Unmanned aerial vehicles (UAVs) possess fast-moving abilities and have been used in various tasks in the past decades. However, their performances are still restricted by insufficient endurance and confined environments. Intuitively, combining other locomotion modes with UAVs, such as diving and driving, would be an appropriate idea to improve the robot’s adaptability and solve the endurance problem. Recently, the terrestrial/aerial hybrid robots have drawn the researchers’ eyes for their outstanding performances, which can deploy flight mode to traverse insurmountable terrains and ground mode to increase endurance and realize detailed searches. Therefore, this paper developed the autonomous quadrotor tilting hybrid robot (AQT-HR) to achieve terrestrial/aerial dual-modal mobility and verified that the robot delivers high energy efficiency. The AQT-HR can achieve flying and driving through a quadrotor tilting mechanism, which can alter one single driving force into different directions. Furthermore, the dynamic models of the hybrid robot’s aerial and ground locomotion are derived and introduced into the model-feedforward PID control algorithm for improving the robot’s flying stability. Finally, we conducted some mobility tests and experiments about traversing obstacles to demonstrate that the proposed hybrid robot can realize autonomous mode switching and perform a low energy consumption in ground movement mode.

In the present study, we investigate the compressibility effects in supersonic and hypersonic turbulent boundary layers under the influence of wall disturbances by exploiting direct numerical simulation databases at Mach numbers up to 6. Such wall disturbances enforce extra Reynolds shear stress on the wall and induce mean streamline curvature in rough wall turbulence that leads to the intensification of turbulent motions in the outer region. The turbulent and fluctuating Mach numbers, the density and the velocity divergence fluctuation intensities suggest that the compressibility effects are enhanced by the increment of the free-stream Mach number and the implementation of the wall disturbances. The differences between the Reynolds and Favre average due to the density fluctuations constitute approximately $9\,\%$ of the mean velocity close to the wall and $30\,\%$ of the Reynolds stress near the edge of the boundary layer, indicating their non-negligibility in turbulent modelling strategies. The comparatively strong compressive events behaving as eddy shocklets are observed at the free-stream Mach number of $6$ only in the cases with wall disturbances. By further splitting the velocity into the solenoidal and dilatational components with the Helmholtz decomposition, we found that the dilatational motions are organized as travelling wave packets in the wall-parallel planes close to the wall and as forward inclined structures in the form of radiated waves in the vertical planes. Despite their increased magnitudes and higher portion in the Reynolds normal and shear stresses, the dilatational motions show no tendency of contributing significantly to the skin friction and the production of turbulent kinetic energy due to their mitigation by the cross-correlation between the solenoidal and dilatational velocity components.

Obeticholic acid (OCA), a farnesoid X receptor (FXR) agonist, has been demonstrated to ameliorate the histopathological characteristics of liver damage. Nonetheless, the systemic safety profile of OCA with regard to reproduction and development remains poorly understood. In the present study, we conducted a dose–response experiment by administering OCA at doses of 5 mg/kg, 10 mg/kg, or 20 mg/kg through tube feeding to investigate its effect on reproductive development and fertilization rate in both male and female mice. Furthermore, we evaluated the levels of protein and mitochondrial function in the placenta through western blot, qPCR, and scanning electron microscopy. The results showed that 10 mg/kg and 20 mg/kg OCA doses significantly reduced the rate of placental implantation (P < 0.05). Also, OCA increased maternal body weight. In addition, OCA increased levels of FXR and TGR5 and produced changes in oxidative stress levels (P < 0.05). Mitochondrial activity result found that 10 mg/kg and 20 mg/kg of OCA significantly reduced the mitophagy autosomes/nucleus compared with the normal control group (P < 0.05). What is more, there was no significant difference in sperm count after OCA intervention in either C57BL/10 mice or BALB/c mice. Overall, we demonstrated that OCA treatment protected against placental implantation by suppressing placental oxidative stress and mitochondrial activity.

In spring 2020, U.S. schools universally transitioned to online learning due to the COVID-19 pandemic’s onset, thus creating a natural experiment for examining adolescents’ risk and resilience during an ongoing school crisis response. This longitudinal study used a daily-diary approach to investigate the role of social support in the link between remote learning and psychological well-being across 64 days among a national sample of adolescents (n = 744; 42% Black, 36% White, 22% Other ethnicity/race; 41% boys; 72% eligible for free/reduced-priced lunch; Mage=14.60, SDage=1.71, age-range = 12–17 years). On days when youth attended remote learning, they reported lower daily positive affect, more daily stress, and higher parent social support. There were no significant differences in the effect of remote learning on affect or stress by race or economic status. On days when youth experienced more parent support, they reported lower daily stress and negative affect and higher daily positive affect. On days when youth experienced more peer support, they reported higher daily positive affect. Overall, the study highlights the impact of pandemic-onset remote learning on adolescents’ psychological well-being and emphasizes the need for future research on school crisis contingency planning to address these challenges.

