Oxide inclusions such as gray spots are the main defects caused by rail flash butt welding (FBW). An appropriate temperature field and upsetting process are essential for the extrusion of joint impurities. This study constructed a thermomechanical coupling model for the solid-state upsetting process of rail FBW through a combination of finite element simulation and experiment. Subsequently, the effects of different temperature fields and upsetting parameters on the extrusion behavior of impurities were studied. The results show that when the lateral deformation of the joint is not considered, selecting the appropriate upsetting length and increasing the width of the high-temperature plastic zone are beneficial for the extrusion of harmful impurities. Moreover, using variable speed upsetting or increasing the speed of the early upsetting facilitates the extrusion of impurities. However, the impurities in the deeper areas of the rail are difficult to move, and they easily form gray spot defects if the oxide inclusions remain.

The production of abstract engravings is considered an indicator of modern human cognition and a means for the long-term recording and transmission of information. This article reports the discovery of two engraved bones from the Lingjing site in Henan Province, China, dated to 105–125 kya. The carefully engraved nature of the incisions, made on weathered rib fragments, precludes the possibility of unintentional or utilitarian origins. Residue analysis demonstrates the presence of ochre within the incised lines on one specimen. This research provides the first evidence for the deliberate use of ochred engravings for symbolic purposes by East Asian Late Pleistocene hominins.

Although topographic mapping missions and geological surveys carried out by Autonomous Underwater Vehicles (AUVs) are becoming increasingly prevalent, the lack of precise navigation in these scenarios still limits their application. This paper deals with the problems of long-term underwater navigation for AUVs and provides new mapping techniques by developing a Bathymetric Simultaneous Localisation And Mapping (BSLAM) method based on graph SLAM technology. To considerably reduce the calculation cost, the trajectory of the AUV is divided into various submaps based on Differences of Normals (DoN). Loop closures between submaps are obtained by terrain matching; meanwhile, maximum likelihood terrain estimation is also introduced to build weak data association within the submap. Assisted by one weight voting method for loop closures, the global and local trajectory corrections work together to provide an accurate navigation solution for AUVs with weak data association and inaccurate loop closures. The viability, accuracy and real-time performance of the proposed algorithm are verified with data collected onboard, including an 8 km planned track recorded at a speed of 4 knots in Qingdao, China.

This paper introduces a scheme for waypoint-based path-following control for an Unmanned Robot Sailboat (URS) in the presence of actuator gain uncertainty and unknown environment disturbances. The proposed scheme has two components: intelligent guidance and an adaptive neural controller. Considering upwind and downwind navigation, an improved version of the integral Line-Of-Sight (LOS) guidance principle is developed to generate the appropriate heading reference for a URS. Associated with the integral LOS guidance law, a robust adaptive algorithm is proposed for a URS using Radial Basic Function Neural Networks (RBF-NNs) and a robust neural damping technique. In order to achieve a robust neural damping technique, one single adaptive parameter must be updated online to stabilise the effect of the gain uncertainty and the external disturbance. To ensure Semi-Global Uniform Ultimate Bounded (SGUUB) stability, the Lyapunov theory has been employed. Two simulated experiments have been conducted to illustrate that the control effects can achieve a satisfactory performance.

The order Onchoproteocephalidea (Eucestoda) was recently erected to accommodate the hook-bearing tetraphyllideans and the proteocephalideans, which are characterized by internal proglottization and a tetra-acetabulate scolex. The recognized subfamilies in the Proteocephalidae appeared to be non-monophyletic based on 28S recombinant DNA (rDNA) sequence data. Other molecular markers with higher phylogenetic resolution, such as large mitochondrial DNA fragments and multiple genes, are obviously needed. Thus the mitochondrial genome of Gangesia oligonchis, belonging to the putative earliest diverging group of the Proteocephalidae, was sequenced. The circular mitogenome of G. oligonchis was 13,958 bp in size, and contained the standard 36 genes: 22 transfer RNA genes, two rRNA genes and 12 protein-coding genes, as well as two major non-coding regions. A short NCR and a large NCR (lNCR) region were 216 bp and 419 bp in size, respectively. Highly repetitive regions in the lNCR region were detected with that of 11 repeat units. The mitogenome of G. oligonchis shared 71.1% nucleotide identity with Testudotaenia sp. WL-2016. Phylogenetic analyses of the complete mitochondrial genomes with Bayesian inference and maximum likelihood methods indicated that G. oligonchis formed a sister clade with Testudotaenia sp. WL-2016 with maximum support. The ordinal topology is (Caryophyllidea, (Diphyllobothriidea, (Bothriocephalidea, (Onchoproteocephalidea, Cyclophyllidea)))). The mitogenomic gene arrangement of G. oligonchis was identical to that of Testudotaenia sp. WL-2016. Both mitogenomic and nuclear sequence data for many more taxa are required to effectively explore the inter-relationships among the Onchoproteocephalidea.

