This study presents a novel 4-DOF two-limb gripper mechanism with a simple design that offers high adaptability for different objects. The mechanism integrates a three-finger end effector and employs a 2-DOF driving system in both serial kinematic chains mounted on the base, addressing performance problems caused by moving actuators. First, the architecture of the gripper mechanism is described, and its mobility is verified. Next, the inverse and forward kinematic problems are solved, and the Jacobian matrix is derived to analyze the singularity conditions. The inverse and forward singularity surfaces are plotted. The workspace is investigated using a search method, and two indices, manipulability and dexterity, are studied. The proposed manipulator’s parameters are optimized for improved dexterity. The novel gripper mechanism has high potential for grasping different types of parts within a large workspace, making it a valuable addition to the field of robotics.

Modelling mortality co-movements for multiple populations has significant implications for mortality/longevity risk management. This paper assumes that multiple populations are heterogeneous sub-populations randomly drawn from a hypothetical super-population. Those heterogeneous sub-populations may exhibit various patterns of mortality dynamics across different age groups. We propose a hierarchical structure of these age patterns to ensure the model stability and use a Vector Error Correction Model (VECM) to fit the co-movements over time. Especially, a structural analysis based on the VECM is implemented to investigate potential interdependence among mortality dynamics of the examined populations. An efficient Bayesian Markov Chain Monte-Carlo method is also developed to estimate the unknown parameters to address the computational complexity. Our empirical application to the mortality data collected for the Group of Seven nations demonstrates the efficacy of our approach.

The effects of monolaurin (ML) on the health of piglets infected with porcine epidemic diarrhoea virus (PEDV) have not been fully understood. This study aimed to investigate its role in blood biochemical profile, intestinal barrier function, antioxidant function and the expression of antiviral genes in piglets infected with PEDV. Thirty-two piglets were randomly divided into four groups: control group, ML group, PEDV group and ML + PEDV group. Piglets were orally administrated with ML at a dose of 100 mg/kg·BW for 7 d before PEDV infection. Results showed that PEDV infection significantly decreased D-xylose content and increased intestinal fatty acid-binding protein content, indicating that PEDV infection destroyed intestinal barrier and absorption function. While it could be repaired by ML administration. Moreover, ML administration significantly decreased plasma blood urea nitrogen and total protein content upon PEDV infection. These results suggested ML may increase protein utilisation efficiency. ML administration significantly decreased the number of large unstained cells and Hb and increased the number of leucocytes and eosinophils in the blood of PEDV-infected piglets, indicating ML could improve the immune defense function of the body. In the presence of PEDV infection, ML administration significantly increased superoxide dismutase and catalase activities in blood and colon, respectively, indicating ML could improve antioxidant capacity. Besides, ML administration reversed the expression of ISG15, IFIT3 and IL-29 throughout the small intestine and Mx1 in jejunum and ileum, indicating the body was in recovery from PEDV infection. This study suggests that ML could be used as a kind of feed additive to promote swine health upon PEDV infection.

This paper presents a robust train localisation system by fusing a Global Navigation Satellite System (GNSS) with an Inertial Navigation System (INS) in a tightly-coupled (TC) strategy. To improve navigation performance in GNSS partly blocked areas, an advanced map-matching (MM) measurement-augmented TC GNSS/INS method is proposed via an error-state unscented Kalman filter (UKF). The advanced MM generates a matched position using a one-step predicted position from a UKF time update step with binary search algorithm and a point–line projection algorithm. The matched position inputs as an additional measurement to fuse with the INS position to augment the degraded GNSS pseudorange measurement to optimise the state estimation in the UKF measurement update step. Both the real train test on the Qinghai–Tibet railway and the simulation were carried out and the results confirm that the proposed advanced MM measurement-augmented TC GNSS/INS with error-state UKF provides the best horizontal positioning accuracy of 0 ⋅ 67 m, which performs an improvement of about 71% and 90% with respect to TC GNSS/INS with only error-state UKF and only error-state Extended Kalman filter in GNSS partly blocked areas.

