The inverse dynamics model of an industrial robot can predict and control the robot’s motion and torque output, improving its motion accuracy, efficiency, and adaptability. However, the existing inverse rigid body dynamics models still have some unmodelled residuals, and their calculation results differ significantly from the actual industrial robot conditions. The bootstrap aggregating (bagging) algorithm is combined with a long short-term memory network, the linear layer is introduced as the network optimization layer, and a compensation method of hybrid inverse dynamics model for robots based on the BLL residual prediction algorithm is proposed to meet the above needs. The BLL residual prediction algorithm framework is presented. Based on the rigid body inverse dynamics of the Newton–Euler method, the BLL residual prediction network is used to perform error compensation on the inverse dynamics model of the Franka robot. The experimental results show that the hybrid inverse dynamics model based on the BLL residual prediction algorithm can reduce the average residuals of the robot joint torque from 0.5651 N·m to 0.1096 N·m, which improves the accuracy of the inverse dynamics model compared with those of the rigid body inverse dynamics model. This study lays the foundation for performing more accurate operation tasks using industrial robots.

Adsorption desulfurization is a potential new method for deep desulfurization of fuel oil. The development of adsorbents with high adsorption capacity and selectivity is the core of deep adsorption desulfurization. The adsorption behavior of thiophene in MCM-41 mesoporous materials modified by various metal ions was studied in order to understand the adsorption desulfurization process of molecular sieves. The Fe-, Co-, and Zn-modified MCM-41 materials were prepared using a one-step in situ hydrothermal synthesis method. The modified MCM-41 molecular sieves maintained the mesoporous structure, and the metal ions had specific dispersion on the surface of the molecular sieves. Adsorption of thiophene on the surfaces of molecular sieves had both physical and chemical characteristics. The adsorption desulfurization performance of the modified molecular sieve was superior to that of the pure silica molecular sieve. In the simulated gasoline with sulfur content of 220 μg/g, when the amount of adsorbent used was 100 mg, the adsorptive desulfurization performance tended to be in equilibrium, and the optimum adsorption temperature was 30°C. Fe-MCM-41 and MCM-41 molecular sieves reached adsorption equilibrium after ~60 min, but the desulfurization rate of Co-MCM-41 and Zn-MCM-41 still increased slightly. The kinetic simulation results indicated that the pseudo-second-order kinetics adsorption model described well the adsorption process of thiophene on molecular sieves. The molecular sieve Fe-MCM-41 had the best desulfurization performance with an equilibrium adsorption capacity of 14.02 mg/g and the desulfurization rate was ~90%.

Energy loss of protons with 90 and 100 keV energies penetrating through a hydrogen plasma target has been measured, where the electron density of the plasma is about 1016 cm−3 and the electron temperature is about 1-2 eV. It is found that the energy loss of protons in the plasma is obviously larger than that in cold gas and the experimental results based on the Bethe model calculations can be demonstrated by the variation of effective charge of protons in the hydrogen plasma. The effective charge remains 1 for 100 keV protons, while the value for 90 keV protons decreases to be about 0.92. Moreover, two empirical formulae are employed to extract the effective charge.

Many protected areas worldwide have been established to protect the last natural refuges of flagship animal species. However, long-established protected areas do not always match the current distributions of target species under changing environmental conditions. Here we present a case study of the Asian elephant Elephas maximus in Xishuangbanna, south-west China, to evaluate whether the established protected areas match the species’ current distribution and to identify key habitat patches for Asian elephant conservation. Our results show that currently only 24.5% of the predicted Asian elephant distribution in Xishuangbanna is located within Xishuangbanna National Nature Reserve, which was established for elephant conservation. Based on the predicted Asian elephant distribution, we identified the most important habitat patches for elephant conservation in Xishuangbanna. The three most important patches were outside Xishuangbanna National Nature Reserve and together they contained 43.3% of the estimated food resources for Asian elephants in all patches in Xishuangbanna. Thus, we identified a spatial mismatch between immobile protected areas and mobile animals. We recommend the inclusion of the three identified key habitat patches in a new national park currently being planned by the Chinese authorities for the conservation of the Asian elephant.

