This study aims at establishing a model for close-contact melting (CCM) of shear-thinning fluids. We presented a theoretical framework for predicting the variation of liquid melt film thickness and motion of unmelted solid for both Carreau and power-law fluids. We identified the appropriate energy equation considering the convective effect and derived an analytical temperature profile across the liquid film. Using the lubrication approximation, force equilibrium relationships and the corresponding numerical approaches were built. By using laser interferometry and photographic recording methods, we found excellent agreement between numerical solutions and experimental results for Carreau liquids, revealing that the convective effect weakens heat transfer and melting rate. We identified the critical liquid film thickness that determines three situations of CCM in the theoretical model for Carreau fluids. Numerical prediction demonstrated that the CCM of Carreau fluids can be almost equivalent to that of power-law fluids if the initial film thickness is greater than the critical value. Finally, approximate analytical models were developed for both Carreau and power-law models. For the applicability of the approximate analytical solutions, we derived two- and three-dimensional dimensionless phase diagrams of validity range and identified a key dimensionless group $(\varLambda Re)^{4/3}{Re}\left [3\ln (Ste+1)\right ]^{1/3}{Pe}^{-1/3}$, where $\varLambda$ is dimensionless characteristic time, Re is Reynolds number, Ste is Stefan number and Pe is Peclect number. The reliability of the approximate solutions was verified by comparing with the numerical results. These approximate solutions enable convenient and low-cost computational prediction of the dynamic CCM process of shear-thinning fluids.

A high-energy, alignment-insensitive, injection-seeded Q-switched Ho:yttrium aluminum garnet (YAG) single-frequency laser is developed. Both the slave Q-switched laser and the seed laser are Ho:YAG ring lasers based on a pair of corner cubic reflectors. The seed laser has an available power of 830 mW at 2096.667 nm. At 100 Hz, the Q-switched Ho:YAG laser provides a single-frequency pulsed output using injection-seeded technology. The 7.3 mJ single-frequency pulse energy from the slave laser has a pulse width of 161.2 ns and is scaled to 33.3 mJ after passing through the Ho:YAG single-pass amplifier. According to the measurement results of the heterodyne beating technique, the single-frequency pulse has a half-width of 4.12 MHz.

Due to the curvature of the droplet surface, the propagation of transmitted waves is complex inside a droplet impacted by an incident shock wave. The wave converging phenomena inside a two-dimensional water column impacted by different curved shock waves are explored in this paper by means of theoretical ray analysis and high-resolution numerical simulations. An analytical method describing the wave structure evolution characteristics inside the shocked water column is established. Hence, the morphological pattern and focus locations of these waves are theoretically obtained. The analysis shows that both the first and the second reflected waves focus inside the water column regardless of the convergent, planar or divergent nature of the incident shock wave shape. The dimensionless distances from focusing points to the column centre are derived as ${\kappa }/{( 3\kappa -{{M}_{0}}{{f}_{s}} )}$ for the former and ${\kappa }/{( 5\kappa -{{M}_{0}}{{f}_{s}})}$ for the latter, respectively. Here, $\kappa$, $M_0$ and $f_s$ represent the sound-speed ratio of the two phases, the incident shock wave strength and a function characterising the shock wave shape effect, respectively. Moreover, highly negative pressures due to the first reflected wave focusing and significant pressure oscillations due to the second reflected wave focusing are numerically tracked for three shapes of the incident shock. The effects of the incident shock wave intensity on the pressure variations at focus points are further studied. As the incident shock wave intensity increases, stronger negative pressure and higher pressure oscillation are induced. The converged incident shock wave can enhance the above phenomena, but the diverged one can weaken them.

