During visual servoing space activities, the attitude of free-floating space robot may be disturbed due to dynamics coupling between the satellite base and the manipulator. And the disturbance may cause communication interruption between space robot and control center on earth. However, it often happens that the redundancy of manipulator is not enough to fully eliminate this disturbance. In this paper, a method named off-line optimizing visual servoing algorithm is innovatively proposed to minimize the base disturbance during the visual servoing process where the degrees-of-freedom of the manipulator is not enough for a zero-reaction control. Based on the characteristic of visual servoing process and the robot system modeling, the optimal control method is applied to achieve the optimization, and a pose planning method is presented to achieve a second-order continuity of quaternion getting rid of the interruption caused by ambiguity. Then simulations are carried out to verify the method, and the results show that the robot is controlled with optimized results during visual servoing process and the joint trajectories are smooth.

Oxidative stress is closely related to metabolic disorders, which can lead to various diseases. Nuclear factor E2-related factor 2 (Nrf2) is a central regulator of oxidative stress. Sodium butyrate (NaB) has been shown to alleviate oxidative stress and insulin resistance, yet how Nrf2 is involved in the action of NaB remains unclear. In this study, rats were rendered obese by feeding a high-fat diet for 9 weeks. NaB (300 mg/kg), which was gavaged every 2 days for 7 weeks, significantly alleviated high-fat diet-induced oxidative stress and insulin resistance. Additionally, the insulin signaling pathway in the liver was activated by NaB, associated with significant activation of Nrf2, superoxide dismutase and glutathione. Furthermore, hepatic up-regulation of Nrf2 in NaB-treated rats was associated with reduced protein content of histone deacetylase 1 and increased histone H3 acetyl K9 (H3K9Ac) modification on the Nrf2 promoter. The actions of NaB were completely abolished when Nrf2 was knocked down in vitro. Taken together, NaB acts as a histone deacetylase inhibitor to up-regulate Nrf2 expression with enhanced H3K9Ac modification on its promoter. NaB-induced Nrf2 activation stimulates transcription of downstream antioxidant enzymes, thus contributing to the amelioration of high-fat diet-induced oxidative stress and insulin resistance.

Grain size effect on twin thickness has been rarely investigated, especially when the grain size is less than 1000 nm. In our previous work (Mater. Sci. Eng.A527, 3942, 2010), different severe plastic deformation techniques were used to achieve a wide range of grain sizes from about 3 μm to 70 nm in a Cu–30% Zn alloy. Transmission electron microscopy (TEM) revealed a gradual decrease in the deformation twin thickness with decreasing grain size. In the present work, high-resolution TEM was used to further identify deformation twins and measure their thickness, especially for grain sizes below 70 nm. The twin thickness was found to gradually reduce with decreasing grain size, until a critical size (20 nm), below which only stacking faults were observed. Interestingly, the relationship between twin thickness and grain size in the ultrafine/nanocrystalline regime is found similar to that in the coarse-grained regime, despite the differences in their twinning mechanisms. This work provides a large set of data for setting up a model to predict the twin thickness in ultrafine-grained and nanocrystalline face-centered cubic materials.

The third generation of the BeiDou navigation satellite system (BDS-3) is a global navigation system, and is expected to be in full operation by 2020. High-precision orbits are a precondition for BDS-3 to provide a highly accurate service, which needs a global tracking and monitoring capability for the operational satellites. However, it is difficult for BDS to construct global ground monitoring stations. Fortunately, Ka-band Inter-Satellite Link (ISL) antennae fitted to the BDS-3 satellites can be used to extend the visible arc of the Medium Earth Orbit (MEO) satellites and to enhance the ground stations for orbit determination. This paper analyses the ISL-enhanced orbit determination for eight BDS-3 satellites, using the data from ten Chinese domestic stations and 13 international Global Navigation Satellite System (GNSS) Monitoring and Assessment System (iGMAS) overseas stations. The results show that the Three-Dimensional (3D) position Root Mean Square (RMS) error of the Overlapping Orbit Differences (OODs) is approximately 1 m when only ten regional stations are used. When the ISL measurements are added, the 3D position RMS error is decreased to 0·5 m, and the accuracy of the 24-hour orbit prediction can also be improved from 2 m to 0·7 m, which is even better than that of the orbits determined using globally distributed stations. It can be expected that with the subsequent launch of BDS-3 satellites and the increasing number of ISLs, the advantage of the ISL enhanced orbit determination will become more significant.

