Owing to inherent flexibility, compliant actuator with physical elastic elements can implement compliant interactions between robot and environment. Nonlinear stiffness elastic actuators (NSEAs) use one motor to adjust position and stiffness, which improve compactness of variable stiffness actuators, and consider high torque/force resolution and high bandwidth. The primary challenge of designing a NSEA is designing a reliable compliant mechanism with a given torque-deflection profile. In this study, a general design method of torsional compliant mechanism through given discrete torque-deflection points was proposed, where a chain algorithm based on 2R pseudo-rigid-body model was used to describe the large deformation in elastic elements. Moreover, the theoretical model of stiffness of a compliant mechanism based on series flexible beams was developed. Based on the proposed model, the dimensional parameters of proposed compliant mechanism were designed satisfying the condition of the given torque-deflection points. Finally, simulation and physical experiment of the designed compliant mechanism through three given torque-deflection points are conducted to show the effectiveness of the proposed method. The designed compliant mechanism was tested and evaluated in the self-developed NSEA.

The study was to evaluate the reproducibility and validity of the FFQ for residents of northeast China. A total of 131 participants completed two FFQ (FFQ1 and FFQ2) within a 3-month period, 125 participants completed 8-d weighed diet records (WDR) and 112 participants completed blood biomarker testing. Reproducibility was measured by comparing nutrient and food intake between FFQ1 and FFQ2. The validity of the FFQ was assessed by WDR and the triad method. The Spearman correlation coefficients (SCC) and intraclass correlation coefficients (ICC) for reproducibility ranged from 0·41 to 0·69 (median = 0·53) and from 0·18 to 0·68 (median = 0·53) for energy and nutrients and from 0·37 to 0·73 (median = 0·59) and from 0·33 to 0·86 (median = 0·60) for food groups, respectively. The classifications of same or adjacent quartiles ranged from 73·64 to 93·80 % for both FFQ. The crude SCC between the FFQ and WDR ranged from 0·27 to 0·55 (median = 0·46) for the energy and nutrients and from 0·26 to 0·70 (median = 0·52) for food groups, and classifications of the same or adjacent quartiles ranged from 65·32 to 86·29 %. The triad method indicated that validation coefficients for the FFQ were above 0·3 for most nutrients, which indicated a moderate or high level of validity. The FFQ that was developed for residents of northeast China for the Northeast Cohort Study of China is reliable and valid for assessing the intake of most foods and nutrients.

Maternal overnutrition-induced fetal programming predisposes offspring to cardiovascular health issues throughout life. Understanding how these adverse cardiovascular effects are regulated at the maternal–fetal crosstalk will provide insight into the mechanisms of these cardiovascular diseases, which will help in further identifying potential targets for intervention. Here, we uncover a role of oxidative stress caused by prenatal overnutrition in governing cardiac damage. Mice exposed to maternal obesity showed remarkable pathological cardiomyocyte hypertrophy (p male < 0.001, Cohen’s d male = 1.77; p female < 0.001, Cohen’s d female = 1.94), increased collagen content (p male < 0.001, Cohen’s d male = 2.13; p female < 0.001, Cohen’s d female = 2.71), and increased levels of transforming growth factor β (TGF-β) (p male < 0.001, Cohen’s d male = 3.02; p female < 0.001, Cohen’s d female = 4.52), as well as left ventricular dysfunction in adulthood. To cope with increased oxidative stress in the myocardial tissue of offspring from obese mothers, we sought to decrease the effect of oxidative stress and prevent the development of these cardiovascular conditions with use of the antioxidant N-acetylcysteine during pregnancy. As predicted, after treatment with the antioxidant, there was greatly mitigated cardiomyocyte hypertrophy (p male < 0.001, Cohen’s d male = 1.31; p female < 0.001, Cohen’s d female = 0.82) and cardiac fibrosis, including decreased composition of collagen fibers (p male < 0.01, Cohen’s d male = 1.45; p female < 0.05, Cohen’s d female = 1.23) and reduced levels of TGF-β (p male < 0.05, Cohen’s d male = 1.83; p female < 0.01, Cohen’s d female = 3.81). We also observed improved left ventricle contractile function together with the alleviation of enhanced oxidative stress in the myocardial tissue of offspring. Collectively, these results established a crucial role of oxidative stress in prenatal overnutrition-associated ventricular remodeling and cardiac dysfunction. Our findings provided an important target for intervention of cardiovascular disease in overnutrition-related fetal programming.

