When a charge neutral drop impacts on a flat solid substrate, a small air bubble is always trapped underneath due to the lubrication pressure coming from the viscous stress in the squeezed air film. Herein we find experimentally and numerically that the process of the air entrapment and the initial contact state of the drop with the substrate can be profoundly altered via an external electric field. In an electric field, the induced electric stresses at the bottom of the drop increase drastically right before the drop contacts the substrate, which acts against the lubrication pressure, resulting in reduced initial contact radius and air bubble size. When the external electric field reaches a critical value, the electrical stress accelerates the flow near the bottom of the drop and generates a conical tip quickly instead of a dimple, resulting in a centre contact and eliminating the air bubble entrapment. Based on the dipole mirror charge model, we find the dimensionless strength of critical electric field scales with the square root of capillary number based on the air viscosity. This scaling law of the critical electric field for eliminating the air bubble entrapment is verified experimentally and numerically. This work may offer a new way to mitigate defects caused by air bubble entrapment for inkjet printing and droplet-based additive manufacturing.

Unobserved heterogeneous treatment effects have been emphasized in the recent policy evaluation literature (see, e.g., Heckman and Vytlacil (2005, Econometrica 73, 669–738)). This paper proposes a nonparametric test for unobserved heterogeneous treatment effects in a treatment effect model with a binary treatment assignment, allowing for individuals’ self-selection to the treatment. Under the standard local average treatment effects assumptions, i.e., the no defiers condition, we derive testable model restrictions for the hypothesis of unobserved heterogeneous treatment effects. Furthermore, we show that if the treatment outcomes satisfy a monotonicity assumption, these model restrictions are also sufficient. Then, we propose a modified Kolmogorov–Smirnov-type test which is consistent and simple to implement. Monte Carlo simulations show that our test performs well in finite samples. For illustration, we apply our test to study heterogeneous treatment effects of the Job Training Partnership Act on earnings and the impacts of fertility on family income, where the null hypothesis of homogeneous treatment effects gets rejected in the second case but fails to be rejected in the first application.

Predictive models for near-wall velocity and temperature fluctuations in compressible wall-bounded turbulence are developed in the present study based on the model proposed by Marusic et al. (Science, vol. 329 (5988), 2010, pp. 193–196), which incorporates the superposition and amplitude modulation effects of the large-scale motions in the outer region on near-wall turbulence. The density variation is involved in the predictive model for velocity fluctuations to achieve Mach number independence. The predictive model for temperature fluctuations is derived to keep its consistency with the strong Reynolds analogy, in which the modulation effect is supposed to be cast as the quadratic function of the large-scale velocity fluctuations. An algebraic method is proposed to directly determine the modulation coefficients and extract the universal signals. A direct numerical simulation (DNS) of turbulent channel flow at the friction Reynolds number of $1170$ and bulk Mach number of $2.88$ is carried out for parameter calibration and validations. The variances and joint probability density functions of the predicted velocity and temperature fluctuations agree well with the DNS results.

This study presents a novel context awareness multihuman–robot interaction (MHRI) system that allows multiple operators to interact with a robot. In the system, a monocular multihuman 3D pose estimator is first developed with the convolutional neural network. The estimator first regresses a set of 2D joints representations of body parts and then restores the 3D joints positions based on these 2D representations. Further, the 3D joints are assigned to the corresponding individual with a priority–redundancy association algorithm. The whole 3D pose of each person is reconstructed in real time, even in crowded scenes containing both self-occlusion of the body and inter-person occlusion. Then, the identities of multiple persons are recognized with action context and 3D skeleton tracking to improve interactive efficiency. For context-awareness multitask interaction, the robot control strategy is designed based on target goal generation and correction. The generated goal is taken as a reference to the model predictive controller (MPC) to generate motion trajectory. Different interactive requirements are adapted by adjusting the weight parameters of the energy function of the MPC controller. Multihuman–robot interactive experiments, including dynamic obstacle avoidance (human–robot safety) and cooperative handling, demonstrate the feasibility and effectiveness of the MHRI, and the safety and collaborative efficiency of the system are evaluated with HRI metrics.

