As a solution to soft material manipulation, dual-arm robots that are capable of multi-point grasping have become the latest trend due to their higher capability and efficiency. To explore further development in soft material manipulation and go beyond the hardware limit of dual arms, in this paper the robot platform “Quad-SCARA” that consists of four Selective Compliance Assembly Robot Arm (SCARA) is developed and introduced. With the base of hardware platform, a novel collision avoidance system designed for the motion planning of Quad-SCARA in multi-point grasping state is proposed. This system is inspired by the idea of “Buffered Voronoi Cell (BVC),” an algorithm originally proposed for multi-agent collision avoidance. After appropriate adaptation and new proposition in implementation of BVC, the experiments of folding and spreading a handkerchief are performed, and the results in simulation and robot experiments are presented and discussed for the validation and evaluation of entire system.

The target backsheath field acceleration mechanism is one of the main mechanisms of laser-driven proton acceleration (LDPA) and strongly depends on the comprehensive performance of the ultrashort ultra-intense lasers used as the driving sources. The successful use of the SG-II Peta-watt (SG-II PW) laser facility for LDPA and its applications in radiographic diagnoses have been manifested by the good performance of the SG-II PW facility. Recently, the SG-II PW laser facility has undergone extensive maintenance and a comprehensive technical upgrade in terms of the seed source, laser contrast and terminal focus. LDPA experiments were performed using the maintained SG-II PW laser beam, and the highest cutoff energy of the proton beam was obviously increased. Accordingly, a double-film target structure was used, and the maximum cutoff energy of the proton beam was up to 70 MeV. These results demonstrate that the comprehensive performance of the SG-II PW laser facility was improved significantly.

Microbubble emission boiling (MEB), a phenomenon that occurs under highly subcooled boiling conditions, can achieve a high heat flux beyond critical heat flux. MEB has been observed to differ from nucleate boiling and is always accompanied by the emission of microbubbles from an oscillating bubble. The heat transfer mechanism of MEB differs from that of nucleate boiling and remains elusive. In this study, we measure the behaviour of a vapour bubble and its induced liquid flow simultaneously during subcooled boiling using the high-speed two-phase particle image velocimetry method. Different from nucleate boiling, we observe a rapid oscillating flow outside the bubble that constantly attaches on the heating surface in MEB. The spatially and temporally averaged velocity magnitude values under this oscillating flow, and their dependency on liquid subcooling and heat flux, are quantified. Then we derive a scaling law for the heat transfer of MEB as a function of Péclet and Jacob numbers. With such correlations, we suggest that the oscillating flow induced by bubble oscillations is important to MEB, thus elucidating a different heat transport process from nucleate boiling.

The objective was to evaluate the association between serum carotenoid levels and respiratory morbidity and mortality in a nationally representative sample of US adults. We assessed the association of serum carotenoid levels with respiratory morbidity and mortality using logistic regression and proportional hazards regression models. Meanwhile, a series of confounders were controlled in regression models and restricted cubic spline, which included age, sex, race, marriage, education, income, drinking, smoking, regular exercise, BMI, daily energy intake, vitamin E, vitamin C, fruit intake, vegetable intake, diabetes, hypertension, asthma, emphysema and chronic bronchitis. Compared with participants in the lowest tertiles, participants in the highest tertiles of serum total carotenoids, β-cryptoxanthin and lutein/zeaxanthin levels had a significantly lower prevalence of emphysema (ORtotal carotenoids = 0·61, 95% CI: 0·41–0·89, ORβ-cryptoxanthin = 0·67, 95% CI: 0·49–0·92), chronic bronchitis (ORβ-cryptoxanthin = 0·66, 95% CI: 0·50–0·87) and asthma (Q2: ORlutein/zeaxanthin = 0·78, 95% CI: 0·62–0·97); participants in the highest tertiles of total carotenoids, α-carotene, lutein/zeaxanthin and lycopene had a lower risk of respiratory mortality (hazard ratio (HR)total carotenoids = 0·62, 95% CI: 0·42–0·90, HRα-carotene = 0·54, 95% CI: 0·36–0·82, HRlutein/zeaxanthin = 0·48, 95% CI: 0·33–0·71, HRlycopene = 0·66, 95% CI: 0·45–0·96) than those in the lowest tertiles. Higher serum total carotenoids and β-cryptoxanthin levels is associated with decreased prevalence of emphysema and chronic bronchitis, and higher serum total carotenoids, α-carotene, lutein/zeaxanthin and lycopene levels had a lower mortality of respiratory disease.

