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.

Non-isothermal reactive transport in complicated porous media is diverse in nature and industrial applications. There are challenges in the modelling of multiple physicochemical processes in multiscale pore structures with various length scales ranging from nanometres to micrometres. This study focuses on coke combustion during in situ crude oil combustion techniques. A micro-continuum model was developed to perform an image-based simulation of coke combustion through a multiscale porous medium. The simulation coupled weakly compressible gas flow, species transport, conjugate heat transfer, heterogeneous coke oxidation kinetics and structural evolution. The unresolved nanoporous coke region was treated as a continuum, for which the random pore model, permeability model and species diffusivity model were integrated as sub-grid models to account for the sub-resolution reactive surface area, Darcy flow and Knudsen diffusion, respectively. A Pe–Da diagram was provided to present five characteristic combustion regimes covering the ignition temperature and air flux in realistic field operations and laboratory measurements. The present model proved to achieve more accurate predictions of the feasible ignition temperature than previous models. Compared with the air flux of $\phi \sim O\textrm{(1) s}{\textrm{m}^\textrm{3}}(\textrm{air})\;{({\textrm{m}^\textrm{2}}\ \textrm{h})^{ - 1}}$ in the field, the increasing air flux in the laboratory transformed the combustion regime from diffusion-limited to convection-limited, which led to an overpredicted burning temperature. Reactive fingering combustion was analysed to understand the potential risks in some experimental measurements. The findings provide a better understanding of coke combustion and can help engineers design sustainable combustion methods. The developed image-based model allows other types of multiscale and nonlinear reactive transport to be simulated.

Mars exploration motivates the search for extraterrestrial life, the development of space technologies, and the design of human missions and habitations. Here, we seek new insights and pose unresolved questions relating to the natural history of Mars, habitability, robotic and human exploration, planetary protection, and the impacts on human society. Key observations and findings include:

1. – high escape rates of early Mars' atmosphere, including loss of water, impact present-day habitability;

2. – putative fossils on Mars will likely be ambiguous biomarkers for life;

3. – microbial contamination resulting from human habitation is unavoidable; and

4. – based on Mars' current planetary protection category, robotic payload(s) should characterize the local martian environment for any life-forms prior to human habitation.

Some of the outstanding questions are:

1. – which interpretation of the hemispheric dichotomy of the planet is correct;

2. – to what degree did deep-penetrating faults transport subsurface liquids to Mars' surface;

3. – in what abundance are carbonates formed by atmospheric processes;

4. – what properties of martian meteorites could be used to constrain their source locations;

5. – the origin(s) of organic macromolecules;

6. – was/is Mars inhabited;

7. – how can missions designed to uncover microbial activity in the subsurface eliminate potential false positives caused by microbial contaminants from Earth;

8. – how can we ensure that humans and microbes form a stable and benign biosphere; and

9. – should humans relate to putative extraterrestrial life from a biocentric viewpoint (preservation of all biology), or anthropocentric viewpoint of expanding habitation of space?

Studies of Mars' evolution can shed light on the habitability of extrasolar planets. In addition, Mars exploration can drive future policy developments and confirm (or put into question) the feasibility and/or extent of human habitability of space.

Nutritional Risk Screening index is a standard tool to assess nutritional risk, but epidemiological data are scarce on controlling nutritional status (CONUT) as a prognostic marker in acute haemorrhagic stroke (AHS). We aimed to explore whether the CONUT may predict a 3-month functional outcome in AHS. In total, 349 Chinese patients with incident AHS were consecutively recruited, and their malnutrition risks were determined using a high CONUT score of ≥ 2. The cohort patients were divided into high-CONUT (≥ 2) and low-CONUT (< 2) groups, and primary outcomes were a poor functional prognosis defined as the modified Rankin Scale (mRS) score of ≥ 3 at post-discharge for 3 months. Odds ratios (OR) with 95 % confidence intervals (CI) for the poor functional prognosis at post-discharge were estimated by using a logistic analysis with additional adjustments for unbalanced variables between the high-CONUT and low-CONUT groups. A total of 328 patients (60·38 ± 12·83 years; 66·77 % male) completed the mRS assessment at post-discharge for 3 months, with 172 patients at malnutrition risk at admission and 104 patients with a poor prognosis. The levels of total cholesterol and total lymphocyte counts were significantly lower in high-CONUT patients than low-CONUT patients (P = 0·012 and < 0·001, respectively). At 3-month post discharge, there was a greater risk for the poor outcome in the high-CONUT compared with the low-CONUT patients at admission (OR: 2·32, 95 % CI: 1·28, 4·17). High-CONUT scores independently predict a 3-month poor prognosis in AHS, which helps to identify those who need additional nutritional managements.

