Climbing robots have broad application prospects in aerospace equipment inspection, forest farm monitoring, and pipeline maintenance. Different types of climbing robots in existing research have different advantages. However, the self-adaptability and stability have not been achieved at the same time. In order to realize the self-adaptability of holding and climbing stability, this work proposes a new type of climbing robot under the premise of minimizing the driving source. The robot realizes stable multifinger holding and wheeled movement through two motors. At the same time, the robot has two different working modes, namely pole climbing and ground crawling. The holding adaptability and climbing stability are realized by underactuated holding mechanism and model reference adaptive controller (MRAC). On the basis of model design and parameter analysis, a prototype of the climbing robot is built. Experiments prove that the proposed climbing robot has the ability to stably climb poles of different shapes. The holding and climbing stability, self-adaptability, and climbing and crawling speed of the proposed climbing robot are verified by experiments.

We investigate the dynamic couplings between particles and fluid in turbulent Rayleigh–Bénard (RB) convection laden with isothermal inertial particles. Direct numerical simulations combined with the Lagrangian point-particle mode were carried out in the range of Rayleigh number $1\times 10^6 \le {Ra}\le 1 \times 10^8$ at Prandtl number ${Pr}=0.678$ for three Stokes numbers ${St_f}=1 \times 10^{-3}$, $8 \times 10^{-3}$ and $2.5 \times 10^{-2}$. It is found that the global heat transfer and the strength of turbulent momentum transfer are altered a small amount for the small Stokes number and large Stokes number as the coupling between the two phases is weak, whereas they are enhanced a large amount for the medium Stokes number due to strong coupling of the two phases. We then derived the exact relation of kinetic energy dissipation in the particle-laden RB convection to study the budget balance of induced and dissipated kinetic energy. The strength of the dynamic coupling can be clearly revealed from the percentage of particle-induced kinetic energy over the total induced kinetic energy. We further derived the power law relation of the averaged particles settling rate versus the Rayleigh number, i.e. $S_p/(d_p/H)^2{\sim} Ra^{1/2}$, which is in remarkable agreement with our simulation. We found that the settling and preferential concentration of particles are strongly correlated with the coupling mechanisms.

This paper explores growers’ supply response to the 2005 “Sideways effect” demand shock (Cuellar, Karnowsky, and Acosta, 2009) triggered by the 2004 release of the movie Sideways. We use a modified difference-in-difference approach to evaluate the supply response in California and regional supply response differences within California. We use U.S. Department of Agriculture data for the period 1999–2012 and find evidence of a supply response in the post-release period that is consistent with the “Sideways effect” on wine demand. The positive supply response for Pinot Noir is stronger than the negative response for Merlot and concentrated in lower value Central Valley vineyards. (JEL Classifications: D25, Q12)

This paper presents a gradient-based optimization method for interference suppression of linear arrays by controlling the electrical parameters of each array element, including the amplitude-only and phase-only. Gradient-based optimization algorithm (GOA), as an efficient optimization algorithm, is applied to the optimization problem of the anti-interference arrays that is generally solved by the evolutionary algorithms. The goal of this method is to maximize the main beam gain while minimizing the peak sidelobe level (PSLL) together with the null constraint. To control the nulls precisely and synthesize the radiation pattern accurately, the full-wave method of moments is used to consider the mutual coupling among the array elements rigorously. The searching efficiency is improved greatly because the gradient (sensitivity) information is used in the algorithm for solving the optimization problem. The sensitivities of the design objective and the constraint function with respect to the design variables are analytically derived and the optimization problems are solved by using GOA. The results of the GOA can produce the desired null at the specific positions, minimize the PSLL, and greatly shorten the computation time compared with the often-used non-gradient method such as genetic algorithm and cuckoo search algorithm.

This article designs a frog-inspired swimming robot based on pneumatic muscles. The musculoskeletal characteristics of the frog are refined and used as the basis for the design of the robot joint structure and movement mode. The posture adjustment module, joint water seal, and power system are designed to meet the robot’s motion requirements, and the structure optimization design of the robot is completed by combining simulation analysis. The body length of the robot is about 710 mm, and the overall mass is 10 kg. Combining the structural characteristics of the robot, the control system is built to realize the frog-like motion. The robot’s propulsion speed is about 0.6 m/s, the propulsion distance reaches 2.4 m, the turning angle is 30°, and the turning radius is 0.6 m. The prototype experiment verifies the rationality of the frog-inspired swimming robot structure design and the reliability of the control system and water seal.

We present a microfluidic method to measure the elastic properties of a population of microcapsules (liquid drops enclosed by a thin hyperelastic membrane). The method is based on the observation of flowing capsules in a cylindrical capillary tube and an automatic inverse analysis of the deformed profiles. The latter requires results from a full numerical model of the fluid–structure interaction accounting for nonlinear membrane elastic properties. For ease of use, we provide them under the form of databases, when the initially spherical capsule has a membrane governed by a neo-Hookean or a general Hooke's law with different surface Poisson ratios. Ultimately, the microfluidic method yields information on the type of elastic constitutive law that governs the capsule wall material together with the value of the elastic parameters. The method is applied to a population of ovalbumin microcapsules and is validated by means of independent experiments of the same capsules subjected to a different flow in a microrheological device. This is of great interest for quality control purposes, as small samples of capsule suspensions can be diverted to a measuring test section and mechanically tested with a 10 % precision using an automated process.