As optical parametric chirped pulse amplification has been widely adopted for the generation of extreme intensity laser sources, nonlinear crystals of large aperture are demanded for high-energy amplifiers. Yttrium calcium oxyborate (YCa4O(BO3)3, YCOB) is capable of being grown with apertures exceeding 100 mm, which makes it possible for application in systems of petawatt scale. In this paper, we experimentally demonstrated for the first time to our knowledge, an ultra-broadband non-collinear optical parametric amplifier with YCOB for petawatt-scale compressed pulse generation at 800 nm. Based on the SG-II 5 PW facility, amplified signal energy of approximately 40 J was achieved and pump-to-signal conversion efficiency was up to 42.3%. A gain bandwidth of 87 nm was realized and supported a compressed pulse duration of 22.3 fs. The near-field and wavefront aberration represented excellent characteristics, which were comparable with those achieved in lithium triborate-based amplifiers. These results verified the great potential for YCOB utilization in the future.

Homeostasis of gut microbiota is a critical contributor to growth and health in weaned piglets. Fish oil is widely reported to benefit health of mammals including preventing intestinal dysfunction, yet its protective effect during suckling-to-weaning transition in piglets remains undetermined. Low (30 g/d) and high (60 g/d) doses of n-3-rich fish oil were supplemented in sows from late gestation to lactation. Serum indicators and gut microbiota were determined to evaluate the effects of maternal fish oil on growth performance, immunity and diarrhea of piglets. DHA and EPA in the colostrum as well as serum of suckling and 1-week post-wean piglets were significantly and linearly increased by maternal supplementation of fish oil (P < 0.05). IGF1 and T3 in nursing and weaned piglets were significantly elevated by maternal fish oil (P < 0.05), and the increase of IGF1 was concerning the dosage of fish oil. Colostrum IgG, plasma IgG, IgM in suckling piglets, IgG, IgM and IgA in weaned piglets were significantly increase as maternal replenishment of fish oil increased (P < 0.05). Additionally, cortisol was significantly reduced in weaned pigs (P < 0.05), regardless of dosage. 16S rRNA sequencing revealed that α-diversity of fecal microbiota in nursery piglets, and fecal Lactobacillus genus, positively correlated with post-weaning IgA, was significantly increased by high dosage. Collectively, maternal fish oil during late pregnancy and lactation significantly promoted growth, enhanced immunity, and reduced post-weaning diarrhea in piglets, therefore facilitated suckling-to-weaning transition in piglets, which may be partially due to the altered gut microbial community.

The purpose of this retrospective study was to optimize the transplantation strategy for women of advanced maternal age to achieve live births within the shortest time. Data were collected from patients older than 40 years who underwent assisted reproductive therapy at our centre from 1 January 2009 to 31 December 2019. In total, 1023 cases of fresh cleavage embryo transfer (CET) cycles, 280 cases of frozen–thawed blastocyst transfer (FBT) cycles, and 26 cases of frozen–thawed CET (FCET) cycles were included. The main outcome was the live birth rate (LBR). The secondary outcomes were the clinical pregnancy rate (CPR) and neonatal outcomes. Multivariable logistic regression was performed to adjust for confounding factors. The blastocyst formation rate of patients older than 40 years was 23.5%, the freezing cycle rate was 19.8%, and the fresh-embryo transfer rate was 83.0%. The implantation rate, CPR, and LBR were significantly different among the CET, FCET, and FBT groups. There were no significant differences in multiple pregnancies and abortion rates among the groups, and neonatal outcomes were similar. Multivariate logistic regression analysis showed that, compared with the CET group, LBR did not increase in the FCET group, whereas LBR increased in the FBT group. For patients older than 40 years when having approximately eight embryos after fertilization, blastocyst transfer can be considered after fully discussing the advantages and disadvantages of blastocyst culture. Alternatively, CET can be performed first, followed by FBT if the cleavage embryo transfer is unsuccessful.

We demonstrate an efficient ultrafast source with 195 fs pulse duration, 54 W average power at 200 kHz repetition rate and near diffraction-limited beam quality. The compact setup incorporates a thin-disk Yb:YAG regenerative amplifier (RA) and a subsequent nonlinear pulse compression stage with periodic-layered Kerr media (PLKM), which is one of the multiple-thin-solid-plate schemes based on nonlinear resonator theory. In virtue of the formation of quasi-stationary spatial soliton in PLKM, the near diffraction-limited beam quality of the RA remained almost undisturbed after post-compression. The nonlinear pulse compression module is simple and efficient with a transmission of 96%. To the best our knowledge, for pulse energy over 200 μJ, this is the highest output power reported for the multiple-thin-solid-plate scheme. This source manifests an economical combination to mitigate the bandwidth limitations of Yb-based high-power chirped pulse amplifiers.

