This study examined the association between adult children's achievements and ageing parents’ depressive symptoms in China. The research topic was examined within the contexts of one-child and multiple-children families in rural and urban China. Older adults (aged 60–113, N = 8,450; nested within 462 communities/villages) from the 2013 China Longitudinal Ageing Social Survey provided information about themselves and their adult children (N = 22,738). Adult children's achievements were assessed with educational attainment, financial status and occupational status; older parents’ depressive symptoms were assessed with nine items of the Chinese version of the Center for Epidemiological Studies Depression Scale. Multilevel linear regression models were estimated separately for older parents with one child only and multiple children. For older parents with multiple children, both having one or more children with any achievement and the total number of children's achievements were associated with fewer depressive symptoms. For parents with only one child, any achievement of the child and the total number of the child's achievements were associated with fewer depressive symptoms. Our results also indicated that the association between children's achievements and parents’ depressive symptoms varied by rural–urban residence and family type. Our findings contributed to the understanding of family dynamics underlying the emotional wellbeing of older adults in China.

The dynamical stability of the cable-driven lower-limb rehabilitation training robot (CLLRTR) is a crucial question. Based on the established dynamics model of CLLRTR, the solution to the wrench closure of the under-constrained system is presented. Secondly, the stability index of CLLRTR is proposed by the Krasovski method. Finally, in order to analyze the stability distribution of CLLRTR in the workspace, the stability evaluation index in the workspace is calculated using the eigenvalue decomposition method. The stability distribution laws of CLLRTR are further verified by the experimental study. The results provide references for studying trajectory planning and anti-pendulum control of CLLRTR.

Fat-soluble vitamins during pregnancy are important for fetal growth and development. The present study aimed at exploring the association between vitamin A, E and D status during pregnancy and birth weight. A total of 19 640 women with singleton deliveries from a retrospective study were included. Data were collected by the hospital electronic information system. Maternal serum vitamin A, E and D concentrations were measured during pregnancy. Logistic regression was performed to estimate the association between the vitamin status and low birth weight (LBW) or macrosomia. Women with excessive vitamin E were more likely to have macrosomia (OR 1·30, 95 % CI 1·07, 1·59) compared with adequate concentration. When focusing on Z scores, there was a positive association between vitamin E and macrosomia in the first (OR 1·07, 95 % CI 1·00, 1·14), second (OR 1·27, 95 % CI 1·11, 1·46) and third (OR 1·28, 95 % CI 1·06, 1·54) trimesters; vitamin A was positively associated with LBW in the first (OR 1·14, 95 % CI 1·01, 1·29), second (OR 1·31, 95 % CI 1·05, 1·63) and third (OR 2·00, 95 % CI 1·45, 2·74) trimesters and negatively associated with macrosomia in the second (OR 0·79, 95 % CI 0·70, 0·89) and third (OR 0·77, 95 % CI 0·62, 0·95) trimesters. The study identified that high concentrations of vitamin E are associated with macrosomia. Maintaining a moderate concentration of vitamin A during pregnancy might be beneficial to achieve optimal birth weight. Further studies to explore the mechanism of above associations are warranted.

A novel ionic liquid/α-ZrP (C16MIM/α-ZrP) lamellar nanocomposite was fabricated via the electrostatic self-assembly deposition technique by using exfoliated α-ZrP nanosheets and guest molecules (1-hexadecyl-3-methylimidazolium bromide) as building blocks under mild conditions. C16MIM/α-ZrP nanocomposite was characterized by various analytical techniques such as X-ray diffraction (XRD), transmission electron microscopy (TEM), scanning electron microscope (SEM), Fourier transform infrared spectroscopy, and synchronous thermal analyzer. The net interlayer spacing of α-ZrP determined by XRD confirmed that the C16MIM cations formed a monolayer arrangement between the α-ZrP nanosheets. The morphology and microstructure of C16MIM/α-ZrP composite were observed using SEM and TEM. The C16MIM/α-ZrP modified glass carbon electrode exhibited excellent electrocatalytic activity toward the oxidation of nitrite in weak base media. The results obtained with differential pulse voltammetry demonstrated that the C16MIM/α-ZrP hybrid detected nitrite linearly in the concentration range from 7.3 μM to 1.25 mM with the detection limit of 1.26 μM (S/N = 3). Additionally, the prepared sensor showed outstanding reproducibility, high stability, and anti-interference capability.

Accurate torque control is a critical issue in the compliant human–robot interaction scenario, which is, however, challenging due to the ever-changing human intentions, input delay, and various disturbances. Even worse, the performances of existing control strategies are limited on account of the compromise between precision and stability. To this end, this paper presents a novel high-performance torque control scheme without compromise. In this scheme, a new nonlinear disturbance observer incorporated with equivalent control concept is proposed, where the faster convergence and stronger anti-noise capability can be obtained simultaneously. Meanwhile, a continuous fractional power control law is designed with an iteration method to address the matched/unmatched disturbance rejection and global finite-time convergence. Moreover, the finite-time stability proof and prescribed control performance are guaranteed using constructed Lyapunov function with adding power integrator technique. Both the simulation and experiments demonstrate enhanced control accuracy, faster convergence rate, perfect disturbance rejection capability, and stronger robustness of the proposed control scheme. Furthermore, the evaluated assistance effects present improved gait patterns and reduced muscle efforts during walking and upstair activity.

