The tribological behavior can be informative about the incipient faults of robot manipulators. This study explores the evolution of friction characteristics from cold start to thermal equilibrium through a series of steady-state friction experiments. Based on these experimental observations, a friction-based fault diagnosis framework is proposed. The fault diagnosis process primarily involves defining the healthy state, decomposing friction curves and their features, and anomaly detection. Given the dependence of friction characteristics on different sources of faults, the parameters of steady-state experimental friction model are divided into two categories: one associated with contact interactions and the other related to non-contact regimes. Subsequently, confidence regions corresponding to distinguishable friction characteristics are independently constructed. These regions encapsulate the statistical description of the healthy state, characterized by mean values and the covariance of the friction characteristic parameter vectors during the unloaded state. In addition, we conduct experiments that consider the influence of applied loads on friction behavior. These experiments serve as a test set for comparison against nominal statistics. Leveraging the similarity between the effects of wear and load on friction, we introduce equivalent load thresholds to assess the severity of joint degradation. The results demonstrate the feasibility of employing confidence region views based on friction characteristic classification for fault detection and isolation.

We present the results of two population surveys conducted 10 years apart (December 2010–February 2011 and December 2020–January 2021) of the Critically Endangered white-headed langur Trachypithecus leucocephalus in the Chongzuo White-Headed Langur National Nature Reserve, Guangxi Province, China. In the first survey, we recorded 818 individuals in 105 groups and 16 solitary adult males. In the second survey, we recorded 1,183 individuals in 128 groups and one solitary adult male. As a result of government policies, poaching for food and traditional medicine is no longer a primary threat to these langurs. However, severe forest loss and fragmentation caused by human activities could limit any future increase of this langur population.

The new mineral, gysinite-(La), with the ideal formula PbLa(CO3)2(OH)⋅H2O, has been discovered in lujavrite from the Saima alkaline complex, Liaoning Province, China. It commonly occurs as subhedral to anhedral, granular and platy crystals of 5 to 50 μm in size, in interstices or enclosed in microcline, aegirine and nepheline. Associated minerals include nepheline, aegirine, microcline, natrolite, eudialyte, lamprophyllite, bastnäsite-(Ce), parasite-(Ce), ancylite-(La), ancylite-(Ce), bobtraillite, britholite-(Ce), thorite, calcite and galena. The crystallisation of gysinite-(La) may be related to the post-magmatic carbonation event. Gysinite-(La) crystals are generally transparent, colourless, or pale yellow, with a vitreous lustre and white streak. It is brittle with an uneven fracture, and the estimated Mohs hardness is 3½ to 4. The calculated density is 5.007 g/cm3. Optically, gysinite-(La) is biaxial (–), α= 1.832(2), β= 1.849(4), γ = 1.862(5) in white light and 2Vmeas = 81.6°. The empirical formula of gysinite-(La) is (La0.93Pb0.61Nd0.23Pr0.14Sr0.04Gd0.02Sm0.01Eu0.01Ca0.01)Σ2(CO3)2(OH)1.34⋅0.66H2O, which is calculated on the basis of general formula (REExM2+2–x)(CO3)2(OH)x⋅(2–x)H2O. The strongest eight lines of its powder X-ray diffraction pattern [d, Å (I, %) (hkl)] are: 5.596 (21) (011), 4.349 (100) (110), 3.732 (68) (111), 2.984 (61) (121), 2.667 (21) (031), 2.363 (48) (131), 2.090 (29) (221) and 2.028 (21) (212). Gysinite-(La) is orthorhombic, in the space group Pmcn, and unit-cell parameters refined from single-crystal X-ray diffraction data are: a = 5.0655(2) Å, b = 8.5990(3) Å, c = 7.3901(4) Å, V = 321.90(2) Å3 and Z = 2. It is a new member of the ancylite group and isostructural with gysinite-(Nd), but with La and Pb dominant in the metal cation sites in the structure.

