We present an experimental study of Rayleigh–Bénard convection using liquid metal alloy gallium-indium-tin as the working fluid with a Prandtl number of $Pr=0.029$. The flow state and the heat transport were measured in a Rayleigh number range of $1.2\times 10^{4} \le Ra \le 1.3\times 10^{7}$. The temperature fluctuation at the cell centre is used as a proxy for the flow state. It is found that, as $Ra$ increases from the lower end of the parameter range, the flow evolves from a convection state to an oscillation state, a chaotic state and finally a turbulent state for $Ra>10^5$. The study suggests that the large-scale circulation in the turbulent state is a residual of the cell structure near the onset of convection, which is in contrast with the case of $Pr\sim 1$, where the cell structure is transiently replaced by high order flow modes before the emergence of the large-scale circulation in the turbulent state. The evolution of the flow state is also reflected by the heat transport characterised by the Nusselt number $Nu$ and the probability density function (p.d.f.) of the temperature fluctuation at the cell centre. It is found that the effective local heat transport scaling exponent $\gamma$, i.e. $Nu\sim Ra^{\gamma }$, changes continuously from $\gamma =0.49$ at $Ra\sim 10^4$ to $\gamma =0.25$ for $Ra>10^6$. Meanwhile, the p.d.f. at the cell centre gradually evolves from a Gaussian-like shape before the transition to turbulence to an exponential-like shape in the turbulent state. For $Ra>10^6$, the flow shows self-similar behaviour, which is revealed by the universal shape of the p.d.f. of the temperature fluctuation at the cell centre and a $Nu=0.19Ra^{0.25}$ scaling for the heat transport.

We report an experimental study of the viscous boundary layer (BL) properties of turbulent Rayleigh–Bénard convection in a cylindrical cell. The velocity profile with all three components was measured from the centre of the bottom plate by an integrated home-made particle image velocimetry system. The Rayleigh number $Ra$ varied in the range $1.82 \times 10^8 \le Ra \le 5.26 \times 10^9$ and the Prandtl number $Pr$ was fixed at $Pr = 4.34$. The probability density function of the wall-shear stress indicates that using the velocity component in the mean large-scale circulation (LSC) plane alone may not be sufficient to characterise the viscous BL. Based on a dynamic wall-shear frame, we propose a method to reconstruct the measured full velocity profile which eliminates the effects of complex dynamics of the LSC. Various BL properties including the eddy viscosity are then obtained and analysed. It is found that, in the dynamic wall-shear frame, the eddy viscosity profiles along the centre line of the convection cell at different $Ra$ all collapse on a single master curve described by $\nu _t^d / \nu = 0.81 (z / \delta _u^d) ^{3.10 \pm 0.05}$. The Rayleigh number dependencies of several BL quantities are also determined in the dynamic frame, including the BL thickness $\delta _u^d$ (${\sim } Ra^{-0.21}$), the Reynolds number $Re^d$ (${\sim }Ra^{-0.46}$) and the shear Reynolds number $Re_s^d$ (${\sim } Ra^{0.24}$). Within the experimental uncertainty, these scaling exponents are the same as those obtained in the static laboratory frame. Finally, with the measured full velocity profile, we obtain the energy dissipation rate at the centre of the bottom plate $\varepsilon _{w}$, which is found to follow $\langle \varepsilon _{w} \rangle _t \sim Ra^{1.25}$.

The southern Great Xing’an Range (SGXR), located in the eastern segment of the Central Asian Orogenic Belt (CAOB), is one of the most economically important Cu–Mo–Fe–Sn–Pb–Zn–Ag metallogenic provinces in China. The newly discovered Panjiaduan Cu–Pb–Zn deposit (9.3 Mt; at 1.36% Cu, 2.90% Pb, 3.80% Zn and 38.12 g/t Ag), located in the SE segment of the SGXR, is primarily hosted in fracture zones in volcanic rocks and granodiorite of the Manitu Formation. Four paragenetic stages of metallic mineralization are identified: (I) quartz-pyrite-arsenopyrite; (II) quartz-polymetallic sulphide; (III) quartz-galena-sphalerite-argentite; and (IV) quartz-calcite-minor sulphide. The hydrothermal quartz contains three types of primary fluid inclusion (FIs): vapour-rich two-phase liquid-vapour (LV-type), liquid-rich two-phase liquid-vapour (VL-type) and three-phase liquid-vapour-solid FIs (SL-type). Stages I and II contain all types with homogenization temperatures (Th) of 324–386 °C and 276–334 °C as well as salinities of 0.7–38.0 wt% and 0.9–34.7 wt%, respectively, whereas stage III is composed of VL- and LV-type FIs with Th of 210–269 °C and salinities of 0.5–7.2 wt%. Only VL-type FIs occur in stage IV, with Th of 139–185 °C and salinities of 1.6–4.2 wt%. The δ18OH2O and δD values vary from −15.7 to 2.6‰ and −132.7 to −110.2‰, respectively, indicating predominant meteoric water with an initial magmatic source. The He–Ar isotopic compositions of the pyrite inclusions from the Panjiaduan Cu–Pb–Zn veins suggest that fluids were derived from the crust.

