanins, 100 mg/d proanthocyanidins, 25 mg/d flavonols, 5 mg/d flavones and 0·5 mg/d isoflavones were associated with 5 % reduction in CHD risk, respectively. Sensitivity and subgroup analyses were used to further support these associations. The present results indicate that dietary intakes of fruits and vegetables abundant five flavonoid subclasses, namely anthocyanins, proanthocyanidins, flavonols, flavones and isoflavones, are associated with a lower risk of CHD.

Representing complex flows by evolving vortex structures is an important principle in many investigations of wall-bounded turbulence. The practice of this principle benefits from the bi-directional transformation between the velocity field and the corresponding vortex field. While the velocity-to-vortex transformation could be implemented by various vortex identification criteria, few efforts have been devoted to the inverse process. This work develops a linear reconstruction method, which allows an effective reconstruction for the velocity field of wall turbulence based on a given vortex field. The vortex field is defined as a vector field by combining the swirl strength and the real eigenvector of the velocity gradient tensor. The reconstructed velocity fields are calculated by convolution operations on the vortex fields, with the kernel functions derived by the field-based linear stochastic estimation. The method can effectively recover the turbulent motions in a large scale range, showing clear advantages over the Biot–Savart formula in the near-wall region. The method is also employed to investigate the inducing effects of vortices at different heights. The wall-bounding effect on the induced motions is observed from the contribution spectra of vortices. The higher-order moments of the reconstructed streamwise velocity component present larger deviations from the original data, which is discussed and explained reasonably. At last, the vortex fields filtered by prescribed thresholds are employed to reconstruct the velocity fields. It is found that the strongest vortex components occupying 5 % of the total volume can reasonably recover the main flow features including both the near-wall streaks and the large-scale motions.

The present study evaluated whether fat mass assessment using the triceps skinfold (TSF) thickness provides additional prognostic value to the Global Leadership Initiative on Malnutrition (GLIM) framework in patients with lung cancer (LC). We performed an observational cohort study including 2672 LC patients in China. Comprehensive demographic, disease and nutritional characteristics were collected. Malnutrition was retrospectively defined using the GLIM criteria, and optimal stratification was used to determine the best thresholds for the TSF. The associations of malnutrition and TSF categories with survival were estimated independently and jointly by calculating multivariable-adjusted hazard ratios (HR). Malnutrition was identified in 808 (30·2 %) patients, and the best TSF thresholds were 9·5 mm in men and 12 mm in women. Accordingly, 496 (18·6 %) patients were identified as having a low TSF. Patients with concurrent malnutrition and a low TSF had a 54 % (HR = 1·54, 95 % CI = 1·25, 1·88) greater death hazard compared with well-nourished individuals, which was also greater compared with malnourished patients with a normal TSF (HR = 1·23, 95 % CI = 1·06, 1·43) or malnourished patients without TSF assessment (HR = 1·31, 95 % CI = 1·14, 1·50). These associations were concentrated among those patients with adequate muscle mass (as indicated by the calf circumference). Additional fat mass assessment using the TSF enhances the prognostic value of the GLIM criteria. Using the population-derived thresholds for the TSF may provide significant prognostic value when used in combination with the GLIM criteria to guide strategies to optimise the long-term outcomes in patients with LC.

Characteristics of particle clustering in a particle-laden turbulent boundary layer at a moderate frictional Reynolds number ($Re_\tau =5500$) are experimentally investigated based on Voronoï analysis. High-inertia sand grains with a large viscous-time-based Stokes number, i.e. $St_p=10^2 - 10^3$, are used as the dispersed phase. The bulk particle volume fraction is $\varPhi _V\sim O(10^{-5})$. Two-dimensional velocity fields of the fluid and particle phases in the streamwise–wall-normal plane are simultaneously measured via particle image/tracking velocimetry. Under the net sedimentation condition, a self-similarity of the geometries of particle clusters is clearly seen in the log layer. This can be characterized by the $-5/3$ power law of the probability density functions of the particle cluster areas and the $y$-scaling of their first- and second-order moments. Considering the self-similarity of wall-attached structures in the attached eddy hypothesis, we propose a conceptual model in which a large proportion of particle clusters prefer to reside on the back ridges of low-momentum attached $u$-structures due to the high-strain effect caused by converging sweep–ejection events. Such a scenario can be partly evidenced by the conditional streamwise spectra of the streamwise and wall-normal fluid-phase velocity components being conditioned inside cluster-occupied regions, which present a distinct $y$-scaling in the log layer. Furthermore, the fluid-phase sweep and ejection events inside particle clusters are observed to be weaker than the cases outside cluster-occupied regions, and the local rate of strain inside cluster-occupied regions is relatively higher than in all unconditional statistics. Finally, conditional statistics reveal that those sand grains with relatively small slip velocities are prone to be captured by low-momentum turbulent motions to form particle clusters.

