To solve the constant contact force control problem between the end tool of a 5 degrees of freedom hybrid optical mirror processing robot and a workpiece, an adaptive impedance control method for the pneumatic servo-polishing system of the robot is designed. Firstly, the pneumatic servo-polishing control system at the end of the robot is set up. Secondly, the impedance control method for contact force is investigated based on the mathematical model of the pneumatic servo-polishing control system. Additionally, the causes of steady-state error of impedance control are analyzed theoretically, and the calculation method for steady-state error of impedance control is deduced. Finally, an indirect adaptive impedance controller based on Lyapunov Stability Principle is developed to estimate the environmental stiffness and position online, so as to reduce steady-state error and realize the tracking of polishing contact force. The simulation and experimental results suggest that the adaptive impedance control method not only recognizes that the contact force of the robot is relatively constant during the polishing process but also has high control accuracy for the force, fast-tracking response for the abrupt force, and considerable adaptability to the variable environmental stiffness.

Turbulent plane-Couette flow suspended with finite-size spheroidal particles is studied using fully particle-resolved direct numerical simulations. The effects of particle aspect ratio on turbulent arguments and particle statistics are explored, leading to the same conclusions as the previous experimental findings (Wang et al., J. Fluid Mech., vol. 937, 2022, A15). By performing stress analysis, we find that the presence of particles introduces extra stresses to the system and accounts for the global drag increases. The particle-laden flow cases exhibit spectra that are consistent with the scalings $k^{-5/3}$ and $k^{-3}$ in the large and small scales, respectively. While the $k^{-3}$ scaling observed in the particle-laden flow is reminiscent of bubbly flow, an examination of the particle Reynolds number suggests that the mechanism responsible may not be attributable to the pseudo-turbulence induced by particles as in the case of bubbles. In the view of particle statistics, we observe that spherical and non-spherical particles cluster preferentially in the near-wall and the bulk region, respectively, and that the orientations of non-spherical particles are affected by their aspect ratios, especially in the near-wall region. The present numerical results, combined with previous experimental findings in Wang et al. (J. Fluid Mech., vol. 937, 2022, A15), provide in-depth information on both the fluid and the particle phase, contributing to a better understanding of particle suspension in shear flows.

We present the third data release from the Parkes Pulsar Timing Array (PPTA) project. The release contains observations of 32 pulsars obtained using the 64-m Parkes “Murriyang” radio telescope. The data span is up to 18 years with a typical cadence of 3 weeks. This data release is formed by combining an updated version of our second data release with ∼ 3 years of more recent data primarily obtained using an ultra-wide-bandwidth receiver system that operates between 704 and 4032 MHz. We provide calibrated pulse profiles, flux-density dynamic spectra, pulse times of arrival, and initial pulsar timing models. We describe methods for processing such wide-bandwidth observations, and compare this data release with our previous release.

The phase summation effect in sum-frequency mixing process is utilized to avoid a nonlinearity obstacle in the power scaling of single-frequency visible or ultraviolet lasers. Two single-frequency fundamental lasers are spectrally broadened by phase modulation to suppress stimulated Brillouin scattering in fiber amplifier and achieve higher power. After sum-frequency mixing in a nonlinear optical crystal, the upconverted laser returns to single frequency due to phase summation, when the phase modulations on two fundamental lasers have a similar amplitude but opposite sign. The method was experimentally proved in a Raman fiber amplifier-based laser system, which generated a power-scalable sideband-free single-frequency 590 nm laser. The proposal manifests the importance of phase operation in wave-mixing processes for precision laser technology.

High-power continuous-wave single-frequency Er-doped fiber amplifiers at 1560 nm by in-band and core pumping of a 1480 nm Raman fiber laser are investigated in detail. Both co- and counter-pumping configurations are studied experimentally. Up to 59.1 W output and 90% efficiency were obtained in the fundamental mode and linear polarization in the co-pumped case, while less power and efficiency were achieved in the counter-pumped setup for additional loss. The amplifier performs indistinguishably in terms of laser linewidth and relative intensity noise in the frequency range up to 10 MHz for both configurations. However, the spectral pedestal is raised in co-pumping, caused by cross-phase modulation between the pump and signal laser, which is observed and analyzed for the first time. Nevertheless, the spectral pedestal is 34.9 dB below the peak, which has a negligible effect for most applications.

Everyone faces uncertainty on a daily basis. Two kinds of probability expressions, verbal and numerical, have been used to characterize the uncertainty that we face. Because our cognitive concept of living things differs from that of non-living things, and distinguishing cognitive concepts might have linguistic markers, we designed four studies to test whether people use different probability expressions when faced with animate or inanimate uncertainty. We found that verbal probability is the preferred way to express animate uncertainty, whereas numerical probability is the preferred way to express inanimate uncertainty. The “verbal-animate” and “numerical-inanimate” associations were robust enough to persist when tested with forced-choice response patterns regardless of the information (e.g., equally likely outcomes, frequencies, or personal beliefs) used to construct probabilities of events. When the response pattern was changed to free-responses, the associations were evident unless the subjects were asked to write their own probability predictions for vague uncertainty. Given that the world around us consists of both animate (i.e., living) and inanimate (i.e., non-living) things, “verbal-animate” and “numerical-inanimate” associations may play a major role in risk communication and may otherwise be useful for practitioners and consultants.