Fluorsigaiite, ideally Ca2Sr3(PO4)3F, is a new Sr analogue of fluorphosphohedyphane and a new member of the apatite supergroup. It was discovered in lujavrite from the Saima alkaline complex, Liaoning Province, China. Fluorsigaiite commonly occurs as individual prismatic, columnar and platy crystals of 10 to 50 μm in size, associated with microcline, nepheline, aegirine, natrolite, eudialyte, fluorapatite, a fluorstrophite-like mineral, stronadelphite and calcite. Occasionally, crystals of fluorsigaiite form prismatic aggregates in the interstices of lujavrite. Fluorsigaiite is translucent to transparent, colourless to yellowish white with a vitreous lustre and without fluorescence. The estimated Mohs hardness is 5, and the tenacity is brittle with uneven fractures. The calculated density is 3.842 g/cm3. Optically, fluorsigaiite is uniaxial (–) with ω = 1.64(1) and ɛ = 1.63(1) in white light and without dispersion. The mean chemical composition (in wt.%) of fluorsigaiite is Na2O 0.75, CaO 15.17, SrO 44.44, La2O3 3.64, Ce2O3 2.22, Pr2O3 0.19, Nd2O3 0.13, Sm2O3 0.05, Gd2O3 0.23, P2O5 31.87, F 1.91, H2O 0.46, sum 100.26, giving the empirical formula (Sr2.82Ca1.79Na0.16La0.15Ce0.09Pr0.01Nd0.01Gd0.01)Σ5.04P2.97O12[F0.66(OH)0.34]Σ1, which is calculated on the basis of 13 total anions and F+(OH) = 1. The strongest eight lines of its powder X-ray diffraction pattern [d, Å (I, %) (hkl)] are: 3.563 (15) (002), 3.275 (15) (102), 3.144 (19) (120), 2.876 (100) (121), 2.861 (96) (112), 2.772 (27) (300), 1.991 (17) (222) and 1.895 (23) (213). Fluorsigaiite is hexagonal, in the space group P63/m and unit-cell parameters refined from single-crystal X-ray diffraction data are: a = 9.6101(2) Å, c = 7.1311(1) Å, V = 570.35(3) Å3 and Z = 2. It is isostructural with hedyphane-group minerals, and contains different prevailing (species-defining) Ca and Sr cations at the Ca1 and Ca2 sites, respectively. Fluorsigaiite was probably formed from Sr-rich fluids at late-magmatic or hydrothermal stage of the Saima lujavrite.

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.

Primitive lamprophyres in orogenic belts can provide crucial insights into the nature of the subcontinental lithosphere and the relevant deep crust–mantle interactions. This paper reports a suite of relatively primitive lamprophyre dykes from the North Qiangtang, central Tibetan Plateau. Zircon U–Pb ages of the lamprophyre dykes range from 214 Ma to 218 Ma, with a weighted mean age of 216 ± 1 Ma. Most of the lamprophyre samples are similar in geochemical compositions to typical primitive magmas (e.g. high MgO contents, Mg no. values and Cr, with low FeOt/MgO ratios), although they might have experienced a slightly low degree of olivine crystallization, and they show arc-like trace-element patterns and enriched Sr–Nd isotopic composition ((87Sr/86Sr)i = 0.70538–0.70540, ϵNd(t) = −2.96 to −1.65). Those geochemical and isotopic variations indicate that the lamprophyre dykes originated from partial melting of a phlogopite- and spinel-bearing peridotite mantle modified by subduction-related aqueous fluids. Combining with the other regional studies, we propose that slab subduction might have occurred during Late Triassic time, and the rollback of the oceanic lithosphere induced the lamprophyre magmatism in the central Tibetan Plateau.

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, P trend < 0·001), there was a non-linear dose–response relationship between them (P overall-association < 0·001, P non-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.

