Hyper-redundant robots have good prospects for applications in confined space due to their high flexibility and slim body size. However, the super-redundant structure brings great challenges for its inverse kinematics with shape constraints. Unfortunately, traditional Jacobian pseudo-inverse-based inverse kinematics method and forward and backward reaching inverse kinematics (FABRIK) method are difficult to constrain the arm shape and realize trajectory tracking in confined spaces. To solve this problem, we propose a shape-controllable FABRIK method to satisfy the given path and shape constraints. Firstly, the kinematic model of the hyper-redundant robot is established, and the canonical FABRIK method is introduced. Based on the preliminary works, the single-layer improved FABRIK method is developed to solve the position and pointing inverse kinematics considering path environment and joint angle constraints instead of two-layer geometric iterations. For tracking the desired end roll angles, the polygonal virtual arm is designed. The real arm roll angle is achieved by controlling its winding on the virtual arm. In this way, the shape can be controlled. Finally, we compare the proposed method with other three approaches by simulations. Results show that the proposed method is more efficient and the arm shape is controllable.

Dietary antioxidant indices (DAI) may be potentially associated with relative telomere length (RTL) of leucocytes. This study aimed to investigate the relationship between DAI and RTL. A cross-sectional study involving 1656 participants was conducted. A generalised linear regression model and a restricted cubic spline model were used to assess the correlation of DAI and its components with RTL. Generalised linear regression analysis revealed that DAI (β = 0·005, P = 0·002) and the intake of its constituents vitamin C (β = 0·043, P = 0·027), vitamin E (β = 0·088, P < 0·001), Se (β = 0·075, P = 0·003), and Zn (β = 0·075, P = 0·023) were significantly and positively correlated with RTL. Sex-stratified analysis showed that DAI (β = 0·006, P = 0·005) and its constituents vitamin E (β = 0·083, P = 0·012), Se (β = 0·093, P = 0·006), and Zn (β = 0·092, P = 0·034) were significantly and positively correlated with RTL among females. Meanwhile, among males, only vitamin E intake (β = 0·089, P = 0·013) was significantly and positively associated with RTL. Restricted cubic spline analysis revealed linear positive associations between DAI and its constituents’ (vitamin E, Se and Zn) intake and RTL in the total population. Sex-stratified analysis revealed a linear positive correlation between DAI and its constituents’ (vitamin E, Se and Zn) intake and RTL in females. Our study found a significant positive correlation between DAI and RTL, with sex differences.

Submerged vegetation plays a subtle role in exchanging the fluid mass and energy in the vegetated flow zone, where the swaying motions of flexible plants are the important source of turbulent kinetic energy production. Flume experiments were conducted to study the modes, characteristics and factors of swaying of individual submerged flexible plants. A modified plant model in a new form, representing the highly flexible vegetation with clustered leaves, was employed. A ‘rigid-like’ synchronous swaying mode and a ‘whip-like’ asynchronous flapping mode are found to appear alternately for the individual plants. The interaction between these modes depends on the resulting local flow structure affected by the plants. Compared with a plant in isolation with the same flow Reynolds number, the swaying motions of a plant within the vegetation patch are less frequent but more prone to the synchronous mode. The eigen frequency of the motions increases linearly with an increase in flow Reynolds number in the range of 2 × 104–5 × 104, but the normalised amplitude reaches a saturation at a high flow Reynolds number. Moreover, the in-line and spanwise motions have a 2 : 1 frequency ratio for an ‘8’ shaped trajectory on the horizontal plane and a 1 : 1 ratio for a ‘0’ shaped circular trajectory, or a combination of both.

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.

Two kinetic models are proposed for high-temperature rarefied (or non-equilibrium) gas flows with internal degrees of freedom and radiation. One of the models uses the Boltzmann collision operator to model the translational motion of gas molecules, which has the ability to capture the influence of intermolecular potentials, while the other adopts the relaxation time approximations, which has higher computational efficiency. In our kinetic model equations, not only the transport coefficients such as the shear/bulk viscosity and thermal conductivity but also their underlying relaxation processes are recovered. The non-equilibrium dynamics of gas flow and radiation are tightly coupled, where the transport properties of gas molecules and photons are correlatively dependent. The proposed kinetic models are validated by the direct simulation Monte Carlo method in several non-radiative rarefied gas flows (e.g. the normal shock wave, Fourier flow, Couette flow and the creep flow driven by the Maxwell demon), and the experimental data of planar heat transfer and normal shock waves in nitrogen. Then, the rarefied gas flows with strong radiation are studied based on the kinetic models, not only in the above one-dimensional gas flows, but also in the two-dimensional radiative hypersonic flow passing a cylinder. The characteristics of heat transfer in the tightly coupled fields of gas and radiation are systematically investigated, particularly the influence of the non-equilibrium photon transport and their interactions with gas molecules are revealed. It is found that the radiation makes a profound contribution to the total heat transfer in radiative hypersonic flow at an intermediate photon Knudsen number.