South-west China, particularly between the Himalayas and the Beibu Gulf, constitutes an important corridor for migratory raptors along the East-Asian continental flyway. However, a lack of ornithological assessment and the common practice of illegal hunting in this region emphasize the need for research and conservation actions. To investigate the ecology of migration and scale of persecution, we launched one of the first citizen-science projects in mainland China to record southward-migrating raptors and hunting gunshots from 2015 to 2019 on Guantouling, a well-known raptor site in South-west China. A total of 42,891 raptors were recorded, belonging to 30 diurnal raptor species. Grey-faced Buzzard Butastur indicus, Oriental Honey Buzzard Pernis ptilorhynchus and Amur Falcon Falco amurensis were the three most abundant species recorded. The bulk of Grey-faced Buzzard and Amur Falcon migrated through Guantouling from mid-October till early November, while Oriental Honey Buzzard migrated throughout October and early November. Precipitation slowed down migration significantly while increasing cloud cover was favoured by the three most abundant species. We found hunting mostly occurred in the afternoon, coinciding with an increasing number of Oriental Honey Buzzard, which may become a major victim of hunting. It is thus suggested to prioritize peak raptor migration period for law enforcement actions, especially on cloudy days and after passage of cold fronts, when Oriental Honey Buzzards and other species are likely to migrate. The annual counting scheme on Guantouling is not only an ecological survey, but also an effective way of engaging the public to counter raptor persecution.

Chronic inflammation exerts pleiotropic effects in the aetiology and progression of chronic obstructive pulmonary disease (COPD). Glucosamine is widely used in many countries and may have anti-inflammatory properties. We aimed to prospectively evaluate the association of regular glucosamine use with incident COPD risk and explore whether such association could be modified by smoking in the UK Biobank cohort, which recruited more than half a million participants aged 40–69 years from across the UK between 2006 and 2010. Cox proportional hazards models with adjustment for potential confounding factors were used to calculate hazard ratios (HR) as well as 95 % CI for the risk of incident COPD. During a median follow-up of 8·96 years (interquartile range 8·29–9·53 years), 9016 new-onset events of COPD were documented. We found that the regular use of glucosamine was associated with a significantly lower risk of incident COPD with multivariable adjusted HR of 0·80 (95 % CI, 0·75, 0·85; P < 0·001). When subgroup analyses were performed by smoking status, the adjusted HR for the association of regular glucosamine use with incident COPD were 0·84 (0·73, 0·96), 0·84 (0·77, 0·92) and 0·71 (0·62, 0·80) among never smokers, former smokers and current smokers, respectively. No significant interaction was observed between glucosamine use and smoking status (P for interaction = 0·078). Incident COPD could be reduced by 14 % to 84 % through a combination of regular glucosamine use and smoking cessation.

Operation of tools has long been studied in robotics. Although appropriate hold of the tool by robots is the base of successful tool operation, it is not with ease especially for tools with complicated shape. In this paper, an assist system for a four-limbed robot is proposed for remote operation of reaching and grasping electric drills using deep reinforcement learning. Through comparative evaluation experiments, the increase of success rate for reaching and grasping is verified and the decrease in both physical and mental workload of the operator is also validated by the index of NASA-TLX.

Drilling and sampling are the most direct and effective methods available to study Antarctic subglacial lakes. Based on the Philberth probe, a Recoverable Autonomous Sonde (RECAS) allows for in situ lake water measurement and sampling, through the addition of an upper thermal tip and a cable recoiling mechanism. RECAS-200, a prototype of RECAS, has a drilling depth of 200 m, a surface supply voltage of 800 VAC and a downhole power of ~9.6 kW during drilling. In this study, a heating control system for RECAS-200 was designed. The system avoids the need for high-power step-down converters, by separating heating power from control power, thereby reducing the overall weight of the probe and avoiding the need to increase cable diameter. We also introduce a self-developed, small, solid-state, 800 VAC power regulator and a fuzzy PID temperature control algorithm. Their purpose was to manage the power adjustment of each heating element and to provide closed-loop temperature control of certain heating elements which can easily burn out due to overheating. Test results indicated that the proposed RECAS-200 heating control system met all our design specifications and could be easily assembled into the RECAS-200 probe.