Coastal eutrophication and hypoxia remain a persistent environmental crisis despite the great efforts to reduce nutrient loading and mitigate associated environmental damages. Symptoms of this crisis have appeared to spread rapidly, reaching developing countries in Asia with emergences in Southern America and Africa. The pace of changes and the underlying drivers remain not so clear. To address the gap, we review the up-to-date status and mechanisms of eutrophication and hypoxia in global coastal oceans, upon which we examine the trajectories of changes over the 40 years or longer in six model coastal systems with varying socio-economic development statuses and different levels and histories of eutrophication. Although these coastal systems share common features of eutrophication, site-specific characteristics are also substantial, depending on the regional environmental setting and level of social-economic development along with policy implementation and management. Nevertheless, ecosystem recovery generally needs greater reduction in pressures compared to that initiated degradation and becomes less feasible to achieve past norms with a longer time anthropogenic pressures on the ecosystems. While the qualitative causality between drivers and consequences is well established, quantitative attribution of these drivers to eutrophication and hypoxia remains difficult especially when we consider the social economic drivers because the changes in coastal ecosystems are subject to multiple influences and the cause–effect relationship is often non-linear. Such relationships are further complicated by climate changes that have been accelerating over the past few decades. The knowledge gaps that limit our quantitative and mechanistic understanding of the human-coastal ocean nexus are identified, which is essential for science-based policy making. Recognizing lessons from past management practices, we advocate for a better, more efficient indexing system of coastal eutrophication and an advanced regional earth system modeling framework with optimal modules of human dimensions to facilitate the development and evaluation of effective policy and restoration actions.

In this paper, we investigate the pricing of vulnerable European options in a market where the underlying stocks are not perfectly liquid. A liquidity discount factor is used to model the effect of liquidity risk in the market, and the default risk of the option issuer is incorporated into the model using a reduced-form model, where the default intensity process is correlated with the liquidity risk. We obtain a semiclosed-form pricing formula of vulnerable options through the inverse Fourier transform. Finally, we illustrate the effects of default risk and liquidity risk on option prices numerically.

Dynamics of two-dimensional flow past a rigid flat plate with a trailing closed flexible filament acting as a deformable afterbody are investigated numerically by an immersed boundary-lattice Boltzmann method for the fluid flow and a finite element method for the filament motion. The effects of Reynolds number ($Re$) and length ratio ($Lr$) on the flow patterns and dynamics of the rigid-flexible coupling system are studied. Based on our numerical results, five typical state modes have been identified in $Lr\unicode{x2013}Re$ plane in terms of the filament shape and corresponding dynamics, i.e. static deformation, micro-vibration, multi-frequency flapping, periodic flapping and chaotic flapping modes, respectively. Benefiting from the passive flow control by using the flexible filament as a deformable afterbody, the coupled system may enjoy a significant drag reduction (up to $22\,\%$) compared with bare plate scenarios ($Lr=1$). Maximum drag reduction achieved at $L_{c,{min}} \in [1.8, 2]$ is often accompanied by the onset of the system state transition. The flow characteristic and its relation to the change in hydrodynamic drag are further explored in order to reveal the underlying mechanisms of the counterintuitive dynamical behaviour of the coupled system. The scaling laws for the form drag and the friction drag, which arise from the pressure and viscous effects, respectively, are proposed to estimate the overall drag acting on the system. The results obtained in the present study may shed some light on understanding the dynamical behaviour of rigid-flexible coupling systems.

