Influenza and other acute respiratory viral infections (ARVIs) are among the most common human diseases. In recent decades, the discovery of cytokines and their significance in the pathogenesis of diseases has led to extensive research on these compounds in various pathologies including ARVIs. The aim of the research was to study the cytokine profile in patients with ARVIs. The cases of 30 patients were investigated. Etiological diagnosis was performed by polymerase chain reaction. Different classes of cytokines in the serum were defined by the enzyme-linked immunosorbent assay (ELISA). The level of cytokines depended on the number of pathogens. The highest levels of pro-inflammatory interleukins and the lowest levels of anti-inflammatory IL-4 were observed in patients with a combination of five or more viruses compared to those with a monoinfection. Analysis of the data showed that in the acute phase, the levels of all studied pro-inflammatory cytokines – IL-2, IL-6, and TNF-α – increased by 8, 39, and 9 times, respectively, compared to those in healthy individuals. In the acute phase of ARVI, the levels of pro-inflammatory cytokines were significantly higher and depended on the severity of the disease. The imbalance of cytokines in the serum has been established in cases of ARVIs, depending on the severity of the disease.

Intertidal macrobenthos at the small Chernaya Bight (the White Sea) was surveyed six times during 1993–2018 in order to study spatiotemporal variability. Distributions of sediments and macrophytes were highly variable in both space and time, as were most macrofaunal community attributes. Biomass slightly increased with time, while no long-term trends were found in total abundance, diversity, or functional structure. All community attributes were patchily distributed across the beach, and their patterns were not spatially autocorrelated and poorly associated with sediment properties, but changed considerably from year to year. Temporal changes in the community composition were considerable but less substantial compared with the spatial variations. The overall dynamics of species structure did not show any regular trend-like pattern but formed quasicyclic trajectories in ordination space, with nondirectional, spatially noncorrelated fluctuations around some relatively stable state. Comparison with two other neighbouring intertidal sites, studied annually in 1987–2017, showed that macrofauna at every site had similar average biomasses and common dominant species; however, the communities maintained their specificity in structure and exhibited distinct types of dynamics. In particular, the communities demonstrated different long-term trends in total biomass and diversity and followed their own paths in dynamics, appearing as differently oriented interannual trajectories. Nine most abundant species revealed no significant among-site correlations in abundance, and only two bivalve species showed good intersite agreement in dynamics of biomass. We suggest that local benthic communities are largely influenced by site-specific environmental conditions, resulting in independent and even opposite patterns of dynamics in neighbouring localities.

Stray light from the sun is one of the most significant factors affecting image quality for the optical system of a spacecraft. This paper proposes a method to design a deployable supporting mechanism for the sunshield based on origami. Firstly, a new type of space mechanism with single-closed loop was proposed according to thick-panel origami, and its mobility was analysed by using the screw theory. In order to design a deployable structure with high controllability, the tetrahedral constraint was introduced to reduce the degree of freedom (DOF), and a corresponding deployable unit named tetrahedral deployable unit (TDU) was obtained. Secondly, the process to constructing a large space deployable mechanism with infinite number of units was explained based on the characteristics of motion and planar mosaic array, and kinematics analysis and folding ratio of supporting mechanism were conducted. A physical prototype was constructed to demonstrate the mobility and deployment of the supporting mechanism. Finally, based on the Lagrange method, a dynamic model of supporting mechanism was established, and the influence of the torsion spring parameters on the deployment process was analysed.

The vertical motions and buoyancy variations of the two VEGA super-pressure balloons, flown in the middle cloud layer of Venus, are discussed. Using data derived from these 1985 nightside flights, estimates are made of the energy required to operate some alternative balloon platform schemes under consideration for future-proposed Venus-atmosphere in situ science missions. Despite the dissimilarity of these alternative platform schemes, the energy inputs required to operate each scheme on the Venus nightside are found to be similar. Estimates of the associated mass penalties of the associated energy sources are also made. Further investigation of a vertical propulsive assist scheme is recommended.

Host-virus interactions are critically important for various stages of the viral replication cycle. The reliance of viruses on the host factors for their entry, replication, and maturation processes can be exploited for the development of antiviral therapeutics. Thus, the identification and characterization of such viral-host dependency factors has been an attractive area of research to provide novel antiviral targets. Traditional proteomic efforts based on affinity purification of protein complexes from cell lysates are limited to detecting strong and stable interactions. In this perspective, we discuss the integration of two latest proteomic techniques, based on in situ proximity labelling and chemical crosslinking methods, to uncover host-virus protein–protein interactions in living cells.