Subglacial lake exploration is of great interest to the science community. RECoverable Autonomous Sonde (RECAS) provides an exploration tool to measure and sample subglacial lake environments while the subglacial lake remains isolated from the glacier surface and atmosphere. This paper presents an electronic control system design of 200 m prototype of RECAS. The proposed electronic control system consists of a surface system, a downhole control system, and a power transfer and communication system. The downhole control system is the core element of RECAS, and is responsible for sonde status monitoring, sonde motion control, subglacial water sampling and in situ analysis. A custom RS485 temperature sensor was developed to cater for the limited size and depth requirements of the system. We adopted a humidity-based measurement to monitor for a housing leak. This condition is because standard leak detection monitoring of water conductivity may be inapplicable to pure ice in Antarctica. A water sampler control board was designed to control the samplers and monitor the on/off state. A high-definition camera system with built-in storage and self-heating ability was designed to perform the video recording in the subglacial lake. The proposed electronic control system is proven effective after a series of tests.

Seaweeds have numerous biologically active ingredients, such as polysaccharides, polyphenols and carotenoids, that are beneficial to human health. Although these benefits might be related to the synthesis, secretion or reabsorption of uric acid, no studies have explored the relationship between seaweeds consumption and hyperuricaemia (HUA) in the general population. The aim of this study was to investigate whether seaweeds consumption is related to HUA in a large-scale adult population. A cross-sectional study was conducted with 32 365 adults (17 328 men and 15 037 women) in Tianjin, People’s Republic of China. Frequency of seaweeds consumption was assessed by a validated self-administered FFQ. HUA was defined as serum uric acid levels >420 μmol/L in men and >350 μmol/L in women. The association between seaweeds consumption and HUA was assessed by multiple logistic regression analysis. Restricted cubic spline functions were used for non-linearity tests. The prevalence of HUA in men and women was 21·17 % and 5·93 %, respectively. After adjustments for potential confounding factors, the OR (95 % CI) for HUA across seaweed consumption (g/1000 kcal per d) were 1·00 (reference) for level 1, 0·91 (95 % CI 0·81, 1·02) for level 2; 0·90 (95 % CI 0·81, 1·01) for level 3; 0·86 (95 % CI 0·78, 0·97) for level 4 in men and 0·90 (95 % CI 0·73, 1·10) for level 2; 0·82 (95 % CI 0·67, 1·00) for level 3; 0·84 (95 % CI 0·68, 1·03) for level 4 in women, respectively. A negative correlation between seaweeds consumption and HUA in males but not in females was observed. Further studies are needed to explore the causal relationship.

Stable isotope ratios (δ18O and δD) in Antarctic snow and ice are basic proxy indices of climate in ice core studies. The relation between the ratios has important indicative significance for moisture sources. In general, the fractionation characteristics of the two isotopes vary with different meteorological and topographical conditions. This paper presents the spatial and temporal distribution of meteoric water line (MWL) slopes along a traverse from the Zhongshan Station (ZSS) to Dome A in East Antarctica. It is found that the slopes decrease with the increasing distance inland from the coast and the lowest slope occurred at Dome A, where the long-range transported moisture dominates and clear sky snowing have an influence. The slopes in different layers of the snowpack showed a decreasing trend with depth and this is attributed to the fractionation during the interstitial sublimation and re-condensation processes of the water vapor. Frost flower development on the interior plateau surface can greatly alter the depth evolution of the MWL slope. The coastal snow pits also go through the post-depositional smoothing effect, but their influences are not so significant as the inland regions.

GBF1 [Golgi brefeldin A (BFA) resistance factor 1] is a member of the guanine nucleotide exchange factors Arf family. GBF1 localizes at the cis-Golgi and endoplasmic reticulum (ER)-Golgi intermediate compartment where it participates in ER-Golgi traffic by assisting in the recruitment of the coat protein COPI. However, the roles of GBF1 in oocyte meiotic maturation are still unknown. In the present study, we investigated the regulatory functions of GBF1 in mouse oocyte organelle dynamics. In our results, GBF1 was stably expressed during oocyte maturation, and GBF1 localized at the spindle periphery during metaphase I. Inhibiting GBF1 activity led to aberrant accumulation of the Golgi apparatus around the spindle. This may be due to the effects of GBF1 on the localization of GM130, as GBF1 co-localized with GM130 and inhibiting GBF1 induced condensation of GM130. Moreover, the loss of GBF1 activity affected the ER distribution and induced ER stress, as shown by increased GRP78 expression. Mitochondrial localization and functions were affected, as the mitochondrial membrane potential was altered. Taken together, these results suggest that GBF1 has wide-ranging effects on the distribution and functions of Golgi apparatus, ER, and mitochondria as well as normal polar body formation in mouse oocytes.