This paper proposes a mobile parallel robot (MPR) and focuses on obstacle avoidance. When analyzing the collision-free trajectories, the coupling constraints caused by the parallel mechanism and the obstacle should be emphatically solved. The solution is to divide the problem into two steps. First, the genetic algorithm is employed to search and optimize the feasible trajectories under the mechanism constraint of the MPR. Then the trajectory tracking controller is designed to make the tracked vehicles move cooperatively and track a trajectory asymptotically. Finally, simulations and experiments are carried out to verify the effectiveness of the solution.

Having enterprises engaged in environmentally friendly behavior is an important part of reducing negative environmental impacts. This study makes a quantitative analysis against the backdrop of China's transitional economic system. The results show that politically-connected enterprises significantly reduce environmental expenditure, but this only holds for state-owned enterprises; private enterprises with political connections spend significantly more. Analysis of the efficiency of environmental expenditure indicates that, for private enterprises, environmental spending is used as a way to maintain political connections, with rent-seeking as the likely motivation. Politically-connected private enterprises have not reduced their emissions to the same extent as state-owned enterprises, despite increased expenditure. Given the scale of environmental degradation in China during a period of massive economic and social upheaval, the results of this analysis provide a quantitative case for policy change: governments should shift focus to the results that environmental spending produces.

Nucleotide plays an important role in the regulation of cellular energy and protein homeostasis. The objective of the current study was to investigate the cumulative effects of maternal supplementation with nucleotides in the form of uridine (UR) on fatty acids and amino acids constituents of neonatal piglets. A total of 52 pregnant sows with similar parity were assigned randomly and equally into the control (CON) group (fed a basal diet) or UR group (fed a basal diet with 150g/t UR). The experiment started on d 85 of gestation and ended on the day of delivery. The reproductive performance was recorded, and placenta, blood and liver samples of neonatal piglets were collected before consuming colostrum during farrowing. Results showed that supplementing with UR in sow’ diet significantly decreased the birth mortality of pigs (P = 0.05). In addition, maternal dietary UR supplementation increased serum total cholesterol (CHOL), high-density lipoprotein (HDL) and low-density lipoprotein (LDL) of neonatal piglets (P < 0.05). Moreover, the amino acid profile of serum and liver of neonatal piglets was affected by the addition of UR in sows’ diets (P<0.05). Furthermore, an up-regulation of mRNA expression of energy metabolism-related genes, including fatty acid elongase 5 (ELOVL5), fatty acid desaturase 1 (FADS1), hormone-sensitive lipase (HSL) and cholesterol- 7a-hydroxylase (CYP7a1), was observed in the liver of neonates from the UR group. Additionally, a decrease in placental gene expression of excitatory amino acid transporters 2 (EAAT2), excitatory amino acid transporters 3 (EAAT3), neutral AA transporter 1(LAT1) in UR group was concurrently observed (P<0.05), and higher protein expression of phosphorylated protein kinase B (P-AKT), raptor, peroxisome proliferator activated receptor α (PPARα) and PPARγ in placenta from UR group was also observed, (P<0.05). Together, these results showed that maternal UR supplementation could regulate the nutrients transport of placenta, largely in response to an alteration of mTORC1-PPARs signaling, thus regulating the nutrition metabolism of neonatal piglets, and improving reproductive performance.

