Reaction null space (RNS) planning and control of a planar three-link space manipulator’s pregrasping a spinning target are studied. First, the Lagrange dynamic model of the manipulator was established. Second, the RNS motion planning algorithm was derived, and the vector norm constraint algorithm of RNS planning was addressed to ensure certain joint angular acceleration constraints were satisfied. Furthermore, an augmented adaptive sliding mode controller based on time delay estimation (TDE) was proposed. This controller estimated the unknowns of the system by TDE technology, in which accurate and complete dynamics were not required, and an adaptive TDE was introduced to decrease the estimation errors and avoid serious chattering. Finally, numerical simulations were carried out to verify the effectiveness of the proposed RNS planning and control algorithm.

We consider a two-stage submodular maximization problem subject to a cardinality constraint and k matroid constraints, where the objective function is the expected difference of a nonnegative monotone submodular function and a nonnegative monotone modular function. We give two bi-factor approximation algorithms for this problem. The first is a deterministic $\left( {{1 \over {k + 1}}\left( {1 - {1 \over {{e^{k + 1}}}}} \right),1} \right)$-approximation algorithm, and the second is a randomized $\left( {{1 \over {k + 1}}\left( {1 - {1 \over {{e^{k + 1}}}}} \right) - \varepsilon ,1} \right)$-approximation algorithm with improved time efficiency.

To investigate the association between the Metabolic Score for Visceral Fat (METS-VF) and risk of type 2 diabetes mellitus (T2DM) and compare the predictive value of the METS-VF for T2DM incidence with other obesity indices in Chinese people. A total of 12 237 non-T2DM participants aged over 18 years from the Rural Chinese Cohort Study of 2007–2008 were included at baseline and followed up during 2013–2014. The cox proportional hazards regression was used to calculate hazard ratios (HR) and 95 % CI for the association between baseline METS-VF and T2DM risk. Restricted cubic splines were used to model the association between METS-VF and T2DM risk. Area under the receiver operating characteristic curve (AUC) analysis was used to evaluate the ability of METS-VF to predict T2DM incidence. During a median follow-up of 6·01 (95 % CI 5·09, 6·06) years, 837 cases developed T2DM. After adjusting for potential confounding factors, the adjusted HR for the highest v. lowest METS-VF quartile was 5·97 (95 % CI 4·28, 8·32), with a per 1-sd increase in METS-VF positively associated with T2DM risk. Positive associations were also found in the sensitivity and subgroup analyses, respectively. A significant nonlinear dose–response association was observed between METS-VF and T2DM risk for all participants (Pnonlinearity = 0·0347). Finally, the AUC value of METS-VF for predicting T2DM was largest among six indices. The METS-VF may be a reliable and applicable predictor of T2DM incidence in Chinese people regardless of sex, age or BMI.

Few studies have been conducted to investigate the association of kidney function decline with the trajectories of homocysteine (Hcy) over time, using repeated measurements. We aimed to investigate the association of kidney function with changes in plasma Hcy levels over time. Data were collected from the Rugao Longevity and Ageing Study. In detail, plasma Hcy and creatinine levels were measured in both waves (waves 2, 3 and 4) during the 3·5-year follow-up (n 1135). Wave 2 was regarded as the baseline survey. The estimated glomerular filtration rate (eGFR) was calculated based on creatinine. Subjects were categorised into four groups according to quartiles of eGFR at baseline. Linear mixed-effect models were used to investigate the association of eGFR with subsequent plasma Hcy levels. The mean eGFR at baseline was 90·84 (sd 11·42) ml/min per 1·73 m2. The mean plasma Hcy level was 14·09 (sd 6·82) at baseline and increased to 16·28 (sd 8·27) and 17·36 (sd 10·39) μmol/l during follow-ups. In the crude model, the interaction between time and eGFR at baseline was significant (β = −0·02, 95 % CI −0·02, −0·01, P = 0·002). After adjusting for confounding factors, a significant relationship remained (β = −0·02, 95 % CI −0·02, −0·01, P = 0·003), suggesting that kidney function decline at baseline was associated with a faster increase in Hcy levels. Kidney function decline is associated with a more pronounced increase in plasma Hcy levels. Further studies with longer follow-up periods and larger sample sizes are needed to validate our findings.

