Metamorphic robots are a new type of unmanned vehicle that can reconfigure and morph between a car mode and a biped walking machine mode. Such a vehicle is superior in trafficability because it can drive at high speeds on its wheels on structured pavement and walk on its legs on unstructured pavement. An engineering prototype of a metamorphic robot was proposed and designed based on the characteristics of wheeled–legged hybrid motion, and reconfiguration planning of the robot was conducted. A kinematics model of the reconfiguration process was established using the screw theory for metamorphic robots. To avoid component impact during the rapid global reconfiguration and achieve smoothness of the reconfiguration process, a rotation rule for each rotating joint was designed and the kinematics model was used to simulate and validate the motion of the system’s end mechanism (front frame) and the entire robot system. Based on the kinematics model and the rotation rules of the rotating joints, a zero-moment point (ZMP) calculation model of the entire robot mechanism in the reconfiguration process was established, and the stability of the reconfiguration motions was evaluated based on the ZMP motion trajectory. The foot landing position was optimized to improve the robot’s stability during the reconfiguration. Finally, the smoothness and stability of the reconfiguration motion were further validated by testing the prototype of the metamorphic robot.

It has been suggested that added sugar intake is associated with non-alcoholic fatty liver disease (NAFLD). However, previous studies only focused on sugar-sweetened beverages; the evidence for associations with total added sugars and their sources is scarce. This study aimed to examine the associations of total added sugars, their physical forms (liquid vs. solid), and food sources with risk of NAFLD among adults in Tianjin, China. We used data from 15,538 participants, free of NAFLD, other liver diseases, cardiovascular disease, cancer, or diabetes at baseline (2013-2018 years). Added sugar intake was estimated from a validated 100-item food frequency questionnaire. NAFLD was diagnosed by ultrasonography after exclusion of other causes of liver diseases. Multivariable Cox proportional hazards models were fitted to calculate hazards ratios (HRs) and corresponding 95% confidence intervals (CIs) for NAFLD risk with added sugar intake. During a median follow-up of 4.2 years, 3,476 incident NAFLD cases were documented. After adjusting for age, sex, body mass index and its change from baseline to follow-up, lifestyle factors, personal and family medical history, and overall diet quality, the multivariable HRs (95% CIs) of NAFLD risk were 1.18 (1.06, 1.32) for total added sugars, 1.20 (1.08, 1.33) for liquid added sugars, and 0.96 (0.86, 1.07) for solid added sugars when comparing the highest quartiles of intake with the lowest quartiles of intake. In this prospective cohort of Chinese adults, higher intakes of total added sugars and liquid added sugars, but not solid added sugars, were associated with a higher risk of NAFLD.

Pressure fluctuations play an essential role in the transport of turbulent kinetic energy and vibrational loading. This study focuses on examining the effect of wall cooling on pressure fluctuations in compressible turbulent boundary layers by high-fidelity direct numerical simulations. Pressure fluctuations result from the vorticity mode and the acoustic mode that are both closely dependent on compressibility. To demonstrate the effects of wall cooling at various compressibility intensities, three free-stream Mach numbers are investigated, i.e. $M_\infty =0.5$, 2.0 and 8.0, with real gas effects being absent for $M_\infty =8.0$ due to a low enthalpy inflow. Overall, opposite effects of wall cooling on pressure fluctuations are found between the subsonic/supersonic cases and the hypersonic case. Specifically, the pressure fluctuations normalized by wall shear stress $p^\prime _{rms}/\tau _w$ are suppressed in the subsonic and supersonic cases, while enhanced in the hypersonic case near the wall. Importantly, travelling-wave-like alternating positive and negative structures (APNS), which greatly contribute to pressure fluctuations, are identified within the viscous sublayer and buffer layer in the hypersonic cases. Furthermore, generating mechanisms of pressure fluctuations are explored by extending the decomposition based on the fluctuating pressure equation to compressible turbulent boundary layers. Pressure fluctuations are decomposed into five components, in which rapid pressure, slow pressure and compressible pressure are dominant. The suppression of pressure fluctuations in the subsonic and supersonic cases is due to both rapid pressure and slow pressure being suppressed by wall cooling. In contrast, wall cooling strengthens compressible pressure for all Mach numbers, especially in the hypersonic case, resulting in increased wall pressure fluctuations. Compressible pressure plays a leading role in the hypersonic case, mainly due to the APNS. Essentially, the main effects of wall cooling can be interpreted by the suppression of the vorticity mode and the enhancement of the acoustic mode.

