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This paper focuses on robust control of a simplest passive model, which is established on a DCLF (discrete control Lyapunov function) -based control system, and presents gait transition method based on the study of purely passive walker. Firstly, the DCLF is introduced to stabilize walking process between steps exponentially by modulating the length of next step. Next, the swing leg trajectory from mid-stance position to foot-strike can be planned. Then the control law is calculated to resist external disturbance. Besides, an impulse is added just before foot-strike to realize a periodic walking pattern on flat or uphill ground. With walking terrain varying, the robot can transit to an adaptive walking gait in a few steps. With different push or pull disturbances acting on hip joint and the robot gait transiting on a continuously slope-changing downhill, the effectiveness of the presented DCLF-based method is verified using simulation experiments. The ability to walk on a changing environment is also presented by simulation results. The insights of this paper can help to develop a robust control method and adaptive walking of dynamic passive locomotion robots.
Light-absorbing impurities (LAIs, e.g. black carbon (BC), organic carbon (OC), mineral dust (MD)) deposited on snow cover reduce albedo and accelerate its melting. Northern Xinjiang (NX) is an arid and semi-arid inland region, where snowmelt leads to frequent floods that have been a serious threat to local ecological security. There is still a lack of quantitative assessments of the effects of LAIs on snowmelt in the region. This study investigates spatial variations of LAIs in snow and its effect on snow albedo, radiative forcing (RF) and snowmelt across NX. Results showed that concentrations of BC, OC (only water-insoluble OC), MD ranged from 32 to 8841 ng g−1, 77 to 8568 ng g−1 and 0.46 to 236 µg g−1, respectively. Weather Research and Forecasting Chemistry model suggested that residential emission was the largest source of BC. Snow, Ice, and Aerosol Radiative modelling showed that the average contribution of BC and MD to snow albedo reduction was 17 and 3%, respectively. RF caused by BC significantly exceeded RF caused by MD. In different scenarios, changes in snow cover duration (SCD) caused by BC and MD decreased by 1.36 ± 0.61 to 6.12 ± 3.38 d. Compared with MD, BC was the main dominant factor in reducing snow albedo and SCD across NX.
Flaxseed oil is rich in ɑ-linolenic acid (ALA), which is the metabolic precursor of eicosapentaenoic acid (EPA) and docosahexaenoic acid (DHA). This study investigated the effect of flaxseed oil supplementation on lipopolysaccharide (LPS)-induced muscle atrophy and carbohydrate oxidation impairment in a piglet model. Twenty-four weaned pigs were used in a 2 × 2 factorial experiment including dietary treatment (5% corn oil vs. 5% flaxseed oil) and LPS challenge (saline vs. LPS). On day 21 of treatment, the pigs were injected intraperitoneally with 100 μg/kg BW LPS, or sterile saline. At 4 h after injection, blood, gastrocnemius muscle and longissimus dorsi (LD) muscle were collected. Flaxseed oil supplementation increased ALA, EPA, total n-3 polyunsaturated fatty acids contents, protein/DNA ratio, and pyruvate dehydrogenase complex (PDC) quantity in muscles (p<0.05). In addition, flaxseed oil reduced mRNA expression of toll-like receptor (TLR) 4 and nucleotide-binding oligomerization domain protein (NOD) 2 and their downstream signaling molecules in muscles, and decreased plasma concentrations of tumor necrosis factor (TNF)-α, interleukin (IL)-6, and IL-8, and mRNA expression of TNF-α, IL-1β and IL-6 (p<0.05). Moreover, flaxseed oil inclusion increased the ratios of phosphorylated Akt 1/ total Akt 1 and phosphorylated forkhead Box O (FOXO) 1/ total FOXO1, and reduced mRNA expression of FOXO1, muscle RING finger (MuRF) 1, and pyruvate dehydrogenase kinase (PDK) 4 in muscles (p<0.05). These results suggest that flaxseed oil might have a positive effect on alleviating muscle protein loss and carbohydrates oxidation impairment induced by LPS challenge through regulation of TLR4/NOD and Akt/FOXO signaling pathway.
We show that several machine learning estimators, including square-root least absolute shrinkage and selection and regularized logistic regression, can be represented as solutions to distributionally robust optimization problems. The associated uncertainty regions are based on suitably defined Wasserstein distances. Hence, our representations allow us to view regularization as a result of introducing an artificial adversary that perturbs the empirical distribution to account for out-of-sample effects in loss estimation. In addition, we introduce RWPI (robust Wasserstein profile inference), a novel inference methodology which extends the use of methods inspired by empirical likelihood to the setting of optimal transport costs (of which Wasserstein distances are a particular case). We use RWPI to show how to optimally select the size of uncertainty regions, and as a consequence we are able to choose regularization parameters for these machine learning estimators without the use of cross validation. Numerical experiments are also given to validate our theoretical findings.