The Longmu Co–Shuanghu suture zone, which divides the Qiangtang terrane into the northern and southern Qiangtang blocks, is regarded as a key locality in reconstructing the evolutionary history of the Palaeo-Tethys Ocean and the break-up of Gondwana. However, although low-temperature – high-pressure metamorphic rocks and ophiolites have been documented within the Longmu Co–Shuanghu suture zone, it remains unclear whether it is an in situ suture zone and represents the relic of the main Palaeo-Tethys Ocean. The uncertainty stems mainly from the limited systematic studies of the provenance, palaeontological evidence and depositional settings of strata on either side of the Longmu Co–Shuanghu suture zone (i.e. northern and southern Qiangtang blocks). Here we report new detrital zircon U–Pb ages and palaeontological data from Lower Carboniferous strata (Riwanchaka Formation) of the northern Qiangtang block, central Tibet. The Riwanchaka Formation contains warm-climate biota with Cathaysian affinities. Provenance analysis reveals that the formation has detrital zircon spectra similar to those from strata of the Yangtze Plate, and it contains a large proportion of zircons with ages (~360 Ma) similar to the timing of synsedimentary magmatic arc activity, implying an active continental margin setting associated with northward subduction of the Palaeo-Tethyan oceanic lithosphere. Conversely, the Carboniferous–Permian strata from the southern Qiangtang block contain cool-water faunas of Gondwanan affinity and exhibit minimum zircon crystallization ages that are markedly older than their depositional ages, suggesting a passive continental margin setting. The differences in provenance, palaeontological assemblages and depositional settings of the Carboniferous to Permian strata either side of the Longmu Co–Shuanghu suture zone indicate the existence of an ancient ocean between the northern and southern Qiangtang blocks. Combining the new findings with previous studies on high-pressure metamorphic rocks, arc magmatism and ophiolites, we support the interpretation that the Longmu Co–Shuanghu suture zone is an in situ suture zone that represents the main suture of the Palaeo-Tethys Ocean.

In order to make the end of the three-axis platform follow the control command and achieve stable control of the end attitude, an improved orientation vector spherical linear interpolation (SLERP) method is proposed for the requirements, which specifically handles the position of the gimbal lock, so that the platform can move smoothly around the gimbal lock position. A three-axis platform with a camera at the end is set up for the validity of the proposed algorithm. At first, an adaptive speed measurement method based on incremental encoder is introduced, which can automatically adapt to high and low speed, and estimate the ultra-low speed to realize the speed measurement of large dynamic range, and this is used for the motion control of the three-axis platform. Then, the SLERP method for the quaternion interpolation on the starting and ending attitudes represented in quaternion is introduced in detail, and it is continuously improved in response to its existing problems for the platform. Finally, an orientation vector SLERP method is proposed, which uses viscosity factor and rejection factor to adjust the algorithm near the platform’s gimbal lock position. A tracking experiment was designed using the red ball as the following target detected by the designed target tracking algorithm using the camera, which verified the effectiveness of the attitude tracking control based on the proposed improved orientation vector SLERP.

Laser interaction with an ultra-thin pre-structured target is investigated with the help of both two-dimensional and three-dimensional particle-in-cell simulations. With the existence of a periodic structure on the target surface, the laser seems to penetrate through the target at its fundamental frequency even if the plasma density of the target is much higher than the laser’s relativistically critical density. The particle-in-cell simulations show that the transmitted laser energy behind the pre-structured target is increased by about two orders of magnitude compared to that behind the flat target. Theoretical analyses show that the transmitted energy behind the pre-structured target is actually re-emitted by electron ‘islands’ formed by the surface plasma waves on the target surfaces. In other words, the radiation with the fundamental frequency is actually ‘surface emission’ on the target rear surface. Besides the intensity of the component with the fundamental frequency, the intensity of the high-order harmonics behind the pre-structured target is also much enhanced compared to that behind the flat target. The enhancement of the high-order harmonics is also related to the surface plasma waves generated on the target surfaces.

