Accurate ice flow velocity data are essential for studying the mass balance of the Antarctic ice sheet. However, there is a lack of ice velocity maps of 1960s–80s in basin-wide regions or the entire ice sheet. In this study, an enhanced hierarchical network densification approach is developed for basin-wide Antarctic velocity mapping using historical ARGON and Landsat images. The produced multiple historical velocity maps from 1963 to 1989 in the region of the Fimbul and Jelbart ice shelves, East Antarctica, achieved an accuracy better than 29 m a−1. They revealed that the ice flow velocity had no significant changes over the period. Combining the surface mass balance estimate with the ice discharge estimated from our historical velocity maps and recently published velocity maps, we estimated a positive mass balance of 8.6 ± 3.9 Gt a−1 in the study area from 1963 and 2015. Our results indicate that the region's positive mass balance, as estimated in recently published studies, has been maintained since the 1960s. It is also in concordance with the low level of mass balance from 1992 to 2017 in East Antarctica. This suggests that the study area has been stable since the 1960s.

The 4.2 ka event is widely presumed to be a globally widespread aridity event and has been linked to several episodes of societal changes across the globe. Whether this climate event impacted the cultural development in south-central China remains uncertain due to a lack of regional paleorainfall records. We present here stalagmite stable carbon isotope and trace element–based reconstruction of hydroclimatic conditions from south-central China. Our data reveal a sub–millennial scale (~5.6 to 4.3 ka) drying trend in the region followed by a gradual transition to wetter conditions during the 4.2 ka event (4.3–3.9 ka). Together with the existing archaeological evidence, our data suggest that the drier climate before 4.3 ka may have promoted the Shijiahe culture, while the pluvial conditions during the 4.2 ka event may have adversely affected its settlements in low-lying areas. While military conflicts with the Wangwan III culture may have accelerated the collapse of Shijiahe culture, we suggest that the joint effects of climate and the region's topography also played important causal roles in its demise.

During the movement of an optical mirror processing robot (OMPR), the movement error of each branch chain leads to contour errors of the grinding tool, which reduce the accuracy of the optical mirror surface. To improve the processing accuracy of an OMPR, it is necessary to study the control and compensation strategy of its contour error. In this study, first, a kinematics analysis of an OMPR is conducted, and the trajectory of the end execution point in the world coordinate system is transformed into the fixed coordinate system of the robot. Combined with the common trajectory of optical mirror processing, based on the Frenet coordinate system, contour error models of the OMPR in straight line, arc, and spiral trajectories are established. Subsequently, the contour error, feedforward channel gain, and compensation channel gain models of the parallel module are established in the task space, and concurrently, the control variables and stability of the system are analyzed. Finally, the established feedforward combined multi-axis cross-coupling contour control compensation strategy is analyzed experimentally to verify its accuracy and effectiveness. It provides a theoretical basis for a robot to directly face the precision processing object using the control and compensation strategy in a future research study to improve the molding accuracy of a surface and optimize the processing technology of a large-scale optical mirror.

This study examined the influences of coated folic acid (CFA) and coated riboflavin (CRF) on bull performance, nutrients digestion and ruminal fermentation. Forty-eight Angus bulls based on a randomised block and 2 × 2 factorial design were assigned to four treatments. The CFA of 0 or 6 mg of folic acid/kg DM was supplemented in diets with CRF 0 or 60 mg riboflavin (RF)/kg DM. Supplementation of CRF in diets with CFA had greater increase in daily weight gain and feed efficiency than in diets without CFA. Supplementation with CFA or CRF enhanced digestibility of DM, organic matter, crude protein, neutral-detergent fibre and non-fibre carbohydrate. Ruminal pH and ammonia N content decreased and total volatile fatty acids concentration and acetate to propionate ratio elevated for CFA or CRF addition. Supplement of CFA or CRF increased the activities of fibrolytic enzymes and the numbers of total bacteria, protozoa, fungi, dominant fibrolytic bacteria and Prevotella ruminicola. The activities of α-amylase, protease and pectinase and the numbers of Butyrivibrio fibrisolvens and Ruminobacter amylophilus were increased by CFA but were unaffected by CRF. Blood concentration of folate elevated and homocysteine decreased for CFA addition. The CRF supplementation elevated blood concentrations of folate and RF. These findings suggested that CFA or CRF inclusion had facilitating effects on performance and ruminal fermentation, and combined addition of CFA and CRF had greater increase in performance than CFA or CRF addition alone in bulls.

