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.

This paper presents a robust train localisation system by fusing a Global Navigation Satellite System (GNSS) with an Inertial Navigation System (INS) in a tightly-coupled (TC) strategy. To improve navigation performance in GNSS partly blocked areas, an advanced map-matching (MM) measurement-augmented TC GNSS/INS method is proposed via an error-state unscented Kalman filter (UKF). The advanced MM generates a matched position using a one-step predicted position from a UKF time update step with binary search algorithm and a point–line projection algorithm. The matched position inputs as an additional measurement to fuse with the INS position to augment the degraded GNSS pseudorange measurement to optimise the state estimation in the UKF measurement update step. Both the real train test on the Qinghai–Tibet railway and the simulation were carried out and the results confirm that the proposed advanced MM measurement-augmented TC GNSS/INS with error-state UKF provides the best horizontal positioning accuracy of 0 ⋅ 67 m, which performs an improvement of about 71% and 90% with respect to TC GNSS/INS with only error-state UKF and only error-state Extended Kalman filter in GNSS partly blocked areas.

In recent years, the incidence of teratospermia has been increasing, and it has become a very important factor leading to male infertility. The research on the molecular mechanism of teratospermia is also progressing rapidly. This article briefly summarizes the clinical incidence of teratozoospermia, and makes a retrospective summary of related studies reported in recent years. Specifically discussing the relationship between gene status and spermatozoa, the review aims to provide the basis for the genetic diagnosis and gene therapy of teratozoospermia.

In the present study, we investigated the influence of different mid-stage N compensation timings on agronomic and physiological traits associated with grain yield and quality in field experiments. Two japonica rice cultivars with a good tasting quality (Nangeng 9108 and Nangeng 5055) were examined under eight N compensation timings (N1–N6: one-time N compensation at 7-2 weeks before heading; N7: split N compensation at 5 and 3 weeks before heading; N8: split N compensation at 4 and 2 weeks before heading) and a control with no N compensation. The highest yield was obtained with N7, followed by N3. The yield advantage is mainly attributable to the improved population structure (higher productive tiller rate with a stable number of effective panicles), higher total number of spikelets per unit area (large panicles with more grains per panicle), larger leaf area index in the late period and higher photosynthetic production capacity (more dry matter accumulation and transportation in the middle and late periods). Delaying N compensation timing improved the processing and nutritional quality of rice, but decreased the quality of appearance and cooking/eating traits. Our results suggest that, from the perspective of achieving relative coordination between high yield and high quality of japonica rice, the optimal N compensation should be divided equally at 5 and 3 weeks before heading. However, if simplifying the number of operations and the pursuit of eating quality were considered, one-time N compensation should be conducted at 5 weeks before heading.

Two new species of the lichenized genus Lasioloma are described from Asia: Lasioloma longiramosum W. C. Wang & A. Abas (collected from Malaysia), is characterized by a distinct woolly prothallus between dispersed thallus patches, comparatively small, muriform ascospores, long filiform conidia (main branch 22–28 μm in length, the other three branches 65–80 μm) and a foliicolous habitat; L. verrucosum W. C. Wang & X. L. Wei (collected from China), is characterized by a warted thallus, filiform conidia (main branch 22–32 μm in length, the other three branches 50–65 μm) and a corticolous habitat. The placement of both new species was confirmed by a molecular phylogenetic approach based on combined ITS, mtSSU and mtLSU sequences, and both are compared in detail to other similar species of the genus. Our study also revealed that the length of the conidial branches, which has not been explored in previous studies, should be regarded as an important feature for species delimitation in Lasioloma.

In a recent paper, Carl Fey (2022) ponders the future development of Chinese business schools. He observes that the American model of business education – the target of emulation for most Chinese business schools up to this point – shows signs of serious inadequacy. It is high time, Fey argues, that Chinese business schools come up with ‘indigenous’ models of business education that better serve the needs of China's social and economical development. The paper then sketches a framework featuring some fundamental aspects of such indigenous models. We find Fey's central argument and framework both timely and inspiring. In what follows, we draw on what is happening at the School of Management of Zhejiang University (‘the School’) to respond to, and dialogue with, some of Fey's ideas.

