A walking robot consisting of double Stewarts parallel legs was designed by our research team in the past time, which was mainly used for the transportation of the wounded after the disaster. In order to promote stability of control locomotion and ensure invariably horizontal state of the robot platform in the process of motion, the central pattern generator (CPG) based on particle swarm optimization (PSO) is presented to optimize the kinematic model. The purpose of optimization is to solve the hysteresis problem of displacement variation among the electric cylinders. Moreover, the dynamic model of the robot is established, which can provide mechanical basis for the feedback of control signal and make the robot move stably. The simulation results show that the displacement hysteresis problem of the electric cylinders is solved well. Meanwhile, compared with simulation results based on GA-CPG method, it is demonstrated that the robot motion planned using PSO-CPG method has better motion stability and can avoid the impact of legs landing during the transition phase of the motion cycle. The experimental results show that the platform on the robot can maintain an invariably horizontal state, and the locomotion is more stable. It verifies the feasibility of PSO-CPG model and the correctness of the dynamic model of the parallel mobile rescue robot.

The presence of salt in seawater strongly affects the melt rate and the shape evolution of ice, both of utmost relevance in ice–ocean interactions and thus for the climate. To get a better quantitative understanding of the physical mechanics at play in ice melting in salty water, we numerically investigate the lateral melting of an ice block in stably stratified saline water. The developing ice shape from our numerical results shows good agreement with the experiments and theory from Huppert & Turner (J. Fluid Mech., vol. 100, 1980, pp. 367–384). Furthermore, we find that the melt rate of ice depends non-monotonically on the mean ambient salinity: it first decreases for increasing salt concentration until a local minimum is attained, and then increases again. This non-monotonic behaviour of the ice melt rate is due to the competition among salinity-driven buoyancy, temperature-driven buoyancy and salinity-induced stratification. We develop a theoretical model based on the force balance which gives a prediction of the salt concentration for which the melt rate is minimal, and is consistent with our data. Our findings give insight into the interplay between phase transitions and double-diffusive convective flows.

The interpretation and understanding of the relationship between Middle to Late Holocene climate change in monsoon margins of northwest China with the westerlies and Asian monsoon (AM) remain controversial. Here we present a new multi-proxy sedimentary dataset from the Heihe River basin in the middle part of the Hexi Corridor on the northern margin of the Qinghai-Tibet Plateau (QTP), which is a sensitive zone for the interaction between the westerlies and AM. Fluctuations in grain size, δ13Corg, δ18O, magnetic susceptibility, total organic carbon, total nitrogen, and C/N ratio document regional lake and climate evolution since 5334 cal yr BP. Results show that climate conditions on the millennial timescale are humid in the late Middle Holocene (MH) and dry to wet in the Late Holocene (LH). Combined with the multi-model ensemble simulation from PMIP3-CMIP5, high lake levels and wetter climate in the late MH are closely linked to the strengthening Asian summer monsoon. Simultaneously, the slight wetting trend since the late LH may be the superimposing effect of enhanced westerlies and the weakening Asian winter monsoon. These findings can provide insights into the interpretation of the interaction between the westerlies and AM during the Holocene in East Asia.

The dynamics of compound drops impacting on a flat substrate is numerically investigated using a ternary-fluid diffuse-interface method, with the aim of assessing the effect of a density difference between the inner and outer droplets (denoted by $\lambda$) on the evolution of the interfaces. With the help of numerical simulations, we find that, at the intermediate stage of drop impact, the inner droplet exhibits a self-similar deformation at $\lambda =1$ and relatively high Weber number, and experiences more or less a uniform acceleration for various $\lambda$. In particular, the acceleration magnitude at $\lambda \ne 1$ can be correlated with the acceleration at $\lambda =1$ and the Atwood number. When the inner droplet is denser than the outer one, a lamella occurs at the spreading front of the inner droplet. We present a scaling analysis of the thickness of the lamella, and the resultant theoretical prediction is in good agreement with numerical results. At the maximal spreading of the compound drop, a bulging structure is formed around the symmetry axis due to the presence of the inner droplet, thereby effectively reducing the liquid supply to the spreading front and leading to a decrease of maximal spreading ratio $\beta _{max}$ as compared with a pure drop. We proposed a corrected Weber number $We^*_\lambda$ by taking account of the combined effects of $\lambda$, volume fraction of the inner droplet, Weber number and morphology of the compound drop. Integrating $We^*_\lambda$ with the universal model of $\beta _{max}$ for impacting pure drops, we successfully build up a new model for predicting the maximal spreading ratio of impacting compound drops with various $\lambda$.

