In typical calibration methods (kinematic or non-kinematic) for serial industrial robot, though measurement instruments with high resolutions are adopted, measurement configurations are optimized, and redundant parameters are eliminated from identification model, calibration accuracy is still limited under measurement noise. This might be because huge gaps still exist among the singular values of typical identification Jacobians, thereby causing the identification models ill conditioned. This paper addresses such problem by using new identification models established in two steps. First, the typical models are divided into the submodels with truncated singular values. In this way, the unknown parameters corresponding to the abnormal singular values are removed, thereby reducing the condition numbers of the new submodels. However, these models might still be ill conditioned. Therefore, the second step is to further centralize the singular values of each submodel by using a matrix balance method. Afterward, all submodels are well conditioned and obtain much higher observability indices compared with those of typical models. Simulation results indicate that significant improvements in the stability of identification results and the identifiability of unknown parameters are acquired by using the new identification submodels. Experimental results indicate that the proposed calibration method increases the identification accuracy without incurring additional hardware setup costs to the typical calibration method.

A southern population (S) from Xiushui County (29°1′N, 114°4′E) and a northern population (N) from Shenyang city (41°48′N, 123°23′E) of the cabbage beetle, Colaphellus bowringi vary greatly in their life-history traits, and may serve as an excellent model with which to study the inheritance of life-history traits. In the present study, we performed intraspecific hybridization using the two populations, comparing the key life-history traits (fecundity, development time, body weight, growth rate, and sexual size dimorphism (SDD)) between the two populations (S♀ × S♂ and N♀ × N♂) and their two hybrid populations (S♀ × N♂ and N♀ × S♂ populations) at 19, 22, 25, and 28°C. Our results showed that there were significant differences in life-history traits between the two parental populations, with the S population having a significantly higher fecundity, shorter larval development time, larger body weight, higher growth rate, and greater weight loss during metamorphosis than the N population at almost all temperatures. However, these life-history traits in the two hybrid populations were intermediate between those of their parents. The life-history traits in the S × N and N × S populations more closely resembled those of the maternal S population and N population, respectively, showing maternal effects. Weight loss for both sexes was highest in the S population, followed by the S × N, N × S, and N populations at all temperatures, suggesting that larger pupae lost more weight during metamorphosis. The changes in SSD with temperature were similar between the S and the S × N populations and between the N and the N × S populations, also suggesting a maternal effect. Overall, our results showed no drastic effect of hybridization on C. bowringi, being neither negative (hybrid inferiority) nor positive (heterosis). Rather, the phenotypes of hybrids were intermediate between the phenotypes of their parents.

High fibre intake is associated with reduced mortality risk in both general and chronic kidney disease populations. However, in dialysis patients, such data are limited. Therefore, the association between dietary fibre intake (DFI) and the risk of all-cause and CVD mortality was examined in this study. A total of 1044 maintenance haemodialysis (MHD) patients from eight outpatient dialysis centres in China were included in this study. Data on DFI were collected using 24-h dietary recalls for 3 d in a week and were normalised to actual dry weight. The study outcomes included all-cause and CVD mortality. Over a median of 46 months of follow-up, 354 deaths were recorded, of which 210 (59 %) were due to CVD. On assessing DFI as tertiles, the CVD mortality risk was significantly lower in patients in tertiles 2–3 (≥0·13 g/kg per d; hazard ratio (HR) 0·71; 95 % CI 0·51, 0·97) compared with those in tertile 1 (<0·13 g/kg per d). A similar but non-significant trend was found for the association between DFI (tertiles 2–3 v. tertile 1; HR 0·83; 95 % CI 0·64, 1·07) and all-cause mortality. In summary, higher DFI was associated with lower CVD mortality risk among Chinese MHD patients. This study emphasises the significance of DFI in MHD patients and provides information that is critical for the improvement of dietary guidelines for dialysis patients.

This study aims to ascertain the long-term epidemic trends of malaria and evaluates the probability of achieving the eradication goal by 2020 in China. Data on malaria incidence and deaths were extracted from the China Information System for Disease Control and Prevention. The epidemic trends by sex, age and spatial distribution and predictions of malaria were estimated by using Joinpoint and Poisson regressions. From 1950 to 2016, 227 668 374 malaria cases were reported in China, with an annualised average incidence of 337.02 (336.98–337.07, 95% confidence interval (CI)) per 100 000 population. The incidence decreased with an average annual per cent change (AAPC) of −11.4% (−16.6 to −6.0). There were 36 085 malaria deaths, with an annualised average mortality of 0.534 (0.529–0.540) per 1 000 000 population. The mortality decreased with an AAPC of −8.7% (−13.7 to −3.4). The predicted number of malaria cases and deaths for 2020 is 2 562 and 10, respectively, and zero for indigenous cases. The disease burden of malaria dramatically decreased in China. Though, the goal of malaria elimination is realistic by 2020 in China, routine clinical and entomological surveillance should be continually conducted, especially for the cross-border areas and imported malaria cases.