Considering the polishing requirements for high-precision aspherical optical mirrors, a hybrid polishing robot composed of a serial–parallel manipulator and a dual rotor grinding system is proposed. Firstly, based on the kinematics of serial components, the equivalent load model for the parallel manipulator is established. Then, the elastodynamic model of kinematic branched-chains of the parallel manipulator is established by using the spatial beam element, and the rigid–flexible coupling dynamic model of the polishing robot is obtained with Kineto-elasto dynamics theory. Further, considering the dynamic properties of the joint clearance, the rigid–flexible coupling dynamic model with the joint clearance for the polishing robot is established. Finally, the equivalent load distribution of the parallel manipulator is analyzed, and the effect of the branched-chain elasticity and joint clearance on the motion error of the polishing robot is studied. This article provides a theoretical basis for improving the motion accuracy and dynamic performance of the hybrid polishing robot.

Aiming at 3SPS+1PS parallel hip joint simulator, the maximum stress of branched chains under the suggested trajectory is obtained by elastodynamic analysis. Based on Corten-Dolan fatigue damage theory and Rain-flow counting method, the dynamic stress of each branched chain is statistically analyzed. The fatigue life prediction shows that branched-chain A2P2C2 is the weakest component for the simulator. Finally, the fatigue reliability is analyzed and the fatigue life and reliability under different structural parameters are discussed. The study shows that the fatigue life of each branched chain can be increased or balanced by increasing structural parameters or exchanging initial motion parameters.

The present study aimed to investigate the association of the Chinese visceral adiposity index (CVAI) and its 6-year change with hypertension risk and compare the ability of CVAI and other obesity indices to predict hypertension based on the Rural Chinese Cohort Study. Study participants were randomly recruited by a cluster sampling procedure, and 10 304 participants ≥18 years were included. Modified Poisson regression was used to derive adjusted relative risks (RR) and 95 % CI. We identified 2072 hypertension cases during a median of 6·03 years of follow-up. The RR for the highest v. lowest CVAI quartile were 1·29 (95 % CI 1·05, 1·59) for men and 1·53 (95 % CI 1·22, 1·91) for women. Per-sd increase in CVAI was associated with hypertension for both men (RR 1·09, 95 % CI 1·02, 1·16) and women (RR 1·14, 95 % CI 1·06, 1·22). Also, the area under the receiver operating characteristic curve value for hypertension was higher for CVAI than the four other obesity indices for both sexes (all P < 0·05). Finally, per-sd increase in CVAI change was associated with hypertension for both men (RR 1·26, 95 % CI 1·16, 1·36) and women (RR 1·23, 95 % CI 1·15, 1·30). Similar results were observed in sensitivity analyses. CVAI and its 6-year change are positively associated with hypertension risk. CVAI has better performance in predicting hypertension than other visceral obesity indices for both sexes. The current findings suggest CVAI as a reliable and applicable predictor of hypertension in rural Chinese adults.

In order to improve the damage threshold and enlarge the aperture of a laser beam shaper, photolithographic patterning technology is adopted to design a new type of liquid crystal binary mask. The inherent conductive metal layer of commercial liquid crystal electro-optical spatial light modulators is replaced by azobenzene-based photoalignment layers patterned by noncontact photolithography. Using the azobenzene-based photoalignment layer, a liquid crystal binary mask for beam shaping is fabricated. In addition, the shaping ability, damage threshold, write/erase flexibility and stability of the liquid crystal binary mask are tested. Using a 1 Hz near-IR (1064 nm) laser, the multiple-shot nanosecond damage threshold of the liquid crystal mask is measured to be higher than $15~\text{J}/\text{cm}^{2}$. The damage threshold of the azobenzene-based photoalignment layer is higher than $50~\text{J}/\text{cm}^{2}$ under the same testing conditions.

