Owing to inherent flexibility, compliant actuator with physical elastic elements can implement compliant interactions between robot and environment. Nonlinear stiffness elastic actuators (NSEAs) use one motor to adjust position and stiffness, which improve compactness of variable stiffness actuators, and consider high torque/force resolution and high bandwidth. The primary challenge of designing a NSEA is designing a reliable compliant mechanism with a given torque-deflection profile. In this study, a general design method of torsional compliant mechanism through given discrete torque-deflection points was proposed, where a chain algorithm based on 2R pseudo-rigid-body model was used to describe the large deformation in elastic elements. Moreover, the theoretical model of stiffness of a compliant mechanism based on series flexible beams was developed. Based on the proposed model, the dimensional parameters of proposed compliant mechanism were designed satisfying the condition of the given torque-deflection points. Finally, simulation and physical experiment of the designed compliant mechanism through three given torque-deflection points are conducted to show the effectiveness of the proposed method. The designed compliant mechanism was tested and evaluated in the self-developed NSEA.

Trypanosoma musculi is a, globally distributed, mouse-specific haemoflagellate, of the family Trypanosomatidae, which shares similar characteristics in morphology with Trypanosoma lewisi. The kinetoplast (mitochondrial) DNA of Trypanosomatidae flagellates is comprised of catenated maxicircles and minicircles. However, genetic information on the T. musculi kinetoplast remains largely unknown. In this study, the T. musculi maxicircle genome was completely assembled, with PacBio and Illumina sequencing, and the size was confirmed at 34 606 bp. It consisted of 2 distinct parts: the coding region and the divergent regions (DRs, DRI and II). In comparison with other trypanosome maxicircles (Trypanosoma brucei, Trypanosoma cruzi and T. lewisi), the T. musculi maxicircle has a syntenic distribution of genes and shares 73.9, 78.0 and 92.7% sequence identity, respectively, over the whole coding region. Moreover, novel insertions in MURF2 (630 bp) and in ND5 (1278 bp) were found, respectively, which are homologous to minicircles. These findings support an evolutionary scenario similar to the one proposed for insertions in Trypanosoma cruzi, the pathogen of American trypanosomiasis. These novel insertions, together with a deletion (281 bp) in ND4, question the role of Complex I in T. musculi. A detailed analysis of DRII indicated that it contains numerous repeat motifs and palindromes, the latter of which are highly conservative and contain A5C elements. The comprehensively annotated kinetoplast maxicircle of T. musculi reveals a high degree of similarity between this parasite and the maxicircle of T. lewisi and suggests that the DRII could be a valuable marker for distinguishing these evolutionarily related species.

Mode distortion induced by stimulated Raman scattering (SRS) has become a new obstacle for the further development of high-power fiber lasers with high beam quality. Here, an approach for effective suppression of the SRS-induced mode distortion in high-power fiber amplifiers has been demonstrated experimentally by adjusting the seed power (output power of seed source) and forward feedback coefficient of the rear port in the seed source. It is shown that the threshold power of the SRS-induced mode distortion can be increased significantly by reducing the seed power or the forward feedback coefficient. Moreover, it has also been found that the threshold power is extremely sensitive to the forward feedback power value from the rear port. The influence of the seed power on the threshold power can be attributed to the fact that the seed power plays an important role in the effective length of the gain fiber in the amplifier. The influence of the forward feedback coefficient on the threshold power can be attributed to the enhanced SRS configuration because the end surface of the rear port together with the fiber in the amplifier constitutes a half-opening cavity. This suppression approach will be very helpful to further develop the high-power fiber amplifiers with high beam quality.

We aimed to examine the association between low-carbohydrate diet (LCD) scores during the first trimester and gestational diabetes mellitus (GDM) risk in a Chinese population. A total of 1455 women were included in 2017. Dietary information during the first trimester was collected by 24-h dietary recalls for 3 d. The overall, animal and plant LCD scores, which indicated adherence to different low-carbohydrate dietary patterns, were calculated. GDM was diagnosed based on the results of a 75-g, 2-h oral glucose tolerance test at 24–28 weeks gestation. Log-binomial models were used to estimate relative risks (RR) and 95 % CI. The results showed that the multivariable-adjusted RR of GDM from the lowest to the highest quartiles of the overall LCD score were 1·00 (reference), 1·15 (95 % CI 0·92, 1·42), 1·30 (95 % CI 1·06, 1·60) and 1·24 (95 % CI 1·01, 1·52) (P = 0·026 for trend). Multivariable-adjusted RR (95 % CI) of GDM from the lowest to the highest quartiles of the animal LCD score were 1·00 (reference), 1·20 (95 % CI 0·96, 1·50), 1·41 (95 % CI 1·14, 1·73) and 1·29 (95 % CI 1·04, 1·59) (P = 0·002 for trend). After additional adjustment for gestational weight gain before GDM diagnosis, the association of the overall LCD score with GDM risk was non-significant, while the association of animal LCD score with GDM risk remained significant. In conclusion, a low-carbohydrate dietary pattern characterised by high animal fat and protein during the first trimester is associated with an increased risk of GDM in Chinese women.

