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.

Relations between China and Latin America date back hundreds of years and have intensified since the founding of the People's Republic of China. Recognizing that meaningful relations with Latin America require an understanding of that varied region, China has established appropriate study and research programs. This essay on current Latin American programs in the People's Republic of China will report on research organizations, research interests of Chinese scholars, and current trends within Latin American studies. The double objectives are to describe China's interest in Latin America and to establish closer contacts between Latin Americanists in China and the United States.

The unsteadiness of a turbulent separation bubble (TSB) formed close to the trailing edge of a two-dimensional wing was investigated using time-resolved particle image velocimetry. The angle of attack was set to 9.7° and the chord-based Reynolds number was 720 000. The TSB consisted of two shear layers and formed a triangular shape in the streamwise–wall-normal plane. The vertices of this triangle consisted of an intermittent detachment point, a fixed corner close to the airfoil trailing edge and an intermittent endpoint in the wake region. The velocity field had three energetic regions each with different Strouhal numbers (Stl): (a) an upstream turbulent boundary layer (TBL) with Stl = 0.1 to 4, (b) a TSB with Stl = 0.03 to 0.08 and (c) two shear layers with Stl = 0.4 to 0.8. The low-frequency motions in the TSB consisted of large zones of positive and negative streamwise velocity fluctuation that were several times wider than the large-scale structures of the upstream TBL. These zones forced an undulation of the separation line and were attributed to Görtler structures. They were also correlated with the velocity fluctuations between the two shear layers. The breathing motion of the TSB occurred at Stl = 0.05. This breathing correlated with the location of the TSB endpoint and the flapping of the upper shear layer. The detachment point of the TSB featured broad fluctuations and did not demonstrate a strong correlation with the breathing motion.

Understanding predator–prey interactions is essential for successful pest management by using predators, especially for the suppression of novel invasive pest. The green lacewing Chrysopa formosa is a promising polyphagous predator that is widely used in the biocontrol of various pests in China, but information on the control efficiency of this predator against the seriously invasive pest Spodoptera frugiperda and native Spodoptera litura is limited. Here we evaluated the predation efficiency of C. formosa adults on eggs and first- to third-instar larvae of S. frugiperda and S. litura through functional response experiments and determined the consumption capacity and prey preference of this chrysopid. Adults of C. formosa had a high consumption of eggs and earlier instar larvae of both prey species, and displayed a type II functional response on all prey stages. Attack rates of the chrysopid on different prey stages were statistically similar, but the handling time increased notably as the prey developed. The highest predation efficiency and shortest-handling time were observed for C. formosa feeding on Spodoptera eggs, followed by the first-instar larvae. C. formosa exhibited a significant preference for S. litura over S. frugiperda in a two-prey system. In addition, we summarized the functional response and predation efficiency of several chrysopids against noctuid pests and made a comparison with the results obtained from C. formosa. These results indicate that C. formosa has potential as an agent for biological control of noctuid pests, particularly for the newly invasive pest S. frugiperda in China.

Maternal gestational weight gain (GWG) is an important determinant of infant birth weight, and having adequate total GWG has been widely recommended. However, the association of timing of GWG with birth weight remains controversial. We aimed to evaluate this association, especially among women with adequate total GWG. In a prospective cohort study, pregnant women’s weight was routinely measured during pregnancy, and their GWG was calculated for the ten intervals: the first 13, 14–18, 19–23, 24–28, 29–30, 31–32, 33–34, 35–36, 37–38 and 39–40 weeks. Birth weight was measured, and small-for-gestational-age (SGA) and large-for-gestational-age were assessed. Generalized linear and Poisson models were used to evaluate the associations of GWG with birth weight and its outcomes after multivariate adjustment, respectively. Of the 5049 women, increased GWG in the first 30 weeks was associated with increased birth weight for male infants, and increased GWG in the first 28 weeks was associated with increased birth weight for females. Among 1713 women with adequate total GWG, increased GWG percent between 14 and 23 weeks was associated with increased birth weight. Moreover, inadequate GWG between 14 and 23 weeks, compared with the adequate GWG, was associated with an increased risk of SGA (43 (13·7 %) v. 42 (7·2 %); relative risk 1·83, 95 % CI 1·21, 2·76). Timing of GWG may influence infant birth weight differentially, and women with inadequate GWG between 14 and 23 weeks may be at higher risk of delivering SGA infants, despite having adequate total GWG.