Global warming increases the risk of pests and weeds before wintering, and decreases the grain yield of winter wheat. Therefore, the sowing date should be delayed properly. But the variety of winter wheat that can adapt to late sowing remains unclear. Here, we selected two winter wheat cultivars and evaluated four sowing date treatments on 1 October (early sowing), 8 (normal sowing), 15 (late sowing) and 22 (latest sowing) over two wheat-growing seasons at the experimental Station of Shandong Agricultural University (35°96′N, 117°06′E), Daiyue District, Taian, Shandong, China. We examined the effects of sowing date on a few traits, and found that, compared with normal sowing, though spike number decreased, grain yield was maintained above 9300 kg/ha under late and latest sowing. The main reason was that the more accumulated N from jointing to anthesis resulted in a higher grain number per spike. The higher net photosynthetic rate after anthesis, through optimizing N distribution in the canopy and increasing Rubisco content of flag leaves, improved dry matter accumulation rate and contribution ratio of vegetative organs, ultimately, ensured consistent grain weight. The grain yield of high-tillering winter wheat cultivars decreased from 9370 to 8346 kg/ha. The main reason was that spike number, accumulated N from jointing to anthesis and net photosynthetic rate decreased significantly, which reduced the dry matter accumulation rate, and only satisfied less grains to achieve consistent grain weight. Therefore, low-tillering winter wheat cultivars are more adaptable to late sowing, and can reduce the harm of global warming.

Idiosyncratic deals (i-deals) refer to customized work arrangements and employment conditions employees negotiate with employers. Significant scholarly attention has been paid to understand the responses of i-deals' recipients. However, little attention has been paid to coworkers' reactions to the i-deals. This study examines how coworkers react to focal employees' i-deals. We tested our hypotheses with a sample of 253 employee–coworker pairs and found that coworkers are more likely to accept focal employees' flexibility i-deals than development i-deals. Specifically, we found that coworkers view focal employees' development i-deals as more threatening to their status than flexibility i-deals, and status threat mediates the relationship between development i-deals and coworkers' acceptance. In addition, flexibility i-deals increase coworkers' perception of obtaining future i-deals more than development i-deals, and this perception mediates the relationship between flexibility i-deals and coworkers' acceptance. Furthermore, the results show that coworkers' relative leader–member exchange moderates the above relationships.

The orientation between twin boundary (TB) and loading direction may play an intriguing role in the deformation behaviors of twinned metallic materials. In this aspect, its essential effect on the high-entropy alloy (HEA) nanocrystals is elusive. Attention herein is focused on the atomic-scaled deformation mechanisms and fracture behaviors of HEA nanocrystals containing twins of even smaller spacings via a combined approach of in situ tensile tests inside a high-resolution transmission electron microscope and molecular dynamics simulations. The results indicate that the deformation mechanisms (especially dislocation activities) of HEA nanocrystals depend on the load orientation with respect to TBs. Because of the low activation energy and uneven local composition of HEA, the surface acts as an effective dislocation source and, together with Schmid factor, dominate the activated dislocation slip system. The load orientation-dependent TB-dislocation interactions may transform the type of fracture from semi-brittle to ductile. Our results indicate that the deformation mechanisms and the types of fracture in HEA nanocrystals can be controlled by changing the orientation.

The present study aimed to investigate the association of the Chinese visceral adiposity index (CVAI) and its 6-year change with hypertension risk and compare the ability of CVAI and other obesity indices to predict hypertension based on the Rural Chinese Cohort Study. Study participants were randomly recruited by a cluster sampling procedure, and 10 304 participants ≥18 years were included. Modified Poisson regression was used to derive adjusted relative risks (RR) and 95 % CI. We identified 2072 hypertension cases during a median of 6·03 years of follow-up. The RR for the highest v. lowest CVAI quartile were 1·29 (95 % CI 1·05, 1·59) for men and 1·53 (95 % CI 1·22, 1·91) for women. Per-sd increase in CVAI was associated with hypertension for both men (RR 1·09, 95 % CI 1·02, 1·16) and women (RR 1·14, 95 % CI 1·06, 1·22). Also, the area under the receiver operating characteristic curve value for hypertension was higher for CVAI than the four other obesity indices for both sexes (all P < 0·05). Finally, per-sd increase in CVAI change was associated with hypertension for both men (RR 1·26, 95 % CI 1·16, 1·36) and women (RR 1·23, 95 % CI 1·15, 1·30). Similar results were observed in sensitivity analyses. CVAI and its 6-year change are positively associated with hypertension risk. CVAI has better performance in predicting hypertension than other visceral obesity indices for both sexes. The current findings suggest CVAI as a reliable and applicable predictor of hypertension in rural Chinese adults.