This paper proves the finite axiomatizability of transitive modal logics of finite depth and finite width w.r.t. proper-successor-equivalence. The frame condition of the latter requires, in a rooted transitive frame, a finite upper bound of cardinality for antichains of points with different sets of proper successors. The result generalizes Rybakov’s result of the finite axiomatizability of extensions of $\mathbf {S4}$ of finite depth and finite width.

Although ethanol treatment is widely used to activate oocytes, the underlying mechanisms are largely unclear. Roles of intracellular calcium stores and extracellular calcium in ethanol-induced activation (EIA) of oocytes remain to be verified, and whether calcium-sensing receptor (CaSR) is involved in EIA is unknown. This study showed that calcium-free ageing (CFA) in vitro significantly decreased intracellular stored calcium (sCa) and CaSR expression, and impaired EIA, spindle/chromosome morphology and developmental potential of mouse oocytes. Although EIA in oocytes with full sCa after ageing with calcium does not require calcium influx, calcium influx is essential for EIA of oocytes with reduced sCa after CFA. Furthermore, the extremely low EIA rate in oocytes with CFA-downregulated CaSR expression and the fact that inhibiting CaSR significantly decreased the EIA of oocytes with a full complement of CaSR suggest that CaSR played a significant role in the EIA of ageing oocytes. In conclusion, CFA impaired EIA and the developmental potential of mouse oocytes by decreasing sCa and downregulating CaSR expression. Because mouse oocytes routinely treated for activation (18 h post hCG) are equipped with a full sCa complement and CaSR, the present results suggest that, while calcium influx is not essential, CaSR is required for the EIA of oocytes.

The oblique shock impinging on the supersonic turbulent boundary layer leads to a mixing layer and the emergence of large-scale coherent structures within the interaction zone which leave significant velocity defect and turbulence amplification downstream. In the present study, we investigate the turbulence recovery in the post-shock region by exploiting direct numerical simulation data of the oblique-shock/turbulent boundary layer interaction flow at the incoming Mach number of $2.28$ and the shock angle of $33.2^\circ$, with special attention paid to the contribution of the mixing layer and large-scale structures to flow dynamics. For that purpose, we propose to split the mean velocity, Reynolds stresses and spanwise spectra into a canonical portion that is constructed according to the statistics of canonical turbulent boundary layers, and a mixing-layer-induced portion. We found that the hidden mixing layer grows with the boundary layer thickness and that the induced mean shear and Reynolds stresses decay at different rates. The mean velocity recovers to the canonical profiles at a distance of 13 boundary layer thicknesses downstream where the mixing-layer-induced mean shear ceases to have strong impacts. The recovery of Reynolds stresses requires 10 boundary layer thicknesses in the near-wall region but a much longer streamwise extent in the outer region due to the slow decay of large-scale motions. These large-scale motions superpose on the near-wall turbulence, intensifying the turbulent fluctuations, yet having a trivial impact on the skin friction, for the contribution of the mixing-layer-induced mean shear and Reynolds shear stress are balanced by the advection term. We further establish a simple physical model capable of approximately predicting the streamwise evolution of mixing-layer-induced mean shear and turbulent kinetic energy. This model suggests that the complete recovery of turbulence in the outer region requires a streamwise extent of approximately 50 boundary layer thicknesses.

High-speed water entry is a transient hydrodynamic process that is accompanied by strongly compressible flow, free surface splash, cavity evolution and other nonlinear hydrodynamic phenomena. To address these problems, a novel fluid–structure interaction (FSI) scheme based on the immersed boundary method is proposed which is suitable for strongly compressible multiphase flows. In this scheme, considering the multiphase interfaces at the immersed boundary, an improved immersed boundary method for effectively suppressing the non-physical force oscillation is proposed. Additionally, a quaternion-based six degrees of freedom motion system is used to describe rigid body motion, and the multiphase flow Eulerian finite element method is applied as the fluid solver. Using analytical solutions, experimental data and literature data, the accuracy and robustness of the FSI scheme are validated. Finally, the high-speed water entry of the slender body with different noses is investigated, and the hydrodynamic loads including the axial and normal drag forces and the bending moment are extensively discussed. The hydrodynamic load and motion trajectory are determined by the nose configuration. The tail slamming phenomenon is the primary focus, and it is revealed that its formation is primarily related to the pitch moment formed at the stage of crossing the free surface. Tail slamming also causes violent impact loads, especially bending moments, which may cause slender projectiles to break off. Finally, to combine the features of the flat and hemispherical noses, the water entry of the projectile with a truncated hemispherical nose is simulated and discussed.

