The two-wheeled legged robot combines the advantages of legged robot and wheeled robot and has high terrain adaptability. Spherical robots are highly resistant to interference during detection. In this paper, a new sphere-wheel-legged robot is designed by combining these three motion modes. This paper begins by introducing the mechanical design, hardware, and software. Then, kinematics and dynamics of wheel-legged motion and spherical motion are analyzed in detail. Subsequently, the controllers for wheel-legged balancing motion, wheel-legged jumping motion, and sphere rolling motion are developed, respectively. Finally, experiments are carried out for different modes. The results demonstrate that the designed robot has excellent locomotor capabilities over different terrains.

The practical implementation of machine learning in flow control is limited due to its significant training expenses. In the present study the convolutional neural network (CNN) trained with the data of the restricted nonlinear (RNL) model is used to predict the normal velocity on a detection plane at $y^+=10$ in a turbulent channel flow, and the predicted velocity is used as wall blowing and suction for drag reduction. An active control test is carried out by using the well-trained CNN in direct numerical simulation (DNS). Substantial drag reduction rates up to 19 % and 16 % are obtained based on the spanwise and streamwise wall shear stresses, respectively. Furthermore, we explore the online control of wall turbulence by combining the RNL model with reinforcement learning (RL). The RL is constructed to determine the optimal wall blowing and suction based on its observation of the wall shear stresses without using the label data on the detection plane for training. The controlling and training processes are conducted synchronously in a RNL flow field. The control strategy discovered by RL has similar drag reduction rates with those obtained previously by the established method. Also, the training cost decreases by over thirty times at $Re_{\tau }=950$ compared with the DNS-RL model. The present results provide a perspective that combining the RNL model with machine learning control for drag reduction in wall turbulence can be effective and computationally economical. Also, this approach can be easily extended to flows at higher Reynolds numbers.

This paper retrospectively analysed the prevalence of macrolide-resistant Mycoplasma pneumoniae (MRMP) in some parts of China. Between January 2013 and December 2019, we collected 4,145 respiratory samples, including pharyngeal swabs and alveolar lavage fluid. The highest PCR-positive rate of M. pneumoniae was 74.5% in Beijing, the highest resistance rate was 100% in Shanghai, and Gansu was the lowest with 20%. The highest PCR-positive rate of M. pneumoniae was 74.5% in 2013, and the highest MRMP was 97.4% in 2019; the PCR-positive rate of M. pneumoniae for adults in Beijing was 17.9% and the MRMP was 10.48%. Among the children diagnosed with community-acquired pneumonia (CAP), the PCR-positive and macrolide-resistant rates of M. pneumoniae were both higher in the severe ones. A2063G in domain V of 23S rRNA was the major macrolide-resistant mutation, accounting for more than 90%. The MIC values of all MRMP to erythromycin and azithromycin were ≥ 64 μg/ml, and the MICs of tetracycline and levofloxacin were ≤ 0.5 μg/ml and ≤ 1 μg/ml, respectively. The macrolide resistance varied in different regions and years. Among inpatients, the macrolide-resistant rate was higher in severe pneumonia. A2063G was the common mutation, and we found no resistance to tetracycline and levofloxacin.

This paper presents an algorithm for solving the inverse dynamics of a parallel manipulator (PM) with offset universal joints (RR–joints) via the Newton–Euler method. The PM with RR–joints increase the joint stiffness and enlarge the workspace but introduces additional joint parameters and constraint torques, rendering the dynamics more complex. Unlike existing studies on PMs with RR–joints, which emphasize the kinematics and joint performance, this paper studies the dynamical model. First, an iterative algorithm is established through a rigid body velocity transformation, which calculates the input parameters of the link velocity and acceleration. A linear system of equations in matrix form is then established for the entire PM through the Newton–Euler method. By using the generalized minimal residual method (GMRES) to solve the equation system, all the forces and torques on the joints can be obtained, from which the required actuation force can be derived. This method is validated through numerical simulations using the automatic dynamic analysis of multibody systems software. The proposed method is suitable for establishing the dynamic model of complex PMs with redundant or hybrid structures.