Aeolian dust input exerts significant influence on oceanic biogeochemical cycles and further potentially controls atmospheric CO2 concentrations. However, the possible link between long-term aeolian dust supply and primary productivity in the western North Pacific remains poorly understood. Here, we present a comprehensive study of major and trace elements and total organic carbon (TOC) concentrations of sediments from Integrated Ocean Drilling Program (IODP) Site U1430 in the southern Japan Sea, in order to reconstruct oceanic palaeoproductivity evolution and test its possible link to Asian dust input since 4 Ma. Palaeoproductivity proxies indicate remarkable increases in productivity at ∼3–2 Ma followed by high-frequency oscillations in productivity since 1.2 Ma. We suggest that higher dust-derived iron supply from Central Asia at 3–2 Ma, which was likely driven by the growth of the Northern Hemisphere ice sheets, could account for enhanced primary productivity and export production in the Japan Sea. Such increased oceanic palaeoproductivity could enhance organic carbon burial, which might contribute to the decrease in atmospheric CO2 concentrations, and provide a positive feedback to the global cooling. However, the Tsushima Warm Current (TSWC) intrusion via the southern Tsushima Strait, which was controlled by glacioeustatic sea level changes, has been the principal cause of the rapid changes in primary productivity and benthic redox condition since 1.2 Ma, regardless of continuously increased Asian dust input.

A bottom-feed omni-directional CP (circularly polarized) antenna array is proposed in this letter. The antenna array is composed of four elements (two printed ZPS (zero-phase-shift) line loops and two half-wavelength dipoles). The four elements are fed with the same phase and amplitude. The ZPS line loops provide the horizontal polarization while the dipoles provide the vertical polarization. Therefore, omni-directional circular polarization is formed in the far field. The feeding network consists of a 1–4 T-shaped power divider formed by parallel strip lines. In order to balance the amplitude of the feeding coaxial cable, the structure is used in the bottom to transfer parallel strip line to micro-strip line. Besides, the loops and the dipoles are placed on the different side of the network to guarantee the omni-directional radiation property. The measured impedance bandwidth of the fabricated antenna is 0.13 GHz (2.40–2.53 GHz) and the measured maximum CP gain at 2.45 GHz is 4.8 dBic.

In this study, a new ultra-wideband (UWB) band-edge selectivity antenna with a modified radiation slot using defected ground structure (DGS) is presented to obtain bandpass filtering reflection coefficient and gain performance. The well-designed DGS is designed on backside metallic of the substrate and can be seen as a low-pass filter that provides a good roll-off at a higher frequency. By connecting the DGS and the stepped slot and making them merge with each other, good cut-off property in the upper passband and better in-band impedance characteristics are obtained. Measured results show that the proposed design not only shows good band-edge selectivity in reflection coefficient and gain performance but also has a good impedance matching of −13.5 dB reflection coefficients and a good radiation efficiency of 90% in the operating frequencies. The measured bandwidth defined with the reflection coefficient less than −10 dB is from 3.1–11.2 GHz. Furthermore, the size of the filtering UWB antenna is 22 mm × 12 mm, which is smaller than many individual UWB antennas and UWB filters.

Surface modification with poly(2-methacryloyloxyethyl phosphorylcholine) (PMPC) is an effective method for improving hemocompatibility. Peptide GREDVY immobilized on Ti is of great benefit to endothelialization. Micropattern of PMPC and GREDVY can regulate cells distribution, behaviors, and nitric oxide (NO) release. Copper can be used as catalytic to release NO from a donor in vitro, which can inhibit platelets adhesion, activation, and aggregation. The Ti-PDA(Cu)-M/R(P) micropattern was fabricated with PMMPC-HD {PMMPC [monomer contain MPC and methacrylic acid (MA)] was cross-linked with hexamethylene diamine} and peptide Gly-Arg-Glu-Asp-Val-Tyr (GREDVY) using PDMS stamp, and it was characterized by SEM, FTIR, and XPS. The results demonstrated that the PMPC and peptide GREDVY were immobilized onto polydopamine successfully. Simultaneously, the copper existed in polydopamine was confirmed by XPS. The rate of NO release in vitro catalyzed by copper ions was 1.5–5.3 × 10−10 mol/(cm2 min). It will be beneficial to inhibiting platelets adhesion and proliferation of ECs.

