Owing to inherent flexibility, compliant actuator with physical elastic elements can implement compliant interactions between robot and environment. Nonlinear stiffness elastic actuators (NSEAs) use one motor to adjust position and stiffness, which improve compactness of variable stiffness actuators, and consider high torque/force resolution and high bandwidth. The primary challenge of designing a NSEA is designing a reliable compliant mechanism with a given torque-deflection profile. In this study, a general design method of torsional compliant mechanism through given discrete torque-deflection points was proposed, where a chain algorithm based on 2R pseudo-rigid-body model was used to describe the large deformation in elastic elements. Moreover, the theoretical model of stiffness of a compliant mechanism based on series flexible beams was developed. Based on the proposed model, the dimensional parameters of proposed compliant mechanism were designed satisfying the condition of the given torque-deflection points. Finally, simulation and physical experiment of the designed compliant mechanism through three given torque-deflection points are conducted to show the effectiveness of the proposed method. The designed compliant mechanism was tested and evaluated in the self-developed NSEA.

We investigate the notion of tracial ${\mathcal {Z}}$ -stability beyond unital $\mathrm {C}^*$ -algebras, and we prove that this notion is equivalent to ${\mathcal {Z}}$ -stability in the class of separable simple nuclear $\mathrm {C}^*$ -algebras.

An abnormal alanine aminotransferase (ALT) level is predictive of disease and all-cause mortality and may indicate liver injury. Using twin modeling, the genetic and environmental factors that affect human serum ALT levels have been well studied for the populations in the different countries, and the results showed moderate-to-high heritability. However, the heritability of ALT level has not been explored in Chinese population. Thus, we recruited 369 pairs of twins (233 monozygotic and 136 dizygotic) from the Qingdao Twin Registry in China with a median age of 50 years (40−80 years). Correlation analysis and a structural equation model (SEM) were conducted to evaluate the heritability of ALT level. The data for age, gender, body mass index and alcohol consumption were set as covariates. Intrapair correlation in monozygotic twins was 0.64 (95%CI [.56, .71]) and 0.42 (95% CI [.28, .55]) in dizygotic twins. The SEM analysis indicated that 65% (95% CI [57%, 71%]) of the variation in ALT levels can be explained by additive genetics and 35% (95% CI [29%, 44%]) of the variation is attributed to unique environmental factors or residuals. Shared environmental influences were not significant. In conclusion, serum ALT variations exhibited strong genetic effects. The variation could also be explained by unique environmental factors. However, shared environmental factors have a minor impact on the serum ALT level.

As optical parametric chirped pulse amplification has been widely adopted for the generation of extreme intensity laser sources, nonlinear crystals of large aperture are demanded for high-energy amplifiers. Yttrium calcium oxyborate (YCa4O(BO3)3, YCOB) is capable of being grown with apertures exceeding 100 mm, which makes it possible for application in systems of petawatt scale. In this paper, we experimentally demonstrated for the first time to our knowledge, an ultra-broadband non-collinear optical parametric amplifier with YCOB for petawatt-scale compressed pulse generation at 800 nm. Based on the SG-II 5 PW facility, amplified signal energy of approximately 40 J was achieved and pump-to-signal conversion efficiency was up to 42.3%. A gain bandwidth of 87 nm was realized and supported a compressed pulse duration of 22.3 fs. The near-field and wavefront aberration represented excellent characteristics, which were comparable with those achieved in lithium triborate-based amplifiers. These results verified the great potential for YCOB utilization in the future.

In this paper, we consider a mixed dividend strategy in a dual risk model. The mixed dividend strategy is the combination of a threshold dividend and a Parisian implementation delays dividend under periodic observation. Given a series of discrete observation points, when the surplus level is larger than the predetermined bonus barrier at observation point, the Parisian implementation delays dividend is immediately carried out, and the threshold dividend is performed continuously during the delayed period. We study the Gerber-Shiu expected discounted penalty function and the expected discounted dividend payments before ruin in such a dual risk model. Numerical illustrations are given to study the influence of relevant parameters on the ruin-related quantities and the selection of the optimal dividend barrier for a given initial surplus level.

A novel low-profile two-arm backfire tapered cone helical antenna for telemetry tracking and command (TT&C) is introduced theoretically and experimentally in this paper. Compared with the conventional helical antenna, this design has a substantial decrease in its height and an increase both in its half power beamwidth (HPBW) and 3-dB axial ratio beamwidth by replacing the uniform structure with two tapered cone structures. It provides a maximum gain of 5.1 dBi, an excellent circular polarization radiation over a wide angular range of more than 124°, a 3-dB axial ratio bandwidth of 18.8%, a wide HPBW of more than 125°, and nearly equal E- and H- plane far-field patterns with high degree of axial symmetry over S-band (2–2.3 GHz). These excellent radiation characteristics with an endurable and compact structure make it an attractive candidate for TT&C application in microsatellite system, where the installation envelope and space for antenna are extremely limited.

