This paper presents a kinematics modeling and hybrid motion planning framework for wheeled-legged rovers. It is a unified solution for wheeled-legged rovers to traverse multiple challenging terrains using hybrid locomotion. A kinematic model is first established to describe the rover’s motions. Then, a hybrid motion planning framework is proposed to determine the rover’s gait patterns and parameterize the legs’ and the body’s trajectories. Furthermore, an optimization algorithm based on B-spline is utilized to minimize the motors’ energy dissipation and generate smooth trajectories. The wheeled and legged hybridization allows the rover for faster locomotion while maintaining high stability. Besides, it also improves the rover’s ability to overcome obstacles. Prototype experiments are carried out in more complex environments to verify the rover’s flexibility and maneuverability to traverse irregular terrains. The proposed algorithm reduces the swing amplitude by 83.3% compared to purely legged locomotion.

A new approach to target development for laboratory astrophysics experiments at high-power laser facilities is presented. With the dawn of high-power lasers, laboratory astrophysics has emerged as a field, bringing insight into physical processes in astrophysical objects, such as the formation of stars. An important factor for success in these experiments is targetry. To date, targets have mainly relied on expensive and challenging microfabrication methods. The design presented incorporates replaceable machined parts that assemble into a structure that defines the experimental geometry. This can make targets cheaper and faster to manufacture, while maintaining robustness and reproducibility. The platform is intended for experiments on plasma flows, but it is flexible and may be adapted to the constraints of other experimental setups. Examples of targets used in experimental campaigns are shown, including a design for insertion in a high magnetic field coil. Experimental results are included, demonstrating the performance of the targets.

Underground Nuclear Astrophysics in China (JUNA) will take the advantage of the ultra-low background in Jinping underground lab. High current accelerator with an ECR source and detectors were commissioned. JUNA plans to study directly a number of nuclear reactions important to hydrostatic stellar evolution at their relevant stellar energies. At the first period, JUNA aims at the direct measurements of 25Mg(p,γ)26 Al, 19F(p,α) 16 O, 13C(α, n) 16O and 12C(α,γ) 16O near the Gamow window. The current progress of JUNA will be given.

We conducted community interviews and field surveys to determine the distribution and population of the Endangered Shortridge's capped langur Trachypithecus shortridgei, and the threats to the species, in the Dulong and Nu River valleys of north-western Yunnan Province, China. We found that c. 19 groups of T. shortridgei reside in the Dulong valley, mostly located in the southern portion of the valley. According to interview and observational records in the Gaoligong Mountains to the west of the Nu River, 12 individuals and no groups were observed. Family groups consist of one adult male, 2–3 adult females and up to five young. We estimate the population of T. shortridgei in China to be c. 250–370 individuals. Threats to the species include habitat loss and poaching. We suggest several measures to conserve T. shortridgei, such as a review of the Gaoligong National Nature Reserve management strategy, and increasing engagement, education, inclusion of local people in forest management, and the consistency of enforcement.

In this paper, we investigate the Dirichlet eigenvalue problems of the poly-Laplacian with any order and the quadratic polynomial operator of the Laplacian. We give some estimates for lower bounds of the sums of their first k eigenvalues.

Zr52.5Cu17.9Ni14.6Al10Ti5 bulk metallic glass (BMG) alloy samples in both rod and plate geometry were prepared. Different free volume states were obtained through thermal treatment. The plastic deformation ability of the BMGs was investigated through both a three-point bending test and compression test. The three-point bending results reveal the important role of free volume content on the formation of multiple shear bands, as the shear band propagation can be efficiently stopped due to the existence of the stress gradient from the surface to the neutral plane. In compression, the sample size rather than free volume controls the shear banding behavior.

A uniaxial synchro-compression test of a cylindrical bulk metallic glass (BMG) specimen along with a crystalline metallic ring having an inner diameter much larger than the specimen’s diameter and thereby without radial confinement on the BMG specimen was performed. The plastic deformation behavior of a conventional Zr65Cu17.5Ni10Al7.5 BMG under synchro-compression with a cupper ring was investigated. It was found that remarkably plastic deformation in the inherently brittle BMG could occur under the uniaxial stress state as the loading area of the cupper ring was sufficiently large, and multiplication of the shear band on the synergistically deformed BMG specimen could be accomplished. The synergistic effect of the crystalline metal on the plastic deformation behavior of the BMG was attributed to the reduced thermal softening extent inside the shear bands that resulted from the restraining effect of the copper ring on the spring-back action of the testing machine.

A new testing technique for the characterization of the mechanical behavior of the interconnect structures of integrated circuit devices is introduced in this paper. Modified crosssectional nanoindentation (MCSN) is the result of extending cross-sectional indentation (CSN) to patterned structures. As in conventional CSN, a Berkovich indenter is used to initiate fracture in the silicon substrate beneath the interconnect structure. The cracks propagate through this structure, preferentially along the weakest interfaces in the system. A FIB (Focused Ion Beam) is used for sample preparation, machining a trench parallel to the indentation surface. In this way, the crack growth can be better controlled and the problem may be modeled in two dimensions.

The technique has been used to study crack propagation in patterned structures as a function of thin film composition and processing. The results obtained, in terms of crack length along each interface studied, correlate well with the fracture energy measured by four-point bending (4 PB) in blanket films of the same materials. Finite element modeling of the stress fields in the vicinity of the crack tip has been carried out to understand the crack paths observed.

Protein kinase C (PKC) is a family of Ser/Thr protein kinase widely distributed in eukaryotes. There is evidence that PKC plays key roles in the meiotic maturation and activation of mammalian oocytes. However, the mechanism of PKC's actions and the PKC isoforms responsible for these actions are poorly understood. In this study, we reveal in mouse eggs and early embryos: (1) the effects of PKC on the meiotic and mitotic cell cycle progression during oocyte maturation, egg activation and embryonic cleavages; (2) the functional importance of classical PKC subclasses in these processes; and (3) the subcellular localization of the PKCα isoform during development from GV stage oocytes to the blastocyst stage embryos. The results indicate that the PKC activator phorbol 12-myristate 13-acetate (PMA) inhibits the meiotic resumption of cumulus-free mouse oocytes by a mechanism dependent not only on classical PKC activity but also on other PKC isoforms. PKC activation after germinal vesicle breakdown leads to the inhibition of mitogen-activated protein kinase phosphorylation and the arrest of cell cycle at MI stage. The second polar body emission and the cleavages of early embryos are blocked after prolonged PKC activation. The subcellular localization of PKCα isoform in mouse oocytes and embryos is developmental-stage associated. All these results suggest that PKC has multiple functional roles in the cell cycle progression of mouse oocytes and embryos.