A novel couple-constrained parallel wrist with three measuring force flexible fingers is designed for grabbing heavy objects and measuring grabbed forces. Its prototype is developed, its dynamics model is established, and its grabbing forces are measured. First, using the extended formulas of the skew-symmetric matrix, the kinematic formulas are derived for solving the Jacobian/Hessian matrices and the general velocity/acceleration of the moving links in the couple-constrained parallel wrist. Second, a dynamics model is established for solving the dynamic actuation forces, the couple-constrained forces, and the torque in the couple-constrained parallel wrist. Third, the theoretical solutions of the kinematics/dynamics of the couple-constrained parallel wrist are verified using a simulation mechanism. Finally, the grabbing forces of the three flexible fingers are measured and analyzed.

This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.

This manuscript presents a simplified dynamic human-prosthesis model and simulation framework for the purpose of designing and developing lower limb prosthesis hardware and controllers. The objective was to provide an offline design tool to verify the closed-loop behavior of the prosthesis with the human, in order to avoid relying solely on limiting kinematic and kinetic reference trajectories of (able-bodied) subjects and associated static or inverse dynamic analyses, while not having to resort to complete neuromusculoskeletal models of the human that require extensive optimizations to run. The presented approach employs a reduced-order model that includes only the prosthetic limb and trunk in a multi-body dynamic model. External forces are applied to the trunk during stance phase of the intact leg to represent its presence. Walking is realized by employing the well-known spring-loaded inverted pendulum model, which is shown to generate realistic dynamics on the prosthesis while maintaining a stable and modifiable gait. This simple approach is inspired from the rationale that the human is adaptive, and from the desire to facilitate modifications or inclusions of additional user actions. The presented framework is validated with two use cases, featuring a commercial and research knee prosthesis in combination with a passive ankle prosthesis, performing a continuous sequence of standing still, walking at different velocities and stopping.

The time-optimal path following (OPF) problem is to find a time evolution along a prescribed path in task space with shortest time duration. Numerical solution algorithms rely on an algorithm-specific (usually equidistant) sampling of the path parameter. This does not account for the dynamics in joint space, that is, the actual motion of the robot, however. Moreover, a well-known problem is that large joint velocities are obtained when approaching singularities, even for slow task space motions. This can be avoided by a sampling in joint space, where the path parameter is replaced by the arc length. Such discretization in task space leads to an adaptive refinement according to the nonlinear forward kinematics and guarantees bounded joint velocities. The adaptive refinement is also beneficial for the numerical solution of the problem. It is shown that this yields trajectories with improved continuity compared to an equidistant sampling. The OPF is reformulated as a second-order cone programming and solved numerically. The approach is demonstrated for a 6-DOF industrial robot following various paths in task space.

The scientific study of animal welfare involves measuring physiological, behavioural, and/or cognitive variables to infer the welfare state of animals. Such an approach implies these measures are indicators, or reflect, an unmeasured latent variable of welfare state. Drawing inspiration from recent developments in human psychology and psychiatry, in this paper we propose an alternative perspective in the form of a network theory of animal welfare. This theory posits that there is no latent variable; rather, welfare is a network system of causal interactions between and within behavioural, physiological, and cognitive components. We then describe a statistical network modelling approach motivated by network theory, in which welfare-related response variables are associated with each other after controlling for all other variables measured. In three examples using simulated data, we demonstrate how this approach can be used, and the sort of novel insights it can bring. These examples cover a range of species and research questions, which network analysis is well suited to address. We believe a network approach to animal welfare science holds promise for developing our understanding of the concept of animal welfare, as well as producing practical and meaningful information to improve the welfare of animals.

Industrial robots are widely used in the painting industry, such as automobile manufacturing and solid wood furniture industry. An important problem is how to improve the efficiency of robot programming, especially in the current furniture industry with multiple products, small batches and increasingly high demand for customization. In this work, we propose an outer loop adaptive control scheme, which allow users to realize the practical application of the zero-moment lead-through teaching method based on dynamic model without opening the inner torque control interface of robots. In order to accurately estimate the influence of joint friction, a friction model is established based on static, Coulomb and viscous friction characteristics, and the Sigmoid function is used to represent the transition between motion states. An identification method is used to quickly identify the dynamic parameters of the robot. The joint position/speed command of the robot’s inner joint servo loop is dynamically generated based on the user-designed adaptive control law. In addition, the zero-moment lead-through teaching scheme based on the dynamic model is applied to a spray-painting robot with closed control system. In order to verify our method, CMA GR630ST is used to conduct experiments. We identified the parameters of the dynamic model and carried out the zero-moment lead-through teaching experiment to track the target trajectory. The results show that the proposed method can realize the application of modern control methods in industrial robot with closed control systems, and achieve a preliminary exploration to improve the application scenarios of spray-painting robots.