The study was to evaluate the reproducibility and validity of the FFQ for residents of northeast China. A total of 131 participants completed two FFQ (FFQ1 and FFQ2) within a 3-month period, 125 participants completed 8-d weighed diet records (WDR) and 112 participants completed blood biomarker testing. Reproducibility was measured by comparing nutrient and food intake between FFQ1 and FFQ2. The validity of the FFQ was assessed by WDR and the triad method. The Spearman correlation coefficients (SCC) and intraclass correlation coefficients (ICC) for reproducibility ranged from 0·41 to 0·69 (median = 0·53) and from 0·18 to 0·68 (median = 0·53) for energy and nutrients and from 0·37 to 0·73 (median = 0·59) and from 0·33 to 0·86 (median = 0·60) for food groups, respectively. The classifications of same or adjacent quartiles ranged from 73·64 to 93·80 % for both FFQ. The crude SCC between the FFQ and WDR ranged from 0·27 to 0·55 (median = 0·46) for the energy and nutrients and from 0·26 to 0·70 (median = 0·52) for food groups, and classifications of the same or adjacent quartiles ranged from 65·32 to 86·29 %. The triad method indicated that validation coefficients for the FFQ were above 0·3 for most nutrients, which indicated a moderate or high level of validity. The FFQ that was developed for residents of northeast China for the Northeast Cohort Study of China is reliable and valid for assessing the intake of most foods and nutrients.

Widely distributed Mid-Neoproterozoic mafic rocks of the Qilian – Qaidam – East Kunlun region record the tectonic evolution of the northeastern Tibetan Plateau. This study presents whole-rock geochemistry, zircon U–Pb geochronology and Hf isotopes for the Xialanuoer gabbros of the central South Qilian Belt (SQB). Zircon laser ablation – inductively coupled plasma – mass spectrometry (LA-ICP-MS) U–Pb dating indicates that the gabbros were emplaced at ca. 738 Ma, indicating they are contemporaneous with mafic magmatism elsewhere in the northeastern Tibetan Plateau. The gabbros have low SiO2, Cr and Ni contents and Mg# values, are relatively enriched in light rare-earth elements (LREEs) and depleted in high-field-strength elements (HFSEs; e.g. Nb and Ta), have no positive Zr or Hf anomalies and have relatively high Nb/Ta but low Nb/La ratios. These data indicate that the Xialanuoer gabbros formed from calc-alkaline basaltic magmas that were originally generated by the partial melting of an enriched mantle of type-I (EMI-type) enriched region of the lithospheric mantle, underwent little to no crustal contamination prior to their emplacement, and have within-plate basalt geochemical affinities. Combining these data with the presence of widespread contemporaneous continental rift-related magmatism and sedimentation in the North Qilian, Central Qilian, South Qilian, Quanji, North Qaidam and East Kunlun regions suggests that the northeastern Tibetan Plateau underwent Mid-Neoproterozoic continental rifting, which also affected other Rodinian blocks (e.g. Tarim, South China, Australia, North America and Southern Africa).

The aim of our study was to determine the distribution of hepatitis B virus (HBV) genotypes and subgenotypes in ethnic minorities in Yunnan province to provide evidence supporting the theoretical basis for hepatitis B prevention and control. We obtained serum samples and demographic data from 765 individuals reported by Yunnan province who had either acute or chronic HBV infection and were from one of 20 ethnic minority populations: Achang, Bai, Brown, Tibetan, Dai, Deang, Dulong, Hani, Hui, Jingpo, Lahu, Yi, Lisu Miao, Naxi, Nu, Pumi, Wa, Yao, or Zhuang people. We sequenced the HBV DNA and determined the genotypes and subgenotypes of the isolated HBVs. We mapped the genotype and subgenotype distribution by ethnic minority population and conducted descriptive analyses. There were four genotypes among the 20 ethnic groups: genotype B (21.3% of samples), C (76.6%), D (1.8%) and I (0.3%). The most common subgenotype was C1. There were no genotype differences by gender (P = 0.954) or age (P = 0.274), but there were differences by region (P < 0.001). There were differences in genotype distribution (P < 0.001) and subgenotype distribution (P = 0.011) by ethnic group. Genotype D was most prominent in Tibet and most HBV isolates were C/D recombinant viruses. The only two genotype I virus isolates were in Zhuang people. Susceptibility and geographic patterns may influence HBV prevalence in different ethnic populations, but additional research is needed for such a determination.

