Nonlinear articular geometries of biological joints have contributed to highly agile and adaptable human-body motions. However, human–machine interaction could potentially distort natural human motions if the artificial mechanisms overload the articular surfaces and constrain biological joint kinematics. It is desired to better understand the deformable articular geometries of biological joints in vivo during movements for design and control of wearable robotics. An articular geometry reconstruction method is proposed to measure the effective articular profile with a wearable compliant device and illustrated with its application to knee-joint kinematic analysis. Regarding the joint articulation as boundary constraints for the compliant mechanism, the equivalent articular geometry is constructed from the beam deformations driven by knee motions, where the continuous deformations are estimated with strain data from the embedded sensors. Both simulated analysis and experimental validation are presented to justify the proposed method.

Residual strain often occurs in metal when it was subjected to the tension load, random vibration, or high impact. The mild steel was selected as the research object, and the feasibility of using nonlinear ultrasonic technique to characterize the residual strain was investigated in this paper. First, the mild steel specimens were stretched to several different kinds of stress, then the nonlinear effect as well as the microstrain of each sample was measured. The results indicate that the microstrain increases with increasing applied stress and reaches a maximum value of about 0.036% as the tensile stress increases to the elastic limit. Compared with the original specimen, the nonlinear parameter of tensile specimen gradually increased within the elastic limit. This result reveals that the variation of nonlinear parameter was related to microstrain in mild steel, because the microstructure observation demonstrated that the dislocation structure was basically unchanged within the elastic limit. This research indicates that the nonlinear ultrasonic method has the promising potential to characterize the microstrain in metals.

Background: The Montreal Cognitive Assessment (MoCA) is a cognitive screening tool known to accurately measure mild cognitive impairment (MCI) in many different neurological populations. Objective: We aimed to determine whether a sport-related concussion (SRC) history and other concussion modifiers influence global cognitive function in high-performance athletes. Methods: A cross-sectional study of 326 varsity and national team athletes aged 18–36 years was completed at the University of Calgary Sports Medicine Clinic, Calgary, Alberta, Canada. Logistic regression analysis was used to examine the association between the total MoCA score, MoCA subscales, and number of previous SRC, adjusting for age, sex, sport participation (SP), and concussion modifiers. Results: Athletes with a history of three or more SRC were 5.36 times more likely to score less than 26/30 on the MoCA (the cutoff for MCI) compared to athletes with two or less SRC (p = 0.02). Males were 2.23 times more likely to have MCI than females (p = 0.0004). There was a significant relationship between the number of previous concussions and the MoCA subscales of attention (p = 0.05) and abstraction (p = 0.003). Age, SP, and concussion modifiers (migraine, depression, anxiety, and attention deficit and hyperactivity disorder) did not influence the relationship between MoCA and previous concussion history. Conclusion: In the appropriate clinical context, cognitive screening with the MoCA may benefit clinical care in athletes with multiple previous SRC, but should not replace a full neuropsychological assessment. Thus, further research is needed to compare the MoCA to full neuropsychological assessments in this population.

The average power of diode-pumped fiber lasers has been developed deeply into the kW regime in the past years. However, stimulated Raman scattering (SRS) is still a major factor limiting the further power scaling. Here, we have demonstrated the mitigation of SRS in kilowatt-level diode-pumped fiber amplifiers using a chirped and tilted fiber Bragg grating (CTFBG) for the first time. The CTFBG is designed and inscribed in large-mode-area (LMA) fibers, matching with the operating wavelength of the fiber amplifier. With the CTFBG inserted between the seed laser and the amplifier stage, an SRS suppression ratio of ${\sim}10~\text{dB}$ is achieved in spectrum at the maximum output laser power of 2.35 kW, and there is no reduction in laser slope efficiency and degradation in beam quality. This work proves the feasibility and practicability of CTFBGs for SRS suppression in high-power fiber lasers, which is very useful for the further power scaling.

In this paper, we propose a bioinspired path planning algorithm for finding a high-quality initial solution based on the pipeline of the Rapidly exploring Random Tree (RRT) method by modifying the sampling process. The modification mainly includes controlling the sampling space and using the probabilistic sampling with the two-dimensional Gaussian mixture model. Inspired by the tropism of plants, we use a Gaussian mixture model to imitate the tree’s growth in nature. In a 2D environment, we can get an approximate moving point’s probabilistic distribution, and the initial path can be found much quickly guided by the probabilistic heuristic. At the same time, only a small number of nodes are generated, which can reduce the memory usage. As a meta-algorithm, it can be applicable to other RRT methods and the performance of underlying algorithm is improved dramatically. We also prove that the probabilistic completeness and the asymptotic optimality depend on the original algorithm (other RRTs). We demonstrate the application of our algorithm in different simulated 2D environments. On these scenarios, our algorithm outperforms the RRT and the RRT* methods on finding the initial solution. When embedded into post-processing algorithms like the Informed RRT*, it also promotes the convergence speed and saves the memory usage.