Gut microbiome changed dramatically during pregnancy and played important roles in metabolic status and reproductive endocrinology in mammals. However, investigating the functional microbiota and metabolites to improve the reproductive performance and understanding the host–microbiota interaction are still arduous tasks. This study aims to reveal the dominant strains and metabolites that improve the reproductive performance. We analyzed the fecal microbiota composition and metabolic status of higher yield Chinese pig breed Meishan (MS) sows and lower yield but widespread raised hybrid pig breed Landrace × Yorkshire (L × Y) sows on days 28 and 100 of gestation. Results showed that MS sows had higher litter sizes and steroid hormone level but lower short-chain fatty acid level in feces. Fecal metabolomic analysis revealed that MS sows showed a different metabolic status compared with L × Y sows both at early and late pregnancy, which enriched with phenylpropanoid biosynthesis, bile secretion, steroid hormone biosynthesis, and plant secondary metabolite biosynthesis. In addition, 16S rDNA and internal transcribed spacer sequencing indicated that MS sows showed different structures of microbiota community and exhibited an increased bacterial α-diversity but non-differential fungal α-diversity than L × Y sows. Moreover, we found that the litter sizes and bacteria including Sphaerochaeta, Solibacillus, Oscillospira, Escherichia–Shigella, Prevotellaceae_UCG-001, dgA-11_gut_group, and Bacteroides, as well as fungi including Penicillium, Fusarium, Microascus, Elutherascus, and Heydenia both have positive association to the significant metabolites at the early pregnancy. Our findings revealed significant correlation between reproductive performance and gut microbiome and provided microbial and metabolic perspective to improve litter sizes and steroid hormones of sows.

Direct numerical simulations are performed to study temporal variations of the wall shear stresses and flow dynamics in the turbulent pulsatile pipe flow. The mechanisms, responsible for the paradoxical phenomenon for which the amplitude of the oscillating wall shear stress in the turbulent flow is smaller than that in the laminar flow for the same pulsation conditions, are investigated. It is shown that the delayed response of turbulence in the buffer layer generates a large magnitude of the radial gradient of the Reynolds shear stress near the wall, which counteracts the effect of the oscillating pressure gradient on the change of the streamwise velocity and hence reduces the amplitude of the wall shear stress. Such a delayed response consists of two processes: the delayed development of near-wall streaks and the subsequent energy redistribution from the streamwise velocity fluctuation to the other two co-existing components. This is a dynamical manifestation of the viscoelasticity of turbulent eddies. As the frequency is reduced, the variation of the friction Reynolds number results in a phase-wise variation of the time scale and intensity of the turbulence response, causing the hysteresis of the wall shear stress. Such a phase asymmetry is amplified by the increase of the pulsation amplitude. An examination of the energy spectra reveals that the near-wall streaks are stretched in the streamwise direction during the acceleration phase, and then break up into small-scale structures in the deceleration phase, accompanied by the enhanced dissipation that transforms the turbulent kinetic energy into heat.

Childhood maltreatment is an established risk factor for psychopathology. However, it remains unclear how childhood traumatic events relate to mental health problems and how the brain is involved. This study examined the serial mediation effect of brain morphological alterations and emotion-/reward-related functions on linking the relationship from maltreatment to depression. We recruited 156 healthy adolescents and young adults and an additional sample of 31 adolescents with major depressive disorder for assessment of childhood maltreatment, depressive symptoms, cognitive reappraisal and anticipatory/consummatory pleasure. Structural MRI data were acquired to identify maltreatment-related cortical and subcortical morphological differences. The mediation models suggested that emotional maltreatment of abuse and neglect, was respectively associated with increased gray matter volume in the ventral striatum and greater thickness in the middle cingulate cortex. These structural alterations were further related to reduced anticipatory pleasure and disrupted cognitive reappraisal, which contributed to more severe depressive symptoms among healthy individuals. The above mediating effects were not replicated in our clinical group partly due to the small sample size. Preventative interventions can target emotional and reward systems to foster resilience and reduce the likelihood of future psychiatric disorders among individuals with a history of maltreatment.

The key event of liver regeneration initiation (LRI) is the switch of hepatocytes from the G0 phase to the G1 phase. This study aimed to use the data from large-scale quantitatively detecting and analyzing (LQDA) to reveal the regulation of hepatocytes in the G0 or G1 phase by competing endogenous RNAs (ceRNAs) during LRI. The hepatocytes of the rat liver right lobe were isolated 0, 6, and 24 h after partial hepatectomy. Their ceRNA expression level was measured using LQDA, and the correlation among their expression, interaction, and role was revealed by ceRNA comprehensive analysis. The expression of neurogenic loci notch homologous protein 3 (NOTCH3) mRNA was upregulated in 0 h, but the expression of miR-369-3p and rno-Rmdn2_0006 of hepatocytes did not change significantly. Meanwhile, the expression of the G0 phase-related gene CDKN1c was promoted by NOTCH3 upregulation, and the expression of the G1 phase-related gene PSEN2 was inhibited by NOTCH3 downregulation. On the contrary, the expression of NOTCH3 mRNA and rno-Rmdn2_0006 was upregulated at 6 h, but the expression of miR-136-3p was downregulated. The expression of the G1 phase-related genes CHUK, DDX24, HES1, NET1, and STAT3 was promoted by NOTCH3 upregulation, and the expression of the G0 phase-related gene CDKN1a was inhibited by NOTCH3 downregulation. These results suggested that the ceRNAs and the NOTCH3-regulated G0 phase- and G1 phase-related genes showed a correlation in expression, interaction, and role. They together regulated the hepatocytes in the G0 phase at 0 h and in the G1 phase at 6 h. These findings might help understand the mechanism by which ceRNA together regulated the hepatocytes in the G0 or G1 phase.