We prove that a minimal second countable ample groupoid has dynamical comparison if and only if its type semigroup is almost unperforated. Moreover, we investigate to what extent a not necessarily minimal almost finite groupoid has an almost unperforated type semigroup. Finally, we build a bridge between coarse geometry and topological dynamics by characterizing almost finiteness of the coarse groupoid in terms of a new coarsely invariant property for metric spaces, which might be of independent interest in coarse geometry. As a consequence, we are able to construct new examples of almost finite principal groupoids lacking other desirable properties, such as amenability or even a-T-menability. This behaviour is in stark contrast to the case of principal transformation groupoids associated to group actions.

In recent years, researchers have focused on the applications of uncrewed aerial vehicles (UAVs) in environmental remote sensing tasks. However, studies on glacier monitoring using UAV technology are relatively scarce, especially for high mountain glacier monitoring. To explore the feasibility of UAV technology for high mountain glaciers, four UAV surveys were deployed on two glaciers of the central Tibetan Plateau. Based on the images retrieved by UAV in 2017 and 2019, orthomosaics and digital elevation models were produced to quantify the length, area and elevation changes in the ablation zone of these two glaciers at different times. Additionally, we utilized several Landsat scenes to derive glacier changes over the last 30 years and combined these with the UAV data to assess the advantages and disadvantages of UAV technology in mountain glacier monitoring.

We show that the dynamic asymptotic dimension of an action of an infinite virtually cyclic group on a compact Hausdorff space is always one if the action has the marker property. This in particular covers a well-known result of Guentner, Willett, and Yu for minimal free actions of infinite cyclic groups. As a direct consequence, we substantially extend a famous result by Toms and Winter on the nuclear dimension of $C^{*}$-algebras arising from minimal free $\mathbb {Z}$-actions. Moreover, we also prove the marker property for all free actions of countable groups on finite-dimensional compact Hausdorff spaces, generalizing a result of Szabó in the metrisable setting.

Wave radiation and diffraction problems of a body floating in an open water channel confined by two semi-infinite ice sheets are considered. The linearized velocity potential theory is used for fluid flow and a thin elastic plate model is adopted for the ice sheet. The Green function, which satisfies all the boundary conditions apart from that on the body surface, is first derived. This is obtained through applying Fourier transform in the longitudinal direction of the channel, and matched eigenfunction expansions in the transverse plane. With the help of the derived Green function, the boundary integral equation of the potential is derived and it is shown that the integrations over all other boundaries, including the bottom of the fluid, free surface, ice sheet, ice edge as well as far field will be zero, and only the body surface has to be retained. This allows the problem to be solved through discretization of the body surface only. Detailed results for hydrodynamic forces are provided, which are generally highly oscillatory owing to complex wave–body–channel interaction and body–body interaction. In depth investigations are made for the waves confined in a channel, which does not decay at infinity. Through this, a detailed analysis is presented on how the wave generated by a body will affect the other bodies even when they are far apart.

We find a new refinement of Fine’s partition theorem on partitions into distinct parts with the minimum part odd. As a consequence, we obtain two companion partition identities. Both analytic and combinatorial proofs are provided.

Calcification within breast cancer is a diagnostically significant radiological feature that generally consists of hydroxylapatite. Samples from 30 cases of breast carcinoma with calcification were investigated using optical microscopy, energy-dispersive X-ray analysis, transmission-electron microscopy, Fourier-transform infrared spectroscopy, Raman spectroscopy, synchrotron radiation X-ray diffraction and X-ray fluorescence. Under optical microscopy, the calcifications were found to consist of either irregular aggregates with widths > 200 μm or spherical aggregates similar to psammoma bodies with an average diameter of 30 μm. Transmission-electron microscopy showed that short columnar or dumbbell-shaped crystals with widths of 10–15 nm and lengths of 20–50 nm were the most common morphology; spherical aggregates (~1 μm in diameter) with amorphous coatings of fibrous nanocrystals were also observed. Results indicated that hydroxylapatite was the dominant mineral phase in the calcifications, and both CO32– and cation substitutions (Na, Mg, Zn, Fe, Sr, Cu and Mn) were present in the hydroxylapatite structure. Fourier-transform infrared spectra show peaks at 872 and 880 cm–1 indicating that CO32– substituted both the OH– (A type) and PO43– (B type) sites of hydroxylapatite, making it an A and B mixed type. The ratio of B- to A-type substitution was estimated in the range of 1.1–18.7 from the ratio of peak intensities (I872/I880), accompanied with CO32– contents from 1.1% to 14.5%. Trace arsenic, detected in situ by synchrotron radiation X-ray fluorescence was found to be distributed uniformly in the calcifications in the form of AsO43– substituting for PO43–. It is therefore proposed that identifying these trace elements in breast cancer calcifications may be promising for future clinical diagnostics.