Gravitational waves from coalescing neutron stars encode information about nuclear matter at extreme densities, inaccessible by laboratory experiments. The late inspiral is influenced by the presence of tides, which depend on the neutron star equation of state. Neutron star mergers are expected to often produce rapidly rotating remnant neutron stars that emit gravitational waves. These will provide clues to the extremely hot post-merger environment. This signature of nuclear matter in gravitational waves contains most information in the 2–4 kHz frequency band, which is outside of the most sensitive band of current detectors. We present the design concept and science case for a Neutron Star Extreme Matter Observatory (NEMO): a gravitational-wave interferometer optimised to study nuclear physics with merging neutron stars. The concept uses high-circulating laser power, quantum squeezing, and a detector topology specifically designed to achieve the high-frequency sensitivity necessary to probe nuclear matter using gravitational waves. Above 1 kHz, the proposed strain sensitivity is comparable to full third-generation detectors at a fraction of the cost. Such sensitivity changes expected event rates for detection of post-merger remnants from approximately one per few decades with two A+ detectors to a few per year and potentially allow for the first gravitational-wave observations of supernovae, isolated neutron stars, and other exotica.

The present study was designed to detect three single nucleotide polymorphisms (SNPs) located on 22q11 that was thought as being of particularly importance for genetic research into schizophrenia. We recruited a total of 176 Chinese family trios of Han descent, consisting of mothers, fathers and affected offspring with schizophrenia for the genetic analysis. The transmission disequilibrium test (TDT) showed that of three SNPs, rs10314 in the 3′-untranslated region of the CLDN5 locus was associated with schizophrenia (χ2 = 4.75, P = 0.029). The other two SNPs, rs1548359 present in the CDC45L locus centromeric of rs10314 and rs739371 in the 5′-flanking region of the CLDN5 locus, did not show such an association. The global chi-square (χ2) test showed that the 3-SNP haplotype system was not associated with schizophrenia although the 1-df test for individual haplotypes showed that the rs1548359(C)-rs10314(G)-rs739371(C) haplotype was excessively non-transmitted (χ2 = 5.32, P = 0.02). Because the claudin proteins are a major component for barrier-forming tight junctions that could play a crucial role in response to changing natural, physiological and pathological conditions, the CLDN5 association with schizophrenia may be an important clue leading to look into a meeting point of genetic and environmental factors.

Cytomegalovirus (CMV) enters latency after primary infection and can reactivate periodically with virus excreted in body fluids which can be called shedding. CMV shedding during the early stage of pregnancy is associated with adverse pregnancy outcome. The shedding pattern in healthy seropositive women who plan to have babies has not been well characterised. Vaginal swabs, urine and blood were collected from 1262 CMV IgG-positive women who intended to have babies and tested for CMV DNA by fluorogenic quantitative PCR method. Serum IgM was also detected. The association between sociodemographic characteristics and CMV shedding prevalence was analysed. Among 1262 seropositive women, 12.8% (161/1262) were detected CMV DNA positive in at least one body fluid. CMV DNA was more frequently detected in vaginal secretion (10.5%) than in urine (3.2%) and blood (0.6%) also with higher viral loads (P < 0.00). CMV shedding was more likely detected in IgM-positive women than IgM-negative women (29.5% (13/44) vs. 12.2% (148/1218); OR 3.03, 95% CI 1.55–5.93; P = 0.001). CMV shedding in vaginal secretion was highly correlated with shedding in urine, the immune state of IgM, the adverse pregnant history and younger age. CMV shedding was more commonly detected in vaginal secretion than in urine or blood with higher viral loads among healthy seropositive women of reproductive age. Further studies are needed to figure out whether the shedding is occasional or continuous and whether it is associated with adverse pregnancy outcomes.

The goal of this study was to examine the relationship between three parenting styles (warmth, rejection, and overprotection), coping efficacy and risk-taking behavior in Chinese young adults. A total of 719 subjects completed three instruments: the Egna Minneu av Bardndosnauppforstran, the Coping Efficacy Questionnaire and the Adolescent Risk-Taking Questionnaire. Structural equation modeling results showed that maternal warmth (negatively) and rejection (positively), but not overprotection, correlated with risk-taking behavior via coping efficacy, whereas paternal rejection and overprotection (positively), but not warmth, correlated with risk-taking behavior via coping efficacy. These results suggest that parenting styles indirectly associate with risk-taking behavior through coping efficacy in young adults.