This study evaluated the association between inflammatory diets as measured by the Dietary Inflammatory index (DII), inflammation biomarkers and the development of preeclampsia among the Chinese population. We followed the reporting guidelines of the Strengthening the Reporting of Observational Studies in Epidemiology statement for observational studies. A total of 466 preeclampsia cases aged over 18 years were recruited between March 2016 and June 2019, and 466 healthy controls were 1:1 ratio matched by age (±3 years), week of gestation (±1 week) and gestational diabetes mellitus. The energy-adjusted DII (E-DII) was computed based on dietary intake assessed using a seventy-nine item semiquantitative FFQ. Inflammatory biomarkers were analysed by ELISA kits. The mean E-DII scores were −0·65 ± 1·58 for cases and −1·19 ± 1·47 for controls (P value < 0·001). E-DII scores positively correlated with interferon-γ (r s = 0·194, P value = 0·001) and IL-4 (r s = 0·135, P value = 0·021). After multivariable adjustment, E-DII scores were positively related to preeclampsia risk (P trend < 0·001). The highest tertile of E-DII was 2·18 times the lowest tertiles (95 % CI = 1·52, 3·13). The odds of preeclampsia increased by 30 % (95 % CI = 18 %, 43 %, P value < 0·001) for each E-DII score increase. The preeclampsia risk was positively associated with IL-2 (OR = 1·07, 95 % CI = 1·03, 1·11), IL-4 (OR = 1·26, 95 % CI = 1·03, 1·54) and transforming growth factor beta (TGF-β) (OR = 1·17, 95 % CI = 1·06, 1·29). Therefore, proinflammatory diets, corresponding to higher IL-2, IL-4 and TGF-β levels, were associated with increased preeclampsia risk.

Trailing-edge serrations inspired by owls are capable of reducing broadband noise. In this study, the wall-resolved large-eddy simulations (LES) are carried out on the flow over NACA-0012 airfoil with additional serrated trailing edges. The computations are conducted with the high-order flux reconstruction method on unstructured meshes. Three kinds of serrations with different lengths are studied and compared with the straight trailing-edge case, and all three types of serration achieved a certain degree of noise reduction. Presently, the medium-length serration achieves the best noise reduction effect. The maximum decrease of overall sound pressure level is approximately 2.4 dB, implying that the length of serration has a substantial impact on the noise reduction effect. The serration has no significant effect on the upstream turbulence statistics, but it changes the flow structure near the serration, such as inducing side vortex pairs attached to the serration edges. Moreover, dynamic mode decomposition shows that the pressure structures vary with the serration length. For the most unstable hydrodynamic wave, the spanwise coherence of the mode structure of pressure in the upstream boundary layer is weakened. In addition, serrations can redistribute the dipole sources on the surfaces of airfoil and serrations. The destructive interference is enhanced to some extent, which is favourable for noise reduction. In contrast with LES simulations, the pure dipole analysis shows that the longest serration case seems to be the best. Furthermore, a recently developed noise theory is used to evaluate the influence of serrations on the flow noise sources qualitatively and quantitatively. It is found that the serrations can mitigate noise source intensity near the serration edges but increase the source intensity in the near wake. The combined effect of serration on the dipole source and flow noise source determines the overall noise reduction effect. To conclude, destructive interference plays a primary role in suppressing noise radiation by serrated trailing edges, and the dual effect of flow noise sources should be considered in future serration designs. As the influence of turbulence structure will make it more difficult to find the optimal serration parameters, the position of high-fidelity simulation will become increasingly important.

