Path planning under 2D map is a key issue in robot applications. However, most related algorithms rely on point-by-point traversal. This causes them usually cannot find the strict shortest path, and their time cost increases dramatically as the map scale increases. So we proposed RimJump to solve the above problem, and it is a new path planning method that generates the strict shortest path for a 2D map. RimJump selects points on the edge of barriers to form the strict shortest path. Simulation and experimentation prove that RimJump meets the expected requirements.

The phase transition behavior of [011]- and [001]-oriented 0.24PIN–0.43PMN–0.33PT single crystals was investigated through dielectric measurement in the process of heating and direct current (DC) bias. The phase transformation sequence in the [011]-oriented crystals is rhombohedral (R) → monoclinic (MB) → orthorhombic (O) → monoclinic (MC) → tetragonal (T) → cubic (C). The phase transition temperatures of R to MB $\left( {{{\rm{T}}_{{\rm{R}} - {{\rm{M}}_{\rm{B}}}}}} \right)$ and MB to O $\left( {{{\rm{T}}_{{{\rm{M}}_{\rm{B}}} - {\rm{O}}}}} \right)$ decrease; meanwhile, the transition temperatures of O to MC $\left( {{{\rm{T}}_{{\rm{O}} - {{\rm{M}}_{\rm{C}}}}}} \right)$ phase, MC to T $\left( {{{\rm{T}}_{{{\rm{M}}_{\rm{C}}} - {\rm{T}}}}} \right)$ phase, and T to C (TT–C) phase increase with the increase of DC bias. The phase transformation sequence in the [001]-oriented crystals is R → T → C. As DC bias increases, the transition temperature TR–T of R to T phase declines and the transition temperature TT–C rises. Intermediate phases MB, O, and MC are only found in the [011]-oriented crystal. The phase transition characteristics of the [011]-oriented crystals are rather more complex than those along [001] direction. The micro–macro domain transition at Tf is related to crystal orientation and DC bias voltage. The phase diagram in terms of temperature and bias voltage is established for [011]- and [001]-oriented 0.24PIN–0.43PMN–0.33PT crystals. The DC bias dependent dielectric properties and phase transition characteristics are also compared with the crystals along [111] direction.

Water-based polyurethane/alumina hollow microsphere (WPU-hAl2O3) composite films were prepared via a facile spin coating method. The pristine WPU, as the matrix of the composite films, was tailor-made by hAl2O3 with the diameter of 2–5 μm to improve the mechanical and physical properties of the films. The hardness, surface morphology, infrared emissivity, wettability, and light transmittance of the WPU-hAl2O3 films with different hAl2O3 contents were investigated. The results indicate that the Vickers hardness, coefficient of friction, infrared emissivity at the wavelength of 2–22 μm, and wetting angle of the WPU-hAl2O3 films (30 wt%) increased by 53.6%, 51.7%, 21.1%, and 19.0%, respectively, compared with the pristine WPU films. Meanwhile, with the rising of hAl2O3 content, the light transmittance decreased by 75.3% at the wavelength of 400–800 nm. This work not only designs a kind of lightweight multifunctional composite film but also provides an effective route for extending further applications of hAl2O3 in the field of composite films.

To explore the effects of maternal nutrition on offspring muscle characteristics, a total of 56 sows were assigned to one of the four dietary groups during gestation: control (CON), or control diets supplemented with methyl donor (MET), bisphenol A (BPA), and combined BPA and MET (BPA+MET). Compared with CON offspring, MET offspring showed a higher meat redness value, but lower glycogen content in the longissimus thoracis (LT). Moreover, compared with CON offspring, MET offspring showed lower LT glycogen synthase (GS) mRNA levels at birth and the finishing stage, and increased methylation at the GS promoter. Prenatal BPA exposure reduced the pH and redness value of meat, but increased the lightness value, lactate content, glycolytic potential and lactate dehydrogenase (LDH) enzyme activity in the LT muscle. Prenatal BPA exposure increased LDH mRNA levels in the LT muscle at birth and the finishing stage, and reduced methylation at the LDH promoter. Thus, maternal MET affects muscle GS and LDH expression via DNA methylation, thereby resulting in persistent effects on pork quality.