After the 2003 SARS epidemic, China started constructing a primary-level emergency response system and focused on strengthening and implementation of policies, resource allocation. After 17 years of restructuring, China's primary-level response capabilities towards public health emergencies have greatly improved. During the coronavirus disease 2019 epidemic, primary-level administrative and medical personnel, social organisations, volunteers, etc. have played a significant role in providing professional services utilising the primary-level emergency response system of 17 years. However, China's organisations did not learn their lesson from the SARS epidemic, and certain problems are exposed in the system. By analysing the experience and shortcomings of China's disease prevention and control system at the primary level, we can focus on the development of disease control systems for major epidemics in the future.

The Gangdese magmatic belt across the southern Tibetan Plateau is juxtaposed with the Indus–Yurlung Zangbo suture zone (IYS), and many mafic microgranular enclaves (MMEs) are exposed in the belt, thus providing a window for observing deep crust–mantle processes related to the Indo-Asian collision. The Nyemo intrusion is located in the middle part of the Gangdese magmatic belt and comprises host diorites with abundant MMEs. Compared with other parts of the Gangdese magmatic belt, the host rock of the Nyemo intrusion has a mineral composition similar to that of the MME, although differences are observed in chemical contents. To explore the genetic type of the MMEs and the deep processes of the Gangdese magmatic belt, the Nyemo intrusion is selected as the research object for this paper. Here, we report zircon U–Pb geochronological and whole-rock geochemical data for host diorites and MMEs, and electron probe data for hornblendes in diorites and MMEs, and combine mineralogy, petrology, petrogeochemistry and isotope geochemistry analyses. Research has shown that diorites in the Nyemo intrusion belong to the medium-K, metaluminous series. The light rare earth elements (LREEs) and heavy rare earth elements (HREEs) are significantly fractionated, and the LREE/HREE values are 5.77–7.71. The (87Sr/86Sr)i values of the diorites range from 0.704260 to 0.704287, and the εNd(t) values are from 3.73 to 4.17. The MMEs in the Nyemo intrusion have a limited range of SiO2 contents, are calc-alkaline with metaluminous affinity, and have relatively high contents of MgO (4.34–5.00 wt %) with Mg# (Mg2+/Mg2+ + Fe2+) values of 42.36–43.53, which is close to that of evolved basic magma. The contents of REEs vary from 108.87 to 120.59 ppm and show obvious Eu anomalies. The (87Sr/86Sr)i values of the MMEs range from 0.704680 to 0.704704, and the εNd(t) values are 0.35–3.74. The crystallization temperature of the hornblende in the diorite is 820 °C, the formation depth is 5.39 km, the oxygen fugacity is ΔNNO + 0.88 and the water content is 5.95 %. The crystallization temperature of the hornblende in the MMEs is 880 °C, the formation depth is 12.18 km, the oxygen fugacity is ΔNNO + 0.38 and the water content is 8.27 %. The Nyemo MMEs are formed by magma mingling, and originate from the partial melting of the depleted mantle, while the host diorite originates from partial melting of the juvenile crust with the addition of mantle material. The formation of the Gangdese magmatic belt is related to the Indo-Asian continental collision. The break-off of the subducted Neo-Tethyan oceanic plate triggered partial melting of the asthenosphere, which resulted in accumulation of the basaltic magma and then caused the partial melting of the juvenile crust with the addition of mantle material, thus forming a variety of granitic rocks and the large Gangdese magmatic belt.

Metabolically healthy obesity refers to a subset of obese people with a normal metabolic profile. We aimed to explore the association between metabolically healthy and obesity status and risk of hypertension among Chinese adults from The Rural Chinese Cohort Study. This prospective cohort study enrolled 9137 Chinese adults without hypertension, type 2 diabetes or treatment for lipid abnormality at baseline (2007–2008) and followed up during 2013–2014. Modified Poisson regression models were used to examine the risk of hypertension by different metabolically healthy and obesity status, estimating relative risks (RR) and 95 % CI. During 6 years of follow-up, we identified 1734 new hypertension cases (721 men). After adjusting for age, sex, smoking and other confounding factors, risk of hypertension was increased with metabolically healthy general obesity (MHGO) defined by BMI (RR 1·75, 95 % CI 1·02, 3·00) and metabolically healthy abdominal obesity (MHAO) defined by waist circumference (RR 1·51, 95 % CI 1·12, 2·04) as compared with metabolically healthy non-obesity. The associations between metabolically healthy and obesity status and hypertension outcome were consistent after stratifying by sex, age, smoking, alcohol drinking and physical activity. Both MHGO and MHAO were associated with increased risk of hypertension. Obesity control programmes should be implemented to prevent or delay the development of hypertension in rural China.

