To set the sleeping mode for the Yutu-2 rover, a visual pose prediction algorithm including terrain reconstruction and pose estimation was first studied. The terrain reconstruction precision is affected by using only the stereo navigation camera (Navcam) images and the rotation angles of the mast. However, the hazard camera (Hazcam) pose is fixed, and an image network was constructed by linking all of the Navcam and Hazcam stereoimages. Then, the Navcam pose was refined based on a multiview block bundle adjustment. The experimental results show that the mean absolute errors of the check points in the proposed algorithm were 10.4 mm over the range of $\boldsymbol{L}$ from 2.0 to 6.1 m, and the proposed algorithm achieved good prediction results for the rover pose (the average differences of the values of the pitch angle and the roll angle were −0.19 degrees and 0.29 degrees, respectively). Under the support of the proposed algorithm, engineers have completed the remote setting of the sleeping mode for Yutu-2 successfully in the Chang’e-4 mission operations.

Pneumatic muscle actuator (PMA) similar to biological muscle is a new type of pneumatic actuator. The flexible manipulator based on PMAs was constructed to simulate the actual movement of the human upper arm. Considering the model errors and external disturbances, the fuzzing sliding mode control based on the saturation function was proposed. Compared with other fuzzy control methods, fuzzy control and saturation function are used to adjust the robust terms to improve the tracking accuracy and reduce the high-frequency chattering.

Considering the influence of body’s growth and development on thyroid volume (TVOL), whether five existed corrected methods could be applied to correct TVOL remains unclear, in terms of Chinese children’s increased growth and development trends. This study aimed to compare the applicability of five correction methods: Body Surface Area corrected Volume (BSAV), Body Mass Indicator corrected Volume (BMIV), Weight and Height corrected Volume Indicator (WHVI), Height corrected Volume Indicator 1 (HVI1) and Height corrected Volume Indicator 2 (HVI2) and to establish the reference values for correction methods. The data of Iodine Nutrition and Thyroid Function Survey were used to analyse the differences in TVOL between normal and abnormal thyroid function children. Data of National Iodine Deficiency Disorders Survey were used to compare five correction methods and to establish their reference values. The median urinary iodine concentrations of children surveyed were 256·1 μg/l in 2009 and 192·6 μg/l in 2019. No significant difference was found in TVOL and thyroid goitre rate between children with normal and abnormal thyroid function. In the determination of goitre, HVI1, HVI2, BSAV and BMIV all showed high agreement with TVOL, while the area under the receiver operating characteristic curve (AUC) of WHVI was relatively low for children aged 8 (AUC = 0·8993) and 9 (AUC = 0·8866) years. Most differences of TVOL between light and heavy weight, short and tall height children can be eliminated by BSAV. BSAV was the best corrected method in this research. Reference values were established for corrected TVOL in Chinese children aged 8–10 years by sex.

We numerically investigate turbulent Rayleigh–Bénard convection through two immiscible fluid layers, aiming to understand how the layer thickness and fluid properties affect the heat transfer (characterized by the Nusselt number $\mbox {Nu}$) in two-layer systems. Both two- and three-dimensional simulations are performed at fixed global Rayleigh number $\mbox {Ra}=10^8$, Prandtl number $\mbox {Pr}=4.38$ and Weber number $\mbox {We}=5$. We vary the relative thickness of the upper layer between $0.01 \le \alpha \le 0.99$ and the thermal conductivity coefficient ratio of the two liquids between $0.1 \le \lambda _k \le 10$. Two flow regimes are observed. In the first regime at $0.04\le \alpha \le 0.96$, convective flows appear in both layers and $\mbox {Nu}$ is not sensitive to $\alpha$. In the second regime at $\alpha \le 0.02$ or $\alpha \ge 0.98$, convective flow only exists in the thicker layer, while the thinner one is dominated by pure conduction. In this regime, $\mbox {Nu}$ is sensitive to $\alpha$. To predict $\mbox {Nu}$ in the system in which the two layers are separated by a unique interface, we apply the Grossmann–Lohse theory for both individual layers and impose heat flux conservation at the interface. Without introducing any free parameter, the predictions for $\mbox {Nu}$ and for the temperature at the interface agree well with our numerical results and previous experimental data.

Based on the measurements conducted over the landfast sea ice in Prydz Bay, East Antarctica during the sea-ice growth season in 2016, various parameterization schemes in the high-resolution thermodynamic snow/ice model HIGHTSI are evaluated. The parameterization scheme of turbulent fluxes produces the largest errors compared with the parameterization schemes for other surface heat fluxes. However, the sea-ice thickness simulation is most sensitive to the differences in upward longwave radiation at the surface. In addition, the sea-ice thickness simulation during the growth season is highly sensitive to the oceanic heat flux, and a new oceanic heat flux parameterization scheme based on the bulk method is proposed. The new parameterization scheme is tested in a second year, and it significantly improves the model performance relative to the standard configuration when compared against observations. Finally, the seasonal variation in the heat budget and its influence on the sea-ice thickness variation are analyzed. The net shortwave radiation, sensible heat flux and conductive heat flux (the net longwave radiation and latent heat flux) are found to be the surface heat sources (heat sinks) during the growth season. The larger conductive heat flux and the smaller oceanic heat flux can intensify the growth of sea ice.

