A force sensorless impedance controller is proposed in this paper for robot manipulators without using force estimators. From the observation of the impedance control law, the force feedback term can be canceled if the inertia matrix in the target impedance is the same as the robot inertia matrix. However, the inertia matrix in the target impedance is almost always a constant matrix, while the robot inertia matrix is a function of the robot configuration, and hence, they may not be identical in general. A modification of the coefficient matrix for the contact force term in the target impedance is suggested in this paper to enable cancelation of the force feedback term in the impedance control law so that a force sensorless impedance controller without using force estimators can be obtained. The tracking performance in the free space phase and the motion trajectory in the compliant motion phase of the new design are almost the same as those in the traditional impedance control. Modification of the inertia matrix in the target impedance will result in small variations of the contact force which is acceptable in practical applications. For robot manipulators containing uncertainties, an adaptive version of the new controller is also developed in this paper to give satisfactory performance without the need for force sensors. Rigorous mathematical justification in closed-loop stability is given in detail, and computer simulations are performed to verify the efficacy of the proposed design.

In recent years, the incidence of teratospermia has been increasing, and it has become a very important factor leading to male infertility. The research on the molecular mechanism of teratospermia is also progressing rapidly. This article briefly summarizes the clinical incidence of teratozoospermia, and makes a retrospective summary of related studies reported in recent years. Specifically discussing the relationship between gene status and spermatozoa, the review aims to provide the basis for the genetic diagnosis and gene therapy of teratozoospermia.

Maternal diet during pregnancy has been associated with obesity among offspring. The extent to which trimester-specific dietary patterns are associated with markers of adiposity during adolescence remains unclear. We examined associations between prenatal diet patterns with adolescent offspring measures of adiposity and adipokines in 384 mother–adolescent dyads from the Mexico City ELEMENT cohort. Trimester-specific diet patterns were derived from principal component analysis of food frequency questionnaire data. Adolescent anthropometry and serum leptin and adiponectin were measured at 10–17 years. Three maternal diet patterns were identified: Prudent Diet (PD), high in fish and vegetables, the High Meat and Fat Diet (HMFD), high in pork and processed meats, and the Transitioning Mexican Diet (TMD), high in corn tortillas and sugar-sweetened beverages. Multiple linear regression was used to estimate sex-stratified associations among quartiles of diet patterns with adiposity and adipokines, adjusting for maternal marital status, education, and parity. First trimester TMD was associated with greater anthropometric measures and higher leptin in females, while third trimester HMFD was associated higher body fat percentage, triceps thickness, waist circumference, and leptin, but lower adiponectin among males. Contrary to expectation, there were positive associations between the trimester 1 PD pattern and anthropometric measurements in females, and for trimester 2 HMFD and TMD patterns with adipokines among males. Findings suggest maternal diet patterns may influence offspring adiposity markers during adolescence in a sex-specific manner.

A systematic simulation study of the $n/m=1/1$ instability driven by energetic counter-passing particles in tokamak plasmas has been carried out using the kinetic-MHD (Magnetohydrodynamics) hybrid code M3D-K. The safety factor's radial profile is monotonically increasing with central value $q_0$ less than unity. The linear simulation results show that the instability is either a $m/n=1/1$ energetic particle mode or a $m/n=1/1$ global Alfvén eigenmode depending on the value of the central safety factor. The mode frequencies are close to the tip of Alfvén continuum spectrum at the magnetic axis. The excited modes are radially localized near the magnetic axis well within the safety factor $q=1$ surface. The main wave particle resonance is found to be $\omega _\phi +2\omega _\theta =\omega$, where ω is the mode frequency. The nonlinear simulation results show that there is a long period of quasi-steady-state saturation phase with frequency chirping up after initial saturation. Correspondingly, the energetic particle distribution with low energies is flattened in the core of the plasma. After this quasi-steady phase, the mode amplitude grows again and frequency jumps down to a low value corresponding to a new mode similar to the energetic co-passing particle-driven low-frequency fishbone while the energetic particle distribution is flattened for higher energies in the core of plasma.

