The late third-millennium BC Longshan period was a crucial time for state formation in central China. During these centuries, long-distance networks expanded and shared material culture and then cultural practices spread across wider areas precipitating social and ideological developments that presaged the rise of states and cities on the Central Plain. In this research, the authors use multiple (strontium, oxygen and carbon) isotope analyses from the dental enamel of 67 individuals buried at the Xiajin cemetery, Shanxi Province. The results indicate significant long-distance migration among females during the Longshan period, which the authors interpret as evidence of exogamous marriage for political alliance-building—a phenomenon found more widely across Eurasia at the start of the Bronze Age.

In this paper, we design and fabricate dual-tunable waveguides in a two-dimensional periodic plate with threaded holes. Dual tunability is realized by using rods held with nuts as well as assembly prestress of the nuts. A straight waveguide, a bent waveguide, and a wave splitter are designed by changing the distribution of rods and nuts in different circuits. The experimental and numerical results show that the frequencies of guided waves can be tuned by the assembly prestress. By increasing the amount of prestress, the frequency range of the passing band can be shifted upward. Confinements, guiding, and splitting of Lamb waves are clearly observed in both experimental measurements and numerical simulations. This work is essential for the practical design of reconfigurable phononic devices.

Real-time gait trajectory planning is challenging for legged robots walking on unknown terrain. In this paper, to realize a more efficient and faster motion control of a quadrupedal robot, we propose an optimized gait planning generator (GPG) based on the decision tree (DT) and random forest (RF) model of the robot leg workspace. First, the framework of this embedded GPG and some of the modules associated with it are illustrated. Aiming at the leg workspace model described by DT and RF used in GPG, this paper introduces in detail how to collect the original data needed for training the model and puts forward an Interpolation Labeling with Dilation and Erosion (ILDE) data processing algorithm. After the DT and RF models are trained, we preliminarily evaluate their performance. We then present how these models can be used to predict the location relation between a spatial point and the leg workspace based on its distributional features. The DT model takes only 0.00011 s to process a sample, while the RF model can give the prediction probability. As a complement, the PID inverse kinematic model used in GPG is also mentioned. Finally, the optimized GPG is tested during a real-time single-leg trajectory planning experiment and an unknown terrain recognition simulation of a virtual quadrupedal robot. According to the test results, the GPG shows a remarkable rapidity for processing large-scale data in the gait trajectory planning tasks, and the results can prove it has an application value for quadruped robot control.

Traditional active flutter suppression controllers are designed based on model. However, as the aircraft becomes more and more powerful, the modeling of aeroelastic system becomes difficult and the model-free requirement of controller design becomes more and more urgent. The complexity of industrial processes has brought about massive operational data generated online. Aviation industry development has entered the era of big data. Breaking through the traditional theoretical framework, mining the correlation, evolution and dynamic characteristics of the system from the data is the inevitable choice to meet this demand. In this paper, a data-driven model-free controller is designed, which relies on ridge regression of the input and output variation at each operating point of the closed-loop controlled system to recursively derive the iterative format of the control signals and ensure the numerical stability of the signals. The controller can only use the real-time measurement of the system’s online input and output data for continuous correction, to achieve the purpose of flutter suppression. Then flutter suppression of a three-degree-of-freedom binary wing with a control surface is studied, and the superiority of model-free controller is demonstrated by comparing it with the optimal controller.

Rodents and shrews are major reservoirs of various pathogens that are related to zoonotic infectious diseases. The purpose of this study was to investigate co-infections of zoonotic pathogens in rodents and shrews trapped in four provinces of China. We sampled different rodent and shrew communities within and around human settlements in four provinces of China and characterised several important zoonotic viral, bacterial, and parasitic pathogens by PCR methods and phylogenetic analysis. A total of 864 rodents and shrews belonging to 24 and 13 species from RODENTIA and EULIPOTYPHLA orders were captured, respectively. For viral pathogens, two species of hantavirus (Hantaan orthohantavirus and Caobang orthohantavirus) were identified in 3.47% of rodents and shrews. The overall prevalence of Bartonella spp., Anaplasmataceae, Babesia spp., Leptospira spp., Spotted fever group Rickettsiae, Borrelia spp., and Coxiella burnetii were 31.25%, 8.91%, 4.17%, 3.94%, 3.59%, 3.47%, and 0.58%, respectively. Furthermore, the highest co-infection status of three pathogens was observed among Bartonella spp., Leptospira spp., and Anaplasmataceae with a co-infection rate of 0.46%. Our results suggested that species distribution and co-infections of zoonotic pathogens were prevalent in rodents and shrews, highlighting the necessity of active surveillance for zoonotic pathogens in wild mammals in wider regions.

