The formation process of the leading vortex ring in starting jets with uniform background co- and counter-flow has been studied numerically for $-0.5\leq R_v\leq 0.5$, where $R_v$ is the ratio of background velocity to jet velocity. For the cases with background counter-flow, the normal formation process of the leading vortex ring would be destroyed when $R_v<-0.4$, i.e. the trailing jet would overtake the leading vortex ring through the centre, a phenomenon reminiscent of vortex leapfrogging. As the velocity ratio $R_v$ increases, the formation number $F_{t^*}$ decreases from $9.6$ at $R_v=-0.4$ to $1.92$ at $R_v=0.5$. An analytical model based on the kinematic criterion has been developed so as to describe the relationship between the formation number $F_{t^*}$ and velocity ratio $R_v$. A linear relationship between the vortex core parameter and stroke ratio of starting jet ($\varepsilon \sim k_1L/D$) for the Norbury vortex ring has been established and used effectively to close the model. For co-flow with $0< R_v\leq 0.5$, the results from this model are consistent with the present numerical simulation and the experiments by Krueger et al. (J. Fluid Mech., vol. 556, 2006, pp. 147–166). For counter-flow, two different equations are proposed for $-0.4\leq R_v\leq -0.2$ and $-0.2< R_v<0$, respectively.

It is very challenging for robots to perform grinding and polishing tasks on surfaces with unknown geometry. Most existing methods solve this problem by modeling the relationship between the force sensing information and surface normal vectors by analyzing the forces on special end tools such as spherical tools and cylindrical tools and simplified friction model. In this paper, we propose a normal vectors learning method to simultaneously control end-effector force and direction on unknown surfaces. First, the relation that mapping the force sensing information to the surface normal vectors is learned from the demonstrated data on the known plane using locally weighted regression. Next, the learned relation is used to estimate surface normal vectors on the unknown surface. To improve the force control precision on the unknown geometry surface, the adaptive force control is developed. To improve the direction control precision due to friction, the iterative learning control is developed. The proposed method is verified by comparative simulations and experiments using the Franka robot. Results show that the end-effector can be controlled perpendicular to the surface with a certain force.

We test the signaling view of corporate social responsibility (CSR) engagement using two complementary quasi-natural experiments that impose exogenous negative pressure on stock prices. Firms under such adverse price pressure increase CSR activities compared to otherwise similar firms. This effect concentrates among firms with stronger signaling incentives, namely, those facing greater information asymmetry, more product market competition, higher shareholder litigation risk, and higher stock price crash risk. Firms under the exogenous negative price pressure mainly improve CSR strengths, including costly environmental investments. We also find that CSR engagement attracts socially responsible investors and lowers the cost of capital for signaling firms.

The grey wolf optimizer (GWO) as a new intelligent optimization algorithm has been successfully applied in many fields because of its simple structure, few adjustment parameters and easy implementation. This paper mainly aims at the defects of GWO in path planning application, such as easily falling into local optimization, poor convergence and poor accuracy, and turn point grey wolf optimization (TPGWO) algorithm is proposed. First, the idea of cross-mutation and roulette is used to increase the initial population of GWO and improve the search range. At the same time, the convergence factor function is improved to become a nonlinear update. In the early stage, the search range is expanded, and in the later stage, the convergence speed is increased, while the parameters in the convergence factor function can be adjusted according to the number of obstacles and the map area to change the turning point of the function to improve the convergence speed and accuracy of the algorithm. The turning times and turning angles of the obtained path are added to the fitness function as penalty values to improve the path accuracy. The optimization test is carried out through 16 test functions, and the test results prove the convergence and robustness of TPGWO algorithm. Finally, the TPGWO algorithm is applied to the path planning of patrol robot for simulation experiments. Compared with the GWO algorithm and Particle Swarm Optimization, the simulation results show that the TPGWO algorithm has better convergence, stability and accuracy in the path planning of patrol robot.