The Viséan–Serpukhovian boundary is poorly defined in South China, hampering regional and global stratigraphical correlations. The foraminiferal and conodont distribution of the Baping Formation in the carbonate-slope Danlu section permits the recognition of an interval from the middle Viséan to the uppermost Serpukhovian in a continuous succession. The base of the Serpukhovian in Danlu is recognized by the first occurrences of Janischewskina delicata, Howchinia subplana and questionable ‘Millerella’ tortula. At a slightly younger level, the conodont Lochriea ziegleri is first recorded. A calibration on the first occurrence of L. ziegleri in different basins at a global scale has been revised compared to auxiliary markers within the ammonoids and foraminifers. The late occurrence of L. ziegleri in the Danlu section also supports a lack of synchronicity in the global first occurrence of this taxon. This study calls for the recognition of a new base for the Serpukhovian under a far better correlation between different zonal schemes and fossil groups.

Organizational context has an important influence on voice behavior. This study investigates the curvilinear relationship between perceived organizational politics (POP) – an inevitable organizational context factor – and employee voice behavior through a conservation of resources theory lens, considering the curvilinear mediating role of territoriality. A three-wave survey of 227 full-time employees revealed that (1) POP is positively associated with territoriality, (2) territoriality has U-shaped relationships with both promotive and prohibitive voice, that is, when territoriality ranges from low to moderate, promotive/prohibitive voice behavior gradually decreases. When territoriality ranges from moderate to high, promotive/prohibitive voice behavior gradually increases and (3) territoriality acts as a curvilinear mediator between POP and promotive/prohibitive voice behavior. These findings make a significant contribution to POP literature and voice behavior literature by identifying territoriality as a mediator between these organizational factors. Implications for practice are also discussed.

We numerically study the melting process of a solid layer heated from below such that a liquid melt layer develops underneath. The objective is to quantitatively describe and understand the emerging topography of the structures (characterized by the amplitude and wavelength), which evolve out of an initially smooth surface. By performing both two-dimensional (achieving Rayleigh number up to $Ra=10^{11}$) and three-dimensional (achieving Rayleigh number up to $Ra=10^9$) direct numerical simulations with an advanced finite difference solver coupled to the phase-field method, we show how the interface roughness is spontaneously generated by thermal convection. With increasing height of the melt the convective flow intensifies and eventually even becomes turbulent. As a consequence, the interface becomes rougher but is still coupled to the flow topology. The emerging structure of the interface coincides with the regions of rising hot plumes and descending cold plumes. We find that the roughness amplitude scales with the mean height of the liquid layer. We derive this scaling relation from the Stefan boundary condition and relate it to the non-uniform distribution of heat flux at the interface. For two-dimensional cases, we further quantify the horizontal length scale of the morphology, based on the theoretical upper and lower bounds given for the size of convective cells known from Wang et al. (Phys. Rev. Lett., vol. 125, 2020, 074501). These bounds agree with our simulation results. Our findings highlight the key connection between the morphology of the melting solid and the convective flow structures in the melt beneath.

In this paper, the acoustic resonance mechanism for different axisymmetric screech modes of the underexpanded jets that impinge on an inclined plate is investigated experimentally. The ideally expanded Mach number of jets ($M_j$) ranges from 1.05 to 1.56. The nozzle-to-plate distance at the jet axis and the impingement angle are respectively set as 5.0$D$ and $30^{\circ }$, where $D$ is the nozzle exit diameter. The acoustic results show that the $M_j$ range for the A2 screech mode of impinging jets is broader than that of underexpanded free jets, and a new axisymmetric screech mode A3 appears. With the increase of $M_j$, the effect of the impinging plate on the shock cell structures of jets becomes obvious gradually, and the second suboptimal peaks are evident in the axial wavenumber spectra of mean shock structures. The coherent flow structures at screech frequencies are extracted from time-resolved schlieren images via the spectral proper orthogonal decomposition (SPOD). The axial wavenumber spectra of the selected SPOD modes suggest that the A1, A2 and A3 screech modes are respectively closed by the guided jet modes that are energized by the interactions between the Kelvin–Helmholtz wavepacket and the first three shock wavenumber peaks. The upstream- and downstream-propagating waves that constitute the screech feedback loop are analysed by applying wavenumber filters to the wavenumber spectra of SPOD modes. The frequencies of these three screech modes can be predicted by the phase constraints between the nozzle exit and the rear edge of the third shock cell. For the A3 mode, the inclined plate invades the third shock cell with the increase of $M_j$, and the phase constraint cannot be satisfied at the lower side of the jets, which leads the A3 mode to fade away. The present results suggest that external boundaries can modulate the frequency and mode of jet screech by changing the axial spacings of shock cells.