We assessed inheritance of resistance to sugarcane brown rust (Puccinia melanocephala) in selfing F1 populations of wild sugarcane germplasm Erianthus rockii ‘Yundian 95-19’ and E. rockii ‘Yundian 95-20’. We tested parent and selfing F1 individuals for the brown rust resistance gene, Bru1, that has been shown to confer resistance to brown rust in sugarcane. The Bru1 gene was not detected in E. rockii ‘Yundian 95-19’, E. rockii ‘Yundian 95-20’ or their selfing F1 individuals, and we found there was segregation of resistance in the two selfing F1 populations (segregation ratio: 3:1). The results confirmed resistance in E. rockii ‘Yundian 95-19’ and E. rockii ‘Yundian 95-20’ to sugarcane brown rust is controlled by a novel, single dominant gene.

The determination of low boron concentrations in silicate glasses by electron probe microanalysis (EPMA) remains a significant challenge. The internal interferences from the diffraction crystal, i.e. the Mo-B4C large d-spacing layered synthetic microstructure crystal, can be thoroughly diminished by using an optimized differential mode of pulse height analysis (PHA). Although potential high-order spectral interferences from Ca, Fe, and Mn on the BKα peak can be significantly reduced by using an optimized differential mode of PHA, a quantitative calibration of the interferences is required to obtain accurate boron concentrations in silicate glasses that contain these elements. Furthermore, the first-order spectral interference from ClL-lines is so strong that they hinder reliable EPMA of boron concentrations in Cl-bearing silicate glasses. Our tests also indicate that, due to the strongly curved background shape on the high-energy side of BKα, an exponential regression is better than linear regression for estimating the on-peak background intensity based on measured off-peak background intensities. We propose that an optimal analytical setting for low boron concentrations in silicate glasses (≥0.2 wt% B2O3) would best involve a proper boron-rich glass standard, a low accelerating voltage, a high beam current, a large beam size, and a differential mode of PHA.

In order to reveal the quantitative relationship between fatigue crack deflection path and cross-sectional grain boundary (GB) arrangement of metallic nanolayered composites (NLCs), a stochastic model was established based on the interface-dominant fatigue damage for the ultrafine-scale NLCs. The model indicates that the crack deflection length decreases with decreasing GB arrangement deviation and grain size of constituent layers. The observation and quantitative analysis of fatigue cracking behavior of the Cu/W multilayers with a layer thickness of 5 and 20 nm was conducted to verify the model.

Annexin A2 (ANXA2) is reported to be associated with cancer development. To investigate the roles ANXA2 plays during the development of cancer, the RNAi method was used to inhibit the ANXA2 expression in caco2 (human colorectal cancer cell line) and SMMC7721 (human hepatocarcinoma cell line) cells. The results showed that when the expression of ANXA2 was efficiently inhibited, the growth and motility of both cell lines were significantly decreased, and the development of the motility relevant microstructures, such as pseudopodia, filopodia, and the polymerization of microfilaments and microtubules were obviously inhibited. The cancer cell apoptosis was enhanced without obvious significance. The possible regulating pathway in the process was also predicted and discussed. Our results suggested that ANXA2 plays important roles in maintaining the malignancy of colorectal and hepatic cancer by enhancing the cell proliferation, motility, and development of the motility associated microstructures of cancer cells based on a possible complicated signal pathway.

Predicting mental workload of pilots can provide cockpit designers with useful information to reduce the possibility of pilot error and cost of training, improve the safety and performance of systems, and increase operator satisfaction. We present a theoretical model of mental workload, using information theory, based on review investigations of how effectively task complexity, visual performance, and pilot experience predict mental workload. The validity of the model was confirmed based on data collected from pilot taxiing experiments. Experiments were performed on taxiing tasks in four different scenarios. Results showed that predicted values from the proposed mental workload model were highly correlated to actual mental workload ratings from the experiments. The findings indicate that the proposed mental workload model appears to be effective in the prediction of pilots’ mental workload over time.

To compare the epidemiologic features (e.g. settings and transmission mode) and patient clinical characteristics associated with outbreaks of different norovirus (Nov) strains, we retrospectively analysed data of Nov outbreaks occurring in Guangzhou, China from 2012 to 2018. The results suggested that outbreaks of Nov GII.2, GII.17 and GII.4 Sydney exhibited different outbreak settings, transmission modes and symptoms. GII.2 outbreaks mainly occurred in kindergartens, elementary and high schools and were transmitted mainly through person-to-person contact. By contrast, GII.4 Sydney outbreaks frequently occurred in colleges and were primarily associated with foodborne transmission. Cases from GII.2 and GII.17 outbreaks reported vomiting more frequently than those from outbreaks associated with GII.4 Sydney.