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.

Bile acids (BA) have emerged as signalling molecules regulating intestinal physiology. The importance of intestinal microbiota in production of secondary BA, for example, lithocholic acid (LCA) which impairs enterocyte proliferation and permeability, triggered us to determine the effects of oral probiotics on intestinal BA metabolism. Piglets were weaned at 28 d of age and allocated into control (CON, n 14) or probiotic (PRO, n 14) group fed 50 mg of Lactobacillus plantarum daily, and gut microbiota and BA profile were determined. To test the potential interaction of LCA with bacteria endotoxins in inducing damage of enterocytes, IPEC-J2 cells were treated with LCA, lipopolysaccharide (LPS) and LCA + LPS and expressions of genes related to inflammation, antioxidant capacity and nutrient transport were determined. Compared with the CON group, the PRO group showed lower total LCA level in the ileum and higher relative abundance of the Lactobacillus genus in faeces. In contrast, the relative abundances of Bacteroides, Clostridium_sensu_stricto_1, Parabacteroides and Ruminococcus_1, important bacteria genera in BA biotransformation, were all lower in the PRO than in the CON group. Moreover, PRO piglets had lower postprandial glucagon-like peptide-1 level, while higher glucose level than CON piglets. Co-administration of LPS and LCA led to down-regulated expression of glucose and peptide transporter genes in IPEC-J2 cells. Altogether, oral L. plantarum altered BA profile probably by modulating relative abundances of gut microbial genera that play key roles in BA metabolism and might consequently impact glucose homoeostasis. The detrimental effect of LCA on nutrient transport in enterocytes might be aggravated under LPS challenge.

This paper discusses a pulse electroplating method for preparing copper (Cu)-coated gas diffusion electrodes (GDEs) for the electrochemical conversion of carbon dioxide (CO2) to hydrocarbons such as ethylene. Ionomer coating and air-plasma surface pre-treatments were explored as means of hydrophilizing the carbon surface to enable adhesion of electrodeposited material. The pulsed-current electrodeposition method used successfully generated copper and copper oxide micro- and nano-particles on the prepared surfaces. Copper(I) species identified on the ionomer-treated GDEs are presumed to be highly active for the selective generation of ethylene as compared to other gaseous byproducts of CO2 reduction. Conversely, copper catalysts deposited onto plasma-treated GDEs were found to have poor activity for hydrocarbon production, likely due to substantial metallic character. Of note, plasma treatment of an ionomer-treated GDE after copper plating yielded further improvements in catalytic activity and durability towards ethylene production.

We solve the problem of concept learning using a semi-tensor product method. All possible hypotheses are expressed under the framework of a semi-tensor product. An algorithm is raised to derive the version space. In some cases, the new approach improves the efficiency compared to the previous approach.

Invasive species and acid rain cause global environmental problems. Creeping daisy, an invasive exotic allelopathic weed, has caused great damage in southern China, where acid rain is prevalent. The impact of the acidity of simulated acid rain (SAR) on soil nutrients, the decomposition of creeping daisy litter, and on the allelopathic potential of the surrounding soils was investigated. Litter was treated with SAR at different acidity (pH 2.5, 4.0, 5.6) or with water (pH 7.0) as a control. After 70 d, the remaining amount of creeping daisy litter, nutrient contents, and allelopathic potentials in the surrounding soil were determined. The litter decomposition was commensurate to the increase in the acidity of the SAR. Total C and N contents, NO3−-N and available P increased, levels of NH4+-N, the ratio of C/N and soil pH values decreased, water contents increased and then decreased, whereas available K did not significantly change in the soil surrounding the litters in response to the increase in the acidity of the SAR. Bioassays showed that SAR promoted the allelopathic activity in the soil surrounding the litter, as measured by seedling growth of turnip and radish. In conclusion, our results indicated that SAR influenced soil nutrient status, accelerated creeping daisy litter decomposition, and enhanced the allelopathic potential of its litter in the surrounding soil, suggesting that acid rain may enhance the invasiveness of creeping daisy plants.