Accurate online estimation of the payload parameters benefits robot control. In the existing approaches, however, on the one hand, only the linear friction model was used for online payload identification, which reduced the online estimation accuracy. On the other hand, the estimation models contain much noise because of using actual joint trajectory signals. In this article, a new estimation algorithm based on parameter difference for the payload dynamics is proposed. This method uses a nonlinear friction model for the online payload estimation instead of the traditionally linear one. In addition, it considers the commanded joint trajectory signals as the computation input to reduce the model noise. The main contribution of this article is to derive a symbolic relationship between the parameter difference and the payload parameters and then apply it to the online payload estimation. The robot base parameters without payload were identified offline and regarded as the prior information. The one with payload can be solved online by the recursive least squares method. The dynamics of the payload can be then solved online based on the numerical difference of the two parameter sets. Finally, experimental comparisons and a manual guidance application experiment are shown. The results confirm that our algorithm can improve the online payload estimation accuracy (especially the payload mass) and the manual guidance comfort.

Methionine (Met) can activate the mechanistic target of rapamycin (mTOR) to promote milk synthesis in mammary epithelial cells. However, it is largely unknown which G protein-coupled receptor can mediate the stimulation of Met on mTOR activation. In this study, we employed transcriptome sequencing to analyse which G protein-coupled receptors were associated with the role of Met and further used gene function study approaches to explore the role of G protein-coupled receptor 183 (GPR183) in Met stimulation on mTOR activation in HC11 cells. We identified nine G protein-coupled receptors including GPR183 whose expression levels were upregulated by Met treatment through RNA sequencing and subsequent quantitative real-time PCR analysis. Using GPR183 knockdown and overexpression technology, we demonstrate that GPR183 is a positive regulator of milk protein and fat synthesis and proliferation of HC11 cells. Met affected GPR183 expression in a dose-dependent manner, and GPR183 mediated the stimulation of Met (0·6 mM) on milk protein and fat synthesis, cell proliferation and mTOR phosphorylation and mRNA expression. The inhibition of phosphoinositide 3-kinase blocked the phosphorylation of mTOR and AKT stimulated by GPR183 activation. In summary, through RNA sequencing and gene function study, we uncover that GPR183 is a key mediator for Met to activate the phosphoinositide 3-kinase-mTOR signalling and milk synthesis in mouse mammary epithelial cells.

The presence of a dispersed phase can significantly modulate the drag in turbulent systems. We derived a conserved quantity that characterizes the radial transport of azimuthal momentum in the fluid–fluid two-phase Taylor–Couette turbulence. This quantity consists of contributions from advection, diffusion and two-phase interface, which are closely related to density, viscosity and interfacial tension, respectively. We found from interface-resolved direct numerical simulations that the presence of the two-phase interface consistently produces a positive contribution to the momentum transport and leads to drag enhancement, while decreasing the density and viscosity ratios of the dispersed phase to the continuous phase reduces the contribution of local advection and diffusion terms to the momentum transport, respectively, resulting in drag reduction. Therefore, we concluded that the decreased density ratio and the decreased viscosity ratio work together to compete with the presence of a two-phase interface for achieving drag modulation in fluid–fluid two-phase turbulence.

Childhood maltreatment is an established risk factor for psychopathology. However, it remains unclear how childhood traumatic events relate to mental health problems and how the brain is involved. This study examined the serial mediation effect of brain morphological alterations and emotion-/reward-related functions on linking the relationship from maltreatment to depression. We recruited 156 healthy adolescents and young adults and an additional sample of 31 adolescents with major depressive disorder for assessment of childhood maltreatment, depressive symptoms, cognitive reappraisal and anticipatory/consummatory pleasure. Structural MRI data were acquired to identify maltreatment-related cortical and subcortical morphological differences. The mediation models suggested that emotional maltreatment of abuse and neglect, was respectively associated with increased gray matter volume in the ventral striatum and greater thickness in the middle cingulate cortex. These structural alterations were further related to reduced anticipatory pleasure and disrupted cognitive reappraisal, which contributed to more severe depressive symptoms among healthy individuals. The above mediating effects were not replicated in our clinical group partly due to the small sample size. Preventative interventions can target emotional and reward systems to foster resilience and reduce the likelihood of future psychiatric disorders among individuals with a history of maltreatment.