This article presents relevant data on the usage of the sinograph jīng 椋 and revisits its origin and lexical form on the basis of textual examination, using primary sources from China, Korea and Japan. The authors conclude that jīng 椋, and its variants jīng , jīng 稤 and the miscopied form lǜe 掠, originated from its radical character jīng 京, meaning “warehouse, granary”, and that jīng 椋 was widely used in Koguryŏ, Paekche, Silla and Japan. Historical documents during the Koryŏ period also attest to the use of jīng 椋. The authors have reconstructed the lexical form of jīng 椋 as the disyllabic pre-Old Korean **kuL.raH in Paekche and **koL.raH in Silla, and the monosyllabic Old Korean *kolR as a Sillaic substratum that underwent the syllabic contraction and liquid change **-r- > *-l, that is **koL.raH > *kolR. The Western Old Japanese kun'yomi of jīng 椋, kura, is a loan from pre-Old Korean **kuL/koL.raH that took place before the eighth century.

In this work, we experimentally investigate the dependence of the stimulated Raman scattering (SRS) effect on the seed linewidth of a high-power nanosecond superfluorescent fiber source (ns-SFS). The results reveal that the SRS in the ns-SFS amplifier is significantly influenced by the full width at half maximum (FWHM) of the ns-SFS seed, and there is an optimal FWHM linewidth of 2 nm to achieve the lowest SRS in our case. The first-order SRS power ratio increases rapidly when the seed’s linewidth deviates from the optimal FWHM linewidth. By power scaling the ns-SFS seed with the optimal FWHM linewidth, a narrowband all-fiberized ns-SFS amplifier is achieved with a maximum average power of 602 W, pulse energy of 24.1 mJ and corresponding peak power of 422.5 kW. This is the highest average power and pulse energy achieved for all-fiberized ns-SFS amplifiers to the best of our knowledge.

The production of broadband, terawatt terahertz (THz) pulses has been demonstrated by irradiating relativistic lasers on solid targets. However, the generation of extremely powerful, narrow-band and frequency-tunable THz pulses remains a challenge. Here, we present a novel approach for such THz pulses, in which a plasma wiggler is elaborated by a table-top laser and a near-critical density plasma. In such a wiggler, the laser-accelerated electrons emit THz radiations with a period closely related to the plasma thickness. The theoretical model and numerical simulations predict that a THz pulse with a laser–THz energy conversion of over 2.0%, an ultra-strong field exceeding 80 GV/m, a divergence angle of approximately 20° and a center frequency tunable from 4.4 to 1.5 THz can be generated from a laser of 430 mJ. Furthermore, we demonstrate that this method can work across a wide range of laser and plasma parameters, offering potential for future applications with extremely powerful THz pulses.

Sterol regulatory element-binding protein 2 (SREBP2) is considered to be a major regulator to control cholesterol homoeostasis in mammals. However, the role of SREBP2 in teleost remains poorly understand. Here, we explored the molecular characterisation of SREBP2 and identified SREBP2 as a key modulator for 3-hydroxy-3-methylglutaryl-coenzyme A reductase and 7-dehydrocholesterol reductase, which were rate-limiting enzymes of cholesterol biosynthesis. Moreover, dietary palm oil 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 the regulation of cholesterol metabolism in fish and may deepen the link between dietary fatty acid and cholesterol biosynthesis.

The Community Research Advisory Council (C-RAC) of the Johns Hopkins Institute for Clinical and Translational Research was established in 2009 to provide community-engaged research consultation services. In 2016–2017, C-RAC members and researchers were surveyed on their consultation experiences. Survey results and a 2019 stakeholder meeting proceeding helped redesign the consultation services. Transitioning to virtual consultations during COVID-19, the redesigning involved increasing visibility, providing consultation materials in advance, expanding member training, and effective communications. An increase in consultations from 28 (2009–2017) to 114 (2020–2022) was observed. Implementing stakeholder-researcher inputs is critical to holistic and sustained community-engaged research.