A layer of silver nanoparticles created by thermal annealing of evaporated silver films can increase the photocurrents in silicon-on-insulator (SOI) devices by fivefold or more, but significant enhancements have been restricted to wavelengths greater than 800 nm. Here we report a significant enhancement of photoconductance at shorter wavelengths (500-750 nm) by using a monolayer of silver nanoparticles transferred from a colloidal suspension. Photocurrents on SOI increased in the 500-750 nm spectral range with the addition of silver nanoparticles, with enhancements more than two times; enhancements at longer wavelengths were small, in contrast to results with annealed silver films. We prepared similar colloidal silver nanoparticle monolayers layers on nanocrystalline silicon solar cells with conducting oxide top layers. There is an overall decrease in the quantum efficiency of these cells with the deposition of silver nanoparticles. We attribute these effects to the substantial substrate-mediated changes in the localized surface plasmon resonance frequencies of the differing nanoparticle configurations.

The seasonality of individual influenza subtypes/lineages and the association of influenza epidemics with meteorological factors in the tropics/subtropics have not been well understood. The impact of the 2009 H1N1 pandemic on the prevalence of seasonal influenza virus remains to be explored. Using wavelet analysis, the periodicities of A/H3N2, seasonal A/H1N1, A/H1N1pdm09, Victoria and Yamagata were identified, respectively, in Panzhihua during 2006–2015. As a subtropical city in southwestern China, Panzhihua is the first industrial city in the upper reaches of the Yangtze River. The relationship between influenza epidemics and local climatic variables was examined based on regression models. The temporal distribution of influenza subtypes/lineages during the pre-pandemic (2006–2009), pandemic (2009) and post-pandemic (2010–2015) years was described and compared. A total of 6892 respiratory specimens were collected and 737 influenza viruses were isolated. A/H3N2 showed an annual cycle with a peak in summer–autumn, while A/H1N1pdm09, Victoria and Yamagata exhibited an annual cycle with a peak in winter–spring. Regression analyses demonstrated that relative humidity was positively associated with A/H3N2 activity while negatively associated with Victoria activity. Higher prevalence of A/H1N1pdm09 and Yamagata was driven by lower absolute humidity. The role of weather conditions in regulating influenza epidemics could be complicated since the diverse viral transmission modes and mechanism. Differences in seasonality and different associations with meteorological factors by influenza subtypes/lineages should be considered in epidemiological studies in the tropics/subtropics. The development of subtype- and lineage-specific prevention and control measures is of significant importance.

Nutrition therapy is considered an important treatment of burn patients. The aim of the study was to delineate the nutritional support in severe burn patients and to investigate association between nutritional practice and clinical outcomes. Severe burn patients were enrolled (n 100). In 90 % of the cases, the burn injury covered above 70 % of the total body surface area. Mean interval from injury to nutrition start was 2·4 (sd 1·1) d. Sixty-seven patients were initiated with enteral nutrition (EN) with a median time of 1 d from injury to first feed. Twenty-two patients began with parenteral nutrition (PN). During the study, thirty-two patients developed EN intolerance. Patients received an average of about 70 % of prescribed energy and protein. Patients with EN providing <30 % energy had significantly higher 28- d and in-hospital mortality than patients with EN providing more than 30 % of energy. Mortality at 28 d was 11 % and in-hospital mortality was 45 %. Multiple regression analysis demonstrated that EN providing <30 % energy and septic shock were independent risk factors for 28- d prognosis. EN could be initiated early in severe burn patients. Majority patients needed PN supplementation for energy requirement and EN feeding intolerance. Post-pyloric feeding is more efficient than gastric feeding in EN tolerance and energy supplement. It is difficult for severe burn patients to obtain enough feeding, especially in the early stage of the disease. More than 2 weeks of underfeeding is harmful to recovery.