Extant medusozoans (phylum Cnidaria) are dominated by forms showing tetraradial symmetry, but stem-group medusozoans of early Cambrian age collectively exhibit tetra-, bi-, penta-, and hexaradial symmetry. Moreover, the developmental and evolutionary relationships between four-fold and other types of radial symmetry in medusozoans remain poorly understood. Here we describe a new hexangulaconulariid, Septuconularia yanjiaheensis new genus new species, from Bed 5 of the Yanjiahe Formation (Cambrian Stage 2) in the Three Gorges area of Hupei Province, China. The laterally compressed, biradially symmetrical periderm of this species possesses 14 gently tapered faces, the most of any hexangulaconulariid described thus far. The faces are bordered by longitudinal ridges and crossed by short, irregularly spaced transverse ribs. Longitudinally, the periderm consists of three regions that probably correspond, respectively, to an embryonic stage, a transient juvenile stage, and a long adult stage. Septuconularia yanjiaheensis may have been derived from six-faced Hexaconularia (Fortunian Stage), which is morphologically intermediate between Septuconularia yanjiaheensis and Arthrochites. Furthermore, conulariids sensu stricto, carinachitids, and hexangulaconulariids may constitute a monophyletic group united by possession of an organic or organophosphatic periderm exhibiting longitudinal (corner) sulci, a facial midline, and offset of transverse ribs along the facial midline.

UUID: http://zoobank.org/01a972aa-aef3-4eef-a9a5-c2d8c3dda615

Introduction: To investigate the effects of paroxetine (PAR) on motor and cognitive function recovery in patients with non-depressed ischemic stroke (nD-AIS).

Methods: One hundred sixty-seven patients hospitalized for non-depressed acute ischemic stroke were selected and divided into treatment (T) and control (C) groups using a random number table. All patients received conventional secondary ischemic stroke prevention and rehabilitation training; patients in Group T additionally received treatment with PAR (10 mg/day during week 1 and 20 mg/day thereafter) for 3 months. The follow-up observation lasted 6 months. The Fugl–Meyer motor scale (FMMS), Montreal cognitive assessment (MoCA), and Hamilton depression scale (HAMD) were used on D0, D15, D90, and D180 (T0, 1, 2, and 3, respectively; D180 = 90 days after treatment cessation) after study initiation, and scores were compared between the groups.

Results: The FMMS and MoCA scores differed significantly between Groups T and C at T2 and T3 (p < .05); by contrast, these scores did not differ significantly between the groups at T1 (p > .05). Furthermore, the HAMD scores differed significantly between the two groups at T3 (p < .05), but not at T1 and T2 (p > .05).

Conclusions: PAR treatment may improve motor and cognitive function recovery in patients with nD-AIS. Moreover, PAR may reduce the occurrence of depression after stroke.

Ethanolamine (Etn) contained in milk is the base constituent of phosphatidylethanolamine and is required for the proliferation of intestinal epithelial cells and bacteria, which is important for maintenance of the gut microbiome and intestinal development. The present study investigated the effect of Etn on intestinal function and microbiome using 21-d-old Sprague–Dawley rats treated with 0, 250, 500 and 1000 μm Etn in drinking water for 2 weeks immediately after weaning. Growth performance, intestinal morphology, antioxidant capacity and mucosal immunity, as well as gut microbiota community composition, were evaluated. Metagenomic prediction and metabolic phenotype analysis based on 16S RNA sequencing were also carried out to assess changes in metabolic functions. We found that weaned rats administered 500 μm Etn enhanced mucosal antioxidant capacity, as evidenced by higher superoxide dismutase and glutathione peroxidase levels in the jejunum (P<0·05) compared with those in the control group. Predominant microbes including Bacteroidetes, Proteobacteria, Elusimicrobia and Tenericutes were altered by different levels of Etn compared with the control group. An Etn concentration of 500 µm shifted colonic microbial metabolic functions that are in favour of lipid- and sugar-related metabolism and biosynthesis. Etn also altered the metabolic phenotypes such as anaerobic microbial counts, and oxidative stress tolerance at over 250 µm. This is the first report for a role of Etn in modifying gut microbiota and intestinal functions. Our findings highlighted the important role of Etn in shaping gut microbial community and promotes intestinal functions, which may provide a better insight of breast-feeding to infant’s gut health.