People tend to prefer smaller and sooner (SS) rewards over larger and later (LL) ones even when the latter are much larger. Previous research have identified several ways to enhance people’s patience. Adding to this literature, the current paper demonstrates that introduction of upfront losses as well as gains to both SS and LL rewards can decrease people’s impatience. This effect is incompatible with both the normative exponential and descriptive hyperbolic discounting models, which agree on the additive assumption and the independence assumption. We also exculde the integration explanation which assumes subjects integrate upfront money with final rewards and make a decision with bottom line at the end. We consider several possible explanations, including the salience hypothesis, which states that introducing upfront money makes the money dimension more salient than not and thus increases the attractiveness of LL options.

According to the positive time-discounting assumption of intertemporal decision-making, people prefer to undergo negative events in the future rather than in the present. However, negative discounting has been identified in the intertemporal choice and loss domains, which refers to people’s preference to experience negative events earlier rather than later. Studies have validated and supported the "anticipated dread" as an explanation for negative discounting. This study again explored the effect of anticipated dread on intertemporal choice using content analysis; that is, having participants identify anticipated dread among reasons for negative discounting. This study also validated the effect of anticipated dread on negative discounting by manipulating anticipated dread. This study adds empirical and direct evidence for the role of anticipated dread in negative discounting.

Intertemporal choices involve tradeoffs between outcomes that occur at different times. Most of the research has used pure gains tasks and the discount rates yielding from those tasks to explain and predict real-world behaviors and consequences. However, real decisions are often more complex and involve mixed outcomes (e.g., sooner-gain and later-loss or sooner-loss and later-gain). No study has used mixed gain-loss intertemporal tradeoff tasks to explain and predict real-world behaviors and consequences, and studies involving such tasks are also scarce. Considering that tasks involving a combination of gains and losses may yield different discount rates and that existing pure gains tasks do not explain or predict real-world outcomes well, this study conducted two experiments to compare the discount rates of mixed gain-loss intertemporal tradeoffs with those of pure gains or pure losses (Experiment 1) and to examine whether these tasks predicted different real-world behaviors and consequences (Experiment 2). Experiment 1 suggests that the discount rate ordering of the four tasks was, from highest to lowest, pure gains, sooner-loss and later-gain, pure losses, and sooner-gain and later-loss. Experiment 2 indicates that the evidence supporting the claim that the discount rates of the four tasks were related to different real-world behaviors and consequences was insufficient.

In “The value of nothing: asymmetric attention to opportunity costs drives intertemporal decision making” Read, Olivola and Hardisty (2017) proposed an asymmetric subjective opportunity cost (ASOC) effect to explain and predict why impatience can be detected in intertemporal choice. This work deserves to be replicated and extended for its novel and potentially important findings. The present study aimed to examine the reliability and robustness of the evidence presented by Read et al. by conducting precise replications of their key findings in Study 1. The ASOC effect (Read, et al., 2017) was important for expanding its application and reported to be typically stronger when baseline larger-but-later option (LL) and smaller-but-sooner option (SS) preferences were closer to 50% in the authors’ original condition. Therefore, the present study also aimed to replicate and test the ASOC effect when baseline LL preferences were higher or lower than those in the original condition. We intended to set two additional conditions wherein either LL or SS is more obviously favored (i.e., baseline LL preferences were higher or lower than those in the original condition) by respectively applying the common difference effect (Kirby & Herrnstein, 1995) and the unit effect (Burson, Larrick & Lynch Jr., 2009; Pandelaere, Briers & Lembregts, 2011). Having successfully generated two more obviously favored conditions, the ASOC effect was replicated and confirmed under the original condition and one additional condition wherein SS was more obviously favored. However, the ASOC effect was not detected under the other additional condition wherein LL was more obviously favored. The implications of these findings were discussed.

Recently, Scholten and Read (2014) found new violations of dominance in intertemporal choice. Although adding a small receipt before a delayed payment or adding a small delayed receipt after an immediate receipt makes the prospect objectively better, it decreases the preference for that prospect (better is worse). Conversely, although adding a small payment before a delayed receipt or adding a small delayed payment after an immediate payment makes the prospect objectively worse, it increases the preference for that prospect (worse is better). Scholten and Read explained these violations in terms of a preference for improvement. However, to produce violations such as these, we find that the temporal sequences need not be constructed as Scholten and Read suggested. In this study, adding a small receipt before a dated receipt (thus constructed as improving) or adding a receipt after a dated payment (thus constructed as improving) decreases preferences for those prospects. Conversely, adding a small payment after a dated receipt (thus constructed as deteriorating) or adding a small payment before a delayed payment (thus constructed as deteriorating) increases preferences for those prospects.