The northern Alxa region is located in the central segment of the southern Central Asian Orogenic Belt. Many controversies and deficiencies still exist regarding the magma source characteristics, petrogenesis and tectonic regimes during the late Palaeozoic – early Mesozoic period within this region. This study presents whole-rock compositions and zircon U–Pb and Lu–Hf isotopic data for three early Mesozoic I- and A-type granitic plutons occurring in the northern Alxa region. The Haerchaoenji and Chahanhada I-type granitoids yielded zircon 206Pb–238U ages of 245 ± 5 Ma and 245 ± 2 Ma, respectively. The variable positive zircon ϵHf(t) values between +1.8 and +11.8, with young TDM ages of 425–837 Ma, indicate that these I-type granitoids were mainly derived from juvenile crustal materials. The Wulantaolegai pluton has a zircon 206Pb–238U age of 237 ± 2 Ma and is classified as having high-K calc-alkaline A-type affinity. Furthermore, the positive zircon ϵHf(t) values of the Wulantaolegai granite range from +3.3 to +8.7 with young TDM ages of 545–778 Ma, suggesting the involvement of a juvenile crustal source as well. Furthermore, the major-element compositions of the Chahanhada and Wulantaolegai granites suggest the input of metasedimentary components. Geochemically, the Haerchaoenji and Chahanhada I-type granitoids show an arc affinity, while the Wulantaolegai granite exhibits a post-collisional affinity. However, with regional data, we suggest that the Haerchaoenji and Chahanhada I-type granitoids were also emplaced in a post-collisional setting, and the arc affinity was probably inherited from recycled subduction-related materials. These lines of evidence obtained in this study enable us to argue that the Palaeo-Asian Ocean in the central segment of the Central Asian Orogenic Belt closed before Middle Triassic time.

The doctrine of ‘best interests of the child’ has guided courts in determining post-divorce child custody cases in Taiwan since 1996 amendments to the Civil Code. Amended Article 1055-1 requires judges to consider factors such as ‘the age, sex, and wishes of the child’ and ‘the age, occupation, character, health condition, economic condition, and lifestyle of the parents.’ However, previous studies have not clarified which factors judges consider primary. This article collects Taiwanese family court decisions from 2012 to 2017, involving 1,126 children whose parents were both Taiwanese and who both sought to acquire custody, in which Taiwanese district courts granted sole custody to the husband or wife. The article employs decision tree methodology, a commonly used machine learning technology. The article concludes that the three most significant factors considered by Taiwanese judges are first, which parent is the child's current primary caregiver, followed by the wishes of the child and the judge's assessment of parent-child interaction. This result runs counter to widely held beliefs that parental gender and parents’ occupations and economic resources are still prime factors in judges’ contemplation. Decision tree learning, we suggest, can assist parents’ and lawyers’ case evaluations and speed up extrajudicial custody determination arrangements.

Copy number variation (CNV) is a very common type of gene variation with high frequency. In recent years, CNV has been paid more attention in various fields, especially in livestock and poultry breeding, which has promoted the progress of breeding. WW domain binding protein 1-like (WBP1L) is a protein coding gene, which plays an important role in cattle populations, and its function has been extensively studied, but it is not clear whether the copy number of the gene can affect the growth and development of cattle populations. In this study, CNV of WBP1L gene was detected in 732 cattle of seven breeds (Qinchuan cattle, QC; Pinan cattle, PN; Yuengling cattle, YL; Xianan cattle, XN; Jiaxian cattle, JX; natural Guyuan cattle, NGY; Jian cattle, JA). In addition, the relationship between CNV and growth phenotype of cattle was studied. The experimental data indicate that the copy number of WBP1L was obviously correlated with heart girth of PN cattle (**P < 0.01), rump length (RL) and body weight (BW) of PN cattle (*P < 0.05), withers height (WH), RL, body length, chest depth and BW of JX cattle (*P < 0.05), WH of NGY cattle (*P < 0.05) and WH of JA cattle (*P < 0.05). It was proved that CNV of WBP1L gene could be used as molecular marker locus for genetic breeding of the above four cattle breeds.