Cryoconite is a dark-coloured granular sediment that contains biological and mineralogical components, and it plays a pivotal role in geochemistry, carbon cycling and glacier mass balance. In this work, we collected cryoconite samples from Laohugou Glacier No. 12 (LHG) on the north-eastern Tibetan Plateau during the summer of 2015 and measured the spectral albedo. To explore the impacts of this sediment on surface ablation, the ice melting differences between the cryoconite-free (removed) ice and the intact layers were compared. The results showed that the mean concentrations of black carbon (BC), organic carbon (OC) and total iron (Fe) in the LHG cryoconite were 1.28, 11.18 and 39.94 mg g−1, respectively. BC was found to play a stronger role in solar light adsorption than OC and free Fe. In addition, ice covered by cryoconite exhibited the lowest mean reflectance (i.e., <0.1). Compared with the cryoconite-free ice surface, cryoconite effectively absorbed solar energy and enhanced glacial melting at a rate of 2.27–3.28 cm d−1, and free Fe, BC and OC were estimated to contribute 1.01, 0.99 and 0.76 cm d−1, respectively. This study provides important insights for understanding the role of cryoconite in the glacier mass balance of the northern Tibetan Plateau.
We present the design and experiment of a broadband optical parametric chirped-pulse amplifier (OPCPA) which provides high conversion efficiency and good beam quality at 808 nm wavelength. Using a three-dimensional spatial and temporal numerical model, several design considerations necessary to achieve high conversion efficiency, good beam quality and good output stability are discussed. To improve the conversion efficiency and broaden the amplified signal bandwidth simultaneously, the nonlinear crystal length and OPCPA parameters are analyzed and optimized with the concept of dissipating amplified idler between optical parametric amplification (OPA) of two crystals configuration. In the experiment, an amplifier consisting of two OPCPA stages of ‘L’ type configuration was demonstrated by using the optimized parameters. An amplified signal energy of 160 mJ was achieved with a total pump-to-signal efficiency of 35% (43% efficiency for the OPCPA stage 2). The output bandwidth of signal pulse reached 80 nm and the signal pulse was compressed to 24 fs. The energy stability reached 1.67% RMS at 3% pump energy variation. The optimized OPCPA amplifier operates at a repetition rate of 1 Hz and is used as a front-end injection for the main amplifier of SG-II 5PW laser facility.
We present a recent progress of the SG-II 5PW facility, which designed a multi-petawatt ultrashort pulse laser based on optical parametric chirped-pulse amplification (OPCPA). The prior two optical parametric amplifiers have been accomplished and chirped pulses with an energy of 49.7 J and a full-width-at-half-maximum (FWHM) spectrum bandwidth of 85 nm have been achieved. In the PW-scale optical parametric amplification (OPA), with the pump pulse that has an energy of 118 J from the second harmonic generation of the SG-II 7th beam, the pump-to-signal conversion efficiency is up to 41.9%, which to the best of our knowledge is the highest among all of the reported values for OPCPA systems. The compressed pulse is higher than 37 J in 21 fs (1.76 PW), and the focal spot is
after the closed-loop corrections by the adaptive optics. Limited by the repetition of the pump laser, the SG-II 5PW facility operates one shot per hour. It has successfully been employed for high energy physics experiments.
Temporal contrast is one of the crucial physical determinants which guarantee the successful performance of laser–matter interaction experiments. We generally reviewed the influences on the temporal contrast in three categories of noises based on the requirement by the physical mechanisms. The spatiotemporal influences on temporal contrast at the focal region of the chromatic aberration and propagation time difference introduced by large-aperture broadband spatial filters, which were spatiotemporally coupled with compression and focusing, were calculated and discussed with a practical case in SG-II 5 PW ultrashort petawatt laser. The system-wide spatiotemporal coupling existing in large-aperture broadband ultrashort petawatt lasers was proved to be one of the possible causes of temporal contrast degradation in the focal region.