To study intertemporal choices, researchers typically instruct subjects to choose between smaller and sooner (SS) and larger and later (LL) rewards (e.g., gaining CNY 210 in a week vs. gaining CNY 250 in five weeks). People generally tend to discount steeply and prefer SS to LL rewards in such situations. Jiang, Hu and Zhu (2014) recently showed that adding upfront losses or gains to both SS and LL rewards can reduce people’s discounting, and they provided several possible accounts for this effect, including the salience account and the time scale hypothesis. In the current paper, based on the upfront money effect found in Jiang et al. (2014), we further showed that the effect of discounting decreasing could be extended to adding dated-money between SS and LL rewards and after LL rewards. The results helped us exclude both the time scale hypothesis and another possible explanation: preference for improvement. We hypothesized that all the current findings (recorded in this paper and in Jiang et al.) could be accommodated well using the salience account.

Two new species of the lichenized genus Lasioloma are described from Asia: Lasioloma longiramosum W. C. Wang & A. Abas (collected from Malaysia), is characterized by a distinct woolly prothallus between dispersed thallus patches, comparatively small, muriform ascospores, long filiform conidia (main branch 22–28 μm in length, the other three branches 65–80 μm) and a foliicolous habitat; L. verrucosum W. C. Wang & X. L. Wei (collected from China), is characterized by a warted thallus, filiform conidia (main branch 22–32 μm in length, the other three branches 50–65 μm) and a corticolous habitat. The placement of both new species was confirmed by a molecular phylogenetic approach based on combined ITS, mtSSU and mtLSU sequences, and both are compared in detail to other similar species of the genus. Our study also revealed that the length of the conidial branches, which has not been explored in previous studies, should be regarded as an important feature for species delimitation in Lasioloma.

The dispersed phase in turbulence can vary from almost inviscid fluid to highly viscous fluid. By changing the viscosity of the dispersed droplet phase, we experimentally investigate how the deformability of dispersed droplets affects the global transport quantity of the turbulent emulsion. Different kinds of silicone oil are employed to result in the viscosity ratio, $\zeta$, ranging from $0.53$ to $8.02$. The droplet volume fraction, $\phi$, is varied from 0 % to 10 % with a spacing of 2 %. The global transport quantity, quantified by the normalized friction coefficient $c_{f,\phi }/c_{f,\phi =0}$, shows a weak dependence on the turbulent intensity due to the vanishing finite-size effect of the droplets. The interesting fact is that, with increasing $\zeta$, $c_{f,\phi }/c_{f,\phi =0}$ first increases and then saturates to a plateau value which is similar to that of the rigid particle suspension. By performing image analysis, this drag modification is interpreted from the point of view of droplet deformability, which is responsible for the breakup and coalescence effect of the droplets. The statistics of the droplet size distribution show that, with increasing $\zeta$, the stabilizing effect induced by interfacial tension becomes substantial and the pure inertial breakup process becomes dominant. The measurement of the droplet distribution along the radial direction of the system shows a bulk-clustering effect, which can be attributed to the non-negligible coalescence effect of the droplet. It is found that the droplet coalescence effect could be suppressed as $\zeta$ increases, thereby affecting the contribution of interfacial tension to the total stress, and accounting for the observed emulsion rheology.

The turbulent kinetic energy and energy dissipation rate in the wake of a circular cylinder are examined at a Reynolds number of 1000. The turbulence characteristics are quantified using direct numerical simulation, which provides a comprehensive dataset that is almost impossible to acquire from physical experiments. The energy dissipation rate is decomposed into the components due to the mean flow, the coherent primary vortices and the remainder. It is found that the remainder component, which develops only in a three-dimensional turbulent wake and resides mainly in the regions of vortices, accounts for 95 % and 97 % of the total dissipation rate for 10 and 20 cylinder diameters downstream of the cylinder, respectively (while the remainder accounts for 62 % and 83 % of the total turbulent kinetic energy). Based on the remainder component, the validity of local isotropy, local axisymmetry, local homogeneity and homogeneity in the y–z plane for the turbulent dissipation in the wake is examined. The analysis reveals that the turbulent dissipation is largely locally homogeneous, but not locally isotropic or axisymmetric, even after the annihilation of the primary vortex street. In addition, the performances of the four corresponding surrogates to the true dissipation rate are evaluated. Owing to the general validity of local homogeneity, the surrogates of local homogeneity and homogeneity in the y–z plane perform well. Although local axisymmetry does not hold, the corresponding surrogate performs well, because errors from different terms largely cancel out. However, the surrogate of local isotropy generally underestimates the true dissipation rate.