Primitive lamprophyres in orogenic belts can provide crucial insights into the nature of the subcontinental lithosphere and the relevant deep crust–mantle interactions. This paper reports a suite of relatively primitive lamprophyre dykes from the North Qiangtang, central Tibetan Plateau. Zircon U–Pb ages of the lamprophyre dykes range from 214 Ma to 218 Ma, with a weighted mean age of 216 ± 1 Ma. Most of the lamprophyre samples are similar in geochemical compositions to typical primitive magmas (e.g. high MgO contents, Mg no. values and Cr, with low FeOt/MgO ratios), although they might have experienced a slightly low degree of olivine crystallization, and they show arc-like trace-element patterns and enriched Sr–Nd isotopic composition ((87Sr/86Sr)i = 0.70538–0.70540, ϵNd(t) = −2.96 to −1.65). Those geochemical and isotopic variations indicate that the lamprophyre dykes originated from partial melting of a phlogopite- and spinel-bearing peridotite mantle modified by subduction-related aqueous fluids. Combining with the other regional studies, we propose that slab subduction might have occurred during Late Triassic time, and the rollback of the oceanic lithosphere induced the lamprophyre magmatism in the central Tibetan Plateau.

Ebselen is a well-known synthetic compound mimicking glutathione peroxidase (GPx), which catalyses some vital reactions that protect against oxidative damage. Based on a large number of in vivo and in vitro studies, various mechanisms have been proposed to explain its actions on multiple targets. It targets thiol-related compounds, including cysteine, glutathione, and thiol proteins (e.g., thioredoxin and thioredoxin reductase). Owing to this, ebselen is a unique multifunctional agent with important effects on inflammation, apoptosis, oxidative stress, cell differentiation, immune regulation and neurodegenerative disease, with anti-microbial, detoxifying and anti-tumour activity. This review summarises the current understanding of the multiple biological processes and molecules targeted by ebselen, and its pharmacological applications.

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.

Embryogenic callus induction and regeneration are useful in many aspects of plant biotechnology, especially in the functional characterization of economically important genes. However, in sugarcane, callus induction and regeneration vary across genotypes. Saccharum spontaneum is an important wild germplasm that confers disease resistance and stress tolerance to modern sugarcane cultivars, and its genome has been completely sequenced. The aim of this study was to investigate the effect of genetic variations on embryogenic callus induction and regeneration in S. spontaneum and to screen genotypes having high tissue culture susceptibility. The study was performed using nine genotypes of S. spontaneum and the following five parameters were assessed to determine the response of genotypes to embryogenic callus induction and regeneration: callus induction, embryogenic callus ratio, embryogenic callus induction, embryonic callus regeneration and regeneration capacity. All the genotypes varied significantly (P < 0.01) in all the parameters, except for embryonic callus regeneration, which was high (>80%) for all the genotypes. High broad-sense heritability (86.1–96.8%) indicated that genetic differences are the major source of genotypic variations. Callus induction was found to be strongly positively correlated with embryogenic callus induction (r = 0.890, P < 0.01) and regeneration capacity (r = 0.881, P < 0.01). Among the nine tested genotypes, VN2 was found to be the most responsive to tissue culture and could therefore be used to characterize functional genes in S. spontaneum. We also suggested an approach with potential applications in facilitating the rapid identification of sugarcane genotypes susceptible to tissue culture.

Salicylic acid (SA), a phytohormone, has been considered to be a key regulator mediating plant defence against pathogens. It is still vague how SA activates plant defence against herbivores such as chewing and sucking pests. Here, we used an aphid-susceptible wheat variety to investigate Sitobion avenae response to SA-induced wheat plants, and the effects of exogenous SA on some defence enzymes and phenolics in the plant immune system. In SA-treated wheat seedlings, intrinsic rate of natural increase (rm), fecundity and apterous rate of S. avenae were 0.25, 31.4 nymphs/female and 64.4%, respectively, and significantly lower than that in the controls (P < 0.05). Moreover, the increased activities of phenylalanine-ammonia-lyase, polyphenol oxidase (PPO) and peroxidase in the SA-induced seedlings obviously depended on the sampling time, whereas activities of catalase and 4-coumarate:CoA ligase were suppressed significantly at 24, 48 and 72 h in comparison with the control. Dynamic levels of p-coumaric acid at 96 h, caffeic acid at 24 and 72 h and chlorogenic acid at 24, 48 and 96 h in wheat plants were significantly upregulated by exogenous SA application. Nevertheless, only caffeic acid content was positively correlated with PPO activity in SA-treated wheat seedlings (P = 0.031). These findings indicate that exogenous SA significantly enhanced the defence of aphid-susceptible wheat variety against aphids by regulating the plant immune system, and may prove a potential application of SA in aphid control.