Direct numerical simulation is conducted to uncover the response of a supersonic turbulent boundary layer to streamwise concave curvature and the related physical mechanisms at a Mach number of 2.95. Streamwise variations of mean flow properties, turbulence statistics and turbulent structures are analysed. A method to define the boundary layer thickness based on the principal strain rate is proposed, which is applicable for boundary layers subjected to wall-normal pressure and velocity gradients. While the wall friction grows with the wall turning, the friction velocity decreases. A logarithmic region with constant slope exists in the concave boundary layer. However, with smaller slope, it is located lower than that of the flat boundary layer. Streamwise varying trends of the velocity and the principal strain rate within different wall-normal regions are different. The turbulence level is promoted by the concave curvature. Due to the increased turbulence generation in the outer layer, secondary bumps are noted in the profiles of streamwise and spanwise turbulence intensity. Peak positions in profiles of wall-normal turbulence intensity and Reynolds shear stress are pushed outward because of the same reason. Attributed to the Görtler instability, the streamwise extended vortices within the hairpin packets are intensified and more vortices are generated. Through accumulations of these vortices with a similar sense of rotation, large-scale streamwise roll cells are formed. Originated from the very large-scale motions and by promoting the ejection, sweep and spanwise events, the formation of large-scale streamwise roll cells is the physical cause of the alterations of the mean properties and turbulence statistics. The roll cells further give rise to the vortex generation. The large number of hairpin vortices formed in the near-wall region lead to the improved wall-normal correlation of turbulence in the concave boundary layer.

We compare two cohomological Hall algebras (CoHA). The first one is the preprojective CoHA introduced in [19] associated with each quiver Q, and each algebraic oriented cohomology theory A. It is defined as the A-homology of the moduli of representations of the preprojective algebra of Q, generalizing the K-theoretic Hall algebra of commuting varieties of Schiffmann-Vasserot [15]. The other one is the critical CoHA defined by Kontsevich-Soibelman associated with each quiver with potentials. It is defined using the equivariant cohomology with compact support with coefficients in the sheaf of vanishing cycles. In the present paper, we show that the critical CoHA, for the quiver with potential of Ginzburg, is isomorphic to the preprojective CoHA as algebras. As applications, we obtain an algebra homomorphism from the positive part of the Yangian to the critical CoHA.

Heading date (HD) and flowering date (FD) are critical for yield potential and stability, so understanding their genetic foundation is of great significance in wheat breeding. Three related recombinant inbred line populations with a common female parent were developed to identify quantitative trait loci (QTL) for HD and FD in four environments. In total, 25 putative additive QTL and 20 pairwise epistatic effect QTL were detected in four environments. The additive QTL were distributed across 17 wheat chromosomes. Of these, QHd-1A, QHd-1D, QHd-2B, QHd-3B, QHd-4A, QHd-4B and QHd-6D were major and stable QTL for HD. QFd-1A, QFd-2B, QFd-4A and QFd-4B were major and stable QTL for FD. In addition, an epistatic interaction test showed that epistasis played important roles in controlling wheat HD and FD. Genetic relationships between HD/FD and five yield-related traits (YRTs) were characterized and ten QTL clusters (C1–C10) simultaneously controlling YRTs and HD/FD were identified. The present work laid a genetic foundation for improving yield potential in wheat molecular breeding programmes.

Living Caprini are dominant bovids in the pan-Tibetan area that are strongly adapted to dry steppe and high-mountain meadow habitats. Some taxa with Holarctic distributions, e.g., Ovis Linnaeus, 1758, were thought to originate on the Tibetan Plateau and subsequently dispersed elsewhere, which was depicted as an ‘out of Tibet’ story. However, except for some information on a stem caprine assemblage from the Qaidam Basin, the early evolution of Caprini around the Tibetan Plateau is poorly known. Here, we report new material of Olonbulukia tsaidamensis Bohlin, 1937, which was a member of this stem caprine assemblage, from the Wuzhong region, northern China, confirming the similarity of the Wuzhong Fauna and ‘Qaidam Fauna.’ Based on a biometric study of horncores from the ‘Qaidam’ and Wuzhong faunas, we recognize six taxa from this stem caprine assemblage: O. tsaidamensis, O. sp., Qurliqnoria cheni Bohlin, 1937, Tossunnoria pseudibex Bohlin, 1937, ?Protoryx cf. P. enanus Köhler, 1987, and cf. Pachytragus sp. Among these taxa, Q. cheni and T. pseudibex are probably related to some extant Tibetan endemic species, e.g., the Tibetan antelope, Pantholops hodgsonii (Abel, 1826), and the Himalayan tahr, Hemitragus jemlahicus (Smith, 1826). Others might be ancestral to the Turolian caprine assemblages and even possibly gave rise to the extant Caprina. This work reveals an early radiation of stem caprines along the northern side of the rising Tibetan Plateau and indicates a mixed pattern of pan-Tibetan stem caprine evolution prior to their dispersal out of the Tibetan Plateau.