The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, the control task is formatted as a reduced-dimension equality constraint of the system states. To handle the matched and mismatched uncertainties, an orthogonal decomposition method is employed to make the mismatched part disappear after decomposition. Based on the above, an adaptive robust control law based on constraint-following is devised. By the Lyapunov approach, it is rigorously proven that the proposed approach ensures the uniform boundedness and uniform ultimate boundedness of the closed-loop control system and thus renders approximate constraint-following, regardless of uncertainty. Simulation and experimental results are provided and discussed, demonstrating the good performance of the proposed approach.

For a hypersonic-speed aircraft with a flat fuselage structure that has narrow space for a traditional wheel-type landing gear retraction, a novel type of wheel-ski landing gear is designed, which is different from traditional landing gears in force distribution and actuation methods. In order to capture the direction control performance of an aircraft with the wheel-ski landing gear, the aircraft ground taxiing nonlinear dynamic mathematical model is built based on a certain type of aircraft data. The experiment of the wheel-ski landing gear actuator and the differential brake control system is carried out to verify that the electric wheel-ski actuator model with the pressure sensor is in good agreement with the test results, indicating the model validity and the speediness of the differential brake response. Then a new fuzzy combined direction rectifying control law is designed based on the optimisation method and the fuzzy control theory. Comparing with the PD wheel-ski differential brake control, the direction rectifying efficiencies increase higher than 140% during the whole taxiing process. In addition, the combined control law can also decrease the overshoots of the yaw angle responses effectively. Finally, the stability and robustness of the designed combined direction control law are verified under various working conditions.

Let $M=(\begin {smallmatrix}\rho ^{-1} & 0 \\0 & \rho ^{-1} \\\end {smallmatrix})$ be an expanding real matrix with $0<\rho <1$ , and let ${\mathcal D}_n=\{(\begin {smallmatrix} 0\\ 0 \end {smallmatrix}),(\begin {smallmatrix} \sigma _n\\ 0 \end {smallmatrix}),(\begin {smallmatrix} 0\\ \gamma _n \end {smallmatrix})\}$ be digit sets with $\sigma _n,\gamma _n\in \{-1,1\}$ for each $n\ge 1$ . Then the infinite convolution

$$ \begin{align*}\mu_{M,\{{\mathcal D}_n\}}=\delta_{M^{-1}{\mathcal D}_1}\ast\delta_{M^{-2}{\mathcal D}_2}\ast\cdots\end{align*} $$

is called a Moran–Sierpinski measure. We give a necessary and sufficient condition for $L^2(\,\mu _{M,\{{\mathcal D}_n\}})$ to admit an infinite orthogonal set of exponential functions. Furthermore, we give the exact cardinality of orthogonal exponential functions in $L^2(\,\mu _{M,\{{\mathcal D}_n\}})$ when $L^2(\,\mu _{M,\{{\mathcal D}_n\}})$ does not admit any infinite orthogonal set of exponential functions based on whether $\rho $ is a trinomial number or not.

This paper extends the standard double-exponential jump-diffusion (DEJD) model to allow for successive jumps to bring about different effects on the asset price process. The double-exponentially distributed jump sizes are no longer assumed to have the same parameters; instead, we assume that these parameters may take a series of different values to reflect growing or diminishing effects from these jumps. The mathematical analysis of the stock price requires an introduction of a number of distributions that are extended from the hypoexponential (HE) distribution. Under such a generalized setting, the European option price is derived in closed-form which ensures its computational convenience. Through our numerical examples, we examine the effects on the return distributions from the growing and diminishing severity of the upcoming jumps expected in the near future, and investigate how the option prices and the shapes of the implied volatility smiles are influenced by the varying severity of jumps. These results demonstrate the benefits of the modeling flexibility provided by our extension.