A vocabulary acquisition learning activity was designed and a learning system featuring image-to-text recognition technology to support the activity was developed. The effectiveness of the system with regard to facilitating vocabulary acquisition was tested. The perceptions of learners toward this tool and the affordances of the system for vocabulary acquisition were also explored. To this end, we designed an experiment in which 40 native speakers of Russian learning English as a foreign language from an elementary school participated. They were assigned to either a control condition or an experimental condition. All learners learned new vocabulary in class and then applied their new knowledge to contexts with a realistic simulation of the real world by completing a learning task. The learners in the control group used a traditional approach (e.g. the learners learned vocabulary from corresponding pictures in a textbook), whereas the learners in the experimental group used the proposed learning system (e.g. the learners learned vocabulary using the system). A pre-test–post-test/delayed post-test design was employed to test the effectiveness of the treatment on vocabulary acquisition. Learner perceptions and perceived affordances of the system for vocabulary acquisition were explored through a questionnaire survey and interviews. The quantitative results showed that the learners in the experimental group outperformed their counterparts on both the vocabulary post-test and delayed post-test. The qualitative results revealed that most learners in the experimental group had positive perceptions of the system. In addition, the qualitative results showed the three main categories of affordances. Based on these results, several suggestions and implications are provided for the teaching and research community.

The Chinese National Twin Registry (CNTR), initiated in 2001, has now become the largest twin registry in Asia. From 2015 to 2018, the CNTR continued to receive Chinese government funding and had recruited 61,566 twin-pairs by 2019 to study twins discordant for specific exposures such as environmental factors, and twins discordant for disease outcomes or measures of morbidity. Omic data, including genetics, genomics, metabolomics, and proteomics, and gut microbiome will be tested. The integration of omics and digital technologies in public health will advance our understanding of precision public health. This review introduces the updates of the CNTR, including study design, sample size, biobank, zygosity assessment, advances in research and future systems epidemiologic research.

Maintenance haemodialysis (MHD) is the use of a machine to filter wastes, salts and fluid from blood for at least 3 months to prolong the life of patients with advanced kidney failure. Although low dietary energy intake (DEI) has been observed in MHD patients, few studies have related DEI to the risk of mortality. To explore this relationship, a study included 1039 MHD patients from eight centres was conducted. DEI was assessed by three 24-h diet recalls and was normalised to ideal body weight (IBW). All-cause mortality and CVD mortality were the primary and secondary outcomes, respectively. During a median follow-up of 28 months, a U-shaped relationship was observed between DEI and all-cause or CVD mortality. The risk of all-cause mortality decreased significantly with the increase of DEI in participants with DEI <167·4 kJ/kg IBW per d (hazard ratio (HR) 0·98; 95 % CI 0·96, 1·00) and increased significantly with the increase of DEI in those with DEI ≥167·4 kJ/kg IBW per d (HR 1·12; 95 % CI 1·04, 1·20). Similarly, the risk of CVD mortality decreased with the increase of DEI in participants with DEI <152·7 kJ/kg IBW per d (HR 0·96; 95 % CI 0·93, 0·99) and increased with the increase of DEI in participants with DEI ≥152·7 kJ/kg IBW per d (HR 1·11; 95 % CI 1·04, 1·18). In summary, there was a U-shaped association between DEI and all-cause or CVD mortality, with a turning point at about 167·4 and 152·7 kJ/kg IBW per d, respectively, in MHD patients.

The effects of straw alone or combined with industrial and agricultural wastes as fertilizers on greenhouse gas (GHG) emissions are still poorly known in cropland areas. Here, we studied the effects of 3.5 Mg ha−1 straw and 3.5 Mg ha−1 straw combined with 8 Mg ha−1 of diverse wastes on GHG emission in a subtropical Jasminum sambac plantation in southeastern China. There were five treatments in a completely randomized block design: control, straw only, straw + biochar, straw + steel slag, and straw + gypsum slag. Emissions of carbon dioxide were generally higher in the treatments with waste than in the control or straw-only treatments, whereas the contrary pattern was observed in CH4 and N2O emission rates. Moreover, the total global warming potentials (GWPs) were no significantly higher in most of the amended treatments as compared to the control and straw-only treatments. In relation to the treatment with only straw, GWPs were 9.4% lower when steel slag was used. This finding could be a consequence of Fe amount added by steel slag, which would limit and inhibit the emissions of GHGs and their transport from soil to atmosphere. Our results showed that the application of slags did not increase the emission of GHGs and that the combination of straw with steel slag or biochar could be more effective than straw alone for controlling GHGs emission and improve soil C and nutrient provision.