The great demographic pressure brings tremendous volume of beef demand. The key to solve this problem is the growth and development of Chinese cattle. In order to find molecular markers conducive to the growth and development of Chinese cattle, sequencing was used to determine the position of copy number variations (CNVs), bioinformatics analysis was used to predict the function of ZNF146 gene, real-time fluorescent quantitative polymerase chain reaction (qPCR) was used for CNV genotyping and one-way analysis of variance was used for association analysis. The results showed that there exists CNV in Chr 18: 47225201-47229600 (5.0.1 version) of ZNF146 gene through the early sequencing results in the laboratory and predicted ZNF146 gene was expressed in liver, skeletal muscle and breast cells, and was amplified or overexpressed in pancreatic cancer, which promoted the development of tumour through bioinformatics. Therefore, it is predicted that ZNF146 gene affects the proliferation of muscle cells, and then affects the growth and development of cattle. Furthermore, CNV genotyping of ZNF146 gene was three types (deletion type, normal type and duplication type) by Real-time fluorescent quantitative PCR (qPCR). The association analysis results showed that ZNF146-CNV was significantly correlated with rump length of Qinchuan cattle, hucklebone width of Jiaxian red cattle and heart girth of Yunling cattle. From the above results, ZNF146-CNV had a significant effect on growth traits, which provided an important candidate molecular marker for growth and development of Chinese cattle.

Improving grain yield and lodging resistance are two important targets for improving rice production. The aim of this study was to link grain yield and lodging resistance with growth patterns in rice. A nitrogen (N) fertilization experiment was conducted in 2020 and 2021, which consisted of two N rates (150 and 225 kg ha–1) and three N split-application ratios among the basal, early tillering, and panicle initiation stages (6:3:1, 5:3:2, and 4:3:3). The results demonstrated that increasing the N rate from 150 to 225 kg ha–1 did not affect grain yield but increased the plant lodging index by 16%. This increase in the plant lodging index was attributable to a higher plant fresh weight resulting from improved post-heading growth and a lower plant lodging load, which was partially due to a higher leaf area index. Altering the N split-application ratio from 6:3:1 to 4:3:3 increased grain yield by 4% but did not affect the plant lodging index in rice. The increase in grain yield was due to improved post-heading growth mainly resulting from increased radiation use efficiency during the post-heading period, which was partially attributable to increased specific leaf weight. An improvement in pre-heading growth in 2021 did not affect grain yield but increased the plant lodging load and decreased the plant lodging index by 36% compared to 2020. The improvement in pre-heading growth was due to a higher intercepted solar radiation resulting from higher leaf area index and incident solar radiation during the pre-heading period. The results of this study indicate that improving pre-heading growth can maintain grain yield and increase lodging resistance, while improving post-heading growth by increasing canopy radiation use efficiency (but not the leaf area index) can increase grain yield and maintain lodging resistance.

Guite (IMA2017-080), Co3O4, is a new mineral species and an important economic mineral found in the Sicomines copper-cobalt mine, located ~11 km southwest of Kolwezi City, Democratic Republic of Congo. The mineral occurs as a granular agglomerate, 50 to 500 μm in size, and is associated closely with heterogenite in a quartz matrix. Guite is opaque, has a dark grey colour with metallic lustre and a black streak. In reflected light microscopy, it is white with no internal reflections. The reflectance values (in air, R in %) are: 27.0 (470 nm); 25.6 (546 nm); 25.2 (589 nm), and 24.6 (650 nm). The average of 20 electron-microprobe analyses is Co 71.53, Cu 0.58, Mn 0.67, Si 0.25, O 26.78, total 99.82 wt.%, corresponding to the empirical formula calculated on the basis of 4 O apfu: (Co2+0.92Cu2+0.02Si4+0.02)Σ0.96(Co3+1.98Mn3+0.03)Σ2.01O4.00, with Co2+ and Co3+ partitioned using charge balance. The ideal formula is Co2+Co3+2O4. Guite is cubic with space group Fd$\bar{3}$m. The unit cell parameters refined from the single crystal X-ray diffraction data are: a = 8.0898(1) Å, V = 529.436(11) Å3 and Z = 8. The calculated density of guite is 6.003 g/cm3. The eight strongest observed powder X-ray diffraction lines [d in Å (I/I0) (hkl)] are: 4.6714 (16.7) (111), 2.8620 (18.4) (220), 2.4399 (100) (311), 2.3348 (10.4) (222), 2.0230 (24.8) (400), 1.5556 (26.3) (511, 333), 1.4296 (37.7) (440) and 1.0524 (10.1) (731, 553). The crystal structure of guite was determined by single-crystal X-ray diffraction and refined to R = 0.0132 for 3748 (69 unique) reflections. Guite has a typical spinel-type structure with Co2+ in tetrahedral coordination with a Co2+–O bonding length of 1.941(1) Å, and Co3+ in octahedral coordination with a Co3+–O bonding length of 1.919(1) Å. The structure is composed of cross-linked framework of chains of Co3+–O6 octahedra sharing the equilateral triangle edges (2.550 Å) in three directions [0 1 1], [1 1 0], [1 0 1] with Co2+ filling the tetrahedral interstices among the chains. Guite is named in honour of Prof. Xiangping Gu (1964–).