In an unstructured environment, the arm can perform complicated tasks with rapidity, flexibility, and robustness. It is difficult to configure multiple artificial muscles similar to an arm in the compact space of a robotic arm. When muscle tension is transferred, mechanisms like tendon-sheath/tendon-pulley may be installed in a compact space to develop musculoskeletal robots that are closer to the arm. However, handling variable frictional nonlinearity and elastic cable deformation is necessary for transmission stability. In this study, the modular artificial muscle system (MAMS), including motor cable artificial muscle and tendon sheath–pulley system (TSPS), that can be installed remotely and transmit muscle tension in narrow paths, is designed. The feed-forward multi-layer neural network (FF-MNN) approach is utilized to discuss the relationship between the measurable input tension of TSPS and the unmeasurable output tension and cable elongation. Subsequently, the lightweight musculoskeletal arm (LM-Arm) is built to verify the validity of MAMS. Through trials, the experiments of MAMS after friction compensating and the LM-Arm’s end-point 3D trajectory tracking are investigated. The results show that average errors of the active and passive muscles tension are 3.87 N and 3.51 N, respectively, under conditions of larger load and higher contraction velocity. The average muscle length error of trajectory tracking is 0.00078 m (0.72%). The suggested MAMS may successfully build a musculoskeletal robot that has similar flexibility and morphology to the arm. It can also be utilized to power various pieces of machinery, such as rescue robot, invasive surgical robots, dexterous hands, and wearable exoskeletons.

This paper proves the energy equality for distributional solutions to fractional Navier-Stokes equations, which gives a new proof and covers the classical result of Galdi [Proc. Amer. Math. Soc. 147 (2019), 785–792].

This paper presents a feedforward compensation approach for musculoskeletal systems (MSs). Compared with traditional rigid robots, human arms have the advantages of flexibility and safety in operation in unstructured environments. However, the influence of external unknown disturbances, inner friction effects, and dynamic uncertainties of the MS makes it difficult to model and practically apply. In order to reduce the inner friction effects of the hardware platform and the over-relaxation/tension of the cable-pull drive, a feedforward friction compensation method for the cable-pulled artificial muscle unit is proposed. The method analyzes the friction causes of the hardware structure and establishes a mapping network relationship between the joint variables and the muscle force error in the muscle space. The experimental results show that the method can effectively improve the control accuracy and reduce the artificial muscle over-relaxation/tension instability.

The sequential occurrence of three layers of smooth muscle layers (SML) in human embryos and fetus is not known. Here, we investigated the process of gut SML development in human embryos and fetuses and compared the morphology of SML in fetuses and neonates. The H&E, Masson trichrome staining, and Immunohistochemistry were conducted on 6–12 gestation week human embryos and fetuses and on normal neonatal intestine. We showed that no lumen was seen in 6–7th gestation week embryonic gut, neither gut wall nor SML was developed in this period. In 8–9th gestation week embryonic and fetal gut, primitive inner circular SML (IC-SML) was identified in a narrow and discontinuous gut lumen with some vacuoles. In 10th gestation week fetal gut, the outer longitudinal SML (OL-SML) in gut wall was clearly identifiable, both the inner and outer SML expressed α-SMA. In 11–12th gestation week fetal gut, in addition to the IC-SML and OL-SML, the muscularis mucosae started to develop as revealed by α-SMA immune-reactivity beneath the developing mucosal epithelial layer. Comparing with the gut of fetuses of 11–12th week of gestation, the muscularis mucosae, IC-SML, and OL-SML of neonatal intestine displayed different morphology, including branching into glands of lamina propria in mucosa and increased thickness. In conclusions, in the human developing gut between week-8 to week-12 of gestation, the IC-SML develops and forms at week-8, followed by the formation of OL-SML at week-10, and the muscularis mucosae develops and forms last at week-12.

Aiming at the problem of low accuracy of robot joint fault diagnosis, a fault diagnosis method of robot joint based on BP neural network is designed. In this paper, the UR10 robot is taken as the research object, and the end pose data of the robot are collected in real time. By injecting different joint errors and changing the sampling frequency, the joint fault database is collected and established, and the BP neural network is used for training to obtain the robot neural network fault diagnosis model. The fault diagnosis model can output the joint fault of the input end pose data. And we analyzed the influence of different joint angle errors and different training sets on the accuracy of joint fault diagnosis of the robot. The results show that when the sampling frequency is 250 Hz, the simulation result of joint fault diagnosis accuracy with the fault degree of 0.5° is 99.17%, and the experimental result is 97.87%. Compared with traditional data-driven methods, it has higher accuracy and diagnostic efficiency, and compared with existing machine learning methods, it also achieves a high accuracy while reducing the network complexity. The effectiveness of the BP neural network robot joint fault diagnosis method is verified by experiments.