Numerous technologies have contributed to the recent development of agriculture, especially the advancement in hyperspectral remote sensing (HRS) constituted a revolution in crop monitoring. The widespread use of HRS to obtain crop parameters suggests the need for a review of research advances in this area. HRS offers new theories and methods for studying crop parameters, but much work needs to be done both experimentally and theoretically before we can truly understand the physical and chemical processes that predict these crop parameters. The study focuses on the following elements: 1) The article provides a relatively comprehensive introduction to HRS and how it can be applied to crop monitoring; 2) Current state-of-the-art techniques are summarized and analyzed to inform further advances in crop monitoring; 3) Opportunities and challenges for crop monitoring applications using HRS are discussed, and future research is summarized. Finally, through a comprehensive discussion and analysis, the article proposes new directions for using HRS to study crop characteristics, such as new data mining techniques including deep learning provide opportunities for efficient processing of large amounts of HRS data; combining the temporal and dynamic characteristics of crop parameters and vegetation growth processes will greatly improve the accuracy of crop parameter detection and monitoring; multidata fusion and multiscale data assimilation will become HRS monitoring. Multidata fusion and multiscale data assimilation will become another research hotspot for HRS monitoring of crop parameters.

The aging population is now a global challenge, and impaired walking ability is a common feature in the elderly. In addition, some occupations such as military and relief workers require extra physical help to perform tasks efficiently. Robotic hip exoskeletons can support ambulatory functions in the elderly and augment human performance in healthy people during normal walking and loaded walking by providing assistive torque. In this review, the current development of robotic hip exoskeletons is presented. In addition, the framework of actuation joints and the high-level control strategy (including the sensors and data collection, the way to recognize gait phase, the algorithms to generate the assist torque) are described. The exoskeleton prototypes proposed by researchers in recent years are organized to benefit the related fields realizing the limitations of the available robotic hip exoskeletons, therefore, this work tends to be an influential factor with a better understanding of the development and state-of-the-art technology.

This retrospective study investigated the predictive value of the Controlling Nutritional Status (CONUT) score in patients with intermediate-stage hepatocellular carcinoma (HCC) who received transarterial chemoembolization (TACE). Nomograms were developed to predict progression-free and overall survival (PFS, OS). The medical data of 228 patients with HCC and treated with TACE were collected. The patients were apportioned to 2 groups according to CONUT score: low or high (<4, ≥4). Univariate and multivariate analyses were performed using Cox regression for OS and PFS. OS and PFS were estimated by the Kaplan-Meier curve and compared with the log-rank test. Nomograms were constructed to predict patient OS and PFS. The nomograms were evaluated for accuracy, discrimination, and efficiency. The cut-off value of CONUT score was 4. The higher the CONUT score, the worse the survival; Kaplan-Meier curves showed significant differences in OS and PFS between the low and high CONUT score groups (P = 0·033, 0·047). The nomograms including CONUT, based on the prognostic factors determined by the univariate and multivariate analyses, to predict survival in HCC after TACE were generated. The CONUT score is an important prognostic factor for both OS and PFS for patients with intermediate HCC who underwent TACE. The cut-off value of the CONUT score was 4. A high CONUT score suggests poor survival outcomes. Nomograms generated based on the CONUT score were good models to predict patient OS and PFS.