This study was designed to investigate the effects of dietary starch structure on muscle protein synthesis and gastrointestinal amino acid (AA) transport and metabolism of goats. Twenty-seven Xiangdong black female goats (average body weight = 9·00 ± 1·12 kg) were randomly assigned to three treatments, i.e., fed a T1 (normal maize 100 %, high amylose maize 0 %), T2 (normal maize 50 %, high amylose maize 50 %) and T3 (normal maize 0 %, high amylose maize 100 %) diet for 35 d. All AA in the ileal mucosa were decreased linearly as amylose:amylopectin increased in diets (P < 0·05). The plasma valine (linear, P = 0·03), leucine (linear, P = 0·04) and total AA content (linear, P = 0·03) increased linearly with the increase in the ratio of amylose in the diet. The relative mRNA levels of solute carrier family 38 member 1 (linear, P = 0·01), solute carrier family 3 member 2 (linear, P = 0·02) and solute carrier family 38 member 9 (linear, P = 0·02) in the ileum increased linearly with the increase in the ratio of amylose in the diet. With the increase in the ratio of amylose:amylopectin in the diet, the mRNA levels of acetyl-CoA dehydrogenase B (linear, P = 0·04), branched-chain amino acid transferase 1 (linear, P = 0·02) and branched-chain α-keto acid dehydrogenase complex B (linear, P = 0·01) in the ileum decreased linearly. Our results revealed that the protein abundances of phosphorylated mammalian target of rapamycin (p-mTOR) (P < 0·001), phosphorylated 4E-binding protein 1 (P < 0·001) and phosphorylated ribosomal protein S6 kinases 1 (P < 0·001) of T2 and T3 were significantly higher than that of T1. In general, a diet with a high amylose ratio could reduce the consumption of AA in the intestine, allowing more AA to enter the blood to maintain higher muscle protein synthesis through the mTOR pathway.

We present Lyapunov-type conditions for non-strong ergodicity of Markov processes. Some concrete models are discussed, including diffusion processes on Riemannian manifolds and Ornstein–Uhlenbeck processes driven by symmetric $\alpha$-stable processes. In particular, we show that any process of d-dimensional Ornstein–Uhlenbeck type driven by $\alpha$-stable noise is not strongly ergodic for every $\alpha\in (0,2]$.

The fatigue behavior of a low-cost Zr52.1Ti5Cu17.9Ni14.6Al10Y0.4 (at%) (ZrCuNi-based) bulk-metallic glass (BMG) prepared by industrial-grade material was investigated under three-point bending loading modes. In order to obtain the fatigue stress-life (S-N) data, stress-controlled experiments were conducted using a computer-controlled material test system electrohydraulic testing machine at 60 Hz with a 0.1 R ratio in the air at room temperature. The fatigue limit (~174 MPa) in stress amplitude and fatigue ratio (~0.14) of this BMG is comparative to the similar BMG (Vit-105) prepared by high pure raw materials. The crack initiated from inclusions near the rectangular corners at the outer surface of the rectangular beam due to stress concentration. The striations and vein-like patterns were observed in the crack propagation region and fast fracture region, respectively.

A stalagmite with high 238U content from Yangkou Cave, China, revealed the evolution of the Asian summer monsoon (ASM) between 49.1 and 59.5 ka, and the δ18O values recorded Dansgaard/Oeschger (D/O) events 13–17. The Yangkou record shows a relatively gradual transition into the D/O 14 and 16 events. The discrepancy between the abrupt and gradual transitions of D/O 14 in the records from northern and southern China, respectively, suggests different responses of the ASM to climate changes in the high northern latitudes. The higher resolution δ18O record and more precise 230Th dating indicate that the timing of D/O 14 and 17 in the Hulu records at 53 and 58 ka should be shifted to 54.3 and 59 ka, respectively. The gradual strengthening of the ASM at the onsets of D/O 16 and 14 in our record is different from the abrupt temperature rise in the northern high latitudes. Some other factors must contribute to this relatively gradual ASM change in southern China, but the actual reason is still unknown.