The laboratory generation and diagnosis of uniform near-critical-density (NCD) plasmas play critical roles in various studies and applications, such as fusion science, high energy density physics, astrophysics as well as relativistic electron beam generation. Here we successfully generated the quasistatic NCD plasma sample by heating a low-density tri-cellulose acetate (TCA) foam with the high-power-laser-driven hohlraum radiation. The temperature of the hohlraum is determined to be 20 eV by analyzing the spectra obtained with the transmission grating spectrometer. The single-order diffraction grating was employed to eliminate the high-order disturbance. The temperature of the heated foam is determined to be T = 16.8 ± 1.1 eV by analyzing the high-resolution spectra obtained with a flat-field grating spectrometer. The electron density of the heated foam is about $N_e=4.0\pm 0.3\times {10}^{20}{\text{cm}}^{-3}$ under the reasonable assumption of constant mass density.

In order to minimize the initial energy storage of tens of MA-class Z-pinch accelerators, an intelligent optimization method was developed based on the transmission line code circuit model and PSOGSA algorithm. Using several input parameters, the four overall parameters of the Z-pinch accelerator could be fast determined, including the connection and parallel combination of LTD cavities, the outer radius of the stack-MITL system, and electrical length of monolithic radial transmission lines. The optimization method has been verified by comparing the results with the Z-300 and Z-800 conceptual designs. By means of this intelligent optimization, some factors that affect the initial energy storage on high-current Z-pinch accelerators have been investigated, such as the operating electrical fields, the diameter of the stack-MITL system, and the inner diameter of the LTD cavity. The suggestions for designing relatively low-cost, efficient LTD-based accelerators have been proposed.

Frequency modulation (FM)-to-amplitude modulation (AM) conversion is an important factor that affects the time–power curve of inertial confinement fusion (ICF) high-power laser facilities. This conversion can impact uniform compression and increase the risk of damage to optics. However, the dispersive grating used in the smoothing by spectral dispersion technology will introduce a temporal delay and can spatially smooth the target. The combined effect of the dispersive grating and the focusing lens is equivalent to a Gaussian low-pass filter, which is equivalent to 8 GHz bandwidth and can reduce the intensity modulation on the target to below 5% with 0.3 nm @ 3 GHz + 20 GHz spectrum phase modulation. The results play an important role in the testing and evaluating of the FM-to-AM on the final optics and the target, which is beneficial for comprehensively evaluating the load capacity of the facility and isentropic compression experiment for ICF.

Direct numerical simulations are performed to explore the effects of the rotating direction of the vertically asymmetric rough wall on the transport properties of Taylor–Couette (TC) flow, up to a Taylor number of ${Ta} = 2.39\times 10^{7}$. It is shown that, compared with the smooth wall, the rough wall with vertical asymmetric strips can enhance the dimensionless torque ${Nu}_{\omega }$. More importantly, at high Ta, clockwise rotation of the inner rough wall (where the fluid is sheared by the steeper slope side of the strips) results in a significantly greater torque enhancement compared to counter-clockwise rotation (where the fluid is sheared by the smaller slope side of the strips), due to the larger convective contribution to the angular velocity flux. However, the rotating direction has a negligible effect on the torque at low Ta. The larger torque enhancement caused by the clockwise rotation of the vertically asymmetric rough wall at high Ta is then explained by the stronger coupling between the rough wall and the bulk, attributed to the larger biased azimuthal velocity towards the rough wall at the mid-gap of the TC system, the increased turbulence intensity manifested by larger Reynolds stress and a thinner boundary layer, and the more significant contribution of the pressure force on the surface of the rough wall to the torque.