Previous nutritional studies have shown that insulin regulation is different between DT and A strains of gibel carp. As leptin plays a pivotal role in the effects of insulin, we hypothesised that leptin regulation of glucose and lipid metabolism would differ between the two strains. To test our hypothesis, recombinant human leptin was injected into two strains. The results showed that leptin activated the phosphatidylinositol 3-kinase (PI3K)–protein kinase B (AKT), AMP-activated protein kinase–acetyl coenzyme A carboxylase and Janus kinase 2 (JAK2)–signal transducer and activator of transcription (STAT) signalling pathways in both strains. Hypoglycaemia induced by leptin might be due to higher glucose uptake by the liver and muscles together with enhanced glycolytic potential and reduced gluconeogenic potential. Decreased lipogenesis and up-regulated fatty acid oxidation were induced by leptin. In terms of genotype, the PI3K–AKT signalling pathway was more strongly activated by leptin in the muscle tissue of the A strain, as reflected by the heightened phosphorylation of AKT. Furthermore, glycogen content, glycolytic enzyme activity and gluconeogenic capability were higher in the A strain than the DT strain. Strain A had higher levels of fatty acid synthesis and lipolytic capacity in the liver than the DT strain, but the opposite was true in white muscle. Regarding leptin–genotype interactions, the DT strain displayed stronger regulation of glucose metabolism in the liver by leptin as compared with the A strain. Moreover, a more active JAK2–STAT signalling pathway accompanied by enhanced inhibition of fatty acid synthesis by leptin was observed in the DT strain. Overall, the regulation of glucose and lipid metabolism by leptin differed between the two strains, as expected.

Echinococcus granulosus sensu stricto (s.s.), Echinococcus multilocularis and Echinococcus canadensis are the common causes of human echinococcosis in China. An accurate species identification tool for human echinococcosis is needed as the treatments and prognosis are different among species. The present work demonstrates a method for the simultaneous detection of these three Echinococcus species based on multiplex polymerase chain reaction (mPCR). Specific primers of this mPCR were designed based on the mitochondrial genes and determined by extensive tests. The method can successfully detect either separated or mixed target species, and generate expected amplicons of distinct size for each species. Sensitivity of the method was tested by serially diluted DNA, showing a detection threshold as less as 0.32 pg for both E. granulosus s.s. and E. canadensis, and 1.6 pg for E. multilocularis. Specificity assessed against 18 other parasites was found to be 100% except weakly cross-react with E. shiquicus. The assay was additionally applied to 69 echinococcosis patients and 38 healthy persons, confirming the high reliability of the method. Thus, the mPCR described here has high application potential for clinical identification purposes, and can further provide a useful tool for evaluation of serology and imaging method.

Noble metals combined with some oxides have synergetic contributions to surface-enhanced Raman scattering (SERS). In this work, a new method of de-oxide was proposed to prepare nanoporous metal based composites. Nanoporous Ag decorated with CeO2 nanoparticles was successfully prepared by decomposing Ag/CeO2/ZnO precursors in a 10 wt% NaOH aqueous solution. During the process of de-oxide, ZnO in the precursors could be removed completely and the nanoporous Ag/CeO2 nanocomposites with rough ligament surfaces were formed. The results indicated that the contents of CeO2 had significant influences on the microstructure and SERS performance of the prepared Ag/CeO2 materials. Using R6G and L-phenylalanine as probe molecules, the nanoporous Ag/CeO2(0.5%) substrates demonstrated a high enhancement factor of 1.2 × 108. The improved SERS performances were mainly attributed to the strong coupling effects between Ag ligament and CeO2 nanoparticle. This work would like to be interesting for the design of nanoporous composites for the application in the fields of SERS technology.

Water-based polyurethane/alumina hollow microsphere (WPU-hAl2O3) composite films were prepared via a facile spin coating method. The pristine WPU, as the matrix of the composite films, was tailor-made by hAl2O3 with the diameter of 2–5 μm to improve the mechanical and physical properties of the films. The hardness, surface morphology, infrared emissivity, wettability, and light transmittance of the WPU-hAl2O3 films with different hAl2O3 contents were investigated. The results indicate that the Vickers hardness, coefficient of friction, infrared emissivity at the wavelength of 2–22 μm, and wetting angle of the WPU-hAl2O3 films (30 wt%) increased by 53.6%, 51.7%, 21.1%, and 19.0%, respectively, compared with the pristine WPU films. Meanwhile, with the rising of hAl2O3 content, the light transmittance decreased by 75.3% at the wavelength of 400–800 nm. This work not only designs a kind of lightweight multifunctional composite film but also provides an effective route for extending further applications of hAl2O3 in the field of composite films.