This work aims to investigate experimentally the effect of the Reynolds number Re, based on the nozzle diameter D, on jet mixing manipulation using an unsteady radial minijet. A novel artificial intelligence (AI) control system has been developed to manipulate the jet over Re = 5800–40 000. The system may optimize simultaneously the control law and a time-independent parameter, which dictate the actuation ON/OFF states and amplitude, respectively. The control parameters include the mass flow rate, excitation frequency and diameter ratios (Cm, fe/f0 and d/D) of the minijet to the main jet as well as the duty cycle (α) of minijet injection. Jet mixing is quantified using Ke and K0, where K is the decay rate of the jet centreline mean velocity, and subscripts e and 0 denote the manipulated and unforced jets, respectively. It has been found that the maximum Ke achievable does not vary with Re. Scaling analysis of the huge volume of experimental data obtained from the AI system reveals that the relationship Ke = g1 (Cm, fe/f0, α, d/D, Re, K0) may be reduced to Ke/K0 = g2 $(\zeta )$, where g1 and g2 are different functions and the scaling factor $\zeta = ({C_m}/\alpha ){(D/d)^{1 - n}}(1/Re){({f_e}/{f_{e,opt}})^m}$, m and 1 − n are the power indices, and subscript opt denotes the value at which Ke is maximum. The scaling law is discussed in detail, along with the physical meanings of the dimensionless parameters Ke/K0, ζ, $({C_m}/\alpha ){(D/d)^{1 - n}}(1/Re)$ and ${({f_e}/{f_{e,opt}})^m}$.

Developmental signals and environmental stresses regulate carbon distribution in the vegetative and reproductive organs of plants and affect seed yield. Cleistogenes songorica is a xerophytic grass with great potential application value in ecological restoration. However, how carbohydrate transport and distribution during grain filling affect the seed yield of C. songorica under water stress is not clear. The present study showed that the soluble sugar and starch contents of cleistogamous (CL) spikes and chasmogamous (CH) spikes were significantly higher at the milk stage, which was attributed to a significantly higher seed number and seed yield per spike under water stress conditions than under well-watered conditions (P < 0.01). RNA-seq data revealed a total of 54,525 differentially expressed genes (DEGs) under water stress conditions, but only 3744 DEGs were shared among all comparison groups. Weighted gene co-expression network analysis showed that the transport and distribution of carbohydrates were regulated by ABA-responsive genes (CsABA8OX1_1, CsABA8OX1_2, CsABA8OX2_1, CsABA8OX2_2, CsNCED3, CsNCED1_1, CsNCED1_2 and CsNCED4_1) and sugar transport and starch synthesis genes (CsSUS1, CsSUS2, CsSUS3, CsAGP1, CsAGP4, CsAGP5, CsSSS1 and CsSBE5) under water stress conditions. These genes jointly regulated carbohydrate remobilization in sources (stems, leaves and sheaths) to promote grain filling and improve seed yield. The present study helped to clarify the phenotypic, metabolic and transcriptional response mechanisms of vegetative organs, such as stems and leaves, and reproductive organs, such as CL spikes and CH spikes, to promote carbohydrate redistribution under water stress, and it provides theoretical guidance for improving seed yields.

Thyroid cancer (TC) incidence has increased greatly during the past decades with a few established risk factors, while no study is available that has assessed the association of the Chinese Health Dietary Index (CHDI) with TC. We conducted a 1:1 matched case–control study in two hospitals in Shanghai, China. Diet-quality scores were calculated according to CHDI using a validated and reliable FFQ. Conditional logistic regression analysis and restricted cubic spline analysis were used to reveal potential associations between CHDI score and TC risk. A total of 414 pairs of historically confirmed TC patients and healthy controls were recruited from November 2012 to December 2015. The total score of cases and controls were 67·5 and 72·8, respectively (P < 0·001). The median score of total vegetables, fruit, diary products, dark green and orange vegetables, fish, shellfish and mollusk, soyabean, whole grains, dry bean and tuber in cases was significantly lower than those in controls. Compared with the reference group (≤60 points), the average (60–80 points) and high (≥80 points) levels of the CHDI score were associated with a reduced risk of TC (OR: 0·40, 95 % CI 0·26, 0·63 for 60–80 points; OR: 0·22, 95 % CI 0·12, 0·38 for ≥80 points). In age-stratified analyses, the favourable association remained significant among participants who are younger than 50 years old. Our data suggested that high diet quality as determined by CHDI was associated with lower risk of TC.