Colistin, a peptide antibiotic belonging to the polymyxin family, is one of the last effective drugs for the treatment of multidrug resistant Gram-negative infections. Recent discovery of a novel mobile colistin resistance gene, mcr-1, from people and food animals has caused a significant public health concern and drawn worldwide attention. Extensive usage of colistin in food animals has been proposed as a major driving force for the emergence and transmission of mcr-1; thus, there is a worldwide trend to limit colistin usage in animal production. However, despite lack of colistin usage in food animals in the USA, mcr-1-positive Escherichia coli isolates were still isolated from swine. In this paper, we provided an overview of colistin usage and epidemiology of mcr-1 in food animals, and summarized the current status of mechanistic and evolutionary studies of the plasmid-mediated colistin resistance. Based on published information, we further discussed several non-colistin usage risk factors that may contribute to the persistence, transmission, and emergence of colistin resistance in an animal production system. Filling the knowledge gaps identified in this review is critical for risk assessment and risk management of colistin resistance, which will facilitate proactive and effective strategies to mitigate colistin resistance in future animal production systems.

Nanotechnology has been considered as a promising strategy for diagnosis and treatment of various diseases. However, the stability and circulation times of the conventional nano-carriers, such as liposomes and micelles, are still unsatisfied. Perfluorocarbons (PFCs) are biologic inert synthetic materials, which are highly hydrophobic and have a tendency to self-aggregation. Additionally, PFCs themselves can act as 19F magnetic resonance imaging agents and oxygen carriers. Thus, the construction of the fluorinated carriers will not only improve the stability of the carriers, but also endow them with additional functions. Here we review the recent advances of PFC-based nanosystems for diagnosis and treatment of diseases.

With the improvement of the bias instability of Micro-Electromechanical Systems (MEMS) gyroscopes, the g-sensitivity error is gradually becoming one of the more important factors that affects the dynamic accuracy of a MEMS gyroscope. Hence there is a need for correcting the g-sensitivity error. However, the traditional calibration of g-sensitivity error uses a centrifuge. The calibration conditions are harsh, the process is complex and the cost is relatively high. In this paper, a fast and simple method of g-sensitivity error calibration for MEMS gyroscopes is proposed. With respect to the bias and random noise of a MEMS gyroscope, the g-sensitivity error magnitude is relatively small and it is simultaneously coupled with the Earth's rotation rate. Therefore, in order to correct the g-sensitivity error, this work models the calibration for g-sensitivity error coefficients, designs an (8+N)-position calibration scheme, and then proposes a fitting method for g-sensitivity error coefficients based on the Newton iteration and least squares methods. Multi-group calibration experiments designed on a MEMS Inertial Measurement Unit (MEMS IMU) product demonstrate that the proposed method can calibrate g-sensitivity error coefficients and correct the g-sensitivity error effectively and simply.

The early Cambrian Carinachitidae, a family in the subclass Conulata, are intriguing and important small shelly fossils. Their gently tapering, tube-shaped skeletons consist of convex faces separated from each other by broad, deep corner sulci, and they exhibit triradial, pentaradial, or predominantly tetraradial symmetry. However, the morphology of the aperture and the modes of growth of carinachitid skeletons as well as the anatomy of their soft parts are unknown. Examination of a single new, exceptionally well-preserved specimen of tetramerous Carinachites spinatus Qian, 1977, collected from the lower Cambrian Kuanchuanpu Formation in South China, reveals: (1) that its aperture is connected to a small mass of relic soft tissue and (2) that the apertural end of each of the four faces is developed into a subtriangular lappet or oral lobe that is smoothly folded toward the long axis of the tube, partially closing the tube aperture. Similarities between thorn-like spines on the faces and the oral lobes indicate that the transverse ribs were periodically displaced from the perradial portion of the aperture during formation of new ribs. In addition, the tube walls may have undergone secondary thickening during growth. The growth pattern of the tube and the spatial relationships between the tube aperture and soft parts are analogous to those of co-occurring olivooids. These findings further strengthen the previously proposed hypothesis that coeval carinachitids, olivooids, hexangulaconulariids, and Paleozoic conulariids are closely related taxa within the subphylum Medusozoa. Finally, carinachitids most likely represent an evolutionary intermediate between olivooids and hexangulaconulariids.