This article examines the evolution of the Sino-Malaysian rubber trade between 1950 and 1980 from a global perspective. In the 1950s, this trade was one part of a triangular rubber trade extending from Southeast Asia through China to the European socialist countries who were the real buyers of much of the Malayan rubber exported to China. While China stopped its rubber re-exports to the Soviet Union in 1961, the Sino-Malaysian rubber trade continued to evolve under the shadow of global events, especially Malaysia’s economic tensions with industrialized Western countries and China’s military confrontations with its enemies. The engagement of so many global players in this trade brought more pressures, challenges, and opportunities for Malaysia and China as they bargained with each other, consequently contributing to the sharp fluctuation of trade during this period.

Purple nutsedge (Cyperus rotundus L.) is a globally distributed noxious weed that poses a significant challenge for control due to its fast and efficient propagation through the tuber, which is the primary reproductive organ. Gibberellic acid (GA3) has proven to be crucial for tuberization in tuberous plants. Therefore, understanding the relationship between GA3 and tuber development and propagation of C. rotundus will provide valuable information for controlling this weed. This study shows that the GA3 content decreases with tuber development, which corresponds to lower expression of bioactive GA3 synthesis genes (CrGA20ox, two CrGA3ox genes) and two upregulated GA3 catabolism genes (CrGA2ox genes), indicating that GA3 is involved in tuber development. Simultaneously, the expression of two CrDELLA genes and CrGID1 declines with tuber growth and decreased GA3, and yeast two-hybrid assays confirm that the GA3 signaling is DELLA-dependent. Furthermore, exogenous application of GA3 markedly reduces the number and the width of tubers and represses the growth of the tuber chain, further confirming the negative impact that GA3 has on tuber development and propagation. Taken together, these results demonstrate that GA3 is involved in tuber development and regulated by the DELLA-dependent pathway in C. rotundus and plays a negative role in tuber development and propagation.

Ankle rehabilitation robots are widely used due to nerve injuries and sports injuries leading to decreased mobility of the ankle joint. However, the motion of most ankle rehabilitation robots has distinctions with human ankle physiological structure. In order to achieve more accurate rehabilitation training of the ankle joint, this paper proposes a novel 3-UPU parallel rehabilitation mechanism. In a certain range, the mechanism can perform rotation around any axis within the midplane, which means that the mechanism can achieve non-fixed-point rotation around the instantaneous axis of the ankle joint. The mechanism has three degrees of freedom and can perform ankle pronation/supination and inversion/eversion movements. Taking into account the structural differences of different human bodies, the rotating axis of the mechanism can be adjusted in both height and angle. Then, the workspace of the mechanism was solved, and the size parameters of the mechanism are analyzed based on the characteristics of the size parameters of the mechanism and the motion range of the ankle. A genetic algorithm was employed to optimize the mechanism’s parameters. Next, the motion trajectory of the mechanism was planned, and the length change of the mechanism driving pair during the motion planning of the angle was obtained through kinematics simulation. Finally, experimental verification of the above rehabilitation training methods indicates that the mechanism meets the requirements of ankle rehabilitation.

For the large redundant manipulator, due to its long working distance and large mass, the number of links (i.e., manipulator’s arms) that can be driven to move simultaneously is limited. Otherwise, the control accuracy and motion stability of the manipulator will deteriorate. Focusing on that, a weighted Newton iteration (WNI) algorithm for trajectory planning of the manipulator is firstly proposed, where the motion of the manipulator joints is controlled by a weight matrix, which is constant and related to each link’s energy consumption. To dynamically adjust the weight matrix according to kinematic constraints and acquire better energy efficiency, an adaptive WNI (AWNI) algorithm is further proposed. In AWNI, the weight matrix is adjusted in real-time during the planning process, with considerations of the kinematic constraints and the energy consumption of the manipulator. The switch of the links between the working state and the non-working state is made through the weight matrix to achieve flexible control of the manipulator motion. Two evaluation functions are established to validate the effectiveness of AWNI in energy saving and motion stability control. Taking a 6 degrees of freedom (DOF) manipulator as an example, simulation experiments on trajectory planning are carried out and the results show the effectiveness of the proposed AWNI algorithm.

This paper studies the synchronization control of the blanket remote maintenance robot (BRMR) of the China fusion engineering test reactor (CFETR). First, the general state space mathematical model of BRMR was established by using a physical-based method. Second, based on the receding horizon optimization of model predictive control (MPC) and cross-coupling error reduction in cross-coupling control (CCC), the innovative MPC-CCC controller was proposed to realize the single-system and multisystem error convergence and high accuracy transportation of blanket through the high accuracy synchronization control of BRMR. Third, to verify the control effectiveness of the MPC-CCC controller, two types of simulations and experiments were implied compared with the original proportional-integral (PI) controller in Mover. Results showed that simulation and experiments were highly consistent. It is found that the use of an MPC-CCC controller can result in up to a 70% reduction in displacement error and up to a 59% reduction in synchronization error compared to the PI controller. And the accuracy of the MPC-CCC controller satisfies the real requirement of the maintenance process of the blanket. This work provides the theoretical basis and practical experience for the highly stable, safe, and efficient maintenance of blankets in the future.