Thanks to the ability to perform imaging and manipulation at the nanoscale, atomic force microscopy (AFM) has been widely used in biology, materials, chemistry, and other fields. However, as common error sources, vertical drift and illusory slope severely impair AFM imaging quality. To address this issue, this paper proposes a robust algorithm to synchronously correct the image distortion caused by vertical drift and slope, thus achieving accurate morphology characterization. Specifically, to eliminate the damage of abnormal points and feature areas on the correction accuracy, the laser spot voltage error acquired in the AFM scanning process is first utilized to preprocess the morphology height data of the sample, so as to obtain the refined alternative data suitable for line fitting. Subsequently, this paper proposes a novel line fitting algorithm based on sparse sample consensus, which accurately simulates vertical drift and slope in the cross-sectional profile of the topographic image, thereby achieving effective correction of the image distortion. In the experiments and applications, a nanoscale optical grating sample and a biological cell sample are adopted to perform topography imaging and distortion correction, so as to verify the ability of the proposed algorithm to promote AFM imaging quality.

To determine the association between hearing loss and environmental Pb, Cd and Se exposure, a total of 1503 American adults from National Health and Nutrition Examination Survey (NHANES) (2011–2012) were assessed. The average of four audiometric frequencies (0·5, 1, 2 and 4 kHz) was used to identify speech-frequency hearing loss (SFHL), while the average of 3 audiometric frequencies (3, 4 and 6 kHz) was used to identify high-frequency hearing loss (HFHL). HFHL adjusted OR determined by comparing the highest and lowest blood Pb and Cd quartiles were 1·98 (95 % CI: 1·27, 3·10) and 1·81 (95 % CI: 1·13, 2·90), respectively. SFHL was significantly associated with blood Cd with the OR = 2·42 for the highest quartile. When further stratified by age, this association appeared to be limited to adults aged 35–52 years. After stratified by gender, except for Pb and Cd, we observed that blood Se showed a dose-dependent association with SFHL in men. In women, only Cd showed a dose-dependent association with speech and high-frequency hearing loss. Hearing loss was positively associated with blood levels of Pb and Cd. Additionally, our study provided novel evidence suggesting that excessive Se supplement would increase SFHL risk in men.

In this paper, we study a dissipative systems modelling electrohydrodynamics in incompressible viscous fluids. The system consists of the Navier–Stokes equations coupled with a classical Poisson–Nernst–Planck equations. In the three-dimensional case, we establish a global regularity criteria in terms of the middle eigenvalue of the strain tensor in the framework of the anisotropic Lorentz spaces for local smooth solution. The proof relies on the identity for entropy growth introduced by Miller in the Arch. Ration. Mech. Anal. [16].

The aim of the present study was to compare the rate of preterm birth (PTB) and growth from birth to 18 years between twins conceived by in vitro fertilization (IVF) and twins conceived by spontaneous conception (SC) in mainland China. The retrospective cohort study included 1164 twins resulting from IVF and 25,654 twins conceived spontaneously, of which 494 from IVF and 6338 from SC were opposite-sex twins. PTB and low birth weight (LBW), and growth, including length/height and weight, were compared between the two groups at five stages: infancy (0 year), toddler period (1–2 years), preschool (3–5 years), primary or elementary school (6–11 years), and adolescence (10–18 years). Few statistically significant differences were found for LBW and growth between the two groups after adjusting for PTB and other confounders. Twins born by IVF faced an increased risk of PTB compared with those born by SC (adjusted odds ratio [aOR] 8.21, 95% confidence interval [CI] [3.19, 21.13], p < .001 in all twins and aOR 10.12, 95% CI [2.32, 44.04], p = .002 in opposite-sex twins). Twins born by IVF experienced a similar growth at five stages (0–18 years old) when compared with those born by SC. PTB risk, however, is significantly higher for twins conceived by IVF than those conceived by SC.