We present an experimental and numerical study of turbulent thermal convection in the presence of an effective horizontal buoyancy that generates extra shear at the boundary. Geometrical confinements are also applied by varying the streamwise and spanwise aspect ratios of the convection cell to condense the plumes. With these, we systematically explore the effects of plume and shear on heat transfer. It is found that a streamwise confinement results in increased plume coverage but decreased shear compared with spanwise confinement. The fact that streamwise confinement leads to a higher vertical heat transfer efficiency than the spanwise confined case suggests that the increase of plume coverage is the dominant effect responsible for the enhanced heat transfer. Our results highlight the potential applications of coherent structure manipulation in efficient passive heat transfer control and thermal engineering. We also analyse the energetics of the present system and derive the expression of mixing efficiency accordingly. The mixing efficiency is found to increase with both the buoyancy ratio and streamwise dimension.

Recently, the nature of viscoelastic drag-reducing turbulence (DRT), especially the maximum drag reduction (MDR) state, has become a focus of controversy. It has long been regarded as polymer-modulated inertial turbulence (IT), but is challenged by the newly proposed concept of elasto-inertial turbulence (EIT). This study is to repicture DRT in parallel plane channels by introducing dynamics of EIT through statistical, structural and budget analysis for a series of flow regimes from the onset of drag reduction to EIT. Some underlying mechanistic links between DRT and EIT are revealed. Energy conversion between velocity fluctuations and polymers as well as pressure redistribution effects are of particular concern, based on which a new energy self-sustaining process (SSP) of DRT is repictured. The numerical results indicate that at low Reynolds number ($Re$), weak IT flow is replaced by a laminar regime before the barrier of EIT dynamics is established with the increase of elasticity, whereas, at moderate $Re$, EIT-related SSP can get involved and survive from being relaminarized. This further explains the reason why relaminarization phenomenon is observed for low $Re$ while the flow directly enters MDR and EIT at moderate $Re$. Moreover, with the proposed energy picture, the newly discovered phenomenon that streamwise velocity fluctuations lag behind those in the wall-normal direction can be well explained. The repictured SSP certainly justifies the conjecture that IT nature is gradually replaced by that of EIT in DRT with the increase of elasticity.

When a manipulator captures its target by a visual servo system, uncertainties can arise because of mechanical system and visual sensors exist error. This paper proposes an intelligent method to predict the successful rate for a manipulator to capture its target with motion and sensor errors. Because the mapping between the joint space of the manipulator and the Cartesian space at the end of the manipulator is nonlinear, when there is a bounded error of the manipulator’s joint, the error range of the end motion is constantly changing with the different joint positions. And at the same time, the visual servo camera will also measure the target from different positions and postures, so as to produce measurement results with different error ranges. The unknown time-varying error property not only greatly affects the stability of the closed-loop control but also causes the capture failure. The purpose of this paper is to estimate the success probability of different capture trajectories by establishing the nondeterministic model of manipulator control system. First, a system model including motion subsystem and feedback subsystem was established with system error described by Gaussian probability. And then Bayesian estimation was introduced into the system model to estimate the executing state of the predefined trajectory. Linear least quadratic regulators (LQR) control is used to simulate the input correction in the closed-loop control between motion subsystem and feedback subsystem. At last, the successful probability of capturing the target is established by the Gaussian distribution at the end point of the trajectory with geometric relationship calculation between tolerance range and error distribution. The effectiveness and practicability of the proposed method are proved by simulation and experiment.

In this paper, a general method for synthesizing dispersive coupling matrix (DCM) of coupled-resonator bandpass filters with the general dispersion is proposed. Compared to the dispersion-less coupling matrix synthesized by classic approaches, the DCM incorporates the identity of the physical realization and provides an accurate description of the filter. Moreover, the DCM can accurately describe the complex resonators and coupling elements with intentional strong dispersion. A DCM consists of two parts: the frequency-invariant part that corresponds to the coupling matrix at the center frequency and the frequency-variant part that reflects the dispersion of the physical realization. By iteratively adjusting the transmission zeros governed by the given filter topology and ignoring the transmission zeros brought by the dispersion, the synthesis method can directly obtain the frequency-invariant part so that the overall DCM leads to an equal-ripple response. To illustrate the general synthesis method, two design examples are presented, which include a filter with unintentional weak dispersion and a filter with intentional strong dispersion. The examples are validated by EM simulation, demonstrating the effectiveness, accuracy, and generality of the proposed synthesis framework. Key words: dispersive coupling matrix, filter synthesis, microwave bandpass filter

We construct an example of a Hamiltonian flow $f^t$ on a four-dimensional smooth manifold $\mathcal {M}$ which after being restricted to an energy surface $\mathcal {M}_e$ demonstrates essential coexistence of regular and chaotic dynamics, that is, there is an open and dense $f^t$ -invariant subset $U\subset \mathcal {M}_e$ such that the restriction $f^t|U$ has non-zero Lyapunov exponents in all directions (except for the direction of the flow) and is a Bernoulli flow while, on the boundary $\partial U$ , which has positive volume, all Lyapunov exponents of the system are zero.