The present study evaluated effects of dietary supplementation with tryptophan (Trp) on muscle growth, protein synthesis and antioxidant capacity in hybrid catfish Pelteobagrus vachelli♀ × Leiocassis longirostris♂. Fish were fed six different diets containing 2·6 (control), 3·1, 3·7, 4·2, 4·7 and 5·6 g Trp/kg diet for 56 d, respectively. Results showed that dietary Trp significantly (1) improved muscle protein content, fibre density and frequency of fibre diameter; (2) up-regulated the mRNA levels of PCNA, myf5, MyoD1, MyoG, MRF4, IGF-I, IGF-II, IGF-IR, PIK3Ca, TOR, 4EBP1 and S6K1; (3) increased phosphorylation levels of AKT, TOR and S6K1; (4) decreased contents of MDA and PC, and increased activities of CAT, GST, GR, ASA and AHR; (5) up-regulated mRNA levels of CuZnSOD, CAT, GST, GPx, GCLC and Nrf2, and decreased Keap1 mRNA level; (6) increased nuclear Nrf2 protein level and the intranuclear antioxidant response element-binding ability, and reduced Keap1 protein level. These results indicated that dietary Trp improved muscle growth, protein synthesis as well as antioxidant capacity, which might be partly related to myogenic regulatory factors, IGF/PIK3Ca/AKT/TOR and Keap1/Nrf2 signalling pathways. Finally, based on the quadratic regression analysis of muscle protein and MDA contents, the optimal Trp requirements of hybrid catfish (21·82–39·64 g) were estimated to be 3·94 and 3·93 g Trp/kg diet (9·57 and 9·54 g/kg of dietary protein), respectively.

The present study evaluated whether fat mass assessment using the triceps skinfold (TSF) thickness provides additional prognostic value to the Global Leadership Initiative on Malnutrition (GLIM) framework in patients with lung cancer (LC). We performed an observational cohort study including 2672 LC patients in China. Comprehensive demographic, disease and nutritional characteristics were collected. Malnutrition was retrospectively defined using the GLIM criteria, and optimal stratification was used to determine the best thresholds for the TSF. The associations of malnutrition and TSF categories with survival were estimated independently and jointly by calculating multivariable-adjusted hazard ratios (HR). Malnutrition was identified in 808 (30·2 %) patients, and the best TSF thresholds were 9·5 mm in men and 12 mm in women. Accordingly, 496 (18·6 %) patients were identified as having a low TSF. Patients with concurrent malnutrition and a low TSF had a 54 % (HR = 1·54, 95 % CI = 1·25, 1·88) greater death hazard compared with well-nourished individuals, which was also greater compared with malnourished patients with a normal TSF (HR = 1·23, 95 % CI = 1·06, 1·43) or malnourished patients without TSF assessment (HR = 1·31, 95 % CI = 1·14, 1·50). These associations were concentrated among those patients with adequate muscle mass (as indicated by the calf circumference). Additional fat mass assessment using the TSF enhances the prognostic value of the GLIM criteria. Using the population-derived thresholds for the TSF may provide significant prognostic value when used in combination with the GLIM criteria to guide strategies to optimise the long-term outcomes in patients with LC.

This study aimed to investigate the environmental contamination of nucleic acid at 2019 novel coronavirus (2019-nCOV) vaccination site and to evaluate the effect of improvement to the vaccination process. Nucleic acid samples were collected from the surface of the objects in 2019-nCOV vaccination point A (used between 15 November 2020 and 25 December 2020) and point B (used after 27 December 2020) in a comprehensive tertiary hospital. Samples were collected from point A before improvement to the vaccination process, and from point B (B1 and B2) after improvement to the vaccination process. The real-time fluorescence polymerase chain reaction method was used for detection. The positive rate of vaccination room was 47.06% (24/51) at point A. No positive result was found in point B1 both at working hours (0/27) and after terminal disinfection (0/27). In point B2, the positive results were found in vaccine's outer packaging and staff gloves at working hours, with a positive rate of 7.41% (2/27). The positive rate was 0 (0/27) after terminal disinfection in point B2. The nucleic acid contamination in the vaccination room of 2019-nCOV vaccine nucleic acid sampling point is serious, which can be avoided through the improvement and intervention (such as personal protection, vaccination operation and disinfection methods).