In the present study, we investigated the influence of different mid-stage N compensation timings on agronomic and physiological traits associated with grain yield and quality in field experiments. Two japonica rice cultivars with a good tasting quality (Nangeng 9108 and Nangeng 5055) were examined under eight N compensation timings (N1–N6: one-time N compensation at 7-2 weeks before heading; N7: split N compensation at 5 and 3 weeks before heading; N8: split N compensation at 4 and 2 weeks before heading) and a control with no N compensation. The highest yield was obtained with N7, followed by N3. The yield advantage is mainly attributable to the improved population structure (higher productive tiller rate with a stable number of effective panicles), higher total number of spikelets per unit area (large panicles with more grains per panicle), larger leaf area index in the late period and higher photosynthetic production capacity (more dry matter accumulation and transportation in the middle and late periods). Delaying N compensation timing improved the processing and nutritional quality of rice, but decreased the quality of appearance and cooking/eating traits. Our results suggest that, from the perspective of achieving relative coordination between high yield and high quality of japonica rice, the optimal N compensation should be divided equally at 5 and 3 weeks before heading. However, if simplifying the number of operations and the pursuit of eating quality were considered, one-time N compensation should be conducted at 5 weeks before heading.

This paper uses vector autoregression model analysis to identify monetary policy shocks on UK data using surprise changes in the policy rate as external instruments and imposing block exogeneity restrictions on domestic variables to estimate parameters from the viewpoint of the domestic economy. The results show large and persistent effects of monetary policy shocks on the domestic economy and point to the critical role of exchange rates and term premia. The analysis resolves important empirical puzzles of traditional recursive identification methods.

The Qieganbulake deposit associated with a mafic–ultramafic–carbonatite complex in the Kuluketage block is not only the world’s second-largest vermiculite deposit, but also a medium-size carbonatite-related phosphate deposit. Field observations, radiometric dating results and Sr–Nd–Hf isotopes reveal that the parental magmas of the carbonatite and mafic–ultramafic rocks are cogenetic and formed synchronously at c. 810 Ma. Geochemical characteristics and Sr–Nd–Hf–S isotopes ((87Sr/86Sr)i = 0.70581–0.70710; ϵNd(t) = −0.20 to −11.80; ϵHf(t) = −7.5 to −10.3; δ34S = +0.7 ‰ to +3.0 ‰ (some sulfides with high δ34S values (+3.2 to +6.6) were formed by late hydrothermal sulfur)), in combination with mineral compositions and previous research, strongly indicate that the Qieganbulake mafic–ultramafic–carbonatite complex formed via extensive crystal fractionation/cumulation and liquid immiscibility of a carbonated tholeiitic magma, possibly derived from partial melting of an enriched subcontinental lithospheric mantle previously modified by slab-released fluids and sediment input in a continental rift setting. The coupled enriched Sr–Nd isotopic signatures, in combination with previous research, suggest that the enriched subcontinental lithospheric mantle could have been metasomatized by asthenospheric mantle melts to different degrees. The Qieganbulake carbonatite-related phosphate ores were the products of normal fractional crystallization/cumulation of P–Fe3+ complex enriched carbonatite magma in high oxygen fugacity conditions, which was generated by liquid immiscibility of CO2–Fe–Ti–P-rich residual magma undergoing high differentiation.

We investigate the large values of the derivatives of the Riemann zeta function $\zeta (s)$ on the 1-line. We give a larger lower bound for $\max _{t\in [T,2T]}|\zeta ^{(\ell )}(1+{i} t)|$ , which improves the previous result established by Yang [‘Extreme values of derivatives of the Riemann zeta function’, Mathematika 68 (2022), 486–510].

The pursuit of unhealthy behaviors, such as smoking or binge drinking, not only carries various downside risks, but also provides pleasure. A parsimonious model, used in the literature to explain the decision to pursue an unhealthy activity, represents that decision as a tradeoff between risks and benefits. We build on this literature by surveying a rural population in South Africa to elicit the perceived riskiness and the perceived pleasure for various risky activities and to examine how these perceptions relate to the pursuit of four specific unhealthy behaviors: frequent smoking, problem drinking, seatbelt nonuse, and risky sex. We show that perceived pleasure is a significant predictor for three of the behaviors and that perceived riskiness is a significant predictor for two of them. We also show that the correlation between the riskiness rating and behavior is significantly different from the correlation between the pleasure rating and behavior for three of the four behaviors. Finally, we show that the effect of pleasure is significantly greater than the effect of riskiness in determining drinking and risky sex, while the effects of pleasure and riskiness are not different from each other in determining smoking and seatbelt nonuse. We discuss how our findings can be used to inform the design of health promotion strategies.