Student's t test is valid for statistical inference under the normality assumption or asymptotically. By contrast, although the bootstrap t test was proposed in 1993, it is seldom adopted in medical research. We aim to demonstrate that the bootstrap t test outperforms Student's t test under normality in data. Using random data samples from normal distributions, we evaluated the testing performance, in terms of true-positive rate (TPR) and false-positive rate and diagnostic abilities, in terms of the area under the curve (AUC), of the bootstrap t test and Student's t test. We explore the AUC of both tests with varying sample size and coefficient of variation. We compare the testing outcomes using the COVID-19 serial interval (SI) data in Shenzhen and Hong Kong, China, for demonstration. With fixed TPR, the bootstrap t test maintained the equivalent accuracy in TPR, but significantly improved the true-negative rate from the Student's t test. With varying TPR, the diagnostic ability of bootstrap t test outperformed or equivalently performed as Student's t test in terms of the AUC. The equivalent performances are possible but rarely occur in practice. We find that the bootstrap t test outperforms by successfully detecting the difference in COVID-19 SI, which is defined as the time interval between consecutive transmission generations, due to sex and non-pharmaceutical interventions against the Student's t test. We demonstrated that the bootstrap t test outperforms Student's t test, and it is recommended to replace Student's t test in medical data analysis regardless of sample size.

From June 28 to November 22, 2018, the Chinese People’s Liberation Army Navy – PLA(N) – Peace Ark hospital ship had conducted Mission Harmony 2018, providing humanitarian medical assistance and carrying out international cooperation, in 4 Pacific island countries and 6 Central and South American countries. Compared with its application only in onshore outreach medical teams in the previous Mission Harmony, portable ultrasonography was used both onboard and onshore in Mission Harmony 2018. The purpose of this study was to assess the performance of onboard portable ultrasonography in PLA(N) Peace Ark hospital ship during Mission Harmony-2018, share our onboard working experience, and provide a reference for humanitarian assistance missions in the future. A retrospective review was performed on a cohort of patients checked by onboard portable ultrasonography. Patients’ gender, age, the distribution of examined organs, and multiple applications of the portable ultrasonography were analyzed. Some limitations of portable ultrasonography on the mission and possible improvements in the future were also discussed. A total of 5277 cases (mean age: 43.74 years; range: 2 months–105 years) of ultrasound examinations were performed during the mission; among them, 3126 (59.2%) cases were performed by portable ultrasonography, including 3024 onboard cases and 102 onshore cases. The portable ultrasonography had been applied in many scenarios, for example, onboard emergency triage process, onboard bedside medical support, and onshore outreach medical service, which had become one of the indispensable auxiliary examination methods for its compatibility, portability, and flexibility. The onboard deployment of portable ultrasonography played a versatile and irreplaceable role in the humanitarian medical assistance and medical cooperation carried out by the PLA(N) Peace Ark hospital ship, and will contribute to such kind of missions in the future.

It is commonly accepted that the breakup criteria of drops or bubbles in turbulence is governed by surface tension and inertia. However, also buoyancy can play an important role at breakup. In order to better understand this role, here we numerically study two-dimensional Rayleigh–Bénard convection for two immiscible fluid layers, in order to identify the effects of buoyancy on interface breakup. We explore the parameter space spanned by the Weber number $5\leqslant We \leqslant 5000$ (the ratio of inertia to surface tension) and the density ratio between the two fluids $0.001 \leqslant \varLambda \leqslant 1$, at fixed Rayleigh number $Ra=10^8$ and Prandtl number $Pr=1$. At low $We$, the interface undulates due to plumes. When $We$ is larger than a critical value, the interface eventually breaks up. Depending on $\varLambda$, two breakup types are observed. The first type occurs at small $\varLambda \ll 1$ (e.g. air–water systems) when local filament thicknesses exceed the Hinze length scale. The second, strikingly different, type occurs at large $\varLambda$ with roughly $0.5 < \varLambda \leqslant 1$ (e.g. oil–water systems): the layers undergo a periodic overturning caused by buoyancy overwhelming surface tension. For both types, the breakup criteria can be derived from force balance arguments and show good agreement with the numerical results.