The random fiber laser (RFL) has been an excellent platform for exploring novel optical dynamics and developing new functional optoelectronic devices. However, it is challenging for RFLs to regulate their emission into regular narrow pulses due to their intrinsic randomness. Here, through engineering the laser configuration (cavity Q value, gain distribution and nonlinearity), we demonstrate that narrow (~2.5 ns) pulses with record peak power as high as 64.3  kW are achieved from a self-Q-switched random ytterbium fiber laser. Based on high intracavity intensity and efficient interplay of multiple nonlinear processes (stimulated Brillouin scattering, stimulated Raman scattering and four-wave mixing), an over-one-octave visible-near-infrared (NIR) Raman-frequency comb is generated from single-mode silica fibers for the first time. After spectrally filtering the Raman peaks, wavelength-tunable pulses with durations of several hundreds of picoseconds are obtained. Such a high-peak-power random Q-switched fiber laser and wide frequency comb in the visible-NIR region can find applications in diverse areas, such as spectroscopy, biomedical imaging and quantum information.

Instrument delivery is critical part in vascular intervention surgery. Due to the soft-body structure of instruments, the relationship between manipulation commands and instrument motion is non-linear, making instrument delivery challenging and time-consuming. Reinforcement learning has the potential to learn manipulation skills and automate instrument delivery with enhanced success rates and reduced workload of physicians. However, due to the sample inefficiency when using high-dimensional images, existing reinforcement learning algorithms are limited on realistic vascular robotic systems. To alleviate this problem, this paper proposes discrete soft actor-critic with auto-encoder (DSAC-AE) that augments SAC-discrete with an auxiliary reconstruction task. The algorithm is applied with distributed sample collection and parameter update in a robot-assisted preclinical environment. Experimental results indicate that guidewire delivery can be automatically implemented after 50k sampling steps in less than 15 h, demonstrating the proposed algorithm has the great potential to learn manipulation skill for vascular robotic systems.

The identification of herbicide tolerance is essential for effective chemical weed control. According to whole-plant dose–response assays, none of 29 pond lovegrass [Eragrostis japonica (Thunb.) Trin.] populations were sensitive to penoxsulam. The effective dose values of penoxsulam causing 50% inhibition of fresh weight (GR50: 105.14 to 148.78 g ai ha−1) in E. japonica populations were much higher than the label rate of penoxsulam (15 to 30 g ai ha−1) in the field. This confirmed that E. japonica was tolerant to penoxsulam. Eragrostis japonica populations showed 52.83- to 74.76-fold higher tolerance to penoxsulam than susceptible barnyardgrass [Echinochloa crus-galli (L.) P. Beauv.]. The mechanisms of tolerance to penoxsulam in E. japonica were also identified. In vitro activity assays revealed that the penoxsulam concentration required to inhibit 50% of the acetolactate synthase (ALS) activity (IC50) was 12.27-fold higher in E. japonica than in E. crus-galli. However, differences in the ALS gene, previously found to endow target-site resistance in weeds, were not detected in the sequences obtained. Additionally, the expression level of genes encoding ALS in E. japonica was approximately 2-fold higher than in E. crus-galli after penoxsulam treatment. Furthermore, penoxsulam tolerance can be significantly reversed by three cytochrome P450 monooxygenase (CytP450) inhibitors (1-aminobenzotriazole, piperonyl butoxide, and malathion), and the activity of NADPH-dependent cytochrome P450 reductase toward penoxsulam in E. japonica increased significantly (approximately 7-fold higher) compared with that of treated E. crus-galli. Taken together, these results indicate that lower ALS sensitivity, relatively higher ALS expression levels, and stronger metabolism of CytP450s combined to bring about penoxsulam tolerance in E. japonica.

To verify whether a graph is suitable for describing driver behaviour performance under the effects of navigation information, this study applies two types of prompt messages: simple and detailed. The simple messages contain only direction instructions, while the detailed messages contain distance, direction, road and lane instructions. A driving simulation experiment was designed to collect the empirical data. Two vehicle operating indicators (velocity and lateral offset), and two driver manoeuvre indicators (accelerator power and steering wheel angle) were selected, and T-test was used to compare the differences of behavioural performance. Driving behaviour graphs were constructed for the two message conditions; their characteristics and similarities were further analysed. Finally, the results of T-test of behavioural performance and similarity results of the driving behaviour graphs were compared. Results indicated that the two different types of prompt messages were associated with significant differences in driving behaviours, which implies that it is feasible to describe the characteristics of driving behaviours guided by navigation information using such graphs. This study provides a new method for systematically exploring the mechanisms affecting drivers’ response to navigation information, and presents a new perspective for the optimisation of navigation information.