Effects of Mo addition on the microstructure, mechanical properties, and abrasive wear properties of an oriented bulk Fe2B crystal have been investigated systematically in the present paper. Five groups of pure Fe2B samples with different Mo contents have been examined by optical microscope, X-ray diffraction, scanning electron microscope integrated with energy disperse spectroscopy, microhardness tester, and three-point bending testing of fracture toughness. The results indicate that Mo tends to segregate on the grain boundaries after doping; with increasing Mo addition, interplanar spacing of the (002) crystal plane of Fe2B decreases firstly and then increases slightly while that of (200) increases gradually; microhardness on the transversal section changes little while that on the longitudinal section increases firstly and then decreases [possessing the opposite trend to interplanar spacing of (002)]; fracture toughness and wear resistance of both transversal and longitudinal samples can be improved to some extent with Mo addition less than 2.0 wt%. In conclusion, appropriate Mo addition plays a positive role in the improvement of mechanical properties of oriented bulk Fe2B.

This paper reports U-series dates on speleothem samples from Locality 15 at Zhoukoudian, one of the richest Paleolithic sites in northern China. The age of the lower part of Layer 2 is securely bracketed between 155,000 and 284,000 yr. The underlying Layer 3 dates back at least 284,000 yr. Layer 4, further below, should be older still, possibly by a cycle on the SPECMAP time scale before 284,000 yr ago. These ages, much greater than the previous estimates of 110,000"140,000 yr from U-series and electron spin resonance dating of fossil teeth, suggest that Locality 15 was broadly contemporaneous with Locality 4 (New Cave) and with the uppermost strata of Locality 1 (Peking Man site). The physical evolution and cultural development evidenced by the timing of the Zhoukoudian localities are in line with the opinion of Chinese anthropologists for a regional transition from Homo erectus to archaic Homo sapiens.

The earliest fossil record of animal biomineralization occurs in the latest Ediacaran Period (c. 550 Ma). Cloudina and Sinotubulites are two important tubular taxa among these earliest skeletal fossils. The evolutionary fate of Cloudina-type fossils across the Ediacaran–Cambrian transition, however, remains poorly understood. Here we report a multi-layered tubular microfossil Feiyanella manica gen. et sp. nov. from a phosphorite interval of the lowest Cambrian Kuanchuanpu Formation, southern Shaanxi Province, South China. This newly discovered fossil is a conical tube with a ‘funnel-in-funnel’ construction, showing profound morphological similarities to Cloudina and Conotubus. On the other hand, the outer few layers, and particularly the outermost layer, of Feiyanella tubes are regularly to irregularly corrugated, a feature strikingly similar to the variably folded/wrinkled tube walls of Sinotubulites. The Feiyanella tubes additionally exhibit two orders of dichotomous branching, similar to branching structures reported occasionally in Cloudina and possibly indicative of asexual reproduction. Owing to broad similarities in tube morphology, tube wall construction and features presumably indicative of asexual reproduction, Cloudina, Conotubus, Sinotubulites and the here described Feiyanella may thus constitute a monophyletic group traversing the Ediacaran–Cambrian boundary. The tube construction and palaeoecological strategy of Feiyanella putatively indicate evolutionary continuity in morphology and palaeoecology of benthic metazoan communities across the Ediacaran–Cambrian transition.