Everyone faces uncertainty on a daily basis. Two kinds of probability expressions, verbal and numerical, have been used to characterize the uncertainty that we face. Because our cognitive concept of living things differs from that of non-living things, and distinguishing cognitive concepts might have linguistic markers, we designed four studies to test whether people use different probability expressions when faced with animate or inanimate uncertainty. We found that verbal probability is the preferred way to express animate uncertainty, whereas numerical probability is the preferred way to express inanimate uncertainty. The “verbal-animate” and “numerical-inanimate” associations were robust enough to persist when tested with forced-choice response patterns regardless of the information (e.g., equally likely outcomes, frequencies, or personal beliefs) used to construct probabilities of events. When the response pattern was changed to free-responses, the associations were evident unless the subjects were asked to write their own probability predictions for vague uncertainty. Given that the world around us consists of both animate (i.e., living) and inanimate (i.e., non-living) things, “verbal-animate” and “numerical-inanimate” associations may play a major role in risk communication and may otherwise be useful for practitioners and consultants.

This article introduces the 2D multilayer Laue lens (MLL) nanofocusing optics recently developed for high-resolution hard X-ray microscopy. The new optics utilized a micro-electro-mechanical-system (MEMS)-based template to accommodate two linear MLL optics in a pre-aligned configuration. Angular misalignment between the two lenses was controlled in tens of millidegrees, and the lateral position error was on a micrometer scale. Using the developed 2D MLLs, an astigmatism-free point focus of approximately 14 nm by 13 nm in horizontal and vertical directions, respectively, at 13.6 keV photon energy was obtained. The success of 2D MLL optics with an approaching 10 nm resolution is a significant step forward for the development of high-resolution hard X-ray microscopy and applications of MLL optics in the hard X-ray community.

Turbulence amplification and the large-scale coherent structures in shock wave/turbulent boundary layer interaction flows have been studied at length in previous research, while the direct association between these two flow features is still lacking. In the present study, the transport equation of turbulent kinetic energy spectra is derived and utilized to analyse the scale-by-scale energy budget across the interaction zone, enabling us to reveal the association between the genesis of the large-scale motions and the turbulence amplification. For the presently considered flow with incipient shock-induced separation, we identified in turbulent kinetic energy spectra distribution that the most energetic motions are converted from the near-wall small-scale motions to large-scale motions consisting of velocity streaks and cross-stream circulations as they go through the interaction zone. The amplification of streamwise velocity fluctuation is triggered first, resulting in the emergence of large-scale velocity streaks, which is attributed to the adverse pressure gradient, as indicated by the spectra of the production term. The energy carried by large-scale velocity streaks is transferred to other velocity components by the pressure-strain term, producing large-scale cross-stream circulations. When large-scale motions are convected downstream, their energy is transferred via turbulent cascade to smaller scales and dissipated by viscosity. The spanwise uniform fluctuations, reminiscent of the unsteadiness of the separation bubble, are contributed primarily by the inter-scale energy transfer from the finite spanwise scale motions.

It has been suggested that added sugar intake is associated with non-alcoholic fatty liver disease (NAFLD). However, previous studies only focused on sugar-sweetened beverages; the evidence for associations with total added sugars and their sources is scarce. This study aimed to examine the associations of total added sugars, their physical forms (liquid v. solid) and food sources with risk of NAFLD among adults in Tianjin, China. We used data from 15 538 participants, free of NAFLD, other liver diseases, CVD, cancer or diabetes at baseline (2013–2018 years). Added sugar intake was estimated from a validated 100-item FFQ. NAFLD was diagnosed by ultrasonography after exclusion of other causes of liver diseases. Multivariable Cox proportional hazards models were fitted to calculate hazard ratios (HR) and corresponding 95 % CI for NAFLD risk with added sugar intake. During a median follow-up of 4·2 years, 3476 incident NAFLD cases were documented. After adjusting for age, sex, BMI and its change from baseline to follow-up, lifestyle factors, personal and family medical history and overall diet quality, the multivariable HR of NAFLD risk were 1·18 (95 % CI 1·06, 1·32) for total added sugars, 1·20 (95 % CI 1·08, 1·33) for liquid added sugars and 0·96 (95 % CI 0·86, 1·07) for solid added sugars when comparing the highest quartiles of intake with the lowest quartiles of intake. In this prospective cohort of Chinese adults, higher intakes of total added sugars and liquid added sugars, but not solid added sugars, were associated with a higher risk of NAFLD.

