In this manuscript, a scheme for neural-learning-enhanced Cartesian Admittance control is presented for a robotic manipulator to deal with dynamic environments with moving remote center of motion (RCM) constraints. Although some research has been implemented to address fixed constrained motion, the dynamic moving movement constraint is still challenging. Indeed, the moving active RCM constraints generate uncertain disturbance on the robot tool shaft with unknown dynamics. The neural-learning-enhanced decoupled controller with disturbance optimisation is employed and implemented to maintain the performance under the kinematic uncertain and dynamic uncertain generated. In addition, the admittance Cartesian control method is introduced to control the robot, providing compliant behaviour to an external force in its operational space. In this proposed framework, a neural-learning-enhanced disturbance observer is investigated to calculate the external factor operating on the end effector premised on generalised momentum in order to ensure accuracy. Finally, the experiments are implemented using a redundant robot to validate the efficacy of the suggested approach with moving RCM constraints.

Let $\{M_{n}\}_{n=1}^{\infty }$ be a sequence of expanding matrices with $M_{n}=\operatorname{diag}(p_{n},q_{n})$, and let $\{{\mathcal{D}}_{n}\}_{n=1}^{\infty }$ be a sequence of digit sets with ${\mathcal{D}}_{n}=\{(0,0)^{t},(a_{n},0)^{t},(0,b_{n})^{t},\pm (a_{n},b_{n})^{t}\}$, where $p_{n}$, $q_{n}$, $a_{n}$ and $b_{n}$ are positive integers for all $n\geqslant 1$. If $\sup _{n\geqslant 1}\{\frac{a_{n}}{p_{n}},\frac{b_{n}}{q_{n}}\}<\infty$, then the infinite convolution $\unicode[STIX]{x1D707}_{\{M_{n}\},\{{\mathcal{D}}_{n}\}}=\unicode[STIX]{x1D6FF}_{M_{1}^{-1}{\mathcal{D}}_{1}}\ast \unicode[STIX]{x1D6FF}_{(M_{1}M_{2})^{-1}{\mathcal{D}}_{2}}\ast \cdots \,$ is a Borel probability measure (Cantor–Dust–Moran measure). In this paper, we investigate whenever there exists a discrete set $\unicode[STIX]{x1D6EC}$ such that $\{e^{2\unicode[STIX]{x1D70B}i\langle \unicode[STIX]{x1D706},x\rangle }:\unicode[STIX]{x1D706}\in \unicode[STIX]{x1D6EC}\}$ is an orthonormal basis for $L^{2}(\unicode[STIX]{x1D707}_{\{M_{n}\},\{{\mathcal{D}}_{n}\}})$.

A recently developed symmetry-based theory is extended to derive an algebraic model for compressible turbulent boundary layers (CTBL) – predicting mean profiles of velocity, temperature and density – valid from incompressible to hypersonic flow regimes, thus achieving a Mach number ($Ma$) invariant description. The theory leads to a multi-layer analytic form of a stress length function which yields a closure of the mean momentum equation. A generalized Reynolds analogy is then employed to predict the turbulent heat transfer. The mean profiles and the friction coefficient are compared with direct numerical simulations of CTBL for a range of $Ma$ from 0 (e.g. incompressible) to 6.0 (e.g. hypersonic), with an accuracy notably superior to popular current models such as Baldwin–Lomax and Spalart–Allmaras models. Further analysis shows that the modification is due to an improved eddy viscosity function compared to competing models. The results confirm the validity of our $Ma$-invariant stress length function and suggest the path for developing turbulent boundary layer models which incorporate the multi-layer structure.

Invasive species and acid rain cause global environmental problems. Creeping daisy, an invasive exotic allelopathic weed, has caused great damage in southern China, where acid rain is prevalent. The impact of the acidity of simulated acid rain (SAR) on soil nutrients, the decomposition of creeping daisy litter, and on the allelopathic potential of the surrounding soils was investigated. Litter was treated with SAR at different acidity (pH 2.5, 4.0, 5.6) or with water (pH 7.0) as a control. After 70 d, the remaining amount of creeping daisy litter, nutrient contents, and allelopathic potentials in the surrounding soil were determined. The litter decomposition was commensurate to the increase in the acidity of the SAR. Total C and N contents, NO3−-N and available P increased, levels of NH4+-N, the ratio of C/N and soil pH values decreased, water contents increased and then decreased, whereas available K did not significantly change in the soil surrounding the litters in response to the increase in the acidity of the SAR. Bioassays showed that SAR promoted the allelopathic activity in the soil surrounding the litter, as measured by seedling growth of turnip and radish. In conclusion, our results indicated that SAR influenced soil nutrient status, accelerated creeping daisy litter decomposition, and enhanced the allelopathic potential of its litter in the surrounding soil, suggesting that acid rain may enhance the invasiveness of creeping daisy plants.

