Efficiently solving inverse kinematics (IK) of robot manipulators with offset wrists remains a challenge in robotics due to noncompliance with Pieper criteria. In this paper, an improved method to solve the IK for 6-DOF robot manipulators with offset wrists is proposed. This method is based on the Newton iteration technique, but it does not require a selection of initial estimation of joint variables. The solution is divided into two parts: the first part is to reconstruct a simplified structure with analytical IK solution, and the second part is to obtain a numerical solution by iteration. Further, a robot manipulator HSR-BR606 with an offset wrist is used as an example to specifically elaborate the mathematical procedure of the method and to investigate the algorithm in terms of accuracy, efficiency, and application of motion planning. A comparative experiment is conducted with a typical IK algorithm, which demonstrates a higher accuracy and shorter calculation time of the proposed method. The mean calculation time for a single IK solution required for this algorithm is only 4% of the comparison algorithm.

The Lochkovian (Lower Devonian) conodont biostratigraphy in China is poorly known, and conodont-based subdivision schemes for the Lochkovian in peri-Gondwana (the Spanish Central Pyrenees, the Prague Synform, Sardinia, and the Carnic Alps) have not been tested in China. Therefore, we studied conodonts from the lower part (Bed 9 to Bed 13) of the Shanjiang Formation at the Alengchu section of Lijiang, western Yunnan to test the application of established subdivision schemes. The conodont fauna is assignable to 12 taxa belonging to eight genera (Ancyrodelloides, Flajsella, Lanea, Wurmiella, Zieglerodina, Caudicriodus, Pelekysgnathus, and Pseudooneotodus), and enables recognition of two chronostratigraphical intervals from the lower part of the Shanjiang Formation. The interval ranging from the uppermost part of Bed 9 to the upper part of Bed 10 belongs to the lower Lochkovian; whereas an interval covering the uppermost part of Bed 11 to the upper part of Bed 13 is correlated with the upper half of the middle Lochkovian. The Silurian-Devonian boundary is probably located within Bed 9, in the basal part of the Shanjiang Formation. However, the scarcity of specimens precludes definitive identification of bases of the lower, middle, and upper Lochkovian as well as other conodont zones recognized in peri-Gondwana.

We propose an investor attention index based on proxies in the literature and find that it predicts the stock market risk premium significantly, both in sample and out of sample, whereas every proxy individually has little predictive power. The index is extracted using partial least squares, but the results are similar by the scaled principal component analysis. Moreover, the index can deliver sizable economic gains for mean-variance investors in asset allocation. The predictive power of the investor attention index stems primarily from the reversal of temporary price pressure and from the stronger forecasting ability for high-variance stocks.

To explore the characteristics of the mitochondrial genome (mitogenome) of the squeaking silkmoths Rhodinia, a genus of wild silkmoths in the family Saturniidae of Lepidoptera, and reveal phylogenetic relationships, the mitogenome of Rhodinia fugax Butler was determined. This wild silkmoth spins a green cocoon that has potential significance in sericulture, and exhibits a unique feature that its larvae can squeak loudly when touched. The mitogenome of R. fugax is a circular molecule of 15,334 bp long and comprises 13 protein-coding genes, two ribosomal RNA genes, 22 transfer RNA genes, and an A + T-rich region, consistent with previous observations of Saturniidae species. The 370-bp A + T-rich region of R. fugax contains no tandem repeat elements and harbors several features common to the Bombycidea insects, but microsatellite AT repeat sequence preceded by the ATTTA motif is not present. Mitogenome-based phylogenetic analysis shows that R. fugax belongs to Attacini, instead of Saturniini. This study presents the first mitogenome for Rhodinia genus.

In this paper, we developed a new navigation system, called ATCM, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential collision and finds optimal path with a simplified Morphin algorithm. This system has the merits of optimal free-collision path, small memory size and less computing complexity, compared with the state of the arts in robot navigation. The modular design of 6-steps navigation provides a holistic methodology to implement and verify the performance of a robot’s navigation system. The experiments on simulation and a physical robot for the eight scenarios demonstrate that the robot can effectively and efficiently avoid potential collisions with any static or dynamic obstacles in its surrounding environment. Compared with the particle swarm optimisation, the dynamic window approach and the traditional Morphin algorithm for the autonomous navigation of a mobile robot in a static environment, ATCM achieved the shortest path with higher efficiency.

What are the major factors contributing to ship accidents, and how do these factors evolve in the long term? This study addresses these two questions by leveraging an unsupervised machine learning method named structural topic modelling to identify the causes of ship accidents. The study analysed 2,341 task errors manually collected from 441 reports issued by four government agencies covering a 45-year time span. The results show that the structure of causes of ship accidents remained essentially the same during this period. This highlights the social-material aspect of navigation technology, indicating that the use of advanced technology may not necessarily lead to safer navigation practices, and the interaction between the technology and human agency must be focused on in the bridge management context. Additionally, the computer-assisted textual data analysis highlights pilot-related factors, which might be rooted in the unsupervised and difficult-to-verify handover procedures between pilots and captains, thereby underlining the importance of appropriate piloting regulations.