A deep ice core was drilled at Dome A, Antarctic Plateau, East Antarctica, which started with the installation of a casing in January 2012 and reached 800.8 m in January 2017. To date, a total of 337 successful ice-core drilling runs have been conducted, including 118 runs to drill the pilot hole. The total drilling time was 52 days, of which eight days were required for drilling down and reaming the pilot hole, and 44 days for deep ice coring. The average penetration depths of individual runs were 1 and 3.1 m for the pilot hole drilling and deep ice coring, respectively. The quality of the ice cores was imperfect in the brittle zone (650−800 m). Some of the troubles encountered are discussed for reference, such as armoured cable knotting, screws falling into the hole bottom, and damaged parts, among others.

We consider the situation of a misalignment between the global temperature gradient and gravity in thermal convection. In such a case an effective horizontal buoyancy arises that will significantly influence the transport properties of heat, mass and momentum. It may also change the flow morphology in turbulent convection. In this paper, we present an experimental and numerical study, using Rayleigh–Bénard convection as a platform, to explore systematically the effect of horizontal buoyancy on heat transport in turbulent thermal convection. Experimentally, a condition of increasing horizontal Rayleigh number ($Ra_H$, which is the non-dimensional horizontal thermal driving strength) under fixed vertical Rayleigh number ($Ra_V$, the non-dimensional vertical driving strength) is achieved by tilting the convection cell and simultaneously increasing the imposed temperature difference. We find that, with increasing horizontal to vertical buoyancy ratio ($\varLambda = Ra_H/Ra_V$), the overall heat transport manifests a monotonic increase in vertical heat transport ($Nu_V$) as well as a monotonic increase in its horizontal component ($Nu_H$). However, the horizontal Nusselt number is found to be approximately one order of magnitude smaller than the vertical Nusselt for the parameter range explored. We also show that the non-zero $Nu_H$ results from the broken azimuthal symmetry of the system induced by the horizontal buoyancy. We find that the enhancement of vertical heat transport comes from the increased shear generated by the horizontal buoyancy at the boundary layer. The effect of Prandtl number ($Pr$) is also studied numerically. Finally, we extend the Grossmann–Lohse theory to the case with an effective horizontal buoyancy, the result of which is successful in predicting $Nu_V(Ra_V,\varLambda ,Pr)$.

The soft actuator is made of superelastic material and embedded flexible material. In this paper, a kind of soft tube was designed and used to assemble two kinds of pneumatic soft actuators. The experiment and finite element analysis are used to comprehensively analyze and describe the bending, elongation, and torsion deformation of the soft actuator. The results show that the two soft actuators have the best actuation performance when the inner diameter of the soft tube is 4 mm. In addition, when the twisting pitch of the torsional actuator is 24 mm, its torsional performance is optimized. Finally, a device that can be used in the production line was assembled by utilizing those soft actuators, and some operation tasks were completed. This experiment provides some insights for the development of soft actuators with more complex motions in the future.

Cable is the most important bearing structure of the cable-stayed bridges. Its safety has been of crucial public concern. Traditional manual cable inspection method has many defects such as low inspection efficiency, poor reliability and hazardous working environment. In this paper, a new wirelessly controlled cable-climbing robot enabling safe and convenient inspection of stay cables is proposed. The designed robot is composed of two modules, joined by four turnbuckles to form a closed structure that clasps the cable. The robot is controlled wirelessly by a ground-based station, and a DC power is supplied via an onboard lithium battery. The climbing principle and mechanical structure of this robot are introduced. The static model of the robot during obstacle negotiation is established. The relationships of the driving force and resistance with obstacle height to determine the obstacle-negotiation capability of the robot are obtained. The effects of cable diameter, cable inclination and preload force on obstacle climbing ability of the robot are also analyzed. The experiments verify that the robot could climb random inclined cables and overcome an obstacle of 2.42 mm in height with a mass of 5 kg payload.