The $\chi $ -stability index $\mathrm {es}_{\chi }(G)$ of a graph G is the minimum number of its edges whose removal results in a graph with chromatic number smaller than that of G. We consider three open problems from Akbari et al. [‘Nordhaus–Gaddum and other bounds for the chromatic edge-stability number’, European J. Combin. 84 (2020), Article no. 103042]. We show by examples that a known characterisation of k-regular ( $k\le 5$ ) graphs G with $\mathrm {es}_{\chi }(G) = 1$ does not extend to $k\ge 6$ , and we characterise graphs G with $\chi (G)=3$ for which $\mathrm { es}_{\chi }(G)+\mathrm {es}_{\chi }(\overline {G}) = 2$ . We derive necessary conditions on graphs G which attain a known upper bound on $\mathrm { es}_{\chi }(G)$ in terms of the order and the chromatic number of G and show that the conditions are sufficient when $n\equiv 2 \pmod 3$ and $\chi (G)=3$ .

Routine coronavirus disease 2019 (COVID-19) screening found 1 asymptomatic COVID-19 patient. An emergency sampling team was organized consisting of 1200 health-care workers, and a total of 3.2228 million COVID-19 samples had been collected and detected. This study summarizes the on-site management experience in large-scale COVID-19 nucleic acid testing from various aspects: staff preparation, materials preparation, site layout, logistics support, and information system support. Suggestions are put forward for the deficiencies and parts needing improvement. Such deficiencies included some sampling sites were not properly chosen, different areas were unclearly marked off from each other, and some site moving lines were confounding; how to communicate with the street service workers who had little professional knowledge on the epidemic spread or the working principles of the workflow and site layout; and the way to resolve conflicts on site.

Diarrhoea caused by pathogens such as enterotoxigenic E. coli (ETEC) is a serious threat to the health of young animals and human infants. Here, we investigated the protective effect of fructo-oligosaccharides (FOS) on the intestinal epithelium with ETEC challenge in a weaned piglet model. Twenty-four weaned piglets were randomly divided into three groups: (1) non-ETEC-challenged control (CON); (2) ETEC-challenged control (ECON); and (3) ETEC challenge + 2·5 g/kg FOS (EFOS). On day 19, the CON pigs were orally infused with sterile culture, while the ECON and EFOS pigs were orally infused with active ETEC (2·5 × 109 colony-forming units). On day 21, pigs were slaughtered to collect venous blood and small intestine. Result showed that the pre-treatment of FOS improved the antioxidant capacity and the integrity of intestinal barrier in the ETEC-challenged pigs without affecting their growth performance. Specifically, compared with ECON pigs, the level of GSH peroxidase and catalase in the plasma and intestinal mucosa of EFOS pigs was increased (P < 0·05), and the intestinal barrier marked by zonula occluden-1 and plasmatic diamine oxidase was also improved in EFOS pigs. A lower level (P < 0·05) of inflammatory cytokines in the intestinal mucosa of EFOS pigs might be involved in the inhibition of TLR4/MYD88/NF-κB pathway. The apoptosis of jejunal cells in EFOS pigs was also lower than that in ECON pigs (P < 0·05). Our findings provide convincing evidence of possible prebiotic and protective effect of FOS on the maintenance of intestinal epithelial function under the attack of pathogens.