Fe therapy can be effective in heart failure patients both with and without anaemia. However, the role of Fe therapy in such patients is still uncertain. In this review, the aim was to evaluate the efficacy and safety of Fe therapy in adult patients with heart failure who have reduced ejection fraction (HFrEF). Multiple databases (PubMed, Medline, EMBASE, the Cochrane Library and Clinical Trials) were searched up to December 2017 and the reference lists of relevant articles obtained from the search were reviewed. Data extracted from randomised control trials (RCT) selected for the review were pooled using a fixed effects model or a random effects model, according to heterogeneity between trials. Nine RCT were included in this meta-analysis which included a total of 789 patients who received Fe therapy and who in turn were compared with 585 controls. There was significant improvement in the 6-min walk test (19·05 m, 95 % CI 10·48, 27·62) and peak VO2/kg (0·93 ml/kg per min, 95 % CI 0·16, 1·69) in the Fe supplementation arm. With Fe therapy, fewer patients were hospitalised for heart failure (OR: 0·42, 95 % CI 0·27, 0·65), but no relationship was found for total re-hospitalisation (OR: 0·70, 95 % CI 0·32, 1·51) or mortality (OR: 0·70, 95 % CI 0·38, 1·28). Fe therapy has the potential to improve exercise tolerance, reduce re-hospitalisations for patients with HFrEF having Fe deficiency. In addition, Fe supplementation was found to be safe, with no increased rate of adverse events.

Connected and Autonomous Vehicles (CAVs) have been researched extensively for solving traffic issues and for realising the concept of an intelligent transport system. A well-developed positioning system is critical for CAVs to achieve these aims. The system should provide high accuracy, mobility, continuity, flexibility and scalability. However, high-performance equipment is too expensive for the commercial use of CAVs; therefore, the use of a low-cost Global Navigation Satellite System (GNSS) receiver to achieve real-time, high-accuracy and ubiquitous positioning performance will be a future trend. This research used RTKLIB software to develop a low-cost GNSS receiver positioning system and assessed the developed positioning system according to the requirements of CAV applications. Kinematic tests were conducted to evaluate the positioning performance of the low-cost receiver in a CAV driving environment based on the accuracy requirements of CAVs. The results showed that the low-cost receiver satisfied the “Where in Lane” accuracy level (0·5 m) and achieved a similar positioning performance in rural, interurban, urban and motorway areas.

Solid-state electrolytes can offer improved lithium-ion battery safety while potentially increasing the energy density by enabling alkali metal anodes. There have been significant research efforts to improve the ionic conductivity of solid-state electrolytes and the electrochemical performance of all-solid-state batteries; however, the root causes of their poor performance—interfacial reaction and subsequent impedance growth—are poorly understood. This is due to the dearth of effective characterization techniques for probing these buried interfaces. In situ and operando methodologies are currently under development for solid-state interfaces, and they offer the potential to describe the dynamic interfacial processes that serve as performance bottlenecks. This article highlights state-of-the-art solid–solid interface probing methodologies, describes practical limitations, and describes a future for dynamic interfacial characterization.

We present the stability analysis of a plane Couette flow which is stably stratified in the vertical direction orthogonal to the horizontal shear. Interest in such a flow comes from geophysical and astrophysical applications where background shear and vertical stable stratification commonly coexist. We perform the linear stability analysis of the flow in a domain which is periodic in the streamwise and vertical directions and confined in the cross-stream direction. The stability diagram is constructed as a function of the Reynolds number $Re$ and the Froude number $Fr$ , which compares the importance of shear and stratification. We find that the flow becomes unstable when shear and stratification are of the same order (i.e.  $Fr\sim 1$ ) and above a moderate value of the Reynolds number $Re\gtrsim 700$ . The instability results from a wave resonance mechanism already known in the context of channel flows – for instance, unstratified plane Couette flow in the shallow-water approximation. The result is confirmed by fully nonlinear direct numerical simulations and, to the best of our knowledge, constitutes the first evidence of linear instability in a vertically stratified plane Couette flow. We also report the study of a laboratory flow generated by a transparent belt entrained by two vertical cylinders and immersed in a tank filled with salty water, linearly stratified in density. We observe the emergence of a robust spatio-temporal pattern close to the threshold values of $Fr$ and $Re$ indicated by linear analysis, and explore the accessible part of the stability diagram. With the support of numerical simulations we conclude that the observed pattern is a signature of the same instability predicted by the linear theory, although slightly modified due to streamwise confinement.

