A novel couple-constrained parallel wrist with three measuring force flexible fingers is designed for grabbing heavy objects and measuring grabbed forces. Its prototype is developed, its dynamics model is established, and its grabbing forces are measured. First, using the extended formulas of the skew-symmetric matrix, the kinematic formulas are derived for solving the Jacobian/Hessian matrices and the general velocity/acceleration of the moving links in the couple-constrained parallel wrist. Second, a dynamics model is established for solving the dynamic actuation forces, the couple-constrained forces, and the torque in the couple-constrained parallel wrist. Third, the theoretical solutions of the kinematics/dynamics of the couple-constrained parallel wrist are verified using a simulation mechanism. Finally, the grabbing forces of the three flexible fingers are measured and analyzed.

We study the diffusive instability subject to a solid–liquid interface and a Kolmogorov flow using modal, non-modal analyses and energy analysis. It is found that the phase boundary has different effects on the threshold of diffusive convection for weak and strong salinity stratification. In the context of oceanography where the salinity Rayleigh number RS is very high, the ice–water interface has negligible influence on the onset of diffusive convection. In the presence of shear, the diffusive convection for RS < 106 tends to be inhibited and with the increase of shear intensity, the oscillatory, steady convective and Kelvin–Helmholtz instabilities will be successively dominant. For RS > 106, the shear has a destabilizing effect on the diffusive convection, due to the generation of thermohaline-sheared instability found by Radko (J. Fluid Mech., vol. 805, 2016, pp. 147–170). Non-modal analysis indicates that for realistic parameters of high-latitude oceans, with the transition of the ultimate energy source of instability from the density gradient to background current, the thermohaline-shear instability is expected to transition from oscillatory to steady instability. The initial transient amplification due to double diffusion has also been studied, which is due to the generation of overstable instability at the initial phase. For RS < 106, the optimal initial condition to achieve the maximum transient growth favours longitudinal rolls. For thermohaline-shear instability, however, it favours transverse rolls and specifically, in oscillatory thermohaline-shear instability, the transient amplification can be enhanced by the shear by one order of magnitude, thus having important influence on the stability of the system.

The purpose of this study was to analyse the clinical characteristics of patients with severe acute respiratory syndrome coronavirus 2 (SARS-COV-2) PCR re-positivity after recovering from coronavirus disease 2019 (COVID-19). Patients (n = 1391) from Guangzhou, China, who had recovered from COVID-19 were recruited between 7 September 2021 and 11 March 2022. Data on epidemiology, symptoms, laboratory test results and treatment were analysed. In this study, 42.7% of recovered patients had re-positive result. Most re-positive patients were asymptomatic, did not have severe comorbidities, and were not contagious. The re-positivity rate was 39%, 46%, 11% and 25% in patients who had received inactivated, mRNA, adenovirus vector and recombinant subunit vaccines, respectively. Seven independent risk factors for testing re-positive were identified, and a predictive model was constructed using these variables. The predictors of re-positivity were COVID-19 vaccination status, previous SARs-CoV-12 infection prior to the most recent episode, renal function, SARS-CoV-2 IgG and IgM antibody levels and white blood cell count. The predictive model could benefit the control of the spread of COVID-19.

The Lochkovian, Pragian, and basal part of the Emsian, which represent the post-Kwangsian Orogeny strata in the South China Block, are mainly composed of siliciclastic rocks. This lithological composition impedes investigation of Pragian and Lochkovian conodont biostratigraphy in the South China Block, which results in a persistent controversy on the age of relevant lithological units. The present study provides new evidence by reporting for the first time Lochkovian conodonts obtained from the South China Block, specifically the Gaoling Member of the Nahkaoling Formation at the Lingli section, central Guangxi. The conodont fauna, consisting of Pandorinellina exigua lingliensis Lu n. subsp., Pandorinellina exigua exigua, Zieglerodina? tuojiangensis Lu n. sp., Amydrotaxis praejohnsoni, and Eognathodus cf. E. irregularis, places the studied interval of the Gaoling Member in the lower or middle Lochkovian (contingent upon varying definitions for the base of the middle Lochkovian) to lower Pragian. Moreover, Amydrotaxis praejohnsoni, which was reported previously only in North America and eastern Australia, is herein also recorded in the South China Block, and thus may play an important role in intercontinental biostratigraphical correlation. By shedding light on the age of the upper limit of the underlying Lianhuashan Formation at the Lingli section, the present study indicates that the Kwangsian Orogeny ended before the late Lochkovian. This date is slightly earlier than the previously estimated late Lochkovian based on studies of fossil plants from the siliciclastic rocks deposited after the Kwangsian Orogeny.