It is very challenging for robots to perform grinding and polishing tasks on surfaces with unknown geometry. Most existing methods solve this problem by modeling the relationship between the force sensing information and surface normal vectors by analyzing the forces on special end tools such as spherical tools and cylindrical tools and simplified friction model. In this paper, we propose a normal vectors learning method to simultaneously control end-effector force and direction on unknown surfaces. First, the relation that mapping the force sensing information to the surface normal vectors is learned from the demonstrated data on the known plane using locally weighted regression. Next, the learned relation is used to estimate surface normal vectors on the unknown surface. To improve the force control precision on the unknown geometry surface, the adaptive force control is developed. To improve the direction control precision due to friction, the iterative learning control is developed. The proposed method is verified by comparative simulations and experiments using the Franka robot. Results show that the end-effector can be controlled perpendicular to the surface with a certain force.

The axial offset joint has two rotating axes that do not intersect but have a specific offset in space. It is used widely in parallel manipulators (PMs). The offset-joint workspace can directly affect the PM workspace. This study performed a theoretical derivation and workspace analysis of a class of axial offset joints. First, a theoretical parametric model describing the rotation range of the offset joint is established that considers the interference of the offset joint because of the contact between the upper- and lower-joint brackets during movement. Second, the analytical expressions of the offset-joint workspace are formulated based on the coordinate system transformation. The offset-joint workspace is theoretically calculated in this study using formulations. Then, through a comparative analysis, the superiority of the offset joint compared with the universal joint is verified. The theoretical formulations in this paper can be used to calculate the workspace of a class of axial offset joints. Finally, based on a workspace analysis of three types of PMs using offset, universal, and spherical joints, the offset-joint PM workspace is much larger than those of the other two types.

Childhood maltreatment exerts long-term consequences on sleep health, and different subtypes could constitute maltreatment patterns. However, how naturally occurring patterns of childhood maltreatment affect subsequent sleep quality and the underlying mechanisms remain relatively unclear, particularly in youths undergoing a transitional period and in the Chinese cultural context. In this study, we identified childhood maltreatment patterns and explored how these patterns predicted sleep problems through differential emotion regulation strategies. We tracked 1929 Chinese youths (Mage = 18.49; 63.1% females) for one year. Three latent profiles were identified: low maltreatment exposure, high physical and emotional maltreatment, and high sexual abuse. Compared with “low maltreatment exposure,” youths in “high physical and emotional maltreatment” used fewer cognitive reappraisal strategies, and those in “high sexual abuse” used more expressive suppression, and then leading to more sleep problems. This study reveals new insights into the patterns of childhood maltreatment in Chinese youths and implies that individuals exposed to sexual abuse or a combination of physical and emotional maltreatment experience sleep problems through the impairment of differential emotion regulation processes. It also highlights the necessity of setting differential targets on emotion regulation strategies for distinct groups of maltreatment and considering the co-occurrence of physical and emotional maltreatment.

Mammalian oocytes not fertilized immediately after ovulation can undergo ageing and a rapid decline in quality. The addition of antioxidants can be an efficient approach to delaying the oocyte ageing process. Onion peel extract (OPE) contains quercetin and other flavonoids with natural antioxidant activities. In this study, we investigated the effect of OPE on mouse oocyte ageing and its mechanism of action. The oocytes were aged in vitro in M16 medium for 16 h after adding OPE at different concentrations (0, 50, 100, 200, and 500 μg/ml). The addition of 100 μg/ml OPE reduced the oocyte fragmentation rate, decreased the reactive oxygen species (ROS) level, increased the glutathione (GSH) level, and improved the mitochondrial membrane potential compared with the control group. The addition of OPE also increased the expression of SOD1, CAT, and GPX3 genes, and the caspase-3 activity in OPE-treated aged oocytes was significantly lower than that in untreated aged oocytes and similar to that in fresh oocytes. These results indicated that OPE delayed mouse oocyte ageing by reducing oxidative stress and apoptosis and enhancing mitochondrial function.

The selection of an analogical source is a critical step in the design-by-analogy process. Previous researchers have explored the reasons and preferences of individual designers or design teams in selecting analogical sources. Non-designers, who instead have more knowledge of other fields, may offer new possibilities for retrieving novel analogical sources. This study focuses on differences in the selection of analogical sources between collaborative design teams composed of designers and nondesigners. There are indeed significant differences in the selection of the source type, the reasons for selecting the source, the level of abstraction in inspiration stimuli, and the novelty of design ideas between designers and non-designers. This work may provide theoretical guidance for the development of collaborative design tools and methods for teams composed of designers and non-designers with different knowledge bases.