The Automatic Identification System (AIS) receiver on board the main satellite of the TianTuo-3 constellation, LvLiang-1, is a new generation of AIS receiver. Having partly solved the signal conflict problems and with larger coverage over the ground, the AIS receiver on board TianTuo-3 greatly improves the signal detection ability. The data received by the AIS receiver during the TianTuo-3 debugging stage is employed for detailed analysis in this paper. Results include: TianTuo-3 implements four-frequency detection at the same time, and a time-flag is inserted into the received AIS data, a small portion of Class A vessels (at least 1480) have been equipped with AIS sending the long range AIS broadcast message with two new frequency channels and the hourly averaged count of the message received by TianTuo-3’s AIS is between 1500 ~ 2500. This AIS receiver is capable of real-time tracking a single vessel. In conclusion, the TianTuo-3 space-based AIS receiver is capable of continuously receiving AIS messages sent by global maritime vessels.

Climate change during the Quaternary played an important role in the distribution of extant plants. Herein, cone scales of Cedrus (Pinaceae) were uncovered from the Upper Pliocene Sanying Formation, Longmen Village, Yongping County of Yunnan Province in southwestern China. Detailed comparisons show that these fossils all belong to the genus Cedrus (Pinaceae), and a new species is proposed, Cedrus angusta sp. nov. This find expands the known distribution of Cedrus during the Late Pliocene to Yunnan, where the genus no longer exists in natural forests. Based on the analysis of reconstructed Neogene climate data, we suggest that the intensification of the East Asian winter monsoon during the Quaternary may have dramatically increased seasonality and given rise to a much drier winter in Yunnan. Combined with information on Cedrus fossil records and its seed physiology, we conclude that the intensification of a drier climate after the Late Pliocene may have prevented the survival of Cedrus seedlings, leading to the eventual disappearance of Cedrus in western Yunnan. This study indicates that the topography in southwestern China acted as a vital refuge for many plants during the Quaternary, but that other species gradually disappeared due to the intensification of the monsoonal climate.

The composite Li-ion battery anode material of Fe2SiO4, Fe3O4, Fe3C (Fe-Si-O) and carbon nanotubes was prepared by a simple one-step reaction between ferrocene and tetraethyl orthosilicate. When cycled at 100 mA g-1, this material exhibited ever-increasing capacities and reached 588 mAh g-1 at the 280th cycle. At 500 mA g-1, a reversible capacity of 350 mAh g-1 was retained for 600 cycles. Compared with Fe3O4 materials, the Fe-Si-O/CNT exhibited superior long-term high-rate performance, which could mainly result from its enhanced stability and conductivities by introducing silicates and CNTs during the one-step synthesis.

Fixed-point iterative sweeping methods were developed in the literature to efficiently solve static Hamilton-Jacobi equations. This class of methods utilizes the Gauss-Seidel iterations and alternating sweeping strategy to achieve fast convergence rate. They take advantage of the properties of hyperbolic partial differential equations (PDEs) and try to cover a family of characteristics of the corresponding Hamilton-Jacobi equation in a certain direction simultaneously in each sweeping order. Different from other fast sweeping methods, fixed-point iterative sweeping methods have the advantages such as that they have explicit forms and do not involve inverse operation of nonlinear local systems. In principle, it can be applied in solving very general equations using any monotone numerical fluxes and high order approximations easily. In this paper, based on the recently developed fifth order WENO schemes which improve the convergence of the classical WENO schemes by removing slight post-shock oscillations, we design fifth order fixed-point sweeping WENO methods for efficient computation of steady state solution of hyperbolic conservation laws. Especially, we show that although the methods do not have linear computational complexity, they converge to steady state solutions much faster than regular time-marching approach by stability improvement for high order schemes with a forward Euler time-marching.

The effects of carbon equivalent on thermal and mechanical properties of compacted graphite cast irons were investigated at ambient temperature, 300 and 500 °C, respectively. The group implied the change of carbon content to control the carbon equivalent. The results indicated that with the increasing carbon equivalent from 4.43 to 4.74, the graphite count increase. The thermal conductivity was 48.64, 44.55, 49.04, and 50.36 W/mK for carbon equivalent about 4.43–4.74 of compacted graphite cast irons at ambient temperature, respectively. With an increase in temperature, the thermal conductivity decrease. Moreover, with the increasing carbon equivalent, the tensile strength and yield strength increase initially, and then decrease at ambient temperature, 300 and 500 °C, respectively. With an increase in temperature, the tensile strength and yield strength decrease. Characterization of fracture surface indicated that the mixed ductile-brittle fracture mode prevailed in the compacted graphite cast irons with different carbon equivalents.