X-ray powder diffraction data, unit-cell parameters, and space group for ertapenem side chain, C20H19N3O7S, are reported [a = 4.907(6) Å, b = 18.686(3) Å, c = 22.071(1) Å, α = γ = 90°, β = 90.759(5)°, unit-cell volume V = 2023.82 Å3, Z = 4, ρ cal = 1.462 g cm−3, and space group P21/c]. All measured lines were indexed and are consistent with the P21/c space group. No detectable impurity was observed.

A Celestial Navigation System (CNS) is a feasible and economical autonomous navigation system for deep-space probes. Ephemeris errors have a great influence on the performance of CNSs during the Mars approach phase, but there are few research studies on this problem. In this paper, the analysis shows that the ephemeris error of Mars is slowly-varying, while the ephemeris error of Phobos and Deimos is periodical. The influence of the ephemeris errors of Mars and its satellites is analysed in relation to both the Sun-centred frame and the Mars-centred frame. The simulations show that the position error of a probe relative to the Sun caused by the Mars ephemeris error is almost equal to the ephemeris error itself, that the velocity error is affected slightly, and that the position and velocity relative to Mars are hardly affected. The navigation result of a Mars probe is also greatly affected by the quantities and periodicities of the ephemeris errors of Phobos and Deimos, especially that of Deimos.

The Homo erectus cranium, mandible and hundreds of associated lithic artifacts found in Lantian (central China) in the 1960s demonstrate that the area was important for hominin habitation during the early to middle Pleistocene. However, the region, which was not adequately researched until the early 2000s, still poses several questions regarding hominin behavior and lithic technology development. In this study, three loess-paleosol sequences (the Jijiawan, Ganyu and Diaozhai sites), from which in situ stone artifacts were recovered, are investigated and dated by optically stimulated luminescence (OSL), magnetostratigraphy and stratigraphic correlation. The results demonstrate that the artifacts are located within paleosol layers S4 (correlative with marine oxygen isotope stage (MIS) 11), S3 (MIS 9), S2 (MIS 7), and S1 (MIS 5); and within loess layer L1 (MIS 2-4). The main stone-knapping technique used was direct hard hammer percussion. In addition, the technological features of the stone tools found at these sites exhibit little variation, indicating the presence of a long-established, stable technology in the Lantian area. Our observations show that the ancient humans lived episodically on the terraces of the Bahe River from the early Pleistocene, indicating a long history of hominin occupation of the region.

Central China has experienced stronger summer monsoon during warm periods such as Marine Isotope Stages (MIS) 1 and 3, and weaker summer monsoon during cool periods such as MIS 2. The evolution history of Dajiuhu subalpine peatland in central China can help investigate how the expansion and shrinkage of peatland were associated with monsoonal strength over the last glacial–interglacial cycle. Here we apply bulk organic carbon and molecular biomarkers (hopane and n-alkane) to reconstruct the evolution history for the Dajiuhu peatland over the past 40,000 yr. The results indicate fluctuations between lacustrine and peat-like deposition during MIS 3, steady lacustrine deposition during MIS 2, and peatland initiation and expansion during MIS 1 in the Dajiuhu peatland. Therefore, at the glacial–interglacial scale, warmer summer and cooler winter conditions in interglacial periods are crucial to trigger peat deposition, whereas reduced evaporation in glacial period instead of decreased monsoonal-driven precipitation would have played a predominant role in the regional effective moisture balance. However, within the Holocene (MIS 1), monsoonal precipitation changes appear to be the main controller on millennial-scale variations of water-table level of the Dajiuhu peatland.