Boron nitride (BN) nanosheets incorporated silica antireflective (AR) coating was successfully prepared on fused silica substrate to improve the antilaser-damage ability of transmissive optics used in high-power laser systems. The BN nanosheets were obtained by urea assisted solid exfoliation, and then incorporated into basic-catalyzed silica sols without any further treatment. The transmission electron microscope (TEM) images indicated that the BN nanosheets generally consisted of 2–10 layers. The antireflective BN/$\text{SiO}_{2}$ coating exhibited excellent transmittance as high as 99.89% at 351 nm wavelength on fused silica substrate. The thermal conductivity $0.135~\text{W}\cdot \text{m}^{-1}\cdot \text{K}^{-1}$ of the BN/$\text{SiO}_{2}$ coating with 10% BN addition was about 23% higher than $0.11~\text{W}\cdot \text{m}^{-1}\cdot \text{K}^{-1}$ of the pure $\text{SiO}_{2}$ AR coating. The laser-induced damage threshold (LIDT) of that BN/$\text{SiO}_{2}$ coating is also 23.1% higher than that of pure $\text{SiO}_{2}$ AR coating. This research provides a potential application of BN/$\text{SiO}_{2}$ coatings in high-power laser systems.

The experiments reported in this research communication aimed to plot the expression pattern of Sirt3, a master regulator of energy metabolism and antioxidation defence, in the liver of dairy goats during perinatal period. Ten healthy dairy goats in late pregnancy were chosen, and needle biopsy was applied to collect liver samples at 1-week intervals. Protein levels of hepatic Sirt3 were analysed by western-blotting. Serum enzyme activities of manganese superoxide dismutase (Mn-SOD) and non-esterified fatty acids (NEFA) levels were measured, and their correlation with Sirt3 mRNA levels was also estimated. Compared with >3-week before parturition (BP), Sirt3 proteins were significantly reduced at 1-week after parturition (AP) and 2-week AP (P < 0·05), but increased on the day of parturition (P < 0·01). Correlation analysis revealed a positive association between hepatic Sirt3 mRNA levels and serum enzyme activity of Mn-SOD (r = 0·46), but a negative association between that and serum NEFA levels (r = −0·41). These data indicate that the decreased hepatic expression of Sirt3 might be one of the reasons that dairy goats undergo oxidative stress after parturition.

Actinocerid nautiloids from the Lhasai Formation in the Xainza region are studied systematically for the first time. The nautiloids are identified as Middle Ordovician in age based on stratigraphic correlations with those from North China, Sibumasu, North Australia (northern Gondwana), and North America (Laurentia). A cluster analysis shows strong affinities between the actinocerid nautiloids of the Lhasa Terrane and those of the Himalaya, North China, and Sibumasu terranes. Our results support Middle Ordovician paleogeographic reconstructions that place North China rather than South China much closer to Australia. Nine species assigned to six genera of Meitanoceratidae, Wutinoceratidae, Armenoceratidae, Ormoceratidae, and Discoactinoceratidae are described in detail: Pomphoceras nyalamense (Chen, 1975), Pomphoceras yaliense (Chen, 1975), Wutinoceras cf. W. foerstei (Endo, 1930), Mesowutinoceras giganteum Chen in Chen and Zou, 1984, Armenoceras tani (Grabau, 1922), Armenoceras teicherti Endo, 1932, Armenoceras xizangense new species, Deiroceras globosom Zou and Shen in Chen and Zou, 1984, and Discoactinoceras cf. D. multiplexum Kobayashi, 1927.