A dual-band dual-linearly polarized waveguide slot array antenna is proposed in this paper. Two orthogonal slots share a short-circuit wall on broad side. The horizontal and vertical slots, which actualize dual-frequency bands and dual-linear polarization, generate vertically polarized electric fields in 9.39–9.78 GHz and horizontally polarized electric fields in 11.62–12.3 GHz, respectively. The equivalent permittivity of the waveguide is changed by two grooves at the bottom of the waveguide, which improves phase velocity. Two grooves can also reduce the distance between the elements while suppressing the side lobes. Compared to filling the medium in the waveguide, two grooves have less losses. Moreover, the antenna is simple with one input port. The array antenna also overcomes the problems of beam scanning compared with the traditional waveguide slot array antenna. A 1 × 8 antenna array is fabricated and measured to verify the design. The horizontal polarization is formed in 9.39–9.78 GHz, the vertical polarization is generated in 11.62–12.3 GHz, and the antenna gain can reach 15 dBi.

The low maturation rate of oocytes is an important reason for female infertility and failure of assisted pregnancy. The germinal vesicle breakdown (GVBD) is a landmark event of oocyte maturation. In our previous studies, we found that zona pellucida 3 (ZP3) was strongly concentrated in the nuclear region of germinal vesicle (GV) oocytes and interacted with aryl hydrocarbon receptor-interacting protein-like 1 (AIPL1) and lamin A to promote GVBD. In the current study, we found that lamin A is mainly concentrated in the nuclear membrane. When ZP3 is knocked down, lamin A will be partially transferred to the nucleus of oocytes. The prelamin A is increased in both the nuclear membrane and nucleus, while phosphorylated lamin A (p-lamin A) is significantly reduced. AIPL1 was also proved to accumulate in the GV region of oocytes, and ZP3 deletion can significantly inhibit the aggregation of AIPL1 in the nuclear region. Similar to ZP3 knockdown, the absence of AIPL1 resulted in a decrease in the occurrence of GVBD, an increase in the amount of prelamin A, and a significant decrease in p-lamin A in oocytes developed in vitro. Finally, we propose the hypothesis that ZP3 can stabilize farnesylated prelamin A on the nuclear membrane of AIPL1, and promote its further processing into mature lamin A, therefore promoting the occurrence of GVBD. This study may be an important supplement for the mechanism of oocyte meiotic resumption and provide new diagnostic targets and treatment clues for infertility patients with oocyte maturation disorder.

The formation and evolution process of the outer vortex ring (denoted as OV0) in annular starting jets has been studied numerically at stroke ratio $3\leqslant L_m/D\leqslant 8$, $\beta \leqslant 0.8$ and Reynolds number $400\leqslant Re_{\triangle R}\leqslant 1400$, where $D$ is the outer diameter of orifice, $L_m$ is the length of the fluid column, $\beta$ and $\triangle R$ are the ratio and difference between inner and outer radii of the annular orifice, respectively. The initial formation process of OV0 is found to be similar to that of the leading vortex ring in a circular starting jet, but the circulation strength is relatively lower and decreases gradually with increasing $\beta$. The pinch-off process will also appear after OV0 grows to a certain size but is different from that of the circular starting jet. On one hand, OV0 is stretched and deformed by the strain field generated by the trailing jet's instability, and vorticity would be shed. On the other hand, OV0 accelerates the irrotational fluids around it under viscous action so as to form the induced velocity field, which would consume energy causing it to shed vorticity further under the limit of the Kelvin–Benjamin variational principle. Furthermore, OV0 would eventually become a stable vortex ring whose non-dimensional circulation ($\varGamma /(U_{0max}D$)) is found to be between 0.59–0.62 and it would not change with different $L_m/D$ at $\beta =0.5$, which is much less than the 2–2.5 of circular starting jets.

Microtubule-severing proteins (MTSPs) play important roles in mitosis and interphase. However, to the best of our knowledge, no previous studies have evaluated the role of MTSPs in female meiosis in mammals. It was found that FIGNL1, a member of MTSPs, was predominantly expressed in mouse oocytes and distributed at the spindle poles during meiosis in the present study. FIGNL1 was co-localized and interacted with γ-tubulin, an important component of the microtubule tissue centre (MTOC). Fignl1 knockdown by specific small interfering RNA caused spindle defects characterized by an abnormal length:width ratio and decreased microtubule density, which consequently led to aberrant chromosome arrangement, oocyte maturation and fertilization obstacles. In conclusion, the present results suggested that FIGNL1 may be an essential factor in oocyte maturation by influencing the meiosis process via the formation of spindles.