To assess the importance of climate variables for the distribution of modern pollen data in China, we present a continental-scale dataset consisting of 1374 samples. Boosted regression trees and constrained ordination techniques are employed to quantify the importance of six climate variables (annual precipitation, PANN; actual/potential evapotranspiration ratio, Alpha; mean annual temperature, TANN; mean temperature of the warmest month, MTWA; mean temperature of the coldest month, MTCO; annual sum of the growing degree days above 5°C, GDD5) for the distribution of individual pollen taxa and modern pollen assemblages. The results show that taxon-specific responses to the climate variables display a wide regional diversity and that the climate variables with low collinearity that best account for the spatial variability of modern pollen assemblages differ regionally. PANN is the most important variable in northwestern and northeastern China and the Tibetan Plateau, while MTWA and MTCO are the dominant variables in east-central and southern China. This suggests that the climate variables that can be optimally reconstructed from fossil pollen data vary in different bioclimatic regions of China. This feature is typical to many continental-scale modern pollen datasets and needs to be considered in pollen-based climate reconstructions.

The Hard X-ray Modulation Telescope (HXMT) is a Chinese space telescope mission. It is scheduled for launch in 2015. The telescope will perform an all-sky survey in hard X-ray band (1 - 250 keV), a series of deep imaging observations of small sky regions as well as pointed observations. In this work we present a conceptual method to reconstruct light curves from HXMT imaging observation directly, in order to monitor time-varying objects such as GRB, AXP and SGR in hard X-ray band with HXMT imaging observations.

Fast linear transformer driver (FLTD) has some advantages in repetitive operation compared with traditional pulsed power generators. However, different types of gas switches applied in the field of pulsed power technology in recent years cannot reach the requirements of repetitive operation of FLTD. Therefore, the capability of repetitive operation of a multigap gas switch has been investigated in a circuit similar to the basic discharge loop named as brick in this paper. The switch has been triggered more than 2000 times and the distribution of delay time and switch jitter are analyzed and reported. Also, the self-breakdown voltages of the switch during different segments of the triggered breakdown experiment have been tested. The experimental results indicate that the delay time obeys the Gauss distribution and the jitter of 2000 times of discharge is about 2.3 ns.

Herein we report a novel, environment-friendly approach for the reduction of graphene oxide by means of incorporating visible-light sensitive TiO2 and steady state visible-light irradiation. The surface morphology and fine structure of as-prepared composites were characterized by scanning electron microscopy and atomic force microscopy, respectively. The reduction process was evidenced by variation of conductivity. In addition, some of the electrochemical properties of the resultant graphene materials have been investigated as well.

The objective of the present study is to measure basal energy expenditure (BEE) using the Cosmed K4b2 portable metabolic system (Rome, Italy) and to develop a new predictive equation for BEE in southern Chinese adults. A total of 165 healthy Chinese adults aged 18–45 years with normal body weight were involved in the present study. BEE was measured by Cosmed K4b2. Body composition was determined by body composition analysers (ImpediMed DF50, QLD, Australia). Multiple linear regression analysis and correlation analysis were applied to develop a new optimal equation for predicting BEE of southern healthy Chinese adults. Measured BEE (mBEE) of southern Chinese healthy adults was 5513 (sem 96) kJ/d, which was similar to the results predicted by the equation developed by of Liu 5579 (sem 57) kJ/d (P = 0·37) and significantly lower than those from equations developed by Henry (5763 (sem 54) kJ/d), Schofield (5898 (sem 58) kJ/d) and Harris–Benedict (HB; 5863 (sem 51) kJ/d) (all P = 0·001). The optimal equation developed by our data was BEE (kJ/d) = 277+89 weight (kg)+600 sex (male = 1 and female = 0) (r2 = 0·48, n 165). For males, BEE (kJ/d) = 105 weight (kg) − 58 (r2 = 0·27, n 79); for females, BEE (kJ/d) = 69 weight (kg)+1335 (r2 = 0·24, n 86). In conclusion, the mBEE of southern Chinese healthy adults was 5513 (sem 96) kJ/d. The BMR of Chinese adults of normal weight is overestimated by widely used prediction equations developed by Henry, Schofield and HB. The equation developed in the present study (equation 7) can be used in predicting BEE for Chinese adults aged 18–45 years with normal body weight.