The selection of high-quality sperms is critical to intracytoplasmic sperm injection, which accounts for 70–80% of in vitro fertilization (IVF) treatments. So far, sperm screening is usually performed manually by clinicians. However, the performance of manual screening is limited in its objectivity, consistency, and efficiency. To overcome these limitations, we have developed a fast and noninvasive three-stage method to characterize morphology of freely swimming human sperms in bright-field microscopy images using deep learning models. Specifically, we use an object detection model to identify sperm heads, a classification model to select in-focus images, and a segmentation model to extract geometry of sperm heads and vacuoles. The models achieve an F1-score of 0.951 in sperm head detection, a z-position estimation error within ±1.5 μm in in-focus image selection, and a Dice score of 0.948 in sperm head segmentation, respectively. Customized lightweight architectures are used for the models to achieve real-time analysis of 200 frames per second. Comprehensive morphological parameters are calculated from sperm head geometry extracted by image segmentation. Overall, our method provides a reliable and efficient tool to assist clinicians in selecting high-quality sperms for successful IVF. It also demonstrates the effectiveness of deep learning in real-time analysis of live bright-field microscopy images.

In this paper, effects of discharge parameters and modulation frequency on the signal of laser-induced fluorescence measurements of ion velocity distribution functions are investigated in the LIF Test Source. A maximum modulation frequency is found for each given set of parameters, beyond which the signal gradually declines. Meanwhile, this maximum modulation frequency occurred consistently at ~1/10 of the theoretical frequency limit and photon counts received by a photomultiplier tube, which indicates that as modulation frequency and the associated per-pulse-excitation-event count decrease, the transition from the macroscopic statistical signal to the microscopic probabilistic signal is a gradual process.

Linoleic acid (LA) has a two-sided effect with regard to serum cholesterol-lowering and pro-inflammation, although whether this fatty acid reduces serum cholesterol and the development of atherosclerosis under high-cholesterol conditions has yet to be ascertained. In this study, we examine the effects of dietary LA on reducing serum cholesterol and atherosclerosis development under high-cholesterol conditions. Male and female apoE-deficient (ApoE-/-) mice were fed AIN-76-based diets containing 10% SFA and 0·04 % cholesterol, 10% LA and 0·04% low cholesterol (LALC), or 10% LA and 0·1% high cholesterol (LAHC) for 9 weeks. The results revealed significant reduction in serum cholesterol levels and aortic lesions with increasing levels of pro-inflammatory biomarkers (urinary isoprostane and aortic MCP-1 mRNA) in male and female LALC groups compared with those in the SFA groups (P < 0·05). Furthermore, whereas there were significant increases in the serum cholesterol levels and aortic lesions (P < 0·05), there was no difference in aortic MCP-1 mRNA levels in male and female LAHC groups compared with those in the LALC groups. A high-dietary intake of cholesterol eliminated the serum cholesterol-lowering activity of LA but had no significant effect on aortic inflammation in either male or female ApoE-/- mice. The inhibitory effect of LA on arteriosclerosis is cancelled by a high-cholesterol diet due to a direct increase in serum cholesterol levels. Accordingly, serum cholesterol levels might represent a more prominent pathogenic factor than aortic inflammation in promoting the development of atherosclerosis.

This study is performed to figure out how the presence of diabetes affects the infection, progression and prognosis of 2019 novel coronavirus disease (COVID-19), and the effective therapy that can treat the diabetes-complicated patients with COVID-19. A multicentre study was performed in four hospitals. COVID-19 patients with diabetes mellitus (DM) or hyperglycaemia were compared with those without these conditions and matched by propensity score matching for their clinical progress and outcome. Totally, 2444 confirmed COVID-19 patients were recruited, from whom 336 had DM. Compared to 1344 non-DM patients with age and sex matched, DM-COVID-19 patients had significantly higher rates of intensive care unit entrance (12.43% vs. 6.58%, P = 0.014), kidney failure (9.20% vs. 4.05%, P = 0.027) and mortality (25.00% vs. 18.15%, P < 0.001). Age and sex-stratified comparison revealed increased susceptibility to COVID-19 only from females with DM. For either non-DM or DM group, hyperglycaemia was associated with adverse outcomes, featured by higher rates of severe pneumonia and mortality, in comparison with non-hyperglycaemia. This was accompanied by significantly altered laboratory indicators including lymphocyte and neutrophil percentage, C-reactive protein and urea nitrogen level, all with correlation coefficients >0.35. Both diabetes and hyperglycaemia were independently associated with adverse prognosis of COVID-19, with hazard ratios of 10.41 and 3.58, respectively.