High-yielding short-duration cultivars are required due to the development of mechanized large-scale double-season rice (i.e. early- and late-season rice) production in China. The objective of this study was to identify whether existing early-season rice cultivars can be used as resources to select high-yielding, short-duration (less than 115 days) cultivars of machine-transplanted late-season rice. Field experiments were conducted in Yongan, Hunan Province, China in the early and late rice-growing seasons in 2015 and 2016. Eight early-season rice cultivars (Liangyou 6, Lingliangyou 211, Lingliangyou 268, Xiangzaoxian 32, Xiangzaoxian 42, Zhongjiazao 17, Zhongzao 39, and Zhuliangyou 819) with growth durations of less than 115 days were used in 2015, and four cultivars (Lingliangyou 268, Zhongjiazao 17, Zhongzao 39, and Zhuliangyou 819) with good yield performance in the late season in 2015 were grown in 2016. All cultivars had a growth duration of less than 110 days when grown in the late season in both years. Zhongjiazao 17 produced the maximum grain yield of 9.61 Mg ha−1 with a daily grain yield of 108 kg ha−1 d−1 in the late season in 2015. Averaged across both years, Lingliangyou 268 had the highest grain yield of 8.57 Mg ha−1 with a daily grain yield of 95 kg ha−1 d−1 in the late season. The good yield performance of the early-season rice cultivars grown in the late season was mainly attributable to higher apparent radiation use efficiency. Growth duration and grain yield of early-season rice cultivars grown in the late season were not significantly related to those grown in the early season. Our study suggests that it is feasible to select high-yielding short-duration cultivars from existing early-season rice cultivars for machine-transplanted late-season rice production. Special tests by growing alternative early-season rice cultivars in the late season should be done to determine their growth duration and grain yield for such selection.

Bismuth (Bi)-based photocatalytic materials are widely used in the field of photocatalytic degradation of wastewater. In this study, β-Bi2O3/BiOBr heterojunction photocatalysts were prepared by an in situ chemical transformation method. BiOBr molecules are arrayed to cross each other to form a pore around β-Bi2O3. The prepared photocatalyst had a large specific surface area and excellent adsorption and photocatalytic properties. The β-Bi2O3/BiOBr with a molecular ratio of 11.1% had the highest catalytic activity. The result of a degradation experiment, performed with Rhodamine B (RhB) as the target pollutant, revealed that the degradation rate reached 99.85% after 25 min under visible light irradiation. The pore structure can adsorb contaminants and the heterojunction facilitates the separation of photogenerated electron–hole pairs to enhance the photocatalytic properties. The high adsorption performance and heterojunction achieved higher photocatalytic efficiency. This semiconductor photocatalyst with high adsorption performance provides a new approach to control water pollution.

Severe phase coarsening and separation in Sn–Bi alloys have brought increasing reliability concern in microelectronic packages. In this study, a phase field model is developed to simulate the microstructural evolution and evaluate the change in macroscopic physical properties of the flip chip Cu/Sn58Bi/Cu joint under the conditions of isothermal aging, as well as the coupled loads of elastic stress and electric current stressing. Results show that large-sized Bi-rich phase particles grow up at the expense of small-sized ones. Under the coupled loads, Bi atoms migrate along the electron flow direction, consequently Bi-rich phase segregates to form a Bi-rich phase layer at the anode. The current crowding ratio in the solder decreases rapidly first and then fluctuates slightly with time. Current density and von Mises stress exhibit inhomogeneous distribution, and both of them are higher in the Sn-rich phase than in the Bi-rich phase. Electric current transfers through the Sn-rich phase and detours the Bi-rich phase. As time proceeds, the resistance of the solder joint increases, and the average von Mises stress of the solder joint decreases. The Bi-rich phase coarsens much faster under the coupled loads than under the conditions of isothermal aging.

In magnetized plasma situations where magnetic fields intersect massive conducting boundaries, ‘line-tied’ boundary conditions are often used, analytically and in numerical simulations. For ideal magnetohydrodynamic (MHD) plasmas, these conditions are arrived at given the relatively long time scales for magnetic fields penetrating resistively into good conductors. Under line-tied boundary conditions, numerical simulations often exhibit what could be construed as numerical ‘noise’ emanating from the boundaries. We show here that this ‘noise’ is real. By combining numerical and analytical methods, we highlight the existence of sharp spatial structures near the conductors and confirm the appearance of short wavelength structures riding on long wavelength modes. We conclude that, for numerical fidelity, the short multiscale structures need to be resolved. Generally, the short structure widths scale as the square root of the plasma  $\unicode[STIX]{x1D6FD}$ .

The development of mechanised large-scale farming has led to changes in rice production systems. Increases in time of farming operations often occur under large-scale farming conditions, which can lead to delayed transplanting (DTP). In this study, field experiments were conducted in the late rice-growing season in 2016 and 2017 to compare the growth stages, growing-season temperature and yield attributes between normal transplanting with 15- to 20-day-old seedlings and DTP with 30-day-old seedlings of two rice cultivars. DTP resulted in 6- and 12-day delays in heading stage for both cultivars in 2016 and 2017, respectively. As a consequence, low temperature stress occurred at anthesis under DTP in both years, which led to significantly reduced spikelet filling and grain yield under DTP for both cultivars. These results confirm that DTP can reduce spikelet filling and grain yield due to low temperature stress at anthesis in machine-transplanted late-season rice. This finding highlights that greater efforts should be made to develop high-yielding short-duration rice cultivars to meet the development of mechanised large-scale rice farming.