The generation of germ cells from embryonic stem cells in vitro has current historical significance. Western blot, qPCR, immunofluorescence and flow cytometry assays were used to investigate the differences in expression levels of totipotency and specific markers for Wnt regulation and the related signalling pathways during primordial germ cell-like cell (PGCLC) induction and differentiation. During PGCLC induction, activation of WNT3a increased the expression of NANOG, SOX2 and OCT4, but Mvh, DAZL, Blimp1, TFAP2C, Gata4, SOX17, EOMES, Brachyury and PRDM1 expression levels were significantly reduced. Inhibition of the WNT signal demonstrated the opposite effect. Similarly, inhibitors of BMP and the Nodal/Activin signal were used to determine the effect of signal pathways on differentiation. CER1 affected the Wnt signal and differentiation, but the inhibitor SB only regulated differentiation. BMP–WNT–NODAL were mainly responsible for regulating differentiation. Our results provide a reliable theoretical basis and feasibility for further clinical medical research.

The North Qilian Orogenic Belt is surrounded by the Tarim Craton to the NW and the North China Craton to the NE. The Precambrian continental crust remnants that are distributed in the North Qilian Orogenic Belt are termed the North Qilian Block (NQB), and their tectonic evolution has profound implications for the evolution of the Columbia Supercontinent. Here we present major- and trace-element and Sr–Nd–Hf isotope data for (meta-) basalts from the Beidahe Group (BDHG) and Zhulongguan Group (ZLGG) in the western North Qilian Orogenic Belt, to investigate the tectonic evolution of the NQB during the Proterozoic Eon. The protoliths of Palaeoproterozoic amphibole gneisses and plagioclase amphibolites from the BDHG are calc-alkaline series basalts. These metabasalts show island-arc-basalt affinities with variable Nd and Hf isotopes (ϵNd(t) = −5.0–0.6 and 2.7–4.3; ϵHf(t) = −14.2–2.0 and 6.9–8.8) and were generated by partial melting of the asthenospheric mantle that was metasomatized by aqueous fluid and sediment melt in a continental-arc setting. The early Mesoproterozoic ZLGG basalts show features of shoshonite-series basalts and are geochemically similar to ocean-island basalts. These basalts show variable (87Sr/86Sr)i, ϵNd(t) and ϵHf(t) values of 0.70464–0.70699, −1–2.6 and −1.5–5.7, and are products of mantle plume magmatism that participated with subducted oceanic crust in an intracontinental rift setting. This study suggests that the NQB underwent tectonic evolution from palaeo-oceanic subduction to intracontinental rifting during the Palaeoproterozoic–Mesoproterozoic eras. Furthermore, the above tectonomagmatic events were in response to convergence–splitting events of the Columbia Supercontinent during the Palaeoproterozoic–Mesoproterozoic eras.

This study evaluated the effects of dietary myo-inositol (MI) on growth performance, antioxidant status and lipid metabolism of juvenile Chinese mitten crab (Eriocheir sinensis) fed different percentage of lipid. Crabs (4·58 (sem 0·05) g) were fed four diets including a normal lipid diet (N, containing 7 % lipid and 0 mg/kg MI), N with MI supplementation (N + MI, containing 7 % lipid and 1600 mg/kg MI), a high lipid diet (H, containing 13 % lipid and 0 mg/kg MI) and H with MI supplementation (H + MI, containing 13 % lipid and 1600 mg/kg MI) for 8 weeks. The H + MI group showed higher weight gain and specific growth rate than those in the H group. The dietary MI could improve the lipid accumulations in the whole body, hepatopancreas and muscle as a result of feeding on the high dietary lipid (13 %) in crabs. Besides, the crabs fed the H + MI diets increased the activities of antioxidant enzymes but reduced the malondialdehyde content in hepatopancreas compared with those fed the H diets. Moreover, dietary MI enhanced the expression of genes involved in lipid oxidation and exportation, yet reduced lipid absorption and synthesis genes expression in the hepatopancreas of crabs fed the H diet, which might be related to the activation of inositol 1,4,5-trisphosphate receptor (IP3R)/calmodulin-dependent protein kinase kinase-β (CaMKKβ)/adenosine 5’-monophosphate-activated protein kinase (AMPK) signalling pathway. This study demonstrates that MI could increase lipid utilisation and reduce lipid deposition in the hepatopancreas of E. sinensis fed a high lipid diet through IP3R/CaMKKβ/AMPK activation. This work provides new insights into the function of MI in the diet of crustaceans.

Pre-harvest sprouting (PHS) induced by the absence of seed dormancy causes a severe reduction in crop yield and flour quality. In this study, we isolated and characterized TaABI4, an ABA-responsive transcription factor that participates in regulating seed germination in wheat. Sequence analysis revealed that TaABI4 has three homologues, located on chromosomes 1A/1B/1D. TaABI4 contains a conserved AP2 domain, and AP2-associated, LRP and potential PEST motifs. Putative cis-acting regulatory elements (CE1-like box, W-box, ABRE elements and RY elements) were identified in the TaABI4 promoter region that showed high conservation in 17 wheat cultivars and wheat-related species. Expression profiling of TaABI4 indicated that it is a seed-specific gene accumulating during the middle stages of seed development. Transcript accumulation of TaABI4 in wheat cultivar Chuanmai 32 (CM32, PHS susceptible) was 5.07-fold and 1.39-fold higher than that in synthetic hexaploidy wheat SHW-L1 (PHS resistant) at 15 and 20 DPA, respectively. Six expression quantitative trait loci (eQTL) of TaABI4 on chromosomes 2A, 2D, 3B and 4A were characterized based on the accumulated transcripts of TaABI4 in SHW-L1 and CM32-derived recombinant inbred lines. These QTLs explained 10.7 to 46.1% of the trait variation with 4.53–10.59 of LOD scores, which contain genes that may affect the expression of TaABI4.