Previous studies have yielded mixed findings regarding the effect of familiar and novel L2 graphemes on learners’ phonological encoding. The current study investigated this topic by comparing the effect of Pinyin and Chinese characters on English speakers’ Mandarin word learning. Different from previous research, this study examined both segmental and tonal encoding and compared participants from different Mandarin proficiency levels. Seventeen Advanced learners, 29 Intermediate learners, and 21 Naïve English speakers participated in a word-learning experiment in which half of the participants were exposed to the Pinyin spelling of the target words while the other half to characters. After the learning phase, they did a meaning – auditory stimulus matching task. Half of the stimuli were complete matches, while in the other half the stimulus mismatched the target either in segments or tones. The results revealed that at the Advanced level, the Character group was more accurate than the Pinyin group in rejecting tonal mismatches to the target words, while the opposite tendency was observed at the Naïve level. This study suggests that novel graphemes facilitate advanced L2 learners’ tonal encoding more than familiar graphemes, which is probably due to the unique nature of Chinese characters.

Food insecurity has been shown to be associated with fast-food consumption. However, to date, studies on this specific topic are scarce. Therefore, the aim of the present study was to investigate the association between food insecurity and fast-food consumption in adolescents aged 12–15 years from sixty-eight countries (seven low-income, twenty-seven lower middle-income, twenty upper middle-income, fourteen high-income countries). Cross-sectional, school-based data from the Global School-based Student Health Survey were analysed. Data on past 30-d food insecurity (hunger) and fast-food consumption in the past 7 d were collected. Multivariable logistic regression and meta-analysis were conducted to assess associations. Models were adjusted for age, sex and BMI. There were 180 164 adolescents aged 12–15 years (mean age 13·8 (sd 1·0) years; 50·8 % boys) included in the analysis. Overall, severe food insecurity (i.e. hungry because there was not enough food in home most of the time or always) was associated with 1·17 (95 % CI 1·08, 1·26) times higher odds for fast-food consumption. The estimates pooled by country-income levels were significant in low-income countries (adjusted OR (aOR) = 1·30; 95 % CI 1·05, 1·60), lower middle-income countries (aOR = 1·15; 95 % CI 1·02, 1·29) and upper middle-income countries (aOR = 1·26; 95 % CI 1·07, 1·49), but not in high-income countries (aOR = 1·04; 95 % CI 0·88, 1·23). The mere co-occurrence of food insecurity and fast-food consumption is of public health importance. To tackle this issue, a strong governmental and societal approach is required to utilise effective methods as demonstrated in some high-income countries such as the implementation of food banks and the adoption of free school meals.

Echinococcus granulosus sensu lato has complex defence mechanisms that protect it from the anti-parasitic immune response for long periods. Echinococcus granulosus cyst fluid (EgCF) is involved in the immune escape. Nevertheless, whether and how EgCF modulates the inflammatory response in macrophages remains poorly understood. Here, real-time polymerase chain reaction and enzyme-linked immunosorbent assay revealed that EgCF could markedly attenuate the lipopolysaccharide (LPS)-induced production of pro-inflammatory factors including tumour necrosis factor-α, interleukin (IL)-12 and IL-6 but increase the expression of IL-10 at mRNA and protein levels in mouse peritoneal macrophages and RAW 264.7 cells. Mechanically, western blotting and immunofluorescence assay showed that EgCF abolished the activation of nuclear factor (NF)-κB p65, p38 mitogen-activated protein kinase (MAPK) and ERK1/2 signalling pathways by LPS stimulation in mouse macrophages. EgCF's anti-inflammatory role was at least partly contributed by promoting proteasomal degradation of the critical adaptor TRAF6. Moreover, the EgCF-promoted anti-inflammatory response and TRAF6 proteasomal degradation were conserved in human THP-1 macrophages. These findings collectively reveal a novel mechanism by which EgCF suppresses inflammatory responses by inhibiting TRAF6 and the downstream activation of NF-κB and MAPK signalling in both human and mouse macrophages, providing new insights into the molecular mechanisms underlying the E. granulosus-induced immune evasion.

