To solve the constant contact force control problem between the end tool of a 5 degrees of freedom hybrid optical mirror processing robot and a workpiece, an adaptive impedance control method for the pneumatic servo-polishing system of the robot is designed. Firstly, the pneumatic servo-polishing control system at the end of the robot is set up. Secondly, the impedance control method for contact force is investigated based on the mathematical model of the pneumatic servo-polishing control system. Additionally, the causes of steady-state error of impedance control are analyzed theoretically, and the calculation method for steady-state error of impedance control is deduced. Finally, an indirect adaptive impedance controller based on Lyapunov Stability Principle is developed to estimate the environmental stiffness and position online, so as to reduce steady-state error and realize the tracking of polishing contact force. The simulation and experimental results suggest that the adaptive impedance control method not only recognizes that the contact force of the robot is relatively constant during the polishing process but also has high control accuracy for the force, fast-tracking response for the abrupt force, and considerable adaptability to the variable environmental stiffness.

The near wake of a hemisphere immersed in a laminar boundary layer is studied utilizing time-resolved tomographic particle image velocimetry (TPIV). Focus is placed on the three-dimensional vortical structures and the formation details of hairpin vortices before the onset of transition. The three-dimensional instantaneous pressure field of the hemisphere wake is reconstructed for better understanding the flow mechanism. Experiments are carried out with Reynolds number $Re_{r}=1370$, based on the hemisphere radius $R$. Features of periodicity of the near wake are analysed using proper orthogonal decomposition and Fourier transformation. The velocity fluctuation in the wall-normal direction is shown to be crucial to the formation of hairpin vortices in the near wake. By investigating the transport of mass and vorticity, and the correlation between pressure and hairpin vortex strength, the formation mechanism is revealed clearly. Specifically, the main hairpin vortices (MHVs) are formed within the reaction of outer high-speed flow and near-wall flow. The formation of the head portion is followed by the leg portion formation. The shedding of the MHVs is highly correlated with the pressure, as well as the pressure gradient in the wall-normal direction. For the side hairpin vortices (SHVs), the leg portion is formed first, followed by the generation of the head portion thanks to induction of the re-oriented standing vortices. The generation of the SHVs can be regarded as the downstream bridging of the standing vortices, similar to the generation of hairpin vortices due to the connection of streamwise vortices in turbulent boundary layers.

Sterol regulatory element-binding protein 2 (SREBP2) is considered to be a major regulator to control cholesterol homeostasis in mammals. However, the role of SREBP2 in teleost remains poorly understand. Here, we explored the molecular characterization of SREBP2 and identified SREBP2 as a key modulator for 3-hydroxy-3-methylglutaryl-coenzyme A reductase (HMGCR) and 7-dehydrocholesterol reductase (DHCR7) which were rate-limiting enzymes of cholesterol biosynthesis. Moreover, dietary palm oil (PO) in vivo or palmitic acid (PA) treatment in vitro elevated cholesterol content through triggering SREBP2-mediated cholesterol biosynthesis in large yellow croaker. Furthermore, our results also found that PA-induced activation of SREBP2 was dependent on the stimulating of endoplasmic reticulum stress (ERS) in croaker myocytes and inhibition of ERS by 4-Phenylbutyric acid alleviated PA-induced SREBP2 activation and cholesterol biosynthesis. In summary, our findings reveal a novel insight for understanding the role of SREBP2 in regulation of cholesterol metabolism in fish and may deepen the link between dietary fatty acid and cholesterol biosynthesis.

Continuous risky decisions refer to decisions that involve trade-offs among options with persistent risks. People can use the probability of occurrence per unit time (e.g., ‘the probability of occurrence is 1% per month’) or the average time of risk occurrence (e.g., ‘the average occurrence time is 100 months’) to represent continuous risky options. In this study, we examined the effect of the presentation format (i.e., the probability of occurrence per unit time vs. the average time of risk occurrence) on continuous risky decisions in the gain domain and further explored the underlying mechanism. In Study 1 (N = 122), we demonstrated the effect of presentation format on continuous risky decisions and the moderating effect of the magnitude of probabilities. Specifically, when the probabilities were relatively low, compared with the probability of occurrence per unit time, using the average time of risk occurrence to present the continuous risky options led to more risk-averse decisions. However, when the probabilities were relatively high, compared with the probability of occurrence per unit time, the presentation format of the average time occurrence led to more risk-seeking decisions. In Study 2 (N = 136), we found that the moderating effect of the option probabilities on continuous risky decisions was mediated by the subjective attribute-wise difference judgment. In Study 3 (N = 221), we replicated the effect of presentation format on continuous risky decisions in more natural scenarios. The study offered a deep understanding of the mechanism of continuous risky decision-making, and the results were conducive to further developing theories in relevant fields.