Valence Compton profiles (CPs) of multiwall (MWCNTs) and single-wall carbon nanotubes (SWCNTs) were obtained by recording electron energy-loss spectra at large momentum transfer in the transmission electron microscope, a technique known as electron Compton scattering from solids (ECOSS). The experimental MWCNT/SWCNT results were compared with that of graphite. Differences between the valence CPs of MWCNTs and SWCNTs were observed, and the SWCNT CPs indicate a greater delocalization of the ground-state charge density compared to graphite. The results clearly demonstrate the feasibility and potential of the ECOSS technique as a complementary tool for studying the electronic structure of materials with nanoscale spatial resolution.

The determination of low boron concentrations in silicate glasses by electron probe microanalysis (EPMA) remains a significant challenge. The internal interferences from the diffraction crystal, i.e. the Mo-B4C large d-spacing layered synthetic microstructure crystal, can be thoroughly diminished by using an optimized differential mode of pulse height analysis (PHA). Although potential high-order spectral interferences from Ca, Fe, and Mn on the BKα peak can be significantly reduced by using an optimized differential mode of PHA, a quantitative calibration of the interferences is required to obtain accurate boron concentrations in silicate glasses that contain these elements. Furthermore, the first-order spectral interference from ClL-lines is so strong that they hinder reliable EPMA of boron concentrations in Cl-bearing silicate glasses. Our tests also indicate that, due to the strongly curved background shape on the high-energy side of BKα, an exponential regression is better than linear regression for estimating the on-peak background intensity based on measured off-peak background intensities. We propose that an optimal analytical setting for low boron concentrations in silicate glasses (≥0.2 wt% B2O3) would best involve a proper boron-rich glass standard, a low accelerating voltage, a high beam current, a large beam size, and a differential mode of PHA.

The timing of the Holocene summer monsoon maximum (HSMM) in northeastern China has been much debated and more quantitative precipitation records are needed to resolve the issue. In the present study, Holocene precipitation and temperature changes were quantitatively reconstructed from a pollen record from the sediments of Tianchi Crater Lake in northeastern China using a plant functional type-modern analogue technique (PFT-MAT). The reconstructed precipitation record indicates a gradual increase during the early to mid-Holocene and a HSMM at ~5500–3100 cal yr BP, while the temperature record exhibits a divergent pattern with a marked rise in the early Holocene and a decline thereafter. The trend of reconstructed precipitation is consistent with that from other pollen records in northeastern China, confirming the relatively late occurrence of the HSMM in the region. However, differences in the onset of the HSMM within northeastern China are also evident. No single factor appears to be responsible for the late occurrence of the HSMM in northeastern China, pointing to a potentially complex forcing mechanism of regional rainfall in the East Asian monsoon region. We suggest that further studies are needed to understand the spatiotemporal pattern of the HSMM in the region.

Straddles on individual stocks generally earn negative and significant returns. However, average at-the-money straddles from 3 days before an earnings announcement to the announcement date yield a highly significant 3.34% return. The positive returns on straddles indicate that investors underestimate the magnitude of uncertainty around earnings announcements. We find that positive straddle returns are more pronounced for smaller firms and firms with higher volatility, higher kurtosis, more volatile past earnings surprises, and less trading volume/higher transaction costs. This suggests that when firm signals are noisy, and/or when it is costlier to trade, investors underestimate the uncertainty associated with earnings announcements.

Recent multidisciplinary research indicates that prehistoric agriculture innovation promoted permanent human settlements of areas up to 3400 m above sea level (asl) in the northern Tibetan Plateau, but when and how ancient humans extensively occupied areas above that altitude remains uncertain. In this paper, we investigated 12 archaeological sites situated above 3600 m asl in the Yushu autonomous prefecture, east-central Tibetan Plateau, to explore this issue. We determined the ages of five sites using the radiocarbon (14C) dating method and identified animal bones sampled from three sites. The dating results show that humans occasionally occupied the Yushu area around 900 BC, and permanently inhabited the area between AD 540 and 1620. Preliminary faunal identifications indicate human-raised livestock including yak, sheep, and horse during the latter period. Stone-constructed tombs and rock painting were found at some investigated sites, suggesting humans perhaps engaged in a pastoral lifestyle during the very late Holocene in the high altitude Yushu area, where nomadic livestock production remains the current primary subsistence strategy focus.