The propulsion of a pitching flexible plate in a uniform flow is investigated numerically. The effects of bending stiffness ($K$), pitching amplitude ($A_L$) and frequency ($St$) on the wake patterns, thrust generations and propulsive performances of the fluid–plate system are analysed. Four typical wake patterns, i.e. von Kármán, reversed von Kármán, deflected and chaotic wakes, emerge from various kinematics, and the $St-A_L$ wake maps are given for various $K$. The drag-to-thrust transitions (DTT) and the wake transitions (WT) between the von Kármán and reversed von Kármán wakes are examined. Results indicate that the WT and DTT boundaries can be scaled by the chord-averaged distance of travel, $\mathcal {L}$, which leads to $\mathcal {L}\times St \approx 1$ and $\mathcal {L}\times St \approx 1.2$, respectively. Further, the resonance mechanism for the performance enhancement is revealed and confirmed in a wide range of parameters. The dimensionless average speed of plate, $\mathcal {U^*}\left (=\mathcal {L}\times St\right )$, is adopted merely to characterize the propulsive performances. For the first time, the $\mathcal {U^*}$-based scaling laws for the thrust and power are revealed in pitching rigid and flexible plates for various $A_L$ and $St$. This study may deepen our understanding of biological swimming and flying, and provide a guide for bionic design.

The pandemic caused by severe acute respiratory syndrome coronavirus 2 is sweeping the world, threatening millions of lives and drastically altering our ways of living. According to current studies, failure to either activate or eliminate inflammatory responses timely and properly at certain stages could result in the progression of the disease. In other words, robust immune responses to coronavirus disease 2019 (COVID-19) are critical. However, they do not theoretically present in some special groups of people, including the young, the aged, patients with autoimmunity or cancer. Differences also do occur between men and women. Our immune system evolves to ensure delicate coordination at different stages of life. The innate immune cells mainly consisted of myeloid lineage cells, including neutrophils, basophils, eosinophils, dendritic cells and mast cells; they possess phagocytic capacity to different degrees at different stages of life. They are firstly recruited upon infection and may activate the adaptive immunity when needed. The adaptive immune cells, on the other way, are comprised mainly of lymphoid lineages. As one grows up, the adaptive immunity matures and expands its memory repertoire, accompanied by an adjustment in quantity and quality. In this review, we would summarise and analyse the immunological characteristics of these groups from the perspective of the immune system ‘evolution’ as well as ‘revolution’ that has been studied and speculated so far, which would aid the comprehensive understanding of COVID-19 and personalised-treatment strategy.

Family feasting during the Spring Festival is a Chinese tradition. However, close contact during this period is likely to promote the spread of coronavirus disease 2019 (COVID-19). This study developed a dynamic infectious disease model in which the feast gatherings of families were considered the sole mode of transmission. The model simulates COVID-19 transmission via family feast gatherings through a social contact network. First, a kinship-based, virtual social contact network was constructed, with nodes representing families and connections representing kinships. Families in kinship with each other comprised of the largest globally coupled network, also known as a clique, in which a feast gathering was generated by randomly selecting two or more families willing to gather. The social contact network in the model comprised of 215 cliques formed among 608 families with 1517 family members. The modelling results indicated that when there is only one patient on day 0, the number of new infections will reach a peak on day 29, and almost all families and their members in the social contact network will be infected by day 60. This study demonstrated that COVID-19 can spread rapidly through continuous feast gatherings through social contact networks and that the disease will run rampant throughout the network.

This study was aimed to investigate whether EPA and arachidonic acid (ARA), the representative n-3 or n-6 PUFA, could alleviate enterotoxigenic Escherichia coli (ETEC) K88-induced inflammation and injury of intestinal porcine epithelial cells 1 (IPEC-1) by modulating pyroptosis and necroptosis signalling pathways. IPEC-1 cells were cultured with or without EPA or ARA in the presence or absence of ETEC K88. EPA and ARA reduced ETEC K88 adhesion and endotoxin content in the supernatant. EPA and ARA increased transepithelial electrical resistance, decreased permeability of fluorescein isothiocyanate-labelled dextran, increased membrane protein expression of occludin, ZO-1 and claudin-1 and relieved disturbed distribution of these proteins. EPA and ARA also reduced cell necrosis ratio. EPA or ARA reduced mRNA and concentration of TNF-α, IL-6 and IL-8 and decreased mRNA abundances of intestinal toll-like receptors 4 and its downstream signals. Moreover, EPA and ARA downregulated mRNA expression of nod-like receptor protein 3 (NLRP3), caspase 1 and IL-18 and inhibited protein expression of NLRP3, apoptosis-associated speck-like protein containing a CARD (ASC), gasdermin D and caspase-1. Finally, EPA and ARA reduced mRNA expression of fas-associated death domain protein, caspase 8, receptor-interacting protein kinase (RIP) 1, mixed lineage kinase-like protein (MLKL), phosphoglycerate mutase 5 (PGAM5), motility-related protein 1 (Drp1) and high mobility protein 1 (HMGB1) and inhibited protein expression of phosphorylated-RIP1, p-RIP3, p-MLKL and HMGB1. These data demonstrate that EPA and ARA prevent ETEC K88-induced cell inflammation and injury, which is partly through inhibiting pyroptosis and necroptosis signalling pathways.