Disorder of hepatic glucose metabolism is the characteristic of late-pregnant sows. The purpose of our study was to look into the mechanism of garcinol on the improvement of hepatic gluconeogenic enzyme in late-pregnant sows. Thirty second- and third-parity sows (Duroc × Yorkshire × Landrace, n 10/diet) were fed a basal diet (control) or that diet supplemented with 100 mg/kg (Low Gar) or 500 mg/kg (High Gar) garcinol from day 90 of gestation to the end of farrowing. The livers were processed to measure enzymatic activity. Hepatocytes from pregnant sows were transfected with P300/CBP-associating factor (PCAF) small interfering RNA (siRNA) or treated with garcinol. Dietary garcinol had no effect on average daily feed intake, body weight (BW), backfat and BW gain of late-pregnant sows. Garcinol promoted plasma glucose levels in pregnant sows and newborn piglets. Garcinol up-regulated hepatic gluconeogenic enzyme expression and decreased PCAF activity. Garcinol had no effect on the expression of PPAR-γ co-activator 1α (PGC-1α) and Forkhead box O1 (FOXO1) but significantly increased their activity and decreased their acetylation in late-pregnant sows. Transfection of PCAF siRNA to hepatocytes of pregnant sows increased PGC-1α and FOXO1 activities. Furthermore, in hepatocytes of pregnant sows, garcinol treatment also up-regulated the activities of PGC-1α and FOXO1 and inhibited the acetylation of PGC-1α and FOXO1. Garcinol improves hepatic gluconeogenic enzyme expression in late-pregnant sows, and this may be due to the mechanism of down-regulating the acetylation of PGC-1α and FOXO1 induced by PCAF in isolated hepatocytes.

We present an experimental study on controlling the number of vortices and the torque in a Taylor–Couette flow of water for Reynolds numbers from 660 to 1320. Different flow states are achieved in the annulus of width $d$ between the inner rotating and outer stationary cylinders through manipulating the initial height of the water annulus. We show that the torque exerted on the inner cylinder of the Taylor–Couette system can be reduced by up to 20 % by controlling the flow at a state where fewer than the nominal number of vortices develop between the cylinders. This flow state is achieved by starting the system with an initial water annulus height $h_0$ (which nominally corresponds to $h_0/d$ vortices), then gradually adding water into the annulus while the inner cylinder keeps rotating. During this filling process the flow topology is so persistent that the number of vortices does not increase; instead, the vortices are greatly stretched in the axial (vertical) direction. We show that this state with stretched vortices is sustainable until the vortices are stretched to around 2.05 times their nominal size. Our experiments reveal that by manipulating the initial height of the liquid annulus we are able to generate different flow states and demonstrate how the different flow states manifest themselves in global momentum transport.

Data on average iodine requirements for the Chinese population are limited following implementation of long-term universal salt iodisation. We explored the minimum iodine requirements of young adults in China using a balance experiment and the ‘iodine overflow’ hypothesis proposed by our team. Sixty healthy young adults were enrolled to consume a sequential experimental diet containing low, medium and high levels of iodine (about 20, 40 and 60 μg/d, respectively). Each dose was consumed for 4 d, and daily iodine intake, excretion and retention were assessed. All participants were in negative iodine balance throughout the study. Iodine intake, excretion and retention differed among the three iodine levels (P < 0·01 for all groups). The zero-iodine balance derived from a random effect model indicated a mean iodine intake of 102 μg/d, but poor correlation coefficients between observed and predicted iodine excretion (r 0·538 for μg/d data) and retention (r 0·304 for μg/d data). As iodine intake increased from medium to high, all of the increased iodine was excreted (‘overflow’) through urine and faeces by males, and 89·5 % was excreted by females. Although the high iodine level (63·4 μg/d) might be adequate in males, the corresponding level of 61·6 μg/d in females did not meet optimal requirements. Our findings indicate that a daily iodine intake of approximately half the current recommended nutrient intake (120 μg/d) may satisfy the minimum iodine requirements of young male adults in China, while a similar level is insufficient for females based on the ‘iodine overflow’ hypothesis.