UUID: http://zoobank.org/8010f983-4f6f-43dd-949f-de4653e53d9d

We demonstrate an ultra-broadband high temporal contrast infrared laser source based on cascaded optical parametric amplification, hollow-core fiber (HCF) and second harmonic generation processes. In this setup, the spectrum of an approximately 1.8 μm laser pulse has near 1 μm full bandwidth by employing an argon gas-filled HCF. Subsequently, after frequency doubling with cascaded crystals and dispersion compensation by a fused silica wedge pair, 9.6 fs (~3 cycles) and 150 μJ pulses centered at 910 nm with full bandwidth of over 300 nm can be generated. The energy stability of the output laser pulse is excellent with 0.8% (root mean square) over 20 min, and the temporal contrast is >1012 at –10 ps before the main pulse. The excellent temporal and spatial characteristics and stability make this laser able to be used as a good seed source for ultra-intense and ultrafast laser systems.

Extraction of reference signal is an indispensable step in the signal processing of polarization diversity passive radar (PDPR) based on a digital television signal. A conventional reference signal extraction method requires an additional reference antenna, which has a certain demand for space. Single dual-polarization antenna passive radar (SDPPR) systems do not require a reference antenna, and the radar station layout is flexible, which is suitable for a large-scale radar network. It is a main research direction of PDPR in future. However, its reference signal extraction needs to rely on the signal reconstruction method. When the signal to interference and noise ratio of the direct-path signal is relatively low, the signal reconstruction method will fail. In this paper, we propose a reference signal extraction method based on sub-carrier processing method, blind adaptive oblique projection technology, and extensive cancelation algorithm to solve the above problem. Experimental results show that the method proposed in this paper is a reasonable alternative after the failure of reference signal reconstruction, and it is an effective supplement to the reference signal extraction technology.

We present an experimental study of Rayleigh–Bénard convection using liquid metal alloy gallium-indium-tin as the working fluid with a Prandtl number of $Pr=0.029$. The flow state and the heat transport were measured in a Rayleigh number range of $1.2\times 10^{4} \le Ra \le 1.3\times 10^{7}$. The temperature fluctuation at the cell centre is used as a proxy for the flow state. It is found that, as $Ra$ increases from the lower end of the parameter range, the flow evolves from a convection state to an oscillation state, a chaotic state and finally a turbulent state for $Ra>10^5$. The study suggests that the large-scale circulation in the turbulent state is a residual of the cell structure near the onset of convection, which is in contrast with the case of $Pr\sim 1$, where the cell structure is transiently replaced by high order flow modes before the emergence of the large-scale circulation in the turbulent state. The evolution of the flow state is also reflected by the heat transport characterised by the Nusselt number $Nu$ and the probability density function (p.d.f.) of the temperature fluctuation at the cell centre. It is found that the effective local heat transport scaling exponent $\gamma$, i.e. $Nu\sim Ra^{\gamma }$, changes continuously from $\gamma =0.49$ at $Ra\sim 10^4$ to $\gamma =0.25$ for $Ra>10^6$. Meanwhile, the p.d.f. at the cell centre gradually evolves from a Gaussian-like shape before the transition to turbulence to an exponential-like shape in the turbulent state. For $Ra>10^6$, the flow shows self-similar behaviour, which is revealed by the universal shape of the p.d.f. of the temperature fluctuation at the cell centre and a $Nu=0.19Ra^{0.25}$ scaling for the heat transport.

We study the two-dimensional Rayleigh–Bénard instability subject to the combined effects of a solid–liquid phase boundary and shear using linear stability theory and energy analysis. We consider two thermal states of the solid (isothermal and conducting), and two types of shear that can arise in different contexts. When the melting temperature is equal to that held at the top boundary, three instability modes can arise with the increase of Reynolds number Re that characterizes the shear intensity: a boundary mode, a mixed boundary–bulk mode and a bulk flow mode. When the melting temperature lies between the top and the bottom boundaries, the introduction of Couette flow, independent of its intensity, always leads to the mixed mode, whereas the instability with Poiseuille flow is dominated by the bulk flow mode once Re exceeds a critical value, below which the mixed mode dominates. The energy analysis suggests that there exist two mechanisms by which the shear flow affects the system: one is by inhibiting the upward heat flux and another is by absorbing energy from the perturbed hydrodynamic field. These two mechanisms can play totally different roles in different cases. Results in the high-Re regime indicate that, when Re exceeds its classical threshold, i.e. Re = 5772.2 for Poiseuille flow, the Tollmien–Schlichting instability will be dominant in the present system.

We report on a vortex laser chirped-pulse amplification (CPA) system that delivers pulses with a peak power of 45 TW. A focused intensity exceeding 1019 W/cm2 has been demonstrated for the first time by the vortex amplification scheme. Compared with other schemes of strong-field vortex generation with high energy flux but narrowband vortex-converting elements at the end of the laser, an important advantage of our scheme is that we can use a broadband but size-limited q-plate to realize broadband mode-converting in the front end of the CPA system, and achieve high-power amplification with a series of amplifiers. This method is low cost and can be easily implemented in an existing laser system. The results have verified the feasibility to obtain terawatt and even petawatt vortex laser amplification by a CPA system, which has important potential applications in strong-field laser physics, for example, generation of vortex particle beams with orbital angular momentum, fast ignition for inertial confinement fusion and simulation of the extreme astrophysical environment.