Effects of dietary supplemental stachyose on caecal skatole concentration, hepatic cytochrome P450 (CYP450, CYP) mRNA expressions and enzymatic activities in broilers were evaluated. Arbor Acre commercial mixed male and female chicks were assigned randomly into six treatments. The positive control (PC) diet was based on maize–soyabean meal, and the negative control (NC) diet was based on maize–non-soyabean meal. The NC diet was then supplemented with 4, 5, 6 and 7 g/kg stachyose to create experimental diets, named S-4, S-5, S-6 and S-7, respectively. Each diet was fed to six replicates of ten birds from days 1 to 49. On day 49, the caecal skatole concentrations in the PC, S-4, S-5, S-6 and S-7 groups were lower than those in the NC group by 42·28, 23·68, 46·09, 15·31 and 45·14 % (P < 0·01), respectively. The lowest pH value was observed in the S-5 group (P < 0·05). The stachyose-fed groups of broilers had higher caecal acetate and propionate levels compared with control groups, and propionate levels in the S-6 and S-7 groups were higher than those in the S-4 and S-5 groups (P < 0·001). The highest CYP3A4 expression was found in the S-7 group (P < 0·05), but this was not different from PC, S-4, S-5 and S-6 treatments. There was no significant difference in CYP450 (1A2, 2D6 and 3A4) enzymatic activities among the groups (P > 0·05). In conclusion, caecal skatole levels can be influenced by dietary stachyose levels, and 5 g/kg of stachyose in the diet was suggested.

We study a class of load-balancing algorithms for many-server systems (N servers). Each server has a buffer of size $b-1$ with $b=O(\sqrt{\log N})$ , i.e. a server can have at most one job in service and $b-1$ jobs queued. We focus on the steady-state performance of load-balancing algorithms in the heavy traffic regime such that the load of the system is $\lambda = 1 - \gamma N^{-\alpha}$ for $0<\alpha<0.5$ and $\gamma > 0,$ which we call the sub-Halfin–Whitt regime ( $\alpha=0.5$ is the so-called Halfin–Whitt regime). We establish a sufficient condition under which the probability that an incoming job is routed to an idle server is 1 asymptotically (as $N \to \infty$ ) at steady state. The class of load-balancing algorithms that satisfy the condition includes join-the-shortest-queue, idle-one-first, join-the-idle-queue, and power-of-d-choices with $d\geq \frac{r}{\gamma}N^\alpha\log N$ (r a positive integer). The proof of the main result is based on the framework of Stein’s method. A key contribution is to use a simple generator approximation based on state space collapse.

Electrospun membranes have potential applications in the field of waterproof and breathable textile products. However, challenges still exist to improve the breathability, and waterproof and mechanical properties of these microporous membranes. In this paper, a novel hydrophobic microporous nanofiber membrane was prepared via side-by-side electrospinning of fluorosilane-modified silica nanoparticles (F–SiO2) blended with synthesized polyurethane (PU) solution and composited with the polyacrylonitrile (PAN) solution. To prepare F–SiO2, SiO2 nanoparticles were hydrophobically modified by fluorosilane. Composite nanofiber membranes with different blending ratios of PU(F–SiO2)/PAN were fabricated via side-by-side electrospinning by controlling the extruding speed of two spinnerets. Experimental results indicated that regarding F–SiO2 as hydrophobic inorganic particle can improve the hydrophobic properties of PU nanofiber membrane. The prepared PAN/(F–SiO2/PU) nanofiber microporous membranes exhibit relatively excellent waterproof and mechanical properties as that robust tensile strength (19.5 MPa), preferable water vapor permeability [10.3 kg/(m2 d)], favorable water contact angle (137.2°), and superior mechanical properties. It was believed that the reinforced PAN/(F–SiO2/PU) nanofibrous composite membranes have potential applications in chemical protective clothing, army combat uniforms, self-cleaning materials, and other medical products.

Situated between the North China Craton to the east and the Tarim Craton to the west, the northern Alxa area in westernmost Inner Mongolia in China occupies a key location for interpreting the late-stage tectonic evolution of the southern Central Asian Orogenic Belt. New LA-ICP-MS zircon U–Pb dating results reveal 282.2 ± 3.9 Ma gabbros and 216.3 ± 3.2 Ma granites from the Yagan metamorphic core complex in northern Alxa, NW China. The gabbros are characterized by low contents of Si, Na, K, Ti and P and high contents of Mg, Ca, Al and Fe. These gabbros have arc geochemical signatures with relative enrichments in large ion lithophile elements and depletions in high field strength elements, as well as negative εNd(t) (−0.91 to −0.54) and positive εHf(t) (2.59 to 6.37) values. These features indicate that a depleted mantle magma source metasomatized by subduction fluids/melts and contaminated by crustal materials was involved in the processes of magma migration and emplacement. The granites show high-K calc-alkaline and metaluminous to weakly peraluminous affinities, similar to A-type granites. They have positive εNd(t) (1.55 to 1.99) and εHf(t) (5.03 to 7.64) values. These features suggest that the granites were derived from the mixing of mantle and crustal sources and formed in a postcollisional tectonic setting. Considering previous studies, we infer that the final closure of the Palaeo-Asian Ocean in the central part of the southern Central Asian Orogenic Belt occurred in late Permian to Early–Middle Triassic times.