Coated copper sulphate (CCS) could be used as a Cu supplement in cows. To investigate the influences of copper sulphate (CS) and CCS on milk performance, nutrient digestion and rumen fermentation, fifty Holstein dairy cows were arranged in a randomised block design to five groups: control, CS addition (7·5 mg Cu/kg DM from CS) or CCS addition (5, 7·5 and 10 mg Cu/kg DM from CCS, respectively). When comparing Cu source at equal inclusion rates (7·5 mg/kg DM), cows receiving CCS addition had higher yields of fat-corrected milk, milk fat and protein; digestibility of DM, organic matter (OM) and neutral-detergent fibre (NDF); ruminal total volatile fatty acid (VFA) concentration; activities of carboxymethyl cellulase, cellobiase, pectinase and α-amylase; populations of Ruminococcus albus, Ruminococcus flavefaciens and Fibrobacter succinogenes; and liver Cu content than cows receiving CS addition. Increasing CCS addition, DM intake was unchanged, yields of milk, milk fat and protein; feed efficiency; digestibility of DM, OM, NDF and acid-detergent fibre; ruminal total VFA concentration; acetate:propionate ratio; activity of cellulolytic enzyme; populations of total bacteria, protozoa and dominant cellulolytic bacteria; and concentrations of Cu in serum and liver increased linearly, but ruminal propionate percentage, ammonia-N concentration, α-amylase activity and populations of Prevotella ruminicola and Ruminobacter amylophilus decreased linearly. The results indicated that supplement of CS could be substituted with CCS and addition of CCS improved milk performance and nutrient digestion in dairy cows.

The article is devoted to Hardy type inequalities on closed manifolds. By means of various weighted Ricci curvatures, we establish several sharp Hardy type inequalities on closed weighted Riemannian manifolds. Our results complement in several aspects those obtained recently in the non-compact Riemannian setting.

The Antarctic subglacial drilling rig (ASDR) is designed to recover 105 mm-diameter ice cores up to 1400 m depth and 41.5 mm-diameter bedrock cores up to 2 m in length. In order to ensure safe and convenient drilling, drilling auxiliaries are designed to support fieldwork and servicing. These auxiliaries are subdivided into several systems for power supply, drill tripping in the borehole, ice core and chip processing, and drill servicing and maintenance. The required equipment also includes two generators, a drilling winch with a cable, logging winch with a cable, control desk, pipe handler with a fixed clamp, chip chamber vibrator, centrifuge, emergency devices and fitting and electrical tools. Additionally, several environmental protective measures such as a new liquid-tight casing with a thermal casing shoe and a bailing device for recovering drilling fluid from the borehole were designed. Most of the auxiliaries were tested during the summer of 2018–2019 near Zhongshan Station, East Antarctica while drilling to the bedrock to a depth of 198 m.

The clinical characteristics of patients with COVID-19 were analysed to determine the factors influencing the prognosis and virus shedding time to facilitate early detection of disease progression. Logistic regression analysis was used to explore the relationships among prognosis, clinical characteristics and laboratory indexes. The predictive value of this model was assessed with receiver operating characteristic curve analysis, calibration and internal validation. The viral shedding duration was calculated using the Kaplan–Meier method, and the prognostic factors were analysed by univariate log-rank analysis and the Cox proportional hazards model. A retrospective study was carried out with patients with COVID-19 in Tianjin, China. A total of 185 patients were included, 27 (14.59%) of whom were severely ill at the time of discharge and three (1.6%) of whom died. Our findings demonstrate that patients with an advanced age, diabetes, a low PaO2/FiO2 value and delayed treatment should be carefully monitored for disease progression to reduce the incidence of severe disease. Hypoproteinaemia and the fever duration warrant special attention. Timely interventions in symptomatic patients and a time from symptom onset to treatment <4 days can shorten the duration of viral shedding.

A new, modified version of the cable-suspended Ice and Bedrock Electromechanical Drill (IBED) was designed for drilling in firn, ice, debris-rich ice and rock. The upper part of the drill is almost the same for all drill variants and comprises four sections: cable termination, a slip-ring section, an antitorque system and an electronic pressure chamber. The lower part of the IBED comprises an auger core barrel, reamers, a core barrel for ice/debris-ice drilling and a conventional geological single-tube core barrel or custom-made double-tube core barrel. First, the short and full-scale field versions of the IBED were tested at an outdoor testing stand and a testing facility with a 12.5 m-deep ice well. Then, in the 2018–2019 summer season, the IBED was tested in the field at a site ~12 km south of Zhongshan Station, East Antarctica, and a ~6 cm bedrock core was recovered from a 198 m-deep borehole. A total of 18 d was required to penetrate the ice sheet. The retrieved core samples of blue ice, basal ice and bedrock provided valuable information regarding the Earth's paleo-environment.