Jatropha curcas L. is a potential bioenergy crop but has a lack of improved cultivars with high yields and oil content. Therefore, increasing our understanding of J. curcas germplasm is important for designing breeding strategies. This study was performed to investigate the genetic diversity and population structure of Indonesian J. curcas populations from six different islands. To construct a reference, we de novo assembled the scaffolds (N50 = 355.5 kb) using 182 Gb Illumina HiSeq sequencing data from Thai J. curcas variety Chai Nat. Genetic diversity analysis among 52 Indonesian J. curcas accessions was conducted based on yield traits and single nucleotide polymorphism (SNP) markers detected by mapping genotyping-by-sequencing reads from Indonesian population to Chai Nat scaffolds. Strong variation in yield traits was detected among accessions. Using J. integerrima as an outgroup, 13,916 SNPs were detected. Among J. curcas accessions, including accessions from other countries (Thailand, the Philippines and China), 856 SNPs were detected, but only 297 SNPs were detected among Indonesian J. curcas populations, representing low genetic diversity. Through phylogenetic and structural analysis, the populations were clustered into two major groups. Group one consists of populations from Bangka and Sulawesi in the northern part of Indonesia, which are located at a distance of 1572.59 km. Group two contains populations from islands in the southern part: Java, Lombok-Sumbawa, Flores and Timor. These results indicate that introduction of diverse J. curcas germplasms is necessary for the improvement of the genetic variation in the Indonesian collections.
Little is known about the combined use of benzodiazepines and antidepressants in older psychiatric patients. This study examined the prescription pattern of concurrent benzodiazepines in older adults treated with antidepressants in Asia, and explored its demographic and clinical correlates.
The data of 955 older adults with any type of psychiatric disorders were extracted from the database of the Research on Asian Psychotropic Prescription Patterns for Antidepressants (REAP-AD) project. Demographic and clinical characteristics were recorded using a standardized protocol and data collection procedure. Both univariate and multiple logistic regression analyses were performed.
The proportion of benzodiazepine and antidepressant combination in this cohort was 44.3%. Multiple logistic regression analysis revealed that higher doses of antidepressants, younger age (<65 years), inpatients, public hospital, major comorbid medical conditions, antidepressant types, and country/territory were significantly associated with more frequent co-prescription of benzodiazepines and antidepressants.
Nearly, half of the older adults treated with antidepressants in Asia are prescribed concurrent benzodiazepines. Given the potentially adverse effects of benzodiazepines, the rationale of benzodiazepines and antidepressants co-prescription needs to be revisited.
Comparison of the terminus locations of Rongbuk Glacier, Mount Everest, measured in 1966 and 1997 shows that in the past 30 years the glacier has retreated 170–270 m equivalent to a retreat speed of 5.5–8.7 m a–1 . During summer 1997, a 15 m firn core was recovered from Dasuopu glacier (28°23’ N, 85°44’ E; 7000 m a.s.D on the northwest margin of Xixabangma Feng, Xizang (Tibet). The seasonal variations of δ18O values in the core indicate that monsoon signals are clearly recorded in the glacier. δ18O values are controlled by the amount effect in the monsoon season; more negative δ18O is representative of the monsoon season in snow layers. Analysis of the relationship between ice-core δ18O, sampled from 6500 m a.s.l. on the north side of Mount Everest, and instrumental series representing regional-scale precipitation, atmospheric circulation and temperature suggests a change in the relative influence of these parameters on δ18O since the 1940s. The results of the comparison add to and lengthen the sparse array of instrument data available for the Tibetan (Qinghai-Xizang) Plateau and demonstrate a recent decline in moisture flux for at least the southern part of the plateau. Glacier retreat, associated with a recent increase in temperature in the region, is coincident with this period of decreased moisture flux.
The preparation of transmission electron microscopy (TEM) samples from powders is quite difficult and challenging. For powders with particles in the 1–5 μm size range, it is especially difficult to select an adequate sample preparation technique. Epoxy is commonly used to bind powder, but drawbacks, such as differential milling originating from unequal milling rates between the epoxy and powder, remain. We propose a new, simple method for preparing TEM samples. This method is especially useful for powders with particles in the 1–5 μm size range that are vulnerable to oxidation. The method uses solder as an embedding agent together with focused ion beam (FIB) milling. The powder was embedded in low-temperature solder using a conventional hot-mounting instrument. Subsequently, FIB was used to fabricate thin TEM samples via the lift-out technique. The solder proved to be more effective than epoxy in producing thin TEM samples with large areas. The problem of differential milling was mitigated, and the solder binder was more stable than epoxy under an electron beam. This methodology can be applied for preparing TEM samples from various powders that are either vulnerable to oxidation or composed of high atomic number elements.