A high image rejection 38 GHz demodulator in TSMC 65-nm CMOS process is presented. To achieve better than −40 dBc image rejection ratio (IRR), a low I/Q mismatch 45° LO power splitter of sub-harmonic mixer is proposed. In this design, the 45° LO power splitter is composed of a Wilkinson divider, a series delay line with electrical length of 45° on one side of the divider, and a shunt 90° transmission line on the other side. This configuration is attractive because of its design simplicity and easy fabrication. Compared with the conventional techniques that utilize capacitors and inductors instead of the shunt 90° transmission line, the proposed LO power splitter can alleviate the issue of process variation. The demodulator demonstrates an IRR lower than −40 dBc from 37.5 to 41.5 GHz. In addition, conversion gain is 1.3 ± 0.9 dB from 33 to 41 GHz with 6 dBm LO power. The total direct current power consumption is 78 mW from 1.0 V supply voltage. At the modulation scheme of 4096-QAM, the proposed demodulator demonstrates 1.7% (−35.1 dB) error vector magnitude (EVM), which is very close to the EVM measurement floor 1.6% (−36 dB) of our millimeter-wave signal analyzer.

Objectives: COVID-19 booster uptake has remained poor among healthcare workers (HCWs) despite evidence of improved immunity against the SARS-COV-2 δ (delta) and ο (omicron) variants. Although most studies have used a questionnaire to assess hesitancy, we aimed to identify factors affecting booster hesitancy by examining actual vaccine uptake across time. Methods: COVID-19 vaccination database records were extracted for HCWs working at 7 Singaporean public primary-care clinics between January and December 2021. Data included sex, profession, place of practice, vaccination type, and dates. Time to booster was calculated from the date of vaccination minus the date of eligibility. The χ2 test was used to compare the relationship between first dose and booster hesitancy. The Kaplan-Meier method and the log-rank test were used to evaluate differences in cumulative booster uptake. Multivariate Cox regression was used to investigate predictors of timely booster vaccination. The vaccination rate was charted across time and was corroborated with media releases pertaining to legislative changes. Results: Of 891 primary-care HCWs, 877 (98.9%) were fully vaccinated and 73.8% of eligible HCWs had taken the booster. HCWs were less booster hesitant (median, 16 days; range, 5–31.3) compared to the first dose (median, 39 days; range, 13–119.3). First-dose–hesitant HCWs were more likely to be booster hesitant (OR, 3.66; 95% CI, 2.61–5.14). Adjusting for sex, workplace, and time to first dose, ancillary HCWs (HR, 1.53; 95% CI, 1.03–2.28), medical HCWs (HR, 1.8; 95% CI, 1.18–2.74), and nursing HCWs (HR, 1.8; 95% CI, 1.18–2.37) received boosters earlier than administrative staff. No temporal relationship was observed for booster uptake, legislative changes, or COVID-19 case numbers. Conclusions: Vaccine hesitancy among HCWs had improved from first dose to booster, with timely booster vaccination among medical and nursing staff. Tailored education, risk messaging, and strategic legislation might help reduce delayed booster vaccination. This study was approved by the National Healthcare Group (NHG) Domain Specific Review Board (DSRB), Singapore on December 28, 2021 (Reg No. 2021/01120).

A novel concept—the contact-based landing on a mobile platform—is proposed in this paper. An adaptive backstepping controller is designed to deal with the unknown disturbances in the interactive process, and the contact-based landing mission is implemented under the hybrid force/motion control framework. A rotorcraft aerial vehicle system and a ground mobile platform are designed to conduct flight experiments, evaluating the feasibility of the proposed landing scheme and control strategy. To the best of our knowledge, this is the first time a rotorcraft unmanned aerial vehicle has been implemented to conduct a contact-based landing. To improve system autonomy in future applications, vision-based recognition and localization methods are studied, contributing to the detection of a partially occluded cooperative object or at a close range. The proposed recognition algorithms are tested on a ground platform and evaluated in several simulated scenarios, indicating the algorithm’s effectiveness.

Pioneered by the US, recent mega-regional trade agreements such as the CPTPP have incorporated ‘regulatory coherence’ provisions—mirroring the US Administrative Procedural Act's core designs—to balance between domestic regulatory autonomy and international cooperation. Building upon existing literature that traces the trajectories of the diffusion of regulatory coherence across jurisdictions, this article analyses how Australia's constitutional tradition could effectively condition the development of regulatory coherence in a Westminster-based model of governance. It is argued that the global entrenchment of regulatory coherence is contingent upon the inherent boundary defined by the political dynamics and constitutional structures within a jurisdiction.

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.

It is generally accepted that high-oleic crops have at least 70% oleate. As compared to their normal-oleic counterparts, oil and food products made from high-oleic peanut have better keeping quality and are much healthier. Therefore, high-oleic peanut is well recognized by processors and consumers. However, owing to the limited availability of high-oleic donors, most present-day high-oleic peanut varietal releases merely have F435 type FAD2 mutations. Through screening of a mutagenized peanut population of 15L46, a high-yielding peanut line with desirable elliptical oblong large seeds, using near infrared model for predicting oleate content in individual single seeds, high-oleic peanut mutants were identified. Sequencing FAD2A and FAD2B of the mutants along with the wild type revealed that these mutants possessed G448A FAD2A (F435 type FAD2A mutation) and G558A FAD2B (non-F435 type FAD2B mutation). Expression of the wild and mutated type FAD2B in yeast verified that the functional mutation contributed to the high-oleic phenotype in these mutants. The mutants provided additional high-oleic donors to peanut quality improvement.