Industrial robots are widely used in the painting industry, such as automobile manufacturing and solid wood furniture industry. An important problem is how to improve the efficiency of robot programming, especially in the current furniture industry with multiple products, small batches and increasingly high demand for customization. In this work, we propose an outer loop adaptive control scheme, which allow users to realize the practical application of the zero-moment lead-through teaching method based on dynamic model without opening the inner torque control interface of robots. In order to accurately estimate the influence of joint friction, a friction model is established based on static, Coulomb and viscous friction characteristics, and the Sigmoid function is used to represent the transition between motion states. An identification method is used to quickly identify the dynamic parameters of the robot. The joint position/speed command of the robot’s inner joint servo loop is dynamically generated based on the user-designed adaptive control law. In addition, the zero-moment lead-through teaching scheme based on the dynamic model is applied to a spray-painting robot with closed control system. In order to verify our method, CMA GR630ST is used to conduct experiments. We identified the parameters of the dynamic model and carried out the zero-moment lead-through teaching experiment to track the target trajectory. The results show that the proposed method can realize the application of modern control methods in industrial robot with closed control systems, and achieve a preliminary exploration to improve the application scenarios of spray-painting robots.

Lower-crust-derived adakitic rocks in the Gangdese belt provide important constraints on the timing of Tibetan crustal thickening and on the relative contributions of magmatic and tectonic processes. Here we present geochronological and geochemical data for the Wangdui porphyritic monzogranites in the western Gangdese belt. Zircon U–Pb dating yields emplacement ages of 46–44 Ma. All samples have high Sr (321–599 ppm), low Yb (0.76–1.33 ppm) and Y (10.6–18.3 ppm) contents, with high La/Yb (51.1–72.3) and Sr/Y (21.0–51.4) ratios, indicating adakitic affinities. The low MgO (0.97–1.76 wt %), Cr (7.49–53.6 ppm) and Ni (4.75–29.1 ppm) contents, as well as high 87Sr/86Sr(i) (0.7143–0.7145), low ϵNd(t) (−10.4 to −9.8) and zircon ϵHf(t) (−17.7 to 0.4) values, suggest that the Wangdui pluton most likely originated from partial melting of the thickened ancient lower crust. In combination with previously published data, despite the east–west-trending heterogeneity of crustal composition in the Gangdese belt, the La/Yb ratios of magmatic rocks reveal that both western and eastern segments experienced remarkable crustal thickening in the Eocene. However, in contrast to the thickened juvenile lower crust in the eastern segment formed by the underplating of mantle-derived magmas, tectonic shortening plays a more crucial role in thickening of the ancient basement in western Gangdese. In fact, such Eocene-thickened ancient lower-crust-derived adakitic rocks are widely distributed in the central Himalayan–Tibetan orogen. This, together with the extensive development of fold–thrust belts, suggests that tectonic shortening might be the main mechanism accounting for the crustal thickening associated with the India–Asia collision.

ITGB1 (Integrin β1, CD29) is a member of the integrin family and has a role as a major adhesion receptor. Gastric cancer (GC) is an important cause of mortality worldwide, especially in China. As a potential cancer enhancer, the role ITGB1 plays in GC progression remains unclear. In the current study, our assay on the databases of tumoassociated gene expression and interaction found that the high expression of ITGB1 was closely correlated with the poor prognosis of GC patients. To explore the roles, ITGB1 plays in GC progression, and an ITGB1-deleted cell line (ITGB1−/−SGC7901) was generated using the CRISPR/Cas9 method. The tumor malignancy-associated cell behaviors and microstructures were detected, imaged, and analyzed using 3-[4,5-dimethylthiazol-2-yl]-2,5-diphenyltetrazolium bromide (MTT), wound healing, transwell, scanning electron microscopy, laser scanning confocal microscopy, and others. The results indicated that ITGB1 deletion decreased the GC cell proliferation and motility, and inhibited motility-relevant microstructures, such as pseudopodia and filopodia, markedly in ITGB1-deleted SGC7901 cells. The analysis of STRING database and western blots indicated that ITGB1 contributes to the malignancy of GC mediated by Src-mediated FAK/PI3K/Akt signaling pathways. Taken together, the results showed that ITGB1 may be a potential targeting marker for GC diagnosis and therapy in the future.