This study focuses on the role of primary care in China’s response to COVID-19. A retrospective, reflective approach was taken using data available to one of the authors who led the national community response to COVID-19, first in Wuhan and then multiple cities in ten provinces/municipalities across the country. At the peak of the pandemic, primary care providers shoulder various public health responsibilities and work in close partnerships with other key stakeholders in the local communities. Primary care providers keep playing a ‘sentinel’/surveillance role in identifying re-emerging cases after the elimination of community transmissions of COVID-19. Critically, however, the pandemic once again highlights some key limitations of the primary care sector, including the lack of gatekeeping, limited capacity and weak integration between medical care and public health.

We numerically investigate turbulent Rayleigh–Bénard convection with gas bubbles attached to the hot plate, mimicking a core feature in electrolysis, catalysis or boiling. The existence of bubbles on the plate reduces the global heat transfer due to the much lower thermal conductivity of gases as compared with liquids and changes the structure of the boundary layers. The numerical simulations are performed in three dimensions at Prandtl number $\mbox{Pr}=4.38$ (water) and Rayleigh number $10^7\leqslant \mbox{Ra}\leqslant 10^8$. For simplicity, we assume the bubbles to be equally sized and having pinned contact lines. We vary the total gas-covered area fraction $0.18 \leqslant S_0 \leqslant 0.62$, the relative bubble height $0.02\leqslant h/H \leqslant 0.05$ (where $H$ is the height of the Rayleigh–Bénard cell), the bubble number $40 \leqslant n \leqslant 144$ and their spatial distribution. In all cases, asymmetric temperature profiles are observed, which we quantitatively explain based on the heat flux conservation at each horizontal section. We further propose the idea of using an equivalent single-phase set-up to mimic the system with attached bubbles. Based on this equivalence, we can calculate the heat transfer. Without introducing any free parameter, the predictions for the Nusselt number, the upper and lower thermal boundary layer thicknesses and the mean centre temperature agree well with the numerical results. Finally, our predictions also work for the cases with much larger $\mbox{Pr}$ (e.g. $400$), which indicates that our results can also be applied to predict the mass transfer in water electrolysis with bubbles attached to the electrode surface or in catalysis.

The nutritional status experienced in the early development of life plays a vital role in the long-term metabolic state of the individual, which is known as nutritional programming. The present study investigated the long-term effects of vegetable oil (VO) nutritional programming during the early life of large yellow croaker. First, larvae were fed either a fish oil (FO) diet or a VO diet for 30 d. Subsequently, under the same conditions, all fish were fed a commercial diet for 90 d and thereafter challenged with an FO or VO diet for 30 d. The results showed that growth performance was significantly lower in larvae fed the VO diet than in those in fed the FO diet in the stimulus phase. Notably, VO nutritional history fish showed lower levels of liver lipids liver total triglycerides and serum nonesterified free fatty acids than the FO nutritional history fish when juveniles were challenged with the VO diet, which was consistent with the expression of lipogenesis-related genes and proteins. Moreover, the VO nutritional history fish showed lower liver damage and higher antioxidant capacity than FO nutritional history fish when challenged with the VO diet. In summary, this study showed that a short VO stimulus during the early life stage of large yellow croaker, had a long-term effect on lipid metabolism and the antioxidant system. Specifically, VO nutritional programming had a positive effect on alleviating abnormal lipid deposition on the liver, liver damage, and the reduction of hepatic antioxidant capacity caused by a VO diet.

The selection of high-quality sperms is critical to intracytoplasmic sperm injection, which accounts for 70–80% of in vitro fertilization (IVF) treatments. So far, sperm screening is usually performed manually by clinicians. However, the performance of manual screening is limited in its objectivity, consistency, and efficiency. To overcome these limitations, we have developed a fast and noninvasive three-stage method to characterize morphology of freely swimming human sperms in bright-field microscopy images using deep learning models. Specifically, we use an object detection model to identify sperm heads, a classification model to select in-focus images, and a segmentation model to extract geometry of sperm heads and vacuoles. The models achieve an F1-score of 0.951 in sperm head detection, a z-position estimation error within ±1.5 μm in in-focus image selection, and a Dice score of 0.948 in sperm head segmentation, respectively. Customized lightweight architectures are used for the models to achieve real-time analysis of 200 frames per second. Comprehensive morphological parameters are calculated from sperm head geometry extracted by image segmentation. Overall, our method provides a reliable and efficient tool to assist clinicians in selecting high-quality sperms for successful IVF. It also demonstrates the effectiveness of deep learning in real-time analysis of live bright-field microscopy images.

This paper investigates the impact of the abolition of the civil service exam on local governance in early twentieth-century China. Before the abolition, local elites collected surtaxes that financed local public goods, but they were supervised by the state and could lose candidacy for higher status if they engaged in corrupt behavior. This prospect of upward mobility (POUM) gave them incentives to behave well, which the abolition of the exam removed. Using anti-elite protests as a proxy for the deterioration of local governance, we find that prefectures with a higher POUM experienced more incidents of anti-elite protests after the abolition.