At the end of the Palaeozoic Era, most species on Earth disappeared completely and the global sedimentary environment and biology changed dramatically. The Permian–Triassic boundary (PTB) was studied in three sections of the middle Upper Yangtze Platform, SW China: Xingwen well and Zhijin and Shangsi sections. These sections are characterized by carbonate-platform, toe-of-slope and basin facies, respectively. Detailed analysis of 100 closely spaced thin-sections revealed a total of 24 microfacies and 11 microfacies associations based on the dominant carbonate grain size and the skeletal material (type and proportion). Six bioassemblages are documented for the first time, spanning c. 1 Ma across the boundary succession, including normal, resurrected and miniaturized Permian biota, and cyanobacteria-dominated, survival post-crisis and neonatal Triassic biota. The Xingwen well indicated sedimentary evolution from a rimmed carbonate platform to a homoclinal carbonate ramp, as well as a sharp fall in sea level just prior to the PTB in the study area. The Zhijin section revealed a slope setting, in which toe-of-slope and middle-ramp microfacies are identified. The Shangsi section showed a complete evolution of basin and outer-ramp microfacies and bioassemblages. Fossil evidence showed that the Permian biota (trilobites, gastropods and phylloid algae) occurred in the uppermost Changhsingian stage and was overlain by biomicrites with miniaturized ostracods (< 0.2 mm in size). This indicated that the major extinction horizon is located up to 14 cm below the PTB, which lies in the middle–lower segments of the miniaturized ostracod layer.

The objective of this study was to investigate the effects of different levels of seminal plasma (SP) on boar sperm quality, antioxidant capacity and bacterial concentrations during liquid storage at 17°C. Boar sperm was diluted with Beltsville Thawing Solution (BTS) consisting of 0, 25, 50 and 75% (v/v) of SP. Total motility, progressive motility and dynamic parameters were assessed by the computer assisted sperm analysis (CASA) system. Acrosome and plasma membrane integrity were measured by FITC-PNA/DAPI and SYBR-14/PI staining, respectively. In addition, total antioxidant capacity (T-AOC), malondialdehyde (MDA) content, and reactive oxygen species (ROS) levels were detected using commercial assay kits. Bacterial concentrations were assessed by turbidimetric assay. Our results showed that 25% SP markedly improved total motility, progressive motility, sperm dynamic parameters, acrosome integrity compared with 0, 50 and 75% SP (P < 0.05). In addition, 25% SP significantly increased T-AOC but decreased MDA content and ROS levels compared with 0, and 75% SP (P < 0.05). Moreover, 25% SP significantly decreased the bacterial concentrations in extended semen compared with 50% and 75% SP, however, which was higher than with 0% SP (P < 0.05). These results suggest that 25% SP can promote boar sperm quality through enhancing its antioxidant capacity during liquid storage.

Due to the lack of research between the inner layers in the structure of colonic mucous and the metabolism of fatty acid in the constipation model, we aim to determine the changes in the mucous phenotype of the colonic glycocalyx and the microbial community structure following treatment with Rhubarb extract in our research. The constipation and treatment models are generated using adult male C57BL/6N mice. We perform light microscopy and transmission electron microscopy (TEM) to detect a Muc2-rich inner mucus layer attached to mice colon under different conditions. In addition, 16S rDNA sequencing is performed to examine the intestinal flora. According to TEM images, we demonstrate that Rhubarb can promote mucin secretion and find direct evidence of dendritic structure-linked mucus structures with its assembly into a lamellar network in a pore size distribution in the isolated colon section. Moreover, the diversity of intestinal flora has noticeable changes in constipated mice. The present study characterizes a dendritic structure and persistent cross-links have significant changes accompanied by the alteration of intestinal flora in feces in models of constipation and pretreatment with Rhubarb extract.

A novel wide 3-dB axial ratio (AR) circularly polarized 2 × 2 array antenna is proposed in this paper. The spindle-shaped coupling cavity with tilted waveguide is capable of generating circular polarization waves from incident linear waves, which improves the AR bandwidth (ARBW) of the antenna. With this structure, a similar amplitude of the two orthogonal transmitted wave components and a stable phase difference of nearly 90° can be generated. The circularly polarized antenna proposed herein has been fabricated. According to the measurement results, the operating bandwidth from 5.32 to 6.13 GHz is <−10 dB. In addition, the measured ARBW, which is below 3 dB, can cover the range of 5.41–6.02 GHz. The maximum gain of the antenna can attain 15.65 dBi, and the efficiency is better than 80%.