Cancer remains the leading cause of death worldwide, and metastasis is still the major cause of treatment failure for cancer patients. Epithelial–mesenchymal transition (EMT) has been shown to play a critical role in the metastasis cascade of epithelium-derived carcinoma. Tumour microenvironment (TME) refers to the local tissue environment in which tumour cells produce and live, including not only tumour cells themselves, but also fibroblasts, immune and inflammatory cells, glial cells and other cells around them, as well as intercellular stroma, micro vessels and infiltrated biomolecules from the nearby areas, which has been proved to widely participate in the occurrence and progress of cancer. Emerging and accumulating studies indicate that, on one hand, mesenchymal cells in TME can establish ‘crosstalk’ with tumour cells to regulate their EMT programme; on the other, EMT-tumour cells can create a favourable environment for their own growth via educating stromal cells. Recently, our group has conducted a series of studies on the interaction between tumour-associated macrophages (TAMs) and colorectal cancer (CRC) cells in TME, confirming that the interaction between TAMs and CRC cells mediated by cytokines or exosomes can jointly promote the metastasis of CRC by regulating the EMT process of tumour cells and the M2-type polarisation process of TAMs. Herein, we present an overview to describe the current knowledge about EMT in cancer, summarise the important role of TME in EMT, and provide an update on the mechanisms of TME-induced EMT in CRC, aiming to provide new ideas for understanding and resisting tumour metastasis.

The Middle Miocene Climatic Optimum is known for abrupt events during the global cooling trend of the past 20 Ma. Its identification in the Tibetan Plateau can help explain the cause of the critical Middle Miocene climate transition in Central Asia. In this study, fine-grained mixed sediments widely distributed in the Miocene Qaidam Lake in the northern Tibetan Plateau were used as a sensitive indicator for palaeoclimate. Their geochemical characteristics were investigated, together with an analysis of 2600 m long successive gamma-ray logging data from the whole JS2 drillcore, to understand the mid-Miocene climate transition in the Tibetan Plateau. By comparing the gamma-ray curve of the mixed sediments with global temperature, the Middle Miocene Climatic Optimum event can be easily identified. Further, the detailed petrological features and geochemical data of lacustrine fine-grained mixed sediments from a 400 m drillcore show oxidizing, high-sedimentation rate and brackish-saline water conditions in a semi-arid climate during the Middle Miocene period, demonstrating a dryer climate in the Qaidam Basin than in the monsoon-sensitive regions in Central Asia. These fine-grained mixed sediments have recorded climate drying before 15.3 Ma that represents a climatic transition within the Middle Miocene Climatic Optimum; increasing carbonate-rich mixed sediments, decreasing algal limestone layers and decreasing lacustrine organic matter are indicators of this transition. Regional tectonic events include the retreat of the Paratethys from Central Asia at ∼15 Ma and the synchronous tectonic reorganization of the Altyn-Tagh fault system and the northeastern Tibetan Plateau. We find that global climate change is the primary factor affecting the overall characteristics and changes of the Neogene climate in the Qaidam Basin, including the occurrence of the Middle Miocene Climatic Optimum and the cooling and drying tendency, while the regional events are a secondary factor.

Nutritional Risk Screening index is a standard tool to assess nutritional risk, but epidemiological data are scarce on controlling nutritional status (CONUT) as a prognostic marker in acute haemorrhagic stroke (AHS). We aimed to explore whether the CONUT may predict a 3-month functional outcome in AHS. In total, 349 Chinese patients with incident AHS were consecutively recruited, and their malnutrition risks were determined using a high CONUT score of ≥ 2. The cohort patients were divided into high-CONUT (≥ 2) and low-CONUT (< 2) groups, and primary outcomes were a poor functional prognosis defined as the modified Rankin Scale (mRS) score of ≥ 3 at post-discharge for 3 months. Odds ratios (OR) with 95 % confidence intervals (CI) for the poor functional prognosis at post-discharge were estimated by using a logistic analysis with additional adjustments for unbalanced variables between the high-CONUT and low-CONUT groups. A total of 328 patients (60·38 ± 12·83 years; 66·77 % male) completed the mRS assessment at post-discharge for 3 months, with 172 patients at malnutrition risk at admission and 104 patients with a poor prognosis. The levels of total cholesterol and total lymphocyte counts were significantly lower in high-CONUT patients than low-CONUT patients (P = 0·012 and < 0·001, respectively). At 3-month post discharge, there was a greater risk for the poor outcome in the high-CONUT compared with the low-CONUT patients at admission (OR: 2·32, 95 % CI: 1·28, 4·17). High-CONUT scores independently predict a 3-month poor prognosis in AHS, which helps to identify those who need additional nutritional managements.