We prove a divisibility result on sums involving the Apéry-like polynomials

$$ \begin{align*} V_n(x)=\sum_{k=0}^n {n\choose k}{n+k\choose k}{x\choose k}{x+k\choose k}, \end{align*} $$

which confirms a conjectural congruence of Z.-H. Sun. Our proof relies on some combinatorial identities and transformation formulae.

Tumors have posed a serious threat to human life and health. Researchers can determine whether or not cells are cancerous, whether the cancer cells are invasive or metastatic, and what the effects of drugs are on cancer cells by the physical properties such as hardness, adhesion, and Young's modulus. The atomic force microscope (AFM) has emerged as a key important tool for biomechanics research on tumor cells due to its ability to image and collect force spectroscopy information of biological samples with nano-level spatial resolution and under near-physiological conditions. This article reviews the existing results of the study of cancer cells with AFM. The main foci are the operating principle of AFM and research advances in mechanical property measurement, ultra-microtopography, and molecular recognition of tumor cells, which allows us to outline what we do know it in a systematic way and to summarize and to discuss future directions.

Maternal nutrition during pregnancy plays a vital role in foetal growth and development. The present study aimed to describe the diet quality of pregnant women and explore the association between maternal diet and the prevalence of low birth weight (LBW) and small for gestational age (SGA). A total of 3 856 participants from a birth cohort in Beijing, China were recruited between June 2018 and February 2019. Maternal diet in the 1st and 2nd trimesters was assessed by inconsecutive 2-day 24-hour dietary recalls. The Chinese diet balance index for pregnancy (DBI-P) was used to assess the diet quality of the participants. Multivariate logistic regressions were performed to explore the independent effects of DBI-P components on LBW and SGA. The prevalence of LBW and SGA was 3.8% and 6.0%, respectively. Dietary intakes of the participants were imbalanced. The proportions of participants having insufficient intake of vegetables (87.3% and 86.6%), dairy (95.9% and 96.7%), and aquatic foods (80.5% and 85.3%) were high in both trimesters. The insufficiency of fruit intake was more severe in the 2nd trimester (85.2%) than in the 1st trimester (22.5%) (P<0.05). After adjusting for potential confounders, the intake of fruits and dairy in the 2nd trimester was negatively associated with the risk of LBW (OR=0.850, 95% CI: 0.723-0.999) and SGA (OR=0.885, 95% CI: 0.787-0.996), respectively. The diet of Beijing pregnant women was imbalanced. Higher consumption of fruits and dairy products in the 2nd trimester was associated with lower risks of LBW and SGA. Sufficient consumption of fruits and dairy products in pregnancy may be suggested, in an attempt to prevent the occurrence of LBW and SGA.

Athetis lepigone Möschler (Lepidoptera, Noctuidae) is a common maize pest in Europe and Asia. However, there is no long-term effective management strategy is available yet to suppress its population. Adults rely heavily on olfactory cues to locate their optimal host plants and oviposition sites. Pheromone-binding proteins (PBPs) are believed to be responsible for recognizing and transporting different odorant molecules to interact with receptor membrane proteins. In this study, the ligand-binding specificities of two AlepPBPs (AlepPBP2 and AlepPBP3) for sex pheromone components and host plant (maize) volatiles were measured by fluorescence ligand-binding assay. The results demonstrated that AlepPBP2 had a high affinity with two pheromones [(Z)-7-dodecenyl acetate, Ki = 1.11 ± 0.1 μM, (Z)-9-tetradecenyl acetate, Ki = 1.32 ± 0.15 μM] and ten plant volatiles, including (-)-limonene, α-pinene, myrcene, linalool, benzaldehyde, nonanal, 2-hexanone, 3-hexanone, 2-heptanone and 6-methyl-5-hepten-2-one. In contrast, we found that none of these chemicals could bind to AlepPBP3. Our results clearly show no significant differences in the functional characterization of the binding properties between AlepPBP2 and AlepPBP3 to sex pheromones and host plant volatiles. Furthermore, molecular docking was employed for further detail on some crucial amino acid residues involved in the ligand-binding of AlepPBP2. These findings will provide valuable information about the potential protein binding sites necessary for protein-ligand interactions which appear as attractive targets for the development of novel technologies and management strategies for insect pests.