Climate variables that control the annual cycle of the surface energy and mass balance on Zhadang glacier in the central Tibetan Plateau were examined over a 2 year period using a physically based energy-balance model forced by routine meteorological data. The modelled results agree with measured values of albedo, incoming longwave radiation, surface temperature and surface level of the glacier. For the whole observation period, the radiation component dominated (82%) the total surface energy heat fluxes. This was followed by turbulent sensible (10%) and latent heat (6%) fluxes. Subsurface heat flux represented a very minor proportion (2%) of the total heat flux. The sensitivity of specific mass balance was examined by perturbations of temperature (±1 K), relative humidity (±20%) and precipitation (±20%). The results indicate that the specific mass balance is more sensitive to changes in precipitation than to other variables. The main seasonal variations in the energy balance were in the two radiation components (net shortwave radiation and net longwave radiation) and these controlled whether surface melting occurred. A dramatic difference in summer mass balance between 2010 and 2011 indicates that the glacier surface mass balance was closely related to precipitation seasonality and form (proportion of snowfall and rainfall).
Previous studies have yielded conflicting results on the associations of maternal Fe intake with birth outcomes. This study aimed to investigate the associations between maternal Fe intake (total Fe from diet and supplements, dietary total Fe, haeme Fe, non-haeme Fe and Fe supplements use) and adverse birth outcomes in Shaanxi Province of Northwest China. In all, 7375 women were recruited using a stratified multistage random sampling method at 0–12 months (median 3; 10th–90th percentile 0–7) after delivery. Diets were collected by a validated FFQ and maternal characteristics were obtained via a standard questionnaire. The highest tertile of haeme Fe intake compared with the lowest tertile was negatively associated with low birth weight (LBW) (OR 0·68; 95 % CI 0·49, 0·94), small for gestational age (SGA) (OR 0·76; 95 % CI 0·62, 0·94) and birth defects (OR 0·55; 95 % CI 0·32, 0·89). Maternal haeme Fe intake was associated with a lower risk of intra-uterine growth retardation (IUGR) (medium tertile v. lowest tertile: OR 0·78; 95 % CI 0·61, 0·95; highest tertile v. lowest tertile: OR 0·76; 95 % CI 0·59, 0·93; Ptrend=0·045). The OR of LBW associated with Fe supplements use were as follows: during pregnancy: 0·72 (95 % CI 0·50, 0·95); in the second trimester: 0·67 (95 % CI 0·42, 0·98); in the third trimester: 0·47 (95 % CI 0·24, 0·93). We observed no associations of total Fe, dietary total Fe or non-haeme Fe intake with birth outcomes. The results suggest that maternal haeme Fe intake is associated with a reduced risk of LBW, SGA, IUGR and birth defects, and Fe supplements use during pregnancy reduces LBW risk.
In the source area of the Ürümqi River, during the glacier ablation season, net radiation is the only heat input to the tundra, averaging 119W m−2 in July and August, more than twice that to the glacier, where additional heat input is contributed by sensible heat. The heat input to the tundra is mostly lost by evaporation, which accounts for 86%, while the input to the glacier is mostly lost by melting. The relatively small heat input to the glacier and the large evaporation rate of its surroundings favour the glacier’s existence. Most precipitation occurs between June and August, accounting for 66% of the annual total. Precipitation increases with altitude in average conditions during the ablation season; the annual precipitation is estimated to be about 650 mm at the mean equilibrium line altitude of 4030 m. This amount is considerably larger than that of the surrounding area. Evaporation is estimated at 270 mm a−1 on the tundra, reducing the runofTin a rather large proportion, and 120 mm a−1 on the glacier. Almost all runoff takes place between May and September, and is mostly concentrated in July and August when the glacier melt is the most intense. When air temperature is high during the ablation period, although the precipitation is less, runoff could peak because of the glacier melt. Based on the measured runoff and estimated regional precipitation and evaporation, the glacier mass balance is calculated and discussed.
To date, there have been a number of research proposals to explore the newly emerging wireless charging technologies based on radio-frequency (RF) signals, ambient or dedicated. In particular, research efforts towards achieving the goal of transmitting information and energy at the same time have been rapidly expanding, but the feasibility of this goal has not been fully addressed. Moreover, the respective coverage areas of transmitting information and energy are wildly different, the latter being considerably smaller than the former. This is because the receiver sensitivities are very different, namely -60 dBm for an information receiver and -10 dBm for an energy receiver [1, 2].