Fish schools and bird flocks, which involve a variety of orderly formations, have fascinated people for a long time. The collective performance of two flapping foils in parallel, which can self-propel in both lateral and longitudinal directions, is numerically studied through two-dimensional simulations in this paper. For the first time it is numerically confirmed that two flapping swimmers can simultaneously converge to equilibrium distances in both lateral and longitudinal directions. Two types of stable formations have been observed and which type occurs depends on the phase difference between two foils. The staggered formation appears in the in-phase scenario, and the side-by-side formation occurs in the anti-phase scenario. Moreover, both types of the stable formations strongly depend on the flapping frequency and amplitude, but are independent of the perturbation of the initial distance between the two foils when the perturbation is small. In addition, considerable velocity enhancement can be achieved by two foils in all of the stable formations, as compared with that of a single foil. Moreover, the velocity of the two-foil system can be couched as a specific scaling law, which is determined by the type of the stable formations. Finally, the mechanism behind the stable formations has been analysed. The results obtained here may shed some light on the understanding of collective behaviour of fish schools and bird flocks.

As essential specifications of correlation domain for signal quality evaluation, distortions of the S-curve, including bias and slope distortions of the zero-crossing point, are usually selected as indicators of optimisation in the process of designing the channels of receivers or navigation satellites. Focusing on this issue, we present a detailed analysis of slope distortion in the presence of group delay and amplitude distortions. After validating the theoretical results, we present further discussions about the impacts of different group delay terms on slope distortions. The results indicate that both the odd-order and the even-order terms have impacts on the slope distortion, and higher odd-order terms have less slope distortion compared with the lower odd-order terms. These results are useful for evaluating the slope distortion from the group delay and guiding improvement in design of the channel.

We carry out direct numerical simulations of turbulent Rayleigh–Bénard convection in a square box with rough conducting plates over the Rayleigh number range $10^7\leqslant Ra\leqslant 10^9$ and the Prandtl number range $0.01\leqslant Pr\leqslant 100$. In Zhang et al. (J. Fluid Mech., vol. 836, 2018, R2), it was reported that while the measured Nusselt number $Nu$ is enhanced at large roughness height $h$, the global heat transport is reduced at small $h$. The division between the two regimes yields a critical roughness height $h_c$, and we now focus on the effects of the Prandtl number ($Pr$) on $h_c$. Based on the variations of $h_c$, we identify three regimes for $h_c(Pr)$. For low $Pr$, thermal boundary layers become thinner with increasing $Pr$. This makes the boundary layers easier to be disrupted by rough elements, leading to the decrease of $h_c$ with increasing $Pr$. For moderate $Pr$, the corner-flow rolls become much more pronounced and suppress the global heat transport via the competition between the corner-flow rolls and the large-scale circulation (LSC). As a consequence, $h_c$ increases with increasing $Pr$ due to the intensification of the corner–LSC competition. For high $Pr$, the convective flow transitions to the plume-controlled regime. As the rough elements trigger much stronger and more frequent plume emissions, $h_c$ again decreases with increasing $Pr$.

High fibre intake is associated with reduced mortality risk in both general and chronic kidney disease populations. However, in dialysis patients, such data are limited. Therefore, the association between dietary fibre intake (DFI) and the risk of all-cause and CVD mortality was examined in this study. A total of 1044 maintenance haemodialysis (MHD) patients from eight outpatient dialysis centres in China were included in this study. Data on DFI were collected using 24-h dietary recalls for 3 d in a week and were normalised to actual dry weight. The study outcomes included all-cause and CVD mortality. Over a median of 46 months of follow-up, 354 deaths were recorded, of which 210 (59 %) were due to CVD. On assessing DFI as tertiles, the CVD mortality risk was significantly lower in patients in tertiles 2–3 (≥0·13 g/kg per d; hazard ratio (HR) 0·71; 95 % CI 0·51, 0·97) compared with those in tertile 1 (<0·13 g/kg per d). A similar but non-significant trend was found for the association between DFI (tertiles 2–3 v. tertile 1; HR 0·83; 95 % CI 0·64, 1·07) and all-cause mortality. In summary, higher DFI was associated with lower CVD mortality risk among Chinese MHD patients. This study emphasises the significance of DFI in MHD patients and provides information that is critical for the improvement of dietary guidelines for dialysis patients.