This paper presents a geometrical alternative to estimate the accuracy of a deployable mechanism equipped on the Synthetic Aperture Radar (SAR) space satellite. The deployable mechanism is simplified into a planar mechanism, and the error space of the outer panel in its deployed state is modeled concerning multiple revolute joint clearances and link length tolerances. Compared with the existing methods, the advance of the proposed geometrical approach lies in that it gives expressions of the complete error mobility that the outer panel may have. After deducing the expressions, the final error space is visualized and evaluated numerically with discrete sampling points. Finally, based on the error space and the computed maximum errors, effects of tolerances on accuracy are studied and the optimal accuracy design of tolerances is obtained. The result reveals that, for the deployable mechanism discussed in this paper, effects of tolerances on the final accuracy can be eliminated without increasing the manufacturing cost.

The wheat aphid Sitobion miscanthi (CWA) is an important harmful pest in wheat fields. Insecticide application is the main method to effectively control wheat aphids. However, CWA has developed resistance to some insecticides due to its extensive application, and understanding resistance mechanisms is crucial for the management of CWA. In our study, a new P450 gene, CYP4CJ6, was identified from CWA and showed a positive response to imidacloprid and thiamethoxam. Transcription of CYP4CJ6 was significantly induced by both imidacloprid and thiamethoxam, and overexpression of CYP4CJ6 in the imidacloprid-resistant strain was also observed. The sensitivity of CWA to these two insecticides was increased after the knockdown of CYP4CJ6. These results indicated that CYP4CJ6 could be associated with CWA resistance to imidacloprid and thiamethoxam. Subsequently, the posttranscriptional regulatory mechanism was assessed, and miR-316 was confirmed to participate in the posttranscriptional regulation of CYP4CJ6. These results are crucial for clarifying the roles of P450 in the resistance of CWA to insecticides.

The depth-integrated wave–current models developed by Yang & Liu (J. Fluid Mech., vol. 883, 2020, A4) are extended to investigate currents with an arbitrary vertical profile in the water column. In the present models, horizontal velocities are decomposed into two components. The first part deduces the prescribed current velocity when waves are absent. The second part is approximated in a polynomial form. The resulting depth-integrated wave–current models are obtained by applying the weighted residual method. In the absence of currents, the present models are identical to those in Yang & Liu (J. Fluid Mech., vol. 883, 2020, A4) and are validated with several three-dimensional (3D) benchmark laboratory experiments. A theoretical analysis is conducted to study the frequency dispersion relation of linear waves on currents with an exponential vertical profile and the results are compared with numerical solutions of the Rayleigh equation. Using the new models, validations and investigations are then conducted for periodic waves and solitary waves on currents with an arbitrary profile in one-dimensional horizontal (1DH) space. Furthermore, the new models are applied to wave–current interactions in two-dimensional horizontal (2DH) space. Two scenarios are considered: (1) wave propagation over a vortex-ring-like current and (2) obliquely incident wave propagation over a 3D sheared current on a varying bathymetry. The vertical and horizontal shear of the current have significant effects on modifying various wave properties, which are well captured by the present models. However, the time-averaged velocity under wave–current interaction shows small differences with the prescribed current velocity, except in the region between the wave trough and crest.

Prolonged parturition duration has been widely demonstrated to be a risk factor for incidence of stillbirth. This study evaluated the supply of dietary fibre on the parturition duration, gut microbiota and metabolome using sows as a model. A total of 40 Yorkshire sows were randomly given diet containing normal level of dietary fibre (NDF, 17·5 % dietary fibre) or high level of dietary fibre (HDF, 33·5 % dietary fibre). Faecal microbiota profiled with 16S rRNA amplicon sequencing, SCFA and metabolome in the faeces and plasma around parturition were compared between the dietary groups. Correlation analysis was conducted to further explore the potential associations between specific bacterial taxa and metabolites. Results showed that HDF diet significantly improved the parturition process as presented by the shorter parturition duration. HDF diet increased the abundance of the phyla Bacteroidetes and Synergistetes and multiple genera. Except for butyrate, SCFA levels in the faeces and plasma of sows at parturition were elevated in HDF group. The abundances of fifteen and twelve metabolites in the faeces and plasma, respectively, markedly differ between HDF and NDF sows. These metabolites are involved in energy metabolism and bacterial metabolism. Correlation analysis also showed associations between specific bacteria taxa and metabolites. Collectively, our study indicates that the improvement of parturition duration by high fibre intake in late gestation is associated with gut microbiota, production of SCFA and other metabolites, potentially serving for energy metabolism.

Bullfrog is one of the most important economic aquatic animals in China that is widely cultured in southern China and is a key breed recommended as an industry of poverty alleviation in China. During recent years, a fatal bacterial disease has often been found in cultured bullfrogs. The clinical manifestations of the diseased bullfrogs were severe intestinal inflammation and an anal prolapse. A bacterial pathogen was isolated from the diseased bullfrog intestines. The bacterium was identified as Vibrio cholerae using morphological, biochemical and 16S rRNA phylogenetic analysis. In this study, V. cholerae was isolated and identified in diseased bullfrogs for the first time, providing a basis for the diagnosis and control of the disease. Therefore, attention should be paid to the modes of transmission of V. cholerae from bullfrog and formulate reasonable safety measures.