Nanosize SiCp (n-SiCp) reinforced Mg–9Al matrix composites (Mg–9Al–xSiC, x = 2.5, 5, 7.5, 10 wt%) with nearly full densification are fabricated by the semisolid powder hot pressing technique assisted with ultrasonic. The effect of SiC nanoparticle contents on microstructures and mechanical properties of the composites is systematically investigated. Grain size and density of Mg–9Al–xSiC composites and morphology of bonding interfacial between the n-SiCp and matrix are found to be greatly dependent on the n-SiCp contents, resulting in the strength and ductility of the composites increase first and then decrease as the increase of n-SiCp contents. As the SiCp content increasing to 7.5 wt%, superior mechanical properties with the yield strength of 191 MPa, ultimate tensile strength of 248 MPa, and elongation to failure of 5.3% are achieved. The improved mechanical properties could be attributed to grain boundary strengthening, Orowan strengthening, and load transfer strengthening.

In this paper, the kinematic accuracy problem caused by geometric errors of a 2(3HUS+S) parallel manipulator is described. The kinematic equation of the manipulator is obtained by establishing a D–H (Denavit–Hartenberg) coordinate system. A D–H transformation matrix is used as the error-modeling tool, and the kinematic error model of the manipulator integrating manufacturing and assembly errors is established based on the perturbation theory. The iterative Levenberg–Marquardt algorithm is used to identify the geometric errors in the error model. According to the experimentally measured attitudes, the kinematic calibration process is simulated using MATLAB software. The simulation and experiment results show that the attitude errors of the moving platforms after calibration are reduced compared with before the calibration, and the kinematic accuracy of the manipulator is significantly improved. The correctness and effectiveness of the error model and the kinematic calibration method of the 2(3HUS+S) parallel manipulator for simulation of hip joint motion are verified.

In the Venus capture period, it is difficult for celestial autonomous navigation to satisfy the requirement of high precision. To improve autonomous navigation performance, a Direction, Distance and Velocity (DDV) measurements deeply integrated navigation method is proposed. The “deeply” integrated navigation reflects the fact that the direction and velocity measurements suppress the Doppler effects in the pulsar signals. In the pulsar observation period, the direction and velocity measurements are utilised to compensate for Doppler effects in the pulsar signals. By these means, the residual effects can be ignored. When the direction, distance or velocity measurements are obtained, they are fused to improve the navigation performance. Simulation results demonstrate that the DDV measurements deeply integrated navigation filter converges very well, and provides highly accurate position estimation without a high quality requirement on navigation sensors.

An optically addressed liquid crystal modulator for wavefront control of 1053 nm laser beam is reported in this paper. Its working principle, control method and spatial phase modulation capability are mainly introduced. A new method of measuring the relationship between gray level and phase retardation is proposed. The rationality of the curve is further confirmed by designing special experiments. According to the curve, several spatial phase distributions have been realized by this home-made device. The results show that, not only the maximum phase retardation is larger than $2\unicode[STIX]{x03C0}$ for 1053 nm wavelength, but also the control accuracy is high. Compared with the liquid crystal on silicon type spatial light modulator, this kind of modulator has the advantages of generating smooth phase distribution and avoiding the black-matrix effect.

The shear-band propagation in bulk metallic glasses (BMGs) during deformation plays a key role in determining their macroscopic ductility. In this work, the shear band propagation during plastic deformation was investigated in the Cu46Zr46Al8 BMG and its in situ or ex situ prepared BMG composites. Compared with the brittle BMG, both types of ductile BMG composites show a more stable shear banding behavior as revealed by a larger power-law scaling exponent obtained from statistical analysis of serrations recorded in compressive curves. A higher cut-off elastic energy density (δc) linked with the multiplication of shear bands is observed for the in situ prepared BMG composites. However, the ex situ fabricated BMG composites show an almost equivalent or slightly larger δc since the dominant shear band but not multiple shear bands mainly governs their deformation. Such observations imply that the shear banding stability of BMGs during deformation is enhanced not only by inducing multiple shear bands but also by obstructing the movement of the dominant shear band at its driven path.

This paper introduces the methodology of the dimensional synthesis for a 3UPS-PRU parallel robot. The dimensional synthesis of the 3UPS-PRU parallel robot is proposed considering the maximum input velocity of actuating joints as the objective function and constraints on the installation dimension, robot dimension, joint rotation angle and interference. The objective of the dimensional synthesis is to minimize the maximum input velocity of actuating joints when the moving platform translates along the z-axis in the maximum linear velocity and rotates about an arbitrary axis in the maximum angular velocity in the desired workspace. The constraint on the robot dimension is included in the dimensional synthesis of the 3UPS-PRU parallel robot when pursuing the kinematic property to meet the miniaturization principle with the reduced building cost. An example of the dimensional synthesis of a 3UPS-PRU parallel robot is presented with the maximum linear velocity and angular velocity required for the moving platform in the desired workspace.