China and the US are two contrasting countries in terms of functional disability and long-term care. China is experiencing declining family support for long-term care and developing private long-term care insurance. The US has a more developed public aged care system and private long-term care insurance market than China. Changes in the demand for long-term care are driven by the levels, trends and uncertainty in mortality and functional disability. To understand the future potential demand for long-term care, we compare mortality and functional disability experiences in China and the US, using a multi-state latent factor intensity model with time trends and systematic uncertainty in transition rates. We estimate the model with the Chinese Longitudinal Healthy Longevity Survey (CLHLS) and the US Health and Retirement Study (HRS) data. The estimation results show that if trends continue, both countries will experience longevity improvement with morbidity compression and a declining proportion of the older population with functional disability. Although the elderly Chinese have a shorter estimated life expectancy, they are expected to spend a smaller proportion of their future lifetime functionally disabled than the elderly Americans. Systematic uncertainty is shown to be significant in future trends in disability rates and our model estimates higher uncertainty in trends for the Chinese elderly, especially for urban residents.

Primitive lamprophyres in orogenic belts can provide crucial insights into the nature of the subcontinental lithosphere and the relevant deep crust–mantle interactions. This paper reports a suite of relatively primitive lamprophyre dykes from the North Qiangtang, central Tibetan Plateau. Zircon U–Pb ages of the lamprophyre dykes range from 214 Ma to 218 Ma, with a weighted mean age of 216 ± 1 Ma. Most of the lamprophyre samples are similar in geochemical compositions to typical primitive magmas (e.g. high MgO contents, Mg no. values and Cr, with low FeOt/MgO ratios), although they might have experienced a slightly low degree of olivine crystallization, and they show arc-like trace-element patterns and enriched Sr–Nd isotopic composition ((87Sr/86Sr)i = 0.70538–0.70540, ϵNd(t) = −2.96 to −1.65). Those geochemical and isotopic variations indicate that the lamprophyre dykes originated from partial melting of a phlogopite- and spinel-bearing peridotite mantle modified by subduction-related aqueous fluids. Combining with the other regional studies, we propose that slab subduction might have occurred during Late Triassic time, and the rollback of the oceanic lithosphere induced the lamprophyre magmatism in the central Tibetan Plateau.

The aim of our study was to determine the distribution of hepatitis B virus (HBV) genotypes and subgenotypes in ethnic minorities in Yunnan province to provide evidence supporting the theoretical basis for hepatitis B prevention and control. We obtained serum samples and demographic data from 765 individuals reported by Yunnan province who had either acute or chronic HBV infection and were from one of 20 ethnic minority populations: Achang, Bai, Brown, Tibetan, Dai, Deang, Dulong, Hani, Hui, Jingpo, Lahu, Yi, Lisu Miao, Naxi, Nu, Pumi, Wa, Yao, or Zhuang people. We sequenced the HBV DNA and determined the genotypes and subgenotypes of the isolated HBVs. We mapped the genotype and subgenotype distribution by ethnic minority population and conducted descriptive analyses. There were four genotypes among the 20 ethnic groups: genotype B (21.3% of samples), C (76.6%), D (1.8%) and I (0.3%). The most common subgenotype was C1. There were no genotype differences by gender (P = 0.954) or age (P = 0.274), but there were differences by region (P < 0.001). There were differences in genotype distribution (P < 0.001) and subgenotype distribution (P = 0.011) by ethnic group. Genotype D was most prominent in Tibet and most HBV isolates were C/D recombinant viruses. The only two genotype I virus isolates were in Zhuang people. Susceptibility and geographic patterns may influence HBV prevalence in different ethnic populations, but additional research is needed for such a determination.

Schistosomiasis has been subjected to extensive control efforts in the People's Republic of China (China) which aims to eliminate the disease by 2030. We describe baseline results of a longitudinal cohort study undertaken in the Dongting and Poyang lakes areas of central China designed to determine the prevalence of Schistosoma japonicum in humans, animals (goats and bovines) and Oncomelania snails utilizing molecular diagnostics procedures. Data from the Chinese National Schistosomiasis Control Programme (CNSCP) were compared with the molecular results obtained.

Sixteen villages from Hunan and Jiangxi provinces were surveyed; animals were only found in Hunan. The prevalence of schistosomiasis in humans was 1.8% in Jiangxi and 8.0% in Hunan determined by real-time polymerase chain reaction (PCR), while 18.3% of animals were positive by digital droplet PCR. The CNSCP data indicated that all villages harboured S. japonicum-infected individuals, detected serologically by indirect haemagglutination assay (IHA), but very few, if any, of these were subsequently positive by Kato-Katz (KK).