Background: Despite the magnitude of dementia, little research on survival duration and prognosis of dementia has been reported in developing countries. This study was conducted to investigate survival times, identify related prognostic factors and construct a prognostic index (PI) for community-based dementia patients in Beijing, China.

Methods: This study is part of the 10/66 Dementia Research Group study in China. One hundred and thirty-seven dementia patients identified by 10/66 dementia criteria among 2162 participants and 137 referent subjects matched by age and sex were followed up for five years.

Results: Ninety-one (66.4%) dementia patients and 51 (37.2%) referent subjects died during the 5-year follow-up (p < 0.01). The median survival time of dementia patients was 4.2 years (95% CI: 3.8–4.6). Severity of dementia (severe/mild, HR: 8.765, 95% CI: 4.436–17.163), substantial disability (HR: 5.503, 95% CI: 3.017–8.135), co-morbidity (HR: 4.149, 95% CI: 2.254–7.736) and age (HR: 1.079, 95% CI: 1.048–1.110) were independent predictors of survival for patients with dementia. Using the PI calculated for each dementia patient, all dementia patients were classified into three groups: low, medium and high risk groups. The median survival times of each group were 5.2 years, 4.4 years and 1.5 years (p < 0.01), respectively.

Conclusions: Survival times of community-based dementia patients were significantly shorter than those of referent subjects. Severity of dementia, substantial disability, co-morbidity and age were independent predictors of survival. The PI derived from the four predictors can stratify the mortality risk and predict life expectancy for community-dwelled dementia patients, although further validation is needed.

A diode-pumped GaAs-passively-Q-switched intracavity-frequency-doubled Nd:YVO4/YVO4 green laser with a MgO-PPLN is presented. The characteristics of the passively Q-switched green laser pulses have been investigated. At the maximum incident pump power of 5.19 W, the minimum green-light pulse width of 26.4 ns has been obtained at a repetition rate of 134 kHz. The rate equations are presented to simulate the process of the green laser, and the numerical solutions of the coupled rate equations accord with the experimental results.

Bulk metallic glasses have been formed over a fairly wide composition range (54–62 at.% Ni, 32–36 at.% Nb, and 3–11 at.% Sn) in the Ni–Nb–Sn ternary system. Partial substitution of Co for Ni and Hf for Nb improves the glass-forming ability, eventually leading to 4 mm glassy rods at the Ni56Co3Nb28Hf8Sn5 composition. The positive effects of these alloying elements have been explained based on a systematic monitoring of the amount and morphology of the competing crystalline phases as a function of the Co and Hf contents.

“Structural characterization of a new layered-ternary Ta4AlC3 ceramic” [J. Mater. Res. 21, 2587 (2006)]

Bulk Ta4AlC3, a new layered-ternary carbide in the Ta–Al–C system, was synthesized and characterized. Transmission electron microscopy investigations on this new phase are reported here. Selected area electron diffraction and convergent beam electron diffraction analyses indicated that this ternary carbide crystallized with the space group P63/mmc. Atomic-scale microstructures of Ta4AlC3 were achieved by means of high-resolution transmission electron microscopy and Z-contrast scanning transmission electron microscopy. The experimental crystal structural parameters agreed well with the theoretical values obtained using density-functional calculations.

Piezopolymer PVDF and P(VDF-TrFE) based diaphragms were fabricated. The diaphragm can be used as a high performance sensor platform for employing in liquid. The microelectronic process for fabricating microdiaphragm and its array is established. The performance of the PVDF based diaphragm in air and liquid was tested. It is found that the diaphragm works well in liquid.