Pressure fluctuations play an essential role in the transport of turbulent kinetic energy and vibrational loading. This study focuses on examining the effect of wall cooling on pressure fluctuations in compressible turbulent boundary layers by high-fidelity direct numerical simulations. Pressure fluctuations result from the vorticity mode and the acoustic mode that are both closely dependent on compressibility. To demonstrate the effects of wall cooling at various compressibility intensities, three free-stream Mach numbers are investigated, i.e. $M_\infty =0.5$, 2.0 and 8.0, with real gas effects being absent for $M_\infty =8.0$ due to a low enthalpy inflow. Overall, opposite effects of wall cooling on pressure fluctuations are found between the subsonic/supersonic cases and the hypersonic case. Specifically, the pressure fluctuations normalized by wall shear stress $p^\prime _{rms}/\tau _w$ are suppressed in the subsonic and supersonic cases, while enhanced in the hypersonic case near the wall. Importantly, travelling-wave-like alternating positive and negative structures (APNS), which greatly contribute to pressure fluctuations, are identified within the viscous sublayer and buffer layer in the hypersonic cases. Furthermore, generating mechanisms of pressure fluctuations are explored by extending the decomposition based on the fluctuating pressure equation to compressible turbulent boundary layers. Pressure fluctuations are decomposed into five components, in which rapid pressure, slow pressure and compressible pressure are dominant. The suppression of pressure fluctuations in the subsonic and supersonic cases is due to both rapid pressure and slow pressure being suppressed by wall cooling. In contrast, wall cooling strengthens compressible pressure for all Mach numbers, especially in the hypersonic case, resulting in increased wall pressure fluctuations. Compressible pressure plays a leading role in the hypersonic case, mainly due to the APNS. Essentially, the main effects of wall cooling can be interpreted by the suppression of the vorticity mode and the enhancement of the acoustic mode.

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.

Polarization diversity technology is an effective method to improve the detection performance of passive radar systems, but the related papers mainly conduct research on the polarization diversity in interference suppression, and there are few studies focusing on the polarization characteristics of the target itself. The work in this paper is divided into two parts. The first part is going to investigate the potential benefits of signal fusion in target polarization-scattering characteristic. The analysis results show that the cross-polarized component of the target scattered echo is not always weaker than the co-polarized component, and the polarization amplitude ratio value is mostly concentrated near 1. This indicates that polarization signal fusion will likely improve target detection performance. The other part introduces a polarization signal fusion method based on the non-coherent integration (P-NCI), but this method is susceptible to the influence of the difference in the signal-to-noise ratio (SNR) of the signal of each polarization channel, resulting in a reduction in the SNR of the fusion signal. The polarization signal fusion method based on adaptive weighting (AW-PSF) can effectively improve the robustness of signal fusion. The experimental results show that AW-PSF has better detection performance compared with single-polarization channel and P-NCI.

External modulation on thermal convection has been studied extensively to achieve the control of flow structures and heat-transfer efficiency. In this paper, we carry out direct numerical simulations on Rayleigh–Bénard convection accounting for both the modulation of wall shear and roughness over the Rayleigh number range $1.0 \times 10^6 \le Ra \le 1.0 \times 10^8$, the wall shear Reynolds number range $0 \le Re_w \le 5000$, the aspect-ratio range $2 \le \varGamma \le 4{\rm \pi}$, and the dimensionless roughness height range $0 \le h \le 0.2$ at fixed Prandtl number $Pr = 1$. Under the combined actions of wall shear and roughness, with increasing $Re_w$, the heat flux is initially enhanced in the buoyancy-dominant regime, then has an abrupt transition near the critical shear Reynolds number $Re_{w,cr}$, and finally enters the purely diffusion regime dominated by shear. Based on the crossover of the kinetic energy production between the buoyancy-dominant and shear-dominant regimes, a physical model is proposed to predict the transitional scaling behaviour between $Re_{w,cr}$ and $Ra$, i.e. $Re_{w,cr} \sim Ra^{9/14}$, which agrees well with our numerical results. The reason for the observed heat-transport enhancement in the buoyancy-dominant regime is further explained by the fact that the moving rough plates introduce an external shear to strengthen the large-scale circulation (LSC) in the vertical direction and serve as a conveyor belt to increase the chances of the interaction between the LSC and secondary flows within cavities, which triggers more thermal plumes, efficiently transports the trapped hot (cold) fluids outside cavities.

Ebselen is a well-known synthetic compound mimicking glutathione peroxidase (GPx), which catalyses some vital reactions that protect against oxidative damage. Based on a large number of in vivo and in vitro studies, various mechanisms have been proposed to explain its actions on multiple targets. It targets thiol-related compounds, including cysteine, glutathione, and thiol proteins (e.g., thioredoxin and thioredoxin reductase). Owing to this, ebselen is a unique multifunctional agent with important effects on inflammation, apoptosis, oxidative stress, cell differentiation, immune regulation and neurodegenerative disease, with anti-microbial, detoxifying and anti-tumour activity. This review summarises the current understanding of the multiple biological processes and molecules targeted by ebselen, and its pharmacological applications.