The purpose of this study is to highlight the effectiveness and necessity of the computational methods applications for architecture conceptual designs and improve the use of advanced simulation tools in urban planning. The results can provide the urban designers, planners and other decision makers with useful design information for assessing human wind comfort of the surrounding open spaces of public buildings in an urban area. Among different kinds of public buildings, museum architecture is of significant social value and importance for the augmentation of urban image. Using the Guggenheim Museum Bilbao for the case study, this investigation performed CFD simulations of the airflow over the museum to characterize the wind environments around the buildings. The predicted wind speed distributions were used to determine the wind comfort level of the featured spots around the museum for evaluating the suitability allowing visitors to sit or stand at the pedestrian plane for extended periods.

A seawater salinity sensor based on microring resonator with weak temperature dependence is proposed, which is coated by MgF2 film with positive thermo-optic coefficient. Temperature dependences of the sensor on fiber diameter, probing wavelength and coating thickness are theoretically investigated and ranges of microfiber diameters for weak temperature dependence are obtained. Under the temperature insensitive condition, sensitivity and detection limit of salinity sensing are studied. By optimizing the parameters of the sensing system, salinity sensitivity and detection limit can reach 0.03 nm/‰ and 0.13‰, respectively. The model presented here may be helpful for developing weak temperature dependence sensors for salinity sensing with high sensitivity, low detection limit and miniaturized sizes.

Three iterative stabilised finite element methods based on local Gauss integration are proposed in order to solve the steady two-dimensional Smagorinsky model numerically. The Stokes iterative scheme, the Newton iterative scheme and the Oseen iterative scheme are adopted successively to deal with the nonlinear terms involved. Numerical experiments are carried out to demonstrate their effectiveness. Furthermore, the effect of the parameters Re (the Reynolds number) and δ (the spatial filter radius) on the performance of the iterative numerical results is discussed.

Medium-chain fatty acids (MCFA) are widely used in diets for patients with obesity. To develop a delivery system for suppressing dietary fat accumulation into adipose tissue, MCFA were encapsulated in nanoliposomes (NL), which can overcome the drawbacks of MCFA and keep their properties unchanged. In the present study, crude liposomes were first produced by the thin-layer dispersion method, and then dynamic high-pressure microfluidisation (DHPM) and DHPM combined with freeze–thawing methods were used to prepare MCFA NL (NL-1 and NL-2, respectively). NL-1 exhibited smaller average size (77·6 (sd 4·3) nm), higher zeta potential ( − 40·8 (sd 1·7) mV) and entrapment efficiency (73·3 (sd 16·1) %) and better stability, while NL-2 showed narrower distribution (polydispersion index 0·193 (sd 0·016)). The body fat reduction property of NL-1 and NL-2 were evaluated by short-term (2 weeks) and long-term (6 weeks) experiments of mice. In contrast to the MCFA group, the NL groups had overcome the poor palatability of MCFA because the normal diet of mice was maintained. The body fat and total cholesterol (TCH) of NL-1 (1·54 (sd 0·30) g, P = 0·039 and 2·33 (sd 0·44) mmol/l, P = 0·021, respectively) and NL-2 (1·58 (sd 0·69) g, P = 0·041 and 2·29 (sd 0·38) mmol/l, P = 0·015, respectively) significantly decreased when compared with the control group (2·11 (sd 0·82) g and 2·99 (sd 0·48) mmol/l, respectively). The TAG concentration of the NL-1 group (0·55 (sd 0·14) mmol/l) was remarkably lower (P = 0·045) than the control group (0·94 (sd 0·37) mmol/l). No significant difference in weight and fat gain, TCH and TAG was detected between the MCFA NL and MCFA groups. Therefore, MCFA NL could be potential nutritional candidates for obesity to suppress body fat accumulation.

Based on quantitative trait locus (QTL) mapping, the gene for porcine uncoupling protein 3 (UCP3) was chosen as a candidate gene for pig fat deposition and meat quality traits. In this study, a partial coding region of the UCP3 gene was sequenced and one single nucleotide polymorphism (cSNP) was found at 395 bp. The mutation was G→A and resulted in the amino acid change from glycine to arginine. This site was also recognized by restriction endonuclease SmaI. The UCP3 SmaI polymorphism was analysed among 186 individuals of Large White×Meishan F2 progeny using polymerase chain reaction–restriction fragment length polymorphism (PCR-RFLP). The genotypes of the UCP3 SmaI polymorphism were AA, AB and BB. The frequency of A and B alleles was respectively 0.56 and 0.44. Statistical analyses showed that the SmaI polymorphism in the F2 population was significantly associated with back-fat thickness at thorax–waist and buttock, as well as with intramuscular fat, drip-loss rate and water-holding capacity. The additive effect of UCP3 SmaI was clearly shown. The genotype AA reduced back-fat thickness and drip-loss rate, increased water-holding capacity, and decreased the intramuscular fat. The effect of the pig UCP3 SmaI polymorphism needs to be analysed in other populations using larger samples.