In order to decrease the influence of system parameters and load on the dynamic performance of permanent magnet synchronous motor (PMSM) in cooperative robot joint modules, a practical model-based robust control method was proposed. It inherits the traditional proportional-integral-derivative (PID) control and robust control based on error and model-based control. We first set up the nominal controller using the dynamics model. In order to limit the influence of uncertainty on dynamic performance, a robust controller is established based on Lyapunov method. The control can be regarded as an improved PID control or a redesigned robust control. Compared with the traditional control method, it is simple to implement and has practical effects. It is proved by theoretical analysis that the controller can guarantee the uniform boundedness and uniform final boundedness of the system. In addition, the prototype of fast controller cSPACE is built on the experiment platform, which averts long-time programming and debugging. It offers immense convenience for practical operation. Finally, numerical simulation and real-time experiment results are presented. Based on cSPACE and a PMSM in the joint module of a practical cooperative robot, the availability of the control design and the achievable control performance are verified.

We present a rationale for bidder termination provisions that considers their effect on bidders’ and targets’ joint takeover gains. The provision’s inclusion can create value by enabling termination when the target becomes less valuable to the bidder than on its own, but creates a trade-off because termination may also occur when the target is more valuable to the bidder than on its own. This trade-off explains why the provision is included in only some deals, and explains variation in termination fees. Inclusion of the provision is associated with larger combined announcement returns, provided that the termination fee is priced appropriately.

Malnutrition and acute kidney injury (AKI) are common complications in hospitalised patients, and both increase mortality; however, the relationship between them is unknown. This is a retrospective propensity score matching study enrolling 46 549 inpatients, aimed to investigate the association between Nutritional Risk Screening 2002 (NRS-2002) and AKI and to assess the ability of NRS-2002 and AKI in predicting prognosis. In total, 37 190 (80 %) and 9359 (20 %) patients had NRS-2002 scores <3 and ≥3, respectively. Patients with NRS-2002 scores ≥3 had longer lengths of stay (12·6 (sd 7·8) v. 10·4 (sd 6·2) d, P < 0·05), higher mortality rates (9·6 v. 2·5 %, P < 0·05) and higher incidence of AKI (28 v. 16 %, P < 0·05) than patients with normal nutritional status. The NRS-2002 showed a strong association with AKI, that is, the risk of AKI changed in parallel with the score of the NRS-2002. In short- and long-term survival, patients with a lower NRS-2002 score or who did not have AKI achieved a significantly lower risk of mortality than those with a high NRS-2002 score or AKI. Univariate Cox regression analyses indicated that both the NRS-2002 and AKI were strongly related to long-term survival (AUC 0·79 and 0·71) and that the combination of the two showed better accuracy (AUC 0·80) than the individual variables. In conclusion, malnutrition can increase the risk of AKI and both AKI and malnutrition can worsen the prognosis that the undernourished patients who develop AKI yield far worse prognosis than patients with normal nutritional status.

Light-absorbing impurities (LAIs, e.g. black carbon (BC), organic carbon (OC), mineral dust (MD)) deposited on snow cover reduce albedo and accelerate its melting. Northern Xinjiang (NX) is an arid and semi-arid inland region, where snowmelt leads to frequent floods that have been a serious threat to local ecological security. There is still a lack of quantitative assessments of the effects of LAIs on snowmelt in the region. This study investigates spatial variations of LAIs in snow and its effect on snow albedo, radiative forcing (RF) and snowmelt across NX. Results showed that concentrations of BC, OC (only water-insoluble OC), MD ranged from 32 to 8841 ng g−1, 77 to 8568 ng g−1 and 0.46 to 236 µg g−1, respectively. Weather Research and Forecasting Chemistry model suggested that residential emission was the largest source of BC. Snow, Ice, and Aerosol Radiative modelling showed that the average contribution of BC and MD to snow albedo reduction was 17 and 3%, respectively. RF caused by BC significantly exceeded RF caused by MD. In different scenarios, changes in snow cover duration (SCD) caused by BC and MD decreased by 1.36 ± 0.61 to 6.12 ± 3.38 d. Compared with MD, BC was the main dominant factor in reducing snow albedo and SCD across NX.

The thick sedimentary deposits of the Jiudong subbasin in the western Hexi Corridor of NW China can potentially provide important records of climate change in arid and semiarid areas subject to the interaction of the East Asian summer monsoon (EASM) and the westerlies. Here we present the results of a study of the clay mineralogy of the sediments of drill core DWJ from the Jiudong subbasin. The clay minerals consist mainly of illite, followed by chlorite, kaolinite, and smectite. The clay mineral assemblages are used to define four paleoclimatic stages since ~1.8 Ma: (1) During ~1.8–1.2 Ma, the climate was relatively cold and arid; (2) during ~1.2–0.9 Ma, it was relatively warm and wet, with strongly seasonal precipitation; (3) during ~0.9–0.3 Ma, there was a long-term trend of cooling and drying; and (4) during ~0.3–0.1 Ma, the climate was warmer and wetter than during the previous period, with strongly seasonal precipitation. The paleoclimatic record of the Jiudong subbasin since ~1.8 Ma is consistent with records from the Tengger Desert and typical monsoonal areas. This suggests that the EASM penetrated into the central regions of the North Qilian Shan and Zhangye–Jiudong subbasin during ~1.2–0.9 and ~0.3–0.1 Ma.

Chinese people are known to be strong in dialectical thinking – a cognitive tendency toward the acceptance of contradiction. Based on this finding, we conceptualized cooperative and competitive orientation as two distinct constructs that represent individual beliefs about and attitudes toward the nature of their relationship with others. We hypothesized that as stable individual differences, cooperative and competitive orientation would have differential effects on people's cognition and behaviour. Adopting a contextualization approach to Chinese management research, we developed a seven-item cooperative orientation scale and a six-item competitive orientation scale that demonstrated high reliabilities and validities. A laboratory experiment using the response latency method showed that people scoring higher on cooperative orientation responded significantly faster toward words of a cooperative nature, whereas people scoring higher on competitive orientation responded significantly faster toward words of a competitive nature. A field survey in multiple Chinese organizations further showed that cooperative and competitive orientation had differential effects on employee task performance and organizational citizenship behaviour beyond the effects of the personality differences. The theoretical and practical implications of this study are discussed in the context of work groups in Chinese organizations and beyond.

It has been known for some time that the somata of neurons in sensory ganglia respond to electrical or chemical stimulation and release transmitters in a Ca2+-dependent manner. The function of the somatic release has not been well delineated. A unique characteristic of the ganglia is that each neuronal soma is tightly enwrapped by satellite glial cells (SGCs). The somatic membrane of a sensory neuron rarely makes synaptic contact with another neuron. As a result, the influence of somatic release on the activity of adjacent neurons is likely to be indirect and/or slow. Recent studies of neuron–SGC interactions have demonstrated that ATP released from the somata of dorsal root ganglion neurons activates SGCs. They in turn exert complex excitatory and inhibitory modulation of neuronal activity. Thus, SGCs are actively involved in the processing of afferent information. In this review, we summarize our understanding of bidirectional communication between neuronal somata and SGCs in sensory ganglia and its possible role in afferent signaling under normal and injurious conditions. The participation of purinergic receptors is emphasized because of their dominant roles in the communication.