The purpose of the current study was to research the factors influencing thyroid volume (TVOL) in 6–12-year-old children and update the reference values. A cross-sectional study was carried out in iodine-sufficient areas of four provinces in China. Urine, edible salt and drinking water samples were collected from children. Children’s height, weight and TVOL were measured. Ridge regression was used to screen variables for solving the multicollinearity problem. Quantile regression was used to analyse the relationship between the quantiles of TVOL and other variables. In total, 5653 children aged 6–12 years were enrolled in this study, including 2838 boys and 2815 girls. There was no significant difference in TVOL between boys and girls (P > 0·05). Spearman correlation analysis showed that total TVOL was positively correlated with age, height, weight, body surface area (BSA) and BMI, and the correlation coefficients were 0·616, 0·663, 0·669, 0·685 and 0·479, respectively. Among them, the correlation between TVOL and BSA was the strongest. According to the ridge regression results, age and BSA influenced TVOL, and the ridge regression coefficients were 0·13 and 0·94, respectively. Quantile regression further showed that age and BSA had significant influences on the whole TVOL distribution (P < 0·001). Therefore, the TVOL of children aged 6–12 years in China was mainly influenced by age and BSA, and reference values for TVOL of different genders based on age and BSA were established.

This 62-d research aimed to evaluate the effects of dietary lysine levels (DLL) and salinity on growth performance and nutrition metabolism of genetically improved farmed tilapia (GIFT) juveniles (Oreochromis niloticus). Six diets with lysine supplementation (1·34, 1·70, 2·03, 2·41, 2·72 and 3·04 % of DM) were formulated under different cultured salinities in a two-factorial design. The results indicated that supplemental lysine improved the specific growth rate (SGR) and weight gain (WG) and decreased the feed conversion ratio (FCR). Meanwhile, the fish had higher SGR and WG and lower FCR at 8 ‰ salinity. Except for moisture, the whole-body protein, lipid and ash content of GIFT were increased by 8 ‰ salinity, which showed that DLL (1·34 %) increased the whole-body fat content and DLL (2·41 %) increased whole-body protein content. Appropriate DLL up-regulated mRNA levels of protein metabolism-related genes such as target of rapamycin, 4EBP-1 and S6 kinase 1. However, 0 ‰ salinity reduced these protein metabolism-related genes mRNA levels, while proper DLL could improve glycolysis and gluconeogenesis mRNA levels but decrease lipogenesis-related genes mRNA levels in liver. 0 ‰ salinity improved GLUT2, glucokinase and G6 Pase mRNA levels; however, sterol regulatory element-binding protein 1 and fatty acid synthase mRNA levels were higher at 8 ‰ salinity. Moreover, 8 ‰ salinity also increased plasma total protein and cholesterol levels and decreased glucose levels. These results indicated that the recommended range of lysine requirement under different salinity was 2·03–2·20 % (0 ‰) and 2·20–2·41 % (8 ‰) and 8 ‰ salinity resulted in higher lysine requirements due to changes in the related nutrient metabolism, which might provide useful information for designing more effective feed formulations for GIFT cultured in different salinity environment.

Predictive models for near-wall velocity and temperature fluctuations in compressible wall-bounded turbulence are developed in the present study based on the model proposed by Marusic et al. (Science, vol. 329 (5988), 2010, pp. 193–196), which incorporates the superposition and amplitude modulation effects of the large-scale motions in the outer region on near-wall turbulence. The density variation is involved in the predictive model for velocity fluctuations to achieve Mach number independence. The predictive model for temperature fluctuations is derived to keep its consistency with the strong Reynolds analogy, in which the modulation effect is supposed to be cast as the quadratic function of the large-scale velocity fluctuations. An algebraic method is proposed to directly determine the modulation coefficients and extract the universal signals. A direct numerical simulation (DNS) of turbulent channel flow at the friction Reynolds number of $1170$ and bulk Mach number of $2.88$ is carried out for parameter calibration and validations. The variances and joint probability density functions of the predicted velocity and temperature fluctuations agree well with the DNS results.