The topological structure of a parallel manipulator (PM) determines its intrinsic topological properties (TPs). The TPs further determine essential kinematic and dynamic properties of the mechanism. TPs can be expressed through topological characteristics indexes (TCI). Therefore, defining a set of TCIs is an important issue to evaluate the TPs of PMs. This article addresses the evaluation of topological properties (ETP) of PMs based on TCI. A general and effective ETP method for PMs is proposed. Firstly, 12 TCIs are proposed, including 8 quantitative TCIs, that is, position and orientation characteristics sets (POC), dimension of the POC set, degrees of freedom (DOF), number of independent displacement equations, types and number of an Assur kinematic chain (AKC), coupling degrees of the AKCs, degrees of redundancy and the number of overs; as well as 4 qualitative TCIs, that is, selection of actuated joints, identification of inactive joints, DOF type and Input–Output motion decoupling. Secondly, the ETP method is illustrated by evaluating some well-known PMs including the Delta, Tricept, Exechon, Z3, H4 and the Gough–Stewart platform manipulators, as well as 28 other typical PMs. Via the ETP analysis of these mechanisms also some valuable design knowledge is derived and guidelines for the design of PMs are established. Finally, a 5-DOF decoupled hybrid spraying robot is developed by applying the design knowledge and the design guidelines derived from the ETP analysis.

Signal-in-space (SIS) continuity and availability are important indicators of performance assessment for Global Navigation Satellite Systems (GNSSs). The BeiDou Navigation Satellite System (BDS) Open Service Performance Standard (BDS-OS-PS-1.0) has been released, and the corresponding public performance indicators have been provided, but the actual SIS performance is uncertain to users. SIS continuity and availability are primarily related to unscheduled outages (failures). Therefore, based on the existing failure classification system and actual operation modes, four types of failure modes are first analysed: long-term failure related to satellite service period, maintenance failure related to satellite manoeuvring, short-term failure associated with random repairable anomalies and equivalent failure corresponding to a combination of the above three types of failures. Second, based on the failure classification and selected precise and broadcast ephemerides from 2015–2016, the Mean Time Between Failure (MTBF) and Mean Time To Repair (MTTR) of each failure type are obtained using appropriate detection methods. Finally, using a corresponding assessment model, the SIS continuity and availability of BeiDou are calculated for individual and equivalent failure cases, and these are compared with the provided index in the BDS Open Service Performance Standard.

The present study examined Chinese speakers’ knowledge of English polysemous phrasal verbs (PVs) and factors that may constrain the development of PVs. The intermediate and advanced learners judged the acceptability of 100 senses of 50 PVs. Results indicate that both the intermediate and the advanced learners tended to favor the high-frequency senses (51.2%∼67.2%) of PVs but disfavor the low-frequency senses (32.9%∼46.3%) of PVs. PV frequency, semantic transparency, and time spent reading books and watching films/TV could predict the advanced learners’ mastery of the high-frequency senses, while PV frequency and preemption could predict their mastery of the low-frequency senses. Semantic transparency, PV frequency, and preemption could predict the intermediate learners’ knowledge of the high-frequency senses, while semantic transparency, frequency of high-frequency senses, and preemption could predict their acceptance of the low-frequency senses. No reliable relationship was detected among the learners’ PV knowledge, entrenchment, time spent in second language immersion, listening to music, and communicating with others for the two groups.

The molecular basis of resistance to tribenuron-methyl, an acetolactate synthase (ALS)–inhibiting herbicide was investigated in four resistant (R) and three susceptible (S) flixweed populations. The resistance level in the R populations was assessed in whole-plant pot experiments in a greenhouse, and resistance indices ranged from 723 to 1422. The ALS genes of the three S populations and four R populations were cloned and sequenced, and the full coding sequence of the ALS gene of flixweed was 2,004 bp. The sequences of the ALS genes of the three S populations collected from Shaanxi, Gansu, and Tianjin were identical. Comparison of the ALS gene sequences of the S and R populations with Arabidopsis revealed that proline at position 197 of the ALS gene was substituted by leucine in R population SSX-2, by alanine in R population SSX-3, and by serine in R populations TJ-2 and GS-2. In another study of two R flixweed populations from Hebei and Shaanxi, resistance was also related to mutation at position 197 of the ALS gene. Both studies confirmed tribenuron-methyl resistance in flixweed in China, with the resistance mechanism being conferred by specific ALS point mutations at amino acid position 197.

In this paper, a novel afterglow phosphor based on praseodymium ion doped Sr2Ta2O7 was synthesized successfully by solid-state reaction in the ambient atmosphere. The photoluminescence, afterglow, afterglow decay, and thermoluminescence (TL) properties were investigated in detail. The dependence of photoluminescence properties and long afterglow (LAG) performances on Pr3+ contents were investigated systematically. The optimal concentrations of Pr3+ ions for the best photoluminescence and LAG properties were experimentally to be 2 mol% and 0.5 mol%, respectively. Pr3+ exhibits prominent red emission in most reports, which derives from the 1D2 → 3H4 transition. However, the predominant blue emission locating at ∼489 and ∼507 nm coming from 3P0,1 → 3H4 transitions were observed in praseodymium ion-doped Sr2Ta2O7. Based on TL measurements, the trapping and de-trapping processes of charge carriers between shallower and deep traps were illustrated. A model was proposed on the basis of experimental results to explain the mechanisms of photoluminescence and LAG.