Based on the measurements conducted over the landfast sea ice in Prydz Bay, East Antarctica during the sea-ice growth season in 2016, various parameterization schemes in the high-resolution thermodynamic snow/ice model HIGHTSI are evaluated. The parameterization scheme of turbulent fluxes produces the largest errors compared with the parameterization schemes for other surface heat fluxes. However, the sea-ice thickness simulation is most sensitive to the differences in upward longwave radiation at the surface. In addition, the sea-ice thickness simulation during the growth season is highly sensitive to the oceanic heat flux, and a new oceanic heat flux parameterization scheme based on the bulk method is proposed. The new parameterization scheme is tested in a second year, and it significantly improves the model performance relative to the standard configuration when compared against observations. Finally, the seasonal variation in the heat budget and its influence on the sea-ice thickness variation are analyzed. The net shortwave radiation, sensible heat flux and conductive heat flux (the net longwave radiation and latent heat flux) are found to be the surface heat sources (heat sinks) during the growth season. The larger conductive heat flux and the smaller oceanic heat flux can intensify the growth of sea ice.

Let $j_n$ be the modular function obtained by applying the nth Hecke operator on the classical j-invariant. For $n>m\ge 2$ , we prove that between any two zeros of $j_m$ on the unit circle of the fundamental domain, there is a zero of $j_n$ .

Cytochrome P450 monooxygenases play a key role in pest resistance to insecticides by detoxification. Four new P450 genes, CYP6AS160, CYP6AS161, CYP4AB73 and CYP4G232 were identified from Solenopsis invicta. CYP6AS160 was highly expressed in the abdomen and its expression could be induced significantly with exposure to fipronil, whereas CYP4AB73 was not highly expressed in the abdomen and its expression could not be significantly induced following exposure to fipronil. Expression levels of CYP6AS160 and CYP4AB73 in workers were significantly higher than that in queens. RNA interference-mediated gene silencing by feeding on double-stranded RNA (dsRNA) found that the levels of this transcript decreased (by maximum to 64.6%) when they fed on CYP6AS160-specific dsRNA. Workers fed dsCYP6AS160 had significantly higher mortality after 24 h of exposure to fipronil compared to controls. Workers fed dsCYP6AS160 had reduced total P450 activity of microsomal preparations toward model substrates p-nitroanisole. However, the knockdown of a non-overexpressed P450 gene, CYP4AB73 did not lead to an increase of mortality or a decrease of total P450 activity. The knockdown effects of CYP6AS160 on worker susceptibility to fipronil, combined with our other findings, indicate that CYP6AS160 is responsible for detoxification of fipronil. Feeding insects dsRNA may be a general strategy to trigger RNA interference and may find applications in entomological research and in the control of insect pests in the field.

Microtubule-severing protein (MTSP) is critical for the survival of both mitotic and postmitotic cells. However, the study of MTSP during meiosis of mammalian oocytes has not been reported. We found that spastin, a member of the MTSP family, was highly expressed in oocytes and aggregated in spindle microtubules. After knocking down spastin by specific siRNA, the spindle microtubule density of meiotic oocytes decreased significantly. When the oocytes were cultured in vitro, the oocytes lacking spastin showed an obvious maturation disorder. Considering the microtubule-severing activity of spastin, we speculate that spastin on spindles may increase the number of microtubule broken ends by severing the microtubules, therefore playing a nucleating role, promoting spindle assembly and ensuring normal meiosis. In addition, we found the colocalization and interaction of collapsin response mediator protein 5 (CRMP5) and spastin in oocytes. CRMP5 can provide structural support and promote microtubule aggregation, creating transportation routes, and can interact with spastin in the microtubule activity of nerve cells (30). Knocking down CRMP5 may lead to spindle abnormalities and developmental disorders in oocytes. Overexpression of spastin may reverse the abnormal phenotype caused by the deletion of CRMP5. In summary, our data support a model in which the interaction between spastin and CRMP5 promotes the assembly of spindle microtubules in oocytes by controlling microtubule dynamics, therefore ensuring normal meiosis.