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 this work, we present a high-power, high-repetition-rate, all-fiber femtosecond laser system operating at 1.5 $\unicode{x3bc}$m. This all-fiber laser system can deliver femtosecond pulses at a fundamental repetition rate of 10.6 GHz with an average output power of 106.4 W – the highest average power reported so far from an all-fiber femtosecond laser at 1.5 $\unicode{x3bc}$m, to the best of our knowledge. By utilizing the soliton-effect-based pulse compression effect with optimized pre-chirping dispersion, the amplified pulses are compressed to 239 fs in an all-fiber configuration. Empowered by such a high-power ultrafast fiber laser system, we further explore the nonlinear interaction among transverse modes LP01, LP11 and LP21 that are expected to potentially exist in fiber laser systems using large-mode-area fibers. The intermodal modulational instability is theoretically investigated and subsequently identified in our experiments. Such a high-power all-fiber ultrafast laser without bulky free-space optics is anticipated to be a promising laser source for applications that specifically require compact and robust operation.

Laser-accelerated electrons are promising in producing gamma-photon beams of high peak flux for the study of nuclear photonics, obtaining copious positrons and exploring photon–photon interaction in vacuum. We report on the experimental generation of brilliant gamma-ray beams with not only high photon yield but also low divergence, based on picosecond laser-accelerated electrons. The 120 J 1 ps laser pulse drives self-modulated wakefield acceleration in a high-density gas jet and generates tens-of-MeV electrons with 26 nC and divergence as small as $1.51{}^{\circ}$. These collimated electrons produce gamma-ray photons through bremsstrahlung radiation when transversing a high-Z solid target. We design a high-energy-resolution Compton-scattering spectrometer and find that a total photon number of $2.2\times {10}^9$ is captured within an acceptance angle of $1.1{}^{\circ}$ for photon energies up to $16\;\mathrm{MeV}$. Comparison between the experimental results and Monte Carlo simulations illustrates that the photon beam inherits the small divergence from electrons, corresponding to a total photon number of $2.2\times {10}^{11}$ and a divergence of $7.73{}^{\circ}$.

We report on a vortex laser chirped-pulse amplification (CPA) system that delivers pulses with a peak power of 45 TW. A focused intensity exceeding 1019 W/cm2 has been demonstrated for the first time by the vortex amplification scheme. Compared with other schemes of strong-field vortex generation with high energy flux but narrowband vortex-converting elements at the end of the laser, an important advantage of our scheme is that we can use a broadband but size-limited q-plate to realize broadband mode-converting in the front end of the CPA system, and achieve high-power amplification with a series of amplifiers. This method is low cost and can be easily implemented in an existing laser system. The results have verified the feasibility to obtain terawatt and even petawatt vortex laser amplification by a CPA system, which has important potential applications in strong-field laser physics, for example, generation of vortex particle beams with orbital angular momentum, fast ignition for inertial confinement fusion and simulation of the extreme astrophysical environment.

We report the experimental results of the commissioning phase in the 10 PW laser beamline of the Shanghai Superintense Ultrafast Laser Facility (SULF). The peak power reaches 2.4 PW on target without the last amplifying during the experiment. The laser energy of 72 ± 9 J is directed to a focal spot of approximately 6 μm diameter (full width at half maximum) in 30 fs pulse duration, yielding a focused peak intensity around 2.0 × 1021 W/cm2. The first laser-proton acceleration experiment is performed using plain copper and plastic targets. High-energy proton beams with maximum cut-off energy up to 62.5 MeV are achieved using copper foils at the optimum target thickness of 4 μm via target normal sheath acceleration. For plastic targets of tens of nanometers thick, the proton cut-off energy is approximately 20 MeV, showing ring-like or filamented density distributions. These experimental results reflect the capabilities of the SULF-10 PW beamline, for example, both ultrahigh intensity and relatively good beam contrast. Further optimization for these key parameters is underway, where peak laser intensities of 1022–1023 W/cm2 are anticipated to support various experiments on extreme field physics.