Precise instrumental calibration is of crucial importance to 21-cm cosmology experiments. The Murchison Widefield Array’s (MWA) Phase II compact configuration offers us opportunities for both redundant calibration and sky-based calibration algorithms; using the two in tandem is a potential approach to mitigate calibration errors caused by inaccurate sky models. The MWA Epoch of Reionization (EoR) experiment targets three patches of the sky (dubbed EoR0, EoR1, and EoR2) with deep observations. Previous work in Li et al. (2018) and (2019) studied the effect of tandem calibration on the EoR0 field and found that it yielded no significant improvement in the power spectrum (PS) over sky-based calibration alone. In this work, we apply similar techniques to the EoR1 field and find a distinct result: the improvements in the PS from tandem calibration are significant. To understand this result, we analyse both the calibration solutions themselves and the effects on the PS over three nights of EoR1 observations. We conclude that the presence of the bright radio galaxy Fornax A in EoR1 degrades the performance of sky-based calibration, which in turn enables redundant calibration to have a larger impact. These results suggest that redundant calibration can indeed mitigate some level of model incompleteness error.

The sedimentologic fingerprinting in detrital deposit is vital to reconstruct sedimentary environments and discriminate sources. In this study, grain size and microtextural characteristics of quartz from the late Pleistocene hard clay in the Yangtze River delta (YRD) were analyzed by using a laser particle size analyzer and a scanning electron microscope. Subaqueous quartz from the Yangtze River and Yellow River sediments and eolian quartz from the Chinese Loess Plateau loess were also analyzed by scanning electron microscopy to obtain the microtextural characteristics. Quartz grains of the hard clay were characterized by poor sorting, fine skew, bimodal grain-size distributions, and numerous eolian microtextures. The comparison of the quartz grain characteristics of the hard clay with these in eolian loess indicated that the hard clay belonged to an eolian deposition. Moreover, the fine quartz grains of the hard clay were dominated by eolian microtextural characteristics, representing long-distance transportation. The coarse quartz grains of the hard clay exhibited more subaqueous microtextural characteristics, which indicated that the coarse fraction of the hard clay was derived from the proximal source regions in the YRD. The determination of buried eolian deposition with multiple sources in the YRD implies a southward westerly jet stream, strengthened eolian dust transportation, and extensive aridification in the YRD due to the increased Northern Hemisphere ice sheets in Marine Oxygen Isotope Stage 2.

Human African trypanosomiasis (HAT) is caused by Trypanosoma brucei gambiense and Trypanosoma brucei rhodesiense and caused devastating epidemics during the 20th century. Due to effective control programs implemented in the last two decades, the number of reported cases has fallen to a historically low level. Although fewer than 977 cases were reported in 2018 in endemic countries, HAT is still a public health problem in endemic regions until it is completely eliminated. In addition, almost 150 confirmed HAT cases were reported in non-endemic countries in the last three decades. The majority of non-endemic HAT cases were reported in Europe, USA and South Africa, due to historical alliances, economic links or geographic proximity to disease-endemic countries. Furthermore, with the implementation of the ‘Belt and Road’ project, sporadic imported HAT cases have been reported in China as a warning sign of tropical diseases prevention. In this paper, we explore and interpret the data on HAT incidence and find no positive correlation between the number of HAT cases from endemic and non-endemic countries. This data will provide useful information for better understanding the imported cases of HAT globally in the post-elimination phase.