Ketosis is a metabolic disease of dairy cows often characterized by high concentrations of ketone bodies and fatty acids, but low milk protein and milk production. The Janus kinase 2 (JAK2)-signal transducer and activator of transcription 5 (STAT5) and the mechanistic target of rapamycin (mTOR) signaling pathways are central for the regulation of milk protein synthesis. The effect of high levels of fatty acids on these pathways and β-casein synthesis are unknown in dairy cows with clinical ketosis. Mammary gland tissue and blood samples were collected from healthy (n = 15) and clinically-ketotic (n = 15) cows. In addition, bovine mammary epithelial cells (BMEC) were treated with fatty acids, methionine (Met) or prolactin (PRL), respectively. In vivo, the serum concentration of fatty acids was greater (P > 0.05) and the percentage of milk protein (P > 0.05) was lower in cows with clinical ketosis. The JAK2-STAT5 and mTOR signaling pathways were inhibited and the abundance of β-casein was lower in mammary tissue of cows with clinical ketosis (P > 0.05). In vitro, high levels of fatty acids inhibited the JAK2-STAT5 and mTOR signaling pathways (P > 0.05) and further decreased the β-casein synthesis (P > 0.05) in BMEC. Methionine or PRL treatment, as positive regulators, activated the JAK2-STAT5 and mTOR signaling pathways to increase the β-casein synthesis. Importantly, the high concentration of fatty acids attenuated the positive effect of Met or PRL on mTOR, JAK2-STAT5 pathways and the abundance of β-casein (P > 0.05). Overall, these data indicate that the high concentrations of fatty acids that reach the mammary cells during clinical ketosis inhibit mTOR and JAK2-STAT5 signaling pathways, and further suppress β-casein synthesis.

At the forefront of developments in synchrotron x-ray microscopy, nanoscale-resolution high-dimensional spectrotomography under controlled sample environments has been demonstrated. Such cutting-edge experimental capability has been broadly applied to scientific studies in the field of energy materials science, where the dynamically evolving structural and chemical defects play a vital role in the functionality. In this article, we review novel developments of this technique from both experimental and data/information mining perspectives. Using studies on lithium-ion battery electrode materials as examples, we highlight the rich information in the high-dimensional and high-resolution x-ray tomographic data, which can be used to interpret the complicated thermal-electro-chemo-mechanical interplay that occurs under the operating conditions and collectively determines battery performance. We also discuss the frontier challenges in this field and our perspectives of the future directions in the context of projected major developments in the landscape of large-scale x-ray facilities across the globe.

This paper presents geochemical and grain-size records since the early Holocene in core ECS0702 with a fine chronology frame obtained from the Yangtze River subaqueous delta front. Since ~9500 cal yr BP, the proxy records of chemical weathering from the Yangtze River basin generally exhibit a Holocene optimum in the early Holocene, a weak East Asian summer monsoon (EASM) period during the middle Holocene, and a relatively strong EASM period in the late Holocene. The ~8.2 and ~4.4 cal ka BP cooling events are recorded in core ECS0702. The flooding events reconstructed by the grain-size parameters since the early Holocene suggest that the floods mainly occurred during strong EASM periods and the Yangtze River mouth sandbar caused by the floods mainly formed in the early and late Holocene. The Yangtze River-mouth sandbars since the early Holocene shifted from north to south, affected by tidal currents and the Coriolis force, and more importantly, controlled by the EASM. Our results are of great significance for enriching both the record of Holocene climate change in the Yangtze River basin and knowledge about the formation and evolution progress of the deltas located in monsoon regions.