UUID: http://zoobank.org/ba851fea-e107-4754-a0f4-a70744e325ab

Geochronological, elemental and isotopic data of the Dashizhuzi granites and lamprophyre dykes from the eastern Hebei – western Liaoning on the northern North China Craton (NCC) provide an insight into the nature of their magma sources and subcontinental lithospheric mantle. The Dashizhuzi granites have an emplacement age of 226 Ma. They have enriched lithospheric mantle type 1 (EM1-like) Sr–Nd isotopic compositions, and have distinctive features of high Na2O and Sr and low Y with high Sr/Y and (La/Yb)N ratios. These characteristics show that the Dashizhuzi granites originated directly from melting of mafic lower crust composed of pre-existing ancient crustal and enriched mantle-derived juvenile crustal materials at normal continental crustal depth of 33–40 km. The lamprophyre dykes are dated at 167 Ma, and can be divided into two groups. The Group 1 dykes have variable Sr–Nd isotopic compositions and mid-ocean-ridge basalt (MORB-) like Th/U, Ba/Th and Ce/Pb ratios, whereas the Group 2 dykes have enriched Sr–Nd isotopic compositions and notable high Co, Cr, MgO and low Al2O3 characteristics. These distinctive features suggest that the Group 1 dykes were derived from a relatively fertile lithospheric mantle source (garnet-facies amphibole-bearing lherzolite) which has experienced variable degrees of asthenospheric mantle-derived melt–peridotite interaction prior to melting. However, the Group 2 dykes were derived from an ancient garnet-facies phlogopite and/or amphibole-bearing lherzolite lithospheric mantle. Thinning of the Early Mesozoic lithospheric mantle beneath the northern NCC is dominantly through melt–peridotite interaction and thermo-mechanical erosion prior to Middle Jurassic time. The chemical compositions have been modified at the bottom of the lithospheric mantle through melt–peridotite interaction processes.

Faunal remains from Shannashuzha in Minxian County, Gansu Province, China were isotopically analyzed to understand animal husbandry, and thus human subsistence strategy, during the Majiayao culture (5200–4800 cal yr BP) period. Stable carbon isotopic results reveal that only two pig samples clearly show a C4-dominated diet with a mean δ13C value of –8.5‰, which possibly indicated controlled feeding practices by human beings. No other significant manual intervention can be observed among the remaining samples, suggesting that both wild and domesticated meat sources were used at Shannashuzha. Statistically, Bos are indistinguishable from Cervidae based solely on isotopic results, suggesting that Bos may have remained in wild form during the Majiayao culture period. The presence of hare/rabbit, bamboo rat, and badger reflects the diversified food exploitation behavior.

Liquid film migration (LFM) in the fiber laser welded Inconel 617 joint was investigated. The results show that the LFM occurs in HAZ of the laser welded Inconel 617 joint. The element of Mo in the migrated region is slightly richer than that in the adjacent matrix. The diffusional coherency strain due to the lattice mismatch between the element of Mo and the matrix atom is the dominant factor contributing to the occurrence of LFM in HAZ of laser welded Inconel 617. The migration of the liquid film is promoted by the thin initial liquid film and the slow cooling rate in large heat input. LFM tends to occur on the grain boundary (GB) with the fine particles and the GB-resolidified particles are formed on the GB with the large particles. Liquation cracking is reduced in the welds with the high heat input and in the solution treatment condition by LFM (1100 °C/1 h).

Systolic and diastolic blood pressure, pulse pressure (PP), and body mass index (BMI) are heritable traits in human metabolic health but their common genetic and environmental backgrounds are not well investigated. The aim of this article was to explore the phenotypic and genetic associations among PP, systolic blood pressure (SBP), diastolic blood pressure (DBP), and BMI. The studied sample contained 615 twin pairs (17–84 years) collected in the Qingdao municipality. Univariate and multivariate structural equation models were fitted for assessing the genetic and environmental contributions. The AE model combining additive genetic (A) and unique environmental (E) factors produced the best fit for each four phenotypes. Heritability estimated in univariate analysis ranged from 0.42 to 0.74 with the highest for BMI (95% CI 0.70–0.78), and the lowest for PP (95% CI 0.34–0.49). The multivariate model estimated (1) high genetic correlations for DBP with SBP (0.87), PP with SBP (0.75); (2) low–moderate genetic correlations between PP and DBP (0.32), each BP component and BMI (0.24–0.37); (3) moderate unique environmental correlation for PP with SBP (0.68) and SBP with DBP (0.63); (4) there was no significant unique environmental correlation between PP and BMI. Overall, our multivariate analyses revealed common genetic and environmental backgrounds for PP, BP, and BMI in Chinese twins.

This paper reports on a new navigation algorithm for fixed-wing Unmanned Aerial Vehicles (UAVs) to bridge Global Position System (GPS) outages, based on a common navigation system configuration. The ground velocity is obtained from wind-compensated airspeed, and a centripetal force model is introduced to estimate the motion acceleration. Compensated by this acceleration, the gravity vector can be extracted from the accelerometer measurement. Finally, fusing the information of the ground velocity, magnetic heading, barometric height, and gravity vector, the Integrated Navigation System (INS) is reconstructed, and an Extended Kalman Filter (EKF) is used to estimate INS errors. Hardware-in-loop simulation results show that compared with INS-only solutions, the proposed method effectively resists long-term drift of INS errors and significantly improves the accuracy for dynamic navigation during GPS outages.