To investigate the effect of Mn on antioxidant status and on the expressions of heat shock proteins/factors in tissues of laying broiler breeders subjected to heat challenge, we used a completely randomised design (n 6) with a factorial arrangement of 2 environmental temperatures (normal, 21±1°C, and high, 32±1°C)×3 dietary Mn treatments (a Mn-unsupplemented basal diet (CON), or a basal diet supplemented with 120 mg Mn/kg diet, either as inorganic Mn sulphate (iMn) or as organic Mn proteinate (oMn)). There were no interactions (P>0·10) between environmental temperature and dietary Mn in any of the measured indices. High temperature decreased (P<0·003) Mn content, and also tended (P=0·07) to decrease Cu Zn superoxide dismutase (CuZnSOD) activity in the liver and heart. However, an increased Mn superoxide dismutase (MnSOD) activity (P<0·05) and a slight increase in malondialdehyde level (P=0·06) were detected in breast muscle. Up-regulated (P<0·05) expressions of heat shock factor 1 (HSF1) and HSF3 mRNA and heat shock protein 70 (HSP70) mRNA and protein were found in all three tissues. Broiler breeders fed either iMn or oMn had higher tissue Mn content (P<0·0001), heart MnSOD and CuZnSOD activities (P<0·01) and breast muscle MnSOD protein levels (P<0·05), and lower (P<0·05) breast muscle HSP70 mRNA and protein levels compared with those fed CON. Broiler breeders fed oMn had higher (P<0·03) bone Mn content than those fed iMn. These results indicate that high temperature decreases Mn retention and increases HSP70, HSF1 and HSF3 expressions in the tissues of laying broiler breeders. Furthermore, dietary supplementation with Mn in either source may enhance the heart’s antioxidant ability and inhibit the expression of HSP70 in breast muscle. Finally, the organic Mn appears to be more available than inorganic Mn for bone in laying broiler breeders regardless of environmental temperatures.

To investigate the effect of Mn on antioxidant status and expression levels of heat-shock proteins/factors in tissues of laying broiler breeders subjected to heat challenge, we used a completely randomised design (n 6) with a factorial arrangement of 2 environmental temperatures (normal, 21 (sem 1)°C and high, 32 (sem 1)°C)×3 dietary Mn treatments (an Mn-unsupplemented basal diet (CON), or a basal diet supplemented with 120 mg Mn/kg diet as inorganic Mn sulphate (iMn) or organic Mn proteinate (oMn)). There were no interactions (P>0·10) between environmental temperature and dietary Mn in all of the measured indices. High temperature decreased (P<0·003) Mn content, and also tended (P=0·07) to decrease copper zinc superoxide dismutase (CuZnSOD) activity in the liver and heart. However, an increased manganese superoxide dismutase (MnSOD) activity (P<0·05) and a slight increase of malondialdehyde level (P=0·06) were detected in breast muscle. Up-regulated (P<0·05) expression levels of heat-shock factor 1 (HSF1) and HSF3 mRNA and heat-shock protein 70 (HSP70) mRNA and protein were found in all three tissues. Broiler breeders fed either iMn or oMn had higher tissue Mn content (P<0·0001), heart MnSOD and CuZnSOD activities (P<0·01) and breast muscle MnSOD protein levels (P<0·05), and lower (P<0·05) breast muscle HSP70 mRNA and protein levels than those fed CON. Broiler breeders fed oMn had higher (P<0·03) bone Mn content than those fed iMn. These results indicate that high temperature decreases Mn retention and increases HSP70 and HSF1, HSF3 expression levels in tissues of laying broiler breeders. Furthermore, dietary supplementation with Mn in either source may enhance heart antioxidant ability and inhibit the expression of HSP70 in breast muscle. Finally, the organic Mn appears to be more available than inorganic Mn for bone in laying broiler breeders regardless of environmental temperatures.