In the field of modernised Global Navigation Satellite System (GNSS) signal design, several Dual-frequency Constant Envelope Multiplexing (DCEM) methods have been recently proposed. However, the existing DCEM methods, such as Alternative Binary Offset Carrier (AltBOC), generalised AltBOC and Asymmetric Constant Envelope Binary Offset Carrier (ACE-BOC), are only applied in some special cases. In this paper, we present a unified DCEM design framework for GNSS signals. The existing DCEM methods can be unified in this framework. First, the signal components at two carrier frequencies are combined into two single-frequency constant envelope signals. Then, the linear sum of dual-frequency signals with non-constant envelopes is obtained. Finally, the linear sum is converted into the corresponding DCEM signal by solving an optimisation problem. The proposed design framework has no strict constraints on the number, power ratio and phase relationship of the signal components. Moreover, some special design cases under this framework are also analysed in detail. The analytical results show that the proposed design method can reach higher multiplexing efficiency compared with the existing methods. Based on the proposed method, we suggest a scheme to multiplex the BeiDou regional signals and global signals at the B2 frequency. The simulation results of correlation functions and Power Spectrum Density (PSD) verify the correctness and effectiveness of the proposed design method.

Two phases of diabase-sill-forming magmatism are recorded within the Badu anticline where magmas were emplaced into upper Palaeozoic carbonates and clastic rocks of the Youjiang fold-and-thrust belt in the SW South China Block, China. Zircons from these diabase units yield weighted mean U–Pb ages of 249.2±2.0 Ma and 187.1±3.3 Ma, and magmatic oxygen fugacity values from ‒20 to ‒6 (average of ‒12, equating to FMQ +5) and ‒20 to ‒10 (average of ‒15, equating to FMQ +2), respectively. These data indicate that the sills were emplaced during Early Triassic and Early Jurassic times. The discovery of c. 250 Ma mafic magmatism in this area was probably related to post-flood-basalt extension associated with the Emeishan mantle plume or rollback of the subducting Palaeo-Tethys slab. The c. 190 Ma diabase sills indicate that the southwestern South China Block records Early Jurassic mafic magmatism and lithospheric extension that was likely associated with a transition from post-collisional to within-plate tectonic regimes. The emplacement of diabase intrusions at depth may have driven hydrothermal systems, enabling the mobilization of elements from sedimentary rocks and causing the formation of a giant epigenetic metallogenic domain. The results indicate that high-oxygen-fugacity materials within basement rocks caused crustal contamination of the magmas, contributing to the wide range of oxygen fugacity conditions recorded by the Au-bearing Badu diabase. In addition, data from inherited xenocrystic zircons within the Badu diabase and detrital zircons from basement rocks suggest that the Neoproterozoic Jiangshao suture extends to the south of the Badu anticline.

Carbon nanotubes (CNTs) and silicon carbide nanoparticle (nano-SiCp)-reinforced magnesium (Mg) matrix hybrid composites were prepared through a three-step melt spinning process (ball milling, mechanical stirring, and ultrasonic vibration processing). The hybrid nanoreinforcements showed high strengthening efficiency by which the yield and tensile strength of the hybrid composites experienced 46.7 and 15.2% increment, respectively, compared with the matrix alloy. Obviously, the mixed ball-milling process of SiC nanoparticles and CNTs promoted the dispersion of each other, and both the uniformly distributed SiC nanoparticles and CNTs contributed to the enhanced mechanical performance of the hybrid composites. Besides, the addition of the hybrid nanoreinforcements induced the precipitation of nanosized rod-like MgZn2 phases in the as-extruded composites which also made a contribution to the enhanced performance of the composites. Investigations on the strengthening mechanisms of the hybrid composites show that it originates from grain refinement, load transfer, precipitation enhancement, and Orowan reinforcing. More importantly, the contribution made by each part was analyzed in detail.