High-power femtosecond mid-infrared (MIR) lasers are of vast importance to both fundamental research and applications. We report a high-power femtosecond master oscillator power amplifier laser system consisting of a single-mode Er:ZBLAN fiber mode-locked oscillator and pre-amplifier followed by a large-mode-area Er:ZBLAN fiber main amplifier. The main amplifier is actively cooled and bidirectionally pumped at 976 nm, generating a slope efficiency of 26.9%. Pulses of 8.12 W, 148 fs at 2.8 μm with a repetition rate of 69.65 MHz are achieved. To the best of our knowledge, this is the highest average power ever achieved from a femtosecond MIR laser source. Such a compact ultrafast laser system is promising for a wide range of applications, such as medical surgery and material processing.

With an immersed-boundary lattice-Boltzmann method, we consider the transit of a three-dimensional initially spherical capsule with a viscoelastic membrane through a cross-slot microchannel. The capsule is released with a small initial off-centre distance in the feeding channel, to mimic experiments where capsules or cells are not perfectly aligned with the centreline. Our main objective is to establish the phase diagram of the capsule's deformation modes as a function of the flow inertia and capsule membrane viscosity. We mainly find three deformation modes in the channel cross-slot. For a capsule with low membrane viscosity, a quasi-steady mode occurs at low Reynolds numbers ($Re$), in which the capsule can reach and maintain a steady ellipsoidal shape near the stagnation point, for a considerable time period. With $Re$ increasing to 20, an overshoot–retract mode is observed. The capsule deformation oscillates on an inertial–elastic time scale, suggesting that the dynamics is mainly driven by the balance of the inertial and membrane elastic forces. The membrane viscosity slows down the capsule deformation and suppresses the overshoot–retract mode. A capsule with high membrane viscosity undergoes a continuous-elongation mode, in which its deformation keeps increasing during most of its journey in the channel cross-slot. We summarise the results in phase diagrams, and propose a scaling model which can predict the deformation modes of a viscoelastic capsule in the inertial flow regime. We also discuss implications of the present findings for practical experiments for mechanical characterisation of capsules or cells.

The sedimentation of two spherical solid objects in a viscous fluid has been extensively investigated and well understood. However, a pair of flat disks (in three dimensions) settling in the fluid shows more complex hydrodynamic behaviour. The present work aims to improve the understanding of this phenomenon by performing direct numerical simulation and physical experiments. The present results show that the sedimentation processes are significantly influenced by disk shape, characterized by a dimensionless moment of inertia I*, and Reynolds number Re of the leading disk. For the flatter disks with smaller I*, steady falling with enduring contact transits to periodic swinging with intermittent contacts as Re increases. The disks with larger I* tend to fall in a drafting-kissing-tumbling mode at low Re and to remain separated at high Re. Based on I* and Re, a phase diagram is created to classify the two-disk falling into ten distinctive patterns. The planar motion or three-dimensional motion of the disks is determined primarily by Re. Turbulent disturbance flows at a high Re contribute to the chaotic three-dimensional rotation of the disks. The chance for the two disks to contact is increased when I* and Re are reduced.

There is still controversy about optimal dietary iodine intake as the Universal Salt Iodization policy enforcement in China. A modified iodine balance study was thus conducted to explore the suitable iodine intake in Chinese adult males using the iodine overflow hypothesis. In this study, thirty-eight apparently healthy males (19·1 (sd 0·6) years) were recruited and provided with designed diets. After the 14-d iodine depletion, daily iodine intake gradually increased in the 30-d iodine supplementation, consisting of six stages and each of 5 d. All foods and excreta (urine, faeces) were collected to examine daily iodine intake, iodine excretion and the changes of iodine increment in relation to those values at stage 1. The dose–response associations of iodine intake increment with excretion increment were fitted by the mixed effects models, as well as with retention increment. Daily iodine intake and excretion were 16·3 and 54·3 μg/d at stage 1, and iodine intake increment increased from 11·2 μg/d at stage 2 to 118·0 μg/d at stage 6, while excretion increment elevated from 21·5 to 95·0 μg/d. A zero iodine balance was dynamically achieved as 48·0 μg/d of iodine intake. The estimated average requirement and recommended nutrient intake were severally 48·0 and 67·2 μg/d, which could be corresponded to a daily iodine intake of 0·74 and 1·04 μg/kg per d. The results of our study indicate that roughly half of current iodine intakes recommendation could be enough in Chinese adult males, which would be beneficial for the revision of dietary reference intakes.