With the rapid rise in the prevalence of non-tuberculous mycobacteria (NTM) diseases across the world, the microbiological diagnosis of NTM isolates is becoming increasingly important for the diagnosis and treatment of NTM disease. In this study, the clinical presentation, species distribution and drug susceptibility of patients with NTM disease visiting the Chongqing Public Health Medical Centre during March 2016–April 2019 were retrospectively analysed. Among the 146 patients with NTM disease, eight NTM species (complex) were identified. The predominant NTM species in these patients were identified to be Mycobacterium abscessus complex (53, 36.3%), M. intracellulare (38, 26%) and M. fortuitum (17, 11.7%). In addition, two or more species were isolated from 7.5% of the patients. Pulmonary NTM disease (142, 97.3%) showed the highest prevalence among the patients. It was observed that 40.1% of the patients with pulmonary NTM disease had chronic pulmonary obstructive disease and bronchiectasis, while 22.5% had prior tuberculosis. Male patients showed more association with the conditions of cough and haemoptysis than the female patients. In an in vitro antimicrobial susceptibility testing, most of the species showed susceptibility to linezolid, amikacin and clarithromycin, while M. fortuitum exhibited low susceptibility to tobramycin. In conclusion, the prevalence of NTM disease, especially that of the pulmonary NTM disease, is common in Southwest China. Species identification and drug susceptibility testing are thus extremely important to ensure appropriate treatment regimens for patient care and management.

The epidemic of coronavirus disease 2019 (COVID-19) began in China and had spread rapidly to many other countries. This study aimed to identify risk factors associated with delayed negative conversion of SARS-CoV-2 in COVID-19 patients. In this retrospective single-centre study, we included 169 consecutive patients with confirmed COVID-19 in Zhongnan Hospital of Wuhan University from 15th January to 2nd March. The cases were divided into two groups according to the median time of SARS-CoV-2 negative conversion. The differences between groups were compared. In total, 169 patients had a median virus negative conversion time of 18 days (interquartile range: 11–25) from symptom onset. Compared with the patients with short-term negative conversion, those with long-term conversion had an older age, higher incidence of comorbidities, chief complaints of cough and chest distress/breath shortness and severer illness on admission, higher level of leucocytes, neutrophils, aspartate aminotransferase, creatine kinase and erythrocyte sedimentation rate (ESR), lower level of CD3+CD4+ lymphocytes and albumin and more likely to receive mechanical ventilation. In multivariate analysis, cough, leucocytes, neutrophils and ESR were positively correlated with delayed virus negative conversion, and CD3+CD4+ lymphocytes were negatively correlated. The integrated indicator of leucocytes, neutrophils and CD3+CD4+ lymphocytes showed a good performance in predicting the negative conversion within 2 weeks (area under ROC curve (AUC) = 0.815), 3 weeks (AUC = 0.804), 4 weeks (AUC = 0.812) and 5 weeks (AUC = 0.786). In conclusion, longer quarantine periods might be more justified for COVID-19 patients with cough, higher levels of leucocytes, neutrophils and ESR and lower levels of CD3+CD4+ lymphocytes.

High-entropy alloys (HEAs) are proposed as potential structural materials for advanced nuclear systems, but little is known about the response of matrix chemistry in HEAs upon irradiation. Here, we reveal a substantial change of matrix chemical concentration as a function of irradiation damage (depth) in equiatomic NiCoFeCr HEA irradiated by 3 MeV Ni ions. After ion irradiation, the matrix contains more Fe/Cr in depth shallower than ~900–1000 nm but more Ni/Co from ~900–1000 nm to the end of the ion-damaged region due to the preferential diffusion of vacancies through Fe/Cr. Preferential diffusion also facilitates migration of vacancies from high radiation damage region to low radiation damage region, leading to no void formation below ~900–1000 nm and void formation around the end of the ion-damaged region at a fluence of 5 × 1016 cm−2 (~123 dpa, displacements per atom, peak dose under full cascade mode). As voids grow significantly at an increased fluence (8 × 1016 cm−2, 196 dpa), the matrix concentration does not change dramatically due to new voids formed below ~900–1000 nm.

The dynamical stability of the cable-driven lower-limb rehabilitation training robot (CLLRTR) is a crucial question. Based on the established dynamics model of CLLRTR, the solution to the wrench closure of the under-constrained system is presented. Secondly, the stability index of CLLRTR is proposed by the Krasovski method. Finally, in order to analyze the stability distribution of CLLRTR in the workspace, the stability evaluation index in the workspace is calculated using the eigenvalue decomposition method. The stability distribution laws of CLLRTR are further verified by the experimental study. The results provide references for studying trajectory planning and anti-pendulum control of CLLRTR.

The search space of the path planning problem can greatly affect the running time and memory consumption, for example, the concave obstacle in grid-based map usually leads to the invalid search space. In this paper, the filling container algorithm is proposed to alleviate the concave area problem in 2D map space, which is inspired from the scenario of pouring water into a cup. With this method, concave areas can be largely excluded by scanning the map repeatedly. And the effectiveness has been proved in our experiments.