A bidirectional transformation is a pair of mappings between source and view data objects, one in each direction. When the view is modified, the source is updated accordingly with respect to some laws. One way to reduce the development and maintenance effort of bidirectional transformations is to have specialized languages in which the resulting programs are bidirectional by construction—giving rise to the paradigm of bidirectional programming. In this paper, we develop a framework for applicative-style and higher-order bidirectional programming, in which we can write bidirectional transformations as unidirectional programs in standard functional languages, opening up access to the bundle of language features previously only available to conventional unidirectional languages. Our framework essentially bridges two very different approaches of bidirectional programming, namely the lens framework and Voigtländer's semantic bidirectionalization, creating a new programming style that is able to obtain benefits from both.

An interplanetary autonomous navigation network, named the Internet of Spacecraft (IoS), is proposed in this paper to enable a Solar System-wide autonomous navigation capability for spacecraft. This network consists of two types of spacecraft, namely host and client spacecraft. The former provide the absolute reference for the whole network, and the latter determine their positions by communicating with the host spacecraft or other client spacecraft. To investigate the performance of IoS, a detailed application scheme that supports a flight from Earth to Mars is developed and analysed. IoS is not a simple extension of the navigation constellation. It is independent of the ground tracking system and the configuration of the network is flexible in that any spacecraft-installed identical device can be added to it. Moreover, client spacecraft whose positions have been determined can also be regarded as host spacecraft and provide further navigation information to others. This paper aims to provide technical support for future deep space exploration.

Previous studies have indicated that some food items and nutrients are associated with uric acid metabolism in humans. However, little is known about the role of dietary patterns in hyperuricaemia. We designed this case–control study to evaluate the associations between dietary patterns and newly diagnosed hyperuricaemia in Chinese adults. A total of 1422 cases and 1422 controls were generated from 14 538 participants using the 1:1 ratio propensity score matching methods. Dietary intake was assessed using a validated self-administered FFQ. Dietary patterns were derived by factor analysis. Hyperuricaemia was defined as concentrations of serum uric acid higher than 7 mg/dl (416·5 μmol/l) for men and 6 mg/dl (357 μmol/l) for women. Three dietary patterns were derived by factor analysis: sweet pattern; vegetable pattern; animal foods pattern. The animal foods pattern characterised by higher intake of an animal organ, seafood and processed meat products was associated with higher prevalence of newly diagnosed hyperuricaemia (P for trend<0·01) after adjustment. Compared with the participants in the lowest quartile of the animal foods pattern, the OR of newly diagnosed hyperuricaemia in the highest quartile was 1·50 (95 % CI 1·20, 1·87). The other two dietary patterns were not associated with the prevalence of newly diagnosed hyperuricaemia after adjustment. In conclusion, a diet rich in animal organ, seafood and processed meat products is associated with higher prevalence of newly diagnosed hyperuricaemia in a Chinese population. Further cohort studies and randomised controlled trials are required to clarify these findings.

Sulphur isotopes can be used as a powerful tool to trace fluid evolution and explore the formation of chimneys. To clarify the in situ S isotopic variations of sulphides at the micro-scale, we analyzed a sulphide chimney collected from the hydrothermal field in the East Pacific Rise 1–2° S using a sensitive high-mass-resolution ion micro-probe for stable isotopes (SHRIMP SI). Three mineral zones can be identified in the chimney: an external outer wall of porous anhydrite and colloform pyrite, an internal middle zone of sub-euhedral pyrite and massive chalcopyrite, and an inner zone of massive pyrite. The δ34SV-CDT values of the sulphides fall within the range 1.83–7.51 ‰ (avg. 4.05 ‰, n = 16), and S isotopic values increase from the core (3.09 ‰, n = 3) to the middle (3.78 ‰, n = 11) to the edge (6.99 ‰, n = 2). These results illustrate mineral crystallization processes and the mixing between seawater-derived S and magmatic–hydrothermal fluids during the growth of the chimney. The zones from the edge to the core are characterized by crystal morphologies of colloform/anhedral pyrite to massive pyrite with decreasing δ34S values, revealing multi-stage mineral deposition and sulphur isotopic fractionation. In contrast to the increase in δ34S values from the core to the edge in one profile (profile A), anomalously low δ34S values in fine-grained pyrite relative to chalcopyrite in another profile (profile B) in the middle zone result from S isotopic exchange between seawater SO42− and fluid H2S due to different fluid–seawater mixing, possibly caused by variations in permeability and porosity across the chimney.