The carbonate-hosted Pb–Zn deposits in the Sichuan–Yunnan–Guizhou (SYG) triangle region are important Indosinian deposits in South China. The Tianbaoshan deposit is a typical large Pb–Zn deposit in the SYG area and occurs as pipe-like type, hosted by Sinian dolostone. It contains ∼26 Mt Zn–Pb ore (7.76–10.09 % Zn, 1.28–1.50 % Pb and 93.6 g t−1 Ag) and >0.1 Mt Cu ore (2.55 % Cu). In this study, the detailed mineral textures, mineral chemical and sulphur isotopic compositions of the various sulphides have been analysed to constrain the abnormal enrichment mechanism and mineralization relationship. Four mineralization stages have been recognized: Stage 1, minor early pyrite (Py1) with relics and infill of intergranular dolomite or quartz grains; Stage 2, Cu mineralization with coarse-grained, elliptical crystal chalcopyrite (Cp1); (3) Stage 3, Zn mineralization with dark fine-grained sphalerite (Sph1) and light coarse-grained sphalerite (Sph2); and (4) Stage 4, as represented by a quartz–calcite assemblage with galena, minor pyrite (Py2) and chalcopyrite (Cp2). The petrography of the sulphide minerals (Py1, Cp1, Sph1 and Sph2) demonstrates a mutual inclusion relationship. The nature of this relationship from core to rim and their similar sulphur isotope values (5.5–8.3 ‰) indicates a single sulphur source, suggesting that the different mineralization types are the result of different stages of a continuous hydrothermal system. Sphalerite geothermometer study suggests that sphalerite in the Tianbaoshan deposit formed in a low-temperature (<200 °C) hydrothermal system. The low concentrations of Mn and In, low In/Ge ratios and high Fe/Cd ratios in the sphalerite are consistent with those of Mississippi Valley-type (MVT) deposits, but different from those of magmatism-related deposits (e.g. epithermal, skarn and VMS deposits). The positive δ34S values for Py1 (5.1–7.9 ‰), Cp1 (5.1–7.2 ‰), Sph1 (4.7–7.4 ‰), Sph2 (3.9–8.7 ‰), Py2 (4.4–9.3 ‰) and Cp2 (5.0–6.8 ‰) indicate a sulphur source from thermochemical reduction of coeval seawater sulphate. Widely developed dissolved textures (caverns and breccias) with massive sulphide infillings and deformed host rock remnants suggest that replacement of host dolostones by ore fluids was volumetrically significant and the ore formed nearly simultaneously with the cavities. The Tianbaoshan deposit is a typical MVT deposit, which resulted from mixing of a H2S-rich fluid and a metal-rich fluid, with thermochemical sulphate reduction occurring before ore precipitation rather than during ore precipitation.

Correlations for the interfacial terms in the fluid dissipation rate equation and Reynolds stress equations are established for particle-laden flows, based on data from the interfaced-resolved direct numerical simulations of particle sedimentation in a periodic domain at a density ratio ranging from 0.01 to 1000, a particle concentration ranging from 2.3 % to 30.2 % and a particle Reynolds number below 250. The correlations for the mean drag and the pseudo-turbulent kinetic energy are also reported, which are used for the modelling of the interfacial term in the fluid dissipation rate equation. The interfacial term correlations obtained are then incorporated in the Reynolds stress model (RSM) (i.e. second-moment closure) for the simulation of vertical turbulent channel flows laden with the finite-size particles at relatively low particle volume fractions. The results show that the RSM with new interfacial term correlations can quantitatively predict particle-induced turbulence enhancement or suppression in vertical channel flows.

With the rapid development of the national economy, the demand for electricity is also growing. Thermal power generation accounts for the highest proportion of power generation, and coal is the most commonly used combustion material. The massive combustion of coal has led to serious environmental pollution. It is significant to improve energy conversion efficiency and reduce pollutant emissions effectively. In this paper, an extreme learning machine model based on improved Kalman particle swarm optimization (ELM-IKPSO) is proposed to establish the boiler combustion model. The proposed modeling method is applied to the combustion modeling process of a 300 MWe pulverized coal boiler. The simulation results show that compared with the same type of modeling method, ELM-IKPSO can better predict the boiler thermal efficiency and NOx emission concentration and also show better generalization performance. Finally, multi-objective optimization is carried out on the established model, and a set of mutually non-dominated boiler combustion solutions is obtained.