Clay often has severe detrimental impacts on cement-based materials. Therefore, it is necessary to investigate the mechanism causing the deterioration to improve the service life of cement-based materials. Based on accurate dimensional analysis, a mechanism that influences clay is proposed: the intercalation of the side chains of superplasticizer molecules in the interlayer space of the clay. To lessen this harmful effect, a new clay-resistant admixture (CRA) possessing cationic groups of small molecular size was synthesized through a novel dimensional design. The length and width of the side chains of this superplasticizer molecule were 9.50–17.50 and 0.25–0.40 nm, respectively, with a radius of ~3.74 nm in solvent, which is larger than the interlayer spacing of montmorillonite (i.e. 1.09–2.14 nm). The longitudinal and latitudinal lengths of the CRA molecule were 0.468 and 9.456 nm, respectively, ensuring intercalation in the interlayer of montmorillonite. The increase in interlayer spacing of the clay was 0.364 nm following addition of polycarboxylate superplasticizer (PCE) plus CRA and 0.632 nm following addition of PCE, which suggests that the CRA plays the role of a ‘sacrificial agent’ that is preferentially intercalated into the interlayer space of clay to further prevent the side chains of the superplasticizer molecules from entering the interlayer. The aim of this study was to propose a suitable means of synthesizing a new CRA to address the impact of clay through dimensional design and mechanism analysis, which contributes to the theoretical study and technological improvement of cement-based materials.

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.

Expressive writing can enhance cognitive processing and improve stress regulation. Particularly, the use of cognitive words (i.e., insightful and causal words) in writing may be associated with the process of meaning making and promotion of post-traumatic growth (PTG). The aim of the present study was to determine how expressive writing and the use of causal and insightful cognitive words influenced meaning making and PTG during writing. In total, 52 traumatized university students were recruited and randomly assigned to one of two writing conditions involving either an expressive writing task or a neutral writing task. The results showed that participants who engaged in expressive (vs. neutral) writing showed higher scores on the presence of meaning and PTG in the post-writing, self-report questionnaires. Moreover, writing task (expressive or neutral) and frequency of causal and insightful cognitive words were both significant predictors of meaning, which in turn led to high levels of PTG. In conclusion, the use of causal and insightful words might be a fundamental cognitive process for developing meaning in writing, which is essential for our further understanding of meaning making and PTG.

The immobilization of cytochrome c (cyt c) on tea polyphenol functionalized and reduced graphene oxide (TPG) was carried out by a simple adsorption process. Intriguingly, TPG with large surface area exhibited excellent adsorption behaviors and good biocompatibility. The adsorbed materials were characterized by various methods including scanning electron microscopy (SEM), atomic force microscopy (AFM), X-ray diffraction (XRD), and Fourier transform infrared spectroscopy (FTIR). And the effects of adsorption behavior of cyt c were discussed in detail. The results showed the adsorption behavior was dependent on the pH value and showed a high adsorption capacity as high as 1.414 × 104 mg/g and was friendly to normal cells (mouse fibroblast cell line, L929). In conclusion, we proposed the introduction of TPG as novel material and used the adsorption method to immobilize cyt c, which would provide a novel material and simple method for the enrichment of protein.

Sulphur reduction catalysts represent a viable option for S reduction in the fluid catalytic cracking (FCC) process. In this paper, a kaolin in situ crystallization catalyst was modified with vanadium and evaluated in a fixed fluid bed (FFB) reactor. The relation between the acidity of the catalyst, the S reduction rate and the catalyst activity is discussed. The results show that increasing weak Lewis acid acidity favours S reduction in the FCC process. Increasing the V content enhances the weak Lewis acidity, so causing the S reduction rate to increase. The kaolin in situ crystallization catalyst modified with 0.6 wt.% of V leads to a 34.5% reduction in the S content of the liquid product. Comprehensive evaluation of the FFB results and the S reduction ability indicates that the catalyst modified with 0.45 wt.% V provided the best performance.

The effects of acid and Al concentration, type of Al salt, treatment temperature and time of removal of Mg from sepiolite have been investigated, as has the use of modified sepiolite as an active fluid catalytic cracking (FCC) matrix. The samples were characterized by N2 adsorption and X-ray diffraction. Mg removal from sepiolite increased with increasing acid and Al ion concentration, treatment time and temperature. The temperature had the greatest impact on Mg removal. After acid and Al modification, 29% of the Mg was removed. When using the modified sepiolites as active matrices in FCC catalysts, the specific surface area, pore volume and mesoporous pore volume of the catalysts increased and they exhibited excellent performance in resisting the effects of heavy-metals as a result of the introduction of Mg oxide from the modified sepiolite.