The aim of this research was to identify variation in the yak lipin-1 gene (LPIN1) and determine whether this variation affects milk traits. PCR-single stranded conformational polymorphism (PCR-SSCP) analysis was used to detect variation in the 5′ untranslated region of LPIN1 in 500 yaks from four populations: Tianzhu white yaks, Qinghai yaks, wild × domestic-cross yaks and Gannan yaks. Four unique PCR-SSCP patterns, representing four different DNA sequence variants (named A, B, C and D), were observed. These contained six single nucleotide polymorphisms. Female Gannan yaks with BC genotype produced milk with a higher fat content (P < 0.001) and total milk solids (P < 0.001), than those with the AA, AB and BB genotypes. These results would suggest that LPIN1 is having an effect on yak milk fat synthesis.

The development of GaN-on-diamond devices offers bright prospects for the creation of high-power density electronics. This article presents a process of fabricating GaN-on-diamond structure by depositing diamond films on dual sides, including heat dissipation diamond film and sacrificial carrier diamond film. Prior to heat dissipation diamond film layer preparation, aluminum nitride (AlN) is chosen as a dielectric layer and pretreated by nanodiamond (ND) particles, to enhance the nucleation density. Zeta potential measurements and X-ray photoelectron spectroscopy are used to analyze the AlN surface after each treatment. The results show that oxygen-terminated ND particles tend to adhere to an AlN surface because the oxygen-terminated NDs have –COOH and –OH groups, and hold a negative potential. On the contrary, fluorine-terminated AlN prefers to attract the hydrogen-terminated ND seeds, which resulted in higher diamond nucleation density. Based on this preliminary study, a dense high-quality GaN-on-diamond wafer is successfully produced by using AlN as the dielectric layer and a diamond film as the sacrificial carrier.

The aim of the present study was to explore the influence of tea consumption on diabetes mellitus in the Chinese population. This multi-centre, cross-sectional study was conducted in eight sites from south, east, north, west and middle regions in China by enrolling 12 017 subjects aged 20–70 years. Socio-demographic and general information was collected by a standardised questionnaire. A standard procedure was used to measure anthropometric characteristics and to obtain blood samples. The diagnosis of diabetes was determined using a standard 75-g oral glucose tolerance test. In the final analysis, 10 825 participants were included and multiple logistic models and interaction effect analysis were applied for assessing the association between tea drinking with diabetes. Compared with non-tea drinkers, the multivariable-adjusted OR for newly diagnosed diabetes were 0·80 (95 % CI 0·67, 0·97), 0·88 (95 % CI 0·71, 1·09) and 0·86 (95 % CI 0·67, 1·11) for daily tea drinkers, occasional tea drinkers and seldom tea drinkers, respectively. Furthermore, drinking tea daily was related to decreased risk of diabetes in females by 32 %, elderly (>45 years) by 24 % and obese (BMI > 30 kg/m2) by 34 %. Moreover, drinking dark tea was associated with reduced risk of diabetes by 45 % (OR 0·55; 95 % CI 0·42, 0·72; P < 0·01). The results imply that drinking tea daily was negatively related to risk of diabetes in female, elderly and obese people. In addition, drinking dark tea was associated with decreased risk of type 2 diabetes mellitus.

Systematic error is one of the major factors that affect positioning accuracy owing to the changeable and complex nature of seawater environments. Based on a Global Navigation Satellite System-acoustic intelligent buoys system, whose acoustic array consists of a series of surface buoys, a single-difference method for underwater dynamic positioning is proposed to eliminate systematic error. Positioning configuration optimisation was addressed using dilution of precision (DOP). A simulation of DOP proved that for the single-difference method, a radiation network with a centre-difference reference point was superior to a regular polygon network. The positioning experiment showed that the novel method could effectively eliminate systematic error, improving vertical positioning accuracy from a metre- to a decimetre scale.