Based on the outcome of the IHA and KK results, the CNSCP incorporates targeted human praziquantel chemotherapy but this approach can miss some infections as evidenced by the results reported here. Sensitive molecular diagnostics can play a key role in the elimination of schistosomiasis in China and inform control measures allowing for a more systematic approach to treatment.

The effect of wall temperature on the transfer of kinetic energy in a hypersonic turbulent boundary layer for different Mach numbers and wall temperature ratios is studied by direct numerical simulation. A cold wall temperature can enhance the compressibility effect in the near-wall region through increasing the temperature gradient and wall heat flux. It is shown that the cold wall temperature enhances the local reverse transfer of kinetic energy from small scales to large scales, and suppresses the local direct transfer of kinetic energy from large scales to small scales. The average filtered spatial convection and average filtered viscous dissipation are dominant in the near-wall region, while the average subgrid-scale flux of kinetic energy achieves its peak value in the buffer layer. It is found that the wall can suppress the inter-scale transfer of kinetic energy, especially for the situation of a cold wall. A strong local reverse transfer of fluctuating kinetic energy is identified in the buffer layer in the inertial range. Helmholtz decomposition is applied to analyse the compressibility effect on the subgrid-scale flux of kinetic energy. A strong transfer of the solenoidal component of fluctuating kinetic energy is identified in the buffer layer, while a significant transfer of the dilatational component of fluctuating kinetic energy is observed in the near-wall region. It is also shown that compression motions have a major contribution to the direct transfer of fluctuating kinetic energy, while expansion motions play a marked role in the reverse transfer of fluctuating kinetic energy.

Methomyl is a broad-spectrum carbamate insecticide that has a variety of toxic effects on humans and animals. However, there have been no studies on the toxicity of methomyl in female mammalian oocytes. This study investigated the toxic effects of environmental oestrogen methomyl exposure on mouse oocyte maturation and its possible mechanisms. Our results indicated that methomyl exposure inhibited polar body extrusion in mouse oocytes. Compared with that in the control group, in the methomyl treatment group, superoxide anion free radicals in oocytes were significantly increased. In addition, the mitochondrial membrane potential of metaphase II stage oocytes in the methomyl treatment group was significantly decreased, resulting in reduced mouse oocyte quality. After 8.5 h of exposure to methomyl, metaphase I stage mouse oocytes displayed an abnormal spindle morphology. mRNA expression of the pro-apoptotic genes Bax and Caspase-3 in methomyl-treated oocytes increased, which confirmed the apoptosis. Collectively, our results indicated that mouse oocyte maturation is defective after methomyl treatment at least through disruption of spindle morphology, mitochondrial function and by induction of oxidative stress.

A magnetically controlled spiral capsule robot is designed. When the robot is running in a pipe filled with mucus, computational fluid dynamics is used to analyze the fluid field (velocity, streamlines, and vorticity) in the pipe, and particle image velocimetry is used to measure the above fluid field surrounding the robot. The measured fluid field is basically similar to the numerical result. The relationship between the operating parameters of the robot and the performance of the robot is further calculated and analyzed. The results show that the resistance to the robot in the forward direction, average turbulent intensity of the fluid surrounding the robot, and maximum fluid pressure to the pipe wall are proportional to the robotic translational speed. The resisting moment of the robot in the forward direction, average turbulent intensity of the fluid surrounding the robot, and maximum fluid pressure to the pipe wall are proportional to the robotic rotational speed.