Owing to this limitation, recently a commercial implementation of RF energy transfer has been restricted to lower-power sensor nodes with dedicated RF energy transmitters, such as the Powercast wireless rechargeable sensor system  and the Cota system .
In this chapter, we discuss the implementation of long- and short-range RF energy harvesting systems, where the former is to provide far-field-based RF energy transfer over long distances with a 4 × 4 phased antenna array and the latter to provide biosensors with RF energy over short distances. An overall circuit design for these RF energy harvesting systems is described in detail, along with the measurement results to validate the feasibility of far-field-based RF energy transfer. We illustrate the designed test-beds which will be applied to develop sophisticated energy beamforming algorithms to increase the transmission range. Finally, a new research framework is developed through the cross-layer design of the RF energy harvesting system, which is intended to power a low-power sensor node, like the Internet-of-Things (IoT) sensor node. To this end, we present a circuit-layer stored energy evolution model based on the measurements which will be used in designing the upper-layer energy management algorithm for efficient control of the stored energy at the sensor node. The new framework will be useful because the existing works on RF energy harvesting do not explicitly take into account a realistic temporal evolution model of the stored energy in the energy storage device, like such as a supercapacitor.
To evaluate the appropriateness of the screening strategy for healthcare personnel (HCP) during a hospital-associated Middle East Respiratory Syndrome (MERS) outbreak, we performed a serologic investigation in 189 rRT-PCR–negative HCP exposed and assigned to MERS patients. Although 20%–25% of HCP experienced MERS-like symptoms, none of them showed seroconversion by plaque reduction neutralization test (PRNT).
To describe nutrient intakes, characterize dietary patterns and analyse their associations with sociodemographic characteristics among pregnant women in Shaanxi, China.
Population-based cross-sectional survey.
Twenty counties and ten districts in Shaanxi Province of Northwest China, 2013.
Women (n 7462) were recruited using a stratified multistage random sampling method to report diets during pregnancy, at 0–12 months (median 3 months; 10th–90th percentile, 0–7 months) after delivery.
Pregnant women had higher intakes of fat, niacin and vitamin E than the nutrient reference values, while most micronutrients such as vitamin A, folate, Ca and Zn were reportedly low. Women in the highest education, occupation and household income groups had higher nutrient intakes than those in the lowest groups. Nutrient intake differences also existed by geographic area, residence and maternal age at delivery. Three dietary patterns were identified: balanced pattern, vegetarian pattern and snacks pattern. Participants with high balanced pattern scores tended to be better educated, wealthier, 25–29 years old at delivery, working outside and living in urban areas and central Shaanxi. Women with high scores on the vegetarian pattern and snacks pattern tended to be in low balanced pattern score groups, and had lower nutrient intakes than those in the high balanced pattern score groups.
The study suggested that pregnant women in Shaanxi, China had low intakes of most nutrients such as vitamin A, folate and Ca. Dietary patterns and most nutrient intakes varied by sociodemographic characteristics. Targeted programmes are needed to improve dietary intakes and dietary patterns among sociodemographically disadvantaged groups.
Technological and theoretical advancements in modern radiocarbon chronology make the precise dating of archaeological and geological events possible. Here, we show examples of how these state-of-the-art methods can be used to establish and refine the archaeological cultural chronology for the Shangluo area in the Qinling Mountains of central China. In this study, the Donglongshan and Zijing sites were dated using the high-precision accelerator mass spectrometry (AMS) 14C method. Also, detailed magnetic-susceptibility measurements were conducted at both sites to gain preliminary information about past climate changes. The 14C dates, after being treated with Bayesian statistics, provide a firm constraint on the archaeological chronological framework for this area. Within this framework, the Malan loess-Holocene soil transition can be placed at 10,400–10,090 BC, while the duration of the Yangshao and Longshan cultures was dated to ∼4200–2900 and ∼2900–2100 BC, respectively, revealing an undisrupted history of human occupation in this area until the early dynastic period. Magnetic susceptibility values began to increase in the early Holocene, indicating a progressive amelioration of regional climate. The widespread development of paleosol during the middle Holocene indicates that warm and wet climate conditions prevailed, providing a favorable environmental context within which the Yangshao culture thrived. Magnetic susceptibility values then decreased from ∼2100 BC when the Xia Dynasty started, and loess accumulated again, pointing to cooling and drying climate conditions that may have led to a cultural transition from the Neolithic to the dynastic civilization.