Chronic inflammation exerts pleiotropic effects in the aetiology and progression of chronic obstructive pulmonary disease (COPD). Glucosamine is widely used in many countries and may have anti-inflammatory properties. We aimed to prospectively evaluate the association of regular glucosamine use with incident COPD risk and explore whether such association could be modified by smoking in the UK Biobank cohort, which recruited more than half a million participants aged 40–69 years from across the UK between 2006 and 2010. Cox proportional hazards models with adjustment for potential confounding factors were used to calculate hazard ratios (HR) as well as 95 % CI for the risk of incident COPD. During a median follow-up of 8·96 years (interquartile range 8·29–9·53 years), 9016 new-onset events of COPD were documented. We found that the regular use of glucosamine was associated with a significantly lower risk of incident COPD with multivariable adjusted HR of 0·80 (95 % CI, 0·75, 0·85; P < 0·001). When subgroup analyses were performed by smoking status, the adjusted HR for the association of regular glucosamine use with incident COPD were 0·84 (0·73, 0·96), 0·84 (0·77, 0·92) and 0·71 (0·62, 0·80) among never smokers, former smokers and current smokers, respectively. No significant interaction was observed between glucosamine use and smoking status (P for interaction = 0·078). Incident COPD could be reduced by 14 % to 84 % through a combination of regular glucosamine use and smoking cessation.

Intestinal stem cells, which are capable of both self-renewal and differentiation to mature cell types, are responsible for maintaining intestinal epithelial homeostasis. Recent evidence indicates that these processes are mediated, in part, through nutritional status in response to diet. Diverse dietary patterns including caloric restriction, fasting, high-fat diets, ketogenic diets and high-carbohydrate diets as well as other nutrients control intestinal stem cell self-renewal and differentiation through nutrient-sensing pathways such as mammalian target of rapamycin and AMP-activated kinase. Herein, we summarise the current understanding of how intestinal stem cells contribute to intestinal epithelial homeostasis and diseases. We also discuss the effects of diet and nutrient-sensing pathways on intestinal stem cell self-renewal and differentiation, as well as their potential application in the prevention and treatment of intestinal diseases.

Human papillomavirus (HPV) has been confirmed as the causative agent for cervical cancer. In this study, a total of 301 880 women were recruited from four different regions of Western China, with 301 880 exfoliated cervical cell samples collected from women for DNA isolation and purification. The HPV genotype was tested by polymerase chain reaction. The overall HPV prevalence rate, high-risk (HR) HPV infection rate, low-risk (LR) HPV infection rate and mixed HPV infection rate was 18.24%, 79.14%, 12.56% and 8.30%, respectively. The four most common HR HPV subtypes were HPV-52, 16, 58 and 53, which accounted for 20.49%, 19.93%, 14.54% and 10.01%, respectively. In LR HPV genotype, HPV-6 ranked the highest (28.17%), followed by HPV-81 (9.09%) and HPV-11 (3.78%). HPV genotype subgroup analysis also showed that single-type infection was the most common (77.26%) among HPV-positive individuals. Among multi-infection genotypes, double infection was the most common with frequencies of 76.04%. The overall prevalence of HPV is high in Western China, whose distribution demonstrates different patterns across different ages and regions. Viral genotypes HPV 53, 6 were frequently detected in this population, which is worth of significant clinical attention.