Honeybees cannot synthesize arachidonic acid (ARA) themselves, only obtain it from food. Most pollen is deficient or contains a small amount of ARA. The necessity of supplementary ARA in bees’ diet has not been studied. The objective of this study was to investigate the effects of dietary ARA levels on the growth and immunity of Apis mellifera ligustica. A total of 25 honeybee colonies were randomly assigned to five dietary groups which were fed basic diets supplemented with 0, 2, 4, 6, and 8% of ARA. The diet with 4% ARA improved the body weight of newly emerged worker bees compared with the control group. Supplement of ARA in honeybee diets changed the fatty acid composition of honeybee body. SFA and MUFA contents of bees’ body declined, and PUFA content rised in the ARA group. Compared with the control group, the supplement of ARA in honeybee diets increased the contents of ARA, C22:6n-3 (DHA) and C18:3n-6 in bees’ body significantly, but decreased the contents of C16:1 and C18:3n-3. The diet supplied with 4% ARA reduced the mortality rate of honeybee infected with Escherichia coli. The activity of immune enzymes (phenoloxidase, antitrypsin, and lysozyme) and the mRNA expression levels of immune genes (defensin-2, toll, myd88, and dorsal) were improved by ARA diets to varying degrees depending on the ARA levels, especially 4% ARA. These results suggested that dietary ARA could improve the growth, survival, and immune functions of honeybees. Supplement of ARA in bees’ diet would be valuable for the fitness of honeybees.

The findings regarding the associations between red meat, fish and poultry consumption, and the metabolic syndrome (Mets) have been inconclusive, and evidence from Chinese populations is scarce. A cross-sectional study was performed to investigate the associations between red meat, fish and poultry consumption, and the prevalence of the Mets and its components among the residents of Suzhou Industrial Park, Suzhou, China. A total of 4424 participants were eligible for the analysis. A logistic regression model was used to estimate the OR and 95 % CI for the prevalence of the Mets and its components according to red meat, fish and poultry consumption. In addition, the data of our cross-sectional study were meta-analysed under a random effects model along with those of published observational studies to generate the summary relative risks (RR) of the associations between the highest v. lowest categories of red meat, fish and poultry consumption and the Mets and its components. In the cross-sectional study, the multivariable-adjusted OR for the highest v. lowest quartiles of consumption was 1·23 (95 % CI 1·02, 1·48) for red meat, 0·83 (95 % CI 0·72, 0·97) for fish and 0·93 (95 % CI 0·74, 1·18) for poultry. In the meta-analysis, the pooled RR for the highest v. lowest categories of consumption was 1·20 (95 % CI 1·06, 1·35) for red meat, 0·88 (95 % CI 0·81, 0·96) for fish and 0·97 (95 % CI 0·85, 1·10) for poultry. The findings of both cross-sectional studies and meta-analyses indicated that the association between fish consumption and the Mets may be partly driven by the inverse association of fish consumption with elevated TAG and reduced HDL-cholesterol and, to a lesser extent, fasting plasma glucose. No clear pattern of associations was observed between red meat or poultry consumption and the components of the Mets. The current findings add weight to the evidence that the Mets may be positively associated with red meat consumption, inversely associated with fish consumption and neutrally associated with poultry consumption.

This paper presents a method to solve the kinematics of a rigid-flexible and variable-diameter continuous manipulator. The multi-segment underwater manipulator is driven by McKibben water hydraulic artificial muscle (WHAM). Considering the effect of elasticity and friction, we optimized the static mathematical model of WHAM. The kinematic model of the manipulator with load is established based on the hypothesis of piecewise constant curvature (PCC). We developed an optimization algorithm to calculate the length of the WHAMs according to the principle of minimum strain energy and obtain the configuration space parameters of the kinematic model. Based on the infinitesimal method, the homogeneous transformation matrices of the variable-diameter bending sections are computed, and the terminal position and attitude are obtained. In this paper, we studied the working space of the manipulator by quantitative analysis of the impact factors including pressure and load. A deep neural network (DNN) with six hidden layers is designed to solve inverse kinematics. The forward kinematic results are used to train and test the DNN, and the correlation coefficient between the output and target samples reaches 0.945. We carried out an underwater experiment and verified the effectiveness of the kinematic modeling and solution method.