Dietary habits play an important role in the development of obesity and type 2 diabetes. However, evidence on association between diet frequency and type 2 diabetes was limited and inconclusive. We aimed to examine the association between meal frequency and risk of type 2 diabetes. The cohort study used data from China Health and Retirement Longitudinal Study of 8874 community-dwelling people aged over 45 years. Participants were classified as eating two meals per day, three meals per day and four meals per day. Multiple Poisson regression models were used to examine risk of 4-year incident type 2 diabetes among people who ate more or less than three meals per day compared with people who ate three meals per day. We documented 706 type 2 diabetes cases during follow-up. After adjustment for known risk factors for type 2 diabetes, except for BMI, participants who ate four meals per day were at a lower risk of type 2 diabetes than those who ate three meals per day (relative risk(RR) = 0·73 (0·58, 0·92)). After further adjustment for baseline BMI, the association was slightly attenuated but remained statistically significant (RR = 0·76 (0·60, 0·97)). Subgroup analysis showed that the fully adjusted RR of type 2 diabetes for people eating four meals per day were 0·66 (0·48, 0·91) and 0·93 (0·65, 1·34) among those had a BMI < 25 and ≥ 25 kg/m2, respectively. Eating four meals per day, compared with eating three meals per day was associated with lower risk of developing type 2 diabetes in a Chinese population, particularly in those with a BMI < 25 kg/m2.

No relevant studies have yet been conducted to explore which measurement can best predict the survival time of patients with cancer cachexia. This study aimed to identify an anthropometric measurement that could predict the 1-year survival of patients with cancer cachexia. We conducted a nested case–control study using data from a multicentre clinical investigation of cancer from 2013 to 2020. Cachexia was defined using the Fearon criteria. A total of 262 patients who survived less than 1 year and 262 patients who survived more than 1 year were included in this study. Six candidate variables were selected based on clinical experience and previous studies. Five variables, BMI, mid-arm circumference, mid-arm muscle circumference, calf circumference and triceps skin fold (TSF), were selected for inclusion in the multivariable model. In the conditional logistic regression analysis, TSF (P = 0·014) was identified as a significant independent protective factor. A similar result was observed in all patients with cancer cachexia (n 3084). In addition, a significantly stronger positive association between TSF and the 1-year survival of patients with cancer cachexia was observed in participants aged > 65 years (OR: 0·94; 95 % CI 0·89, 0·99) than in those aged ≤ 65 years (OR: 0·96; 95 % CI 0·93, 0·99; P interaction = 0·013) and in participants with no chronic disease (OR: 0·92; 95 % CI 0·87, 0·97) than in those with chronic disease (OR: 0·97; 95 % CI 0·94, 1·00; P interaction = 0·049). According to this study, TSF might be a good anthropometric measurement for predicting 1-year survival in patients with cancer cachexia.

Aspirin (acetylsalicylic acid, ASA) is inexpensive and is established in preventing cardiovascular disease (CVD) and colorectal adenomas. Omega-3 (n3) polyunsaturated fatty acids (PUFA), eicosapentaenoic acid (EPA) and docosahexaenoic acid (DHA) have also shown benefit in preventing CVD. The combination could be an effective preventative measure in patients with such diseases. ASA and n3 PUFA reduced the risk of CVD in ASA-resistant or diabetic patients. EPA- and DHA-deficient patients also benefited the most from n3 PUFA supplementation. Synergistic effects between ASA and EPA and DHA are ‘V-shaped’ such that optimal ASA efficacy is dependent on EPA and DHA concentrations in blood. In colorectal adenomas, ASA (300 mg/d) and EPA reduced adenoma burden in a location- and subtype-specific manner. Low doses of ASA (75–100 mg/d) were used in CVD prevention; however, ultra-low doses (30 mg/d) can also reduce thrombosis. EPA-to-DHA ratio is also important with regard to efficacy. DHA is more effective in reducing blood pressure and modulating systemic inflammation; however, high-dose EPA can lower CVD events in high-risk individuals. Although current literature has yet to examine ASA and DHA in preventing CVD, such combination warrants further investigation. To increase adherence to ASA and n3 PUFA supplementation, combination dosage form may be required to improve outcomes.

Sarcopenic obesity is regarded as a risk factor for the progression and development of non-alcoholic fatty liver disease (NAFLD). Since male sex is a risk factor for NAFLD and skeletal muscle mass markedly varies between the sexes, we examined whether sex influences the association between appendicular skeletal muscle mass to visceral fat area ratio (SVR), that is, an index of skeletal muscle mass combined with abdominal obesity, and the histological severity of NAFLD. The SVR was measured by bioelectrical impedance in a cohort of 613 (M/F = 443/170) Chinese middle-aged individuals with biopsy-proven NAFLD. Multivariable logistic regression and subgroup analyses were used to test the association between SVR and the severity of NAFLD (i.e. non-alcoholic steatohepatitis (NASH) or NASH with the presence of any stage of liver fibrosis). NASH was identified by a NAFLD activity score ≥5, with a minimum score of 1 for each of its categories. The presence of fibrosis was classified as having a histological stage ≥1. The SVR was inversely associated with NASH in men (adjusted OR 0·62; 95 % CI 0·42, 0·92, P = 0·017 for NASH, adjusted OR 0·65; 95 % CI 0·43, 0·99, P = 0·043 for NASH with the presence of fibrosis), but not in women (1·47 (95 % CI 0·76, 2·83), P = 0·25 for NASH, and 1·45 (95 % CI 0·74, 2·83), P = 0·28 for NASH with the presence of fibrosis). There was a significant interaction for sex and SVR (P interaction = 0·017 for NASH and P interaction = 0·033 for NASH with the presence of fibrosis). Our findings show that lower skeletal muscle mass combined with abdominal obesity is strongly associated with the presence of NASH only in men.