Achieving the high-precision control of cable-driven parallel robots (CDPRs) is complex because of their structural properties. In this paper, a quintessential redundant CDPR is designed as the research subject, and a continuous switching sliding mode controller based on workspace vision is implemented to enhance the accuracy and stability of trajectory tracking. In addition, a virtual prototype of the CDPR with uncertainties is created in the simulation analysis software ADAMS, and co-simulation is performed with the control system designed in Simulink to validate the effectiveness of the proposed control strategy. Furthermore, a CDPR platform is established for trajectory tracking experiments using the visual-based position feedback method. The trajectory tracking performance with the three control schemes is then evaluated. The experimental results show that the continuous switching sliding mode control algorithm can significantly decrease trajectory tracking errors and exhibit superior trajectory tracking performance compared to the other control strategies.

The penultimate deglaciation was characterized by a sub-millennial-scale warm event in the Heinrich Stadial 11(HS11), termed the 134-ka event. However, its precise timing and structure remain poorly constrained due to the lack of high-resolution and precisely dated records. We present an oxygen isotope record of a speleothem with well-developed annual lamina from Zhangjia Cave, located on the north margin of the Sichuan Basin, characterizing Asian summer monsoon (ASM) changes in the 134-ka event, which included an increase excursion of ca. 149 years and decrease excursion of ca. 200 years, inferred from 3.3‰ δ18O variations. This event also divided the weak ASM interval-II (WMI-II), corresponding to HS11, into two stages, the WMI-IIa 132.8–134.1 ka and WMI-IIb 134.4–136.4 ka. With a comparable climatic pattern globally, the 134-ka event is essentially similar to the millennial-scale events in last glacial–deglacial period. Particularly, the observed weak-strong-weak ASM sequence (138.8–132.8 ka) is largely controlled by changes in the Atlantic Meridional Overturning Circulation (AMOC) forced by the meltwater of northern high-latitude ice sheets. Moreover, our results underpin that AMOC, rather than the global ice volume, is more critical to ASM variations during the last two deglaciations.

The effects of monolaurin (ML) on the health of piglets infected with porcine epidemic diarrhoea virus (PEDV) have not been fully understood. This study aimed to investigate its role in blood biochemical profile, intestinal barrier function, antioxidant function and the expression of antiviral genes in piglets infected with PEDV. Thirty-two piglets were randomly divided into four groups: control group, ML group, PEDV group and ML + PEDV group. Piglets were orally administrated with ML at a dose of 100 mg/kg·BW for 7 d before PEDV infection. Results showed that PEDV infection significantly decreased D-xylose content and increased intestinal fatty acid-binding protein content, indicating that PEDV infection destroyed intestinal barrier and absorption function. While it could be repaired by ML administration. Moreover, ML administration significantly decreased plasma blood urea nitrogen and total protein content upon PEDV infection. These results suggested ML may increase protein utilisation efficiency. ML administration significantly decreased the number of large unstained cells and Hb and increased the number of leucocytes and eosinophils in the blood of PEDV-infected piglets, indicating ML could improve the immune defense function of the body. In the presence of PEDV infection, ML administration significantly increased superoxide dismutase and catalase activities in blood and colon, respectively, indicating ML could improve antioxidant capacity. Besides, ML administration reversed the expression of ISG15, IFIT3 and IL-29 throughout the small intestine and Mx1 in jejunum and ileum, indicating the body was in recovery from PEDV infection. This study suggests that ML could be used as a kind of feed additive to promote swine health upon PEDV infection.

This article focuses on the luggage trolley transportation problem, an essential part of robotic autonomous luggage trolley collection. To efficiently address the nonholonomic constraints derived from the formation of two collaborative robots and a queue of luggage trolleys, we propose a comprehensive framework consisting of a global planning method and a real-time divide-and-conquer control strategy. The popular Hybrid A* algorithm generates a feasible path as the global planner. A model predictive controller is designed to track this path stably and in real time. To maintain the formation so that the whole queue of robots and luggage trolleys does not split, a safety filter that consists of a discrete-time control Lyapunov function and a decentralized control barrier function is implemented in the transportation process. Finally, we conduct real-world experiments to verify the effectiveness of the proposed method on three representative paths, and the results show that our approach can achieve robust performance. The demonstration video can be found at https://www.youtube.com/watch?v=iPiT8BfLIpU.

Instability evolutions of shock-accelerated thin cylindrical SF$_6$ layers surrounded by air with initial perturbations imposed only at the outer interface (i.e. the ‘Outer’ case) or at the inner interface (i.e. the ‘Inner’ case) are numerically and theoretically investigated. It is found that the instability evolution of a thin cylindrical heavy fluid layer not only involves the effects of Richtmyer–Meshkov instability, Rayleigh–Taylor stability/instability and compressibility coupled with the Bell–Plesset effect, which determine the instability evolution of the single cylindrical interface, but also strongly depends on the waves reverberated inside the layer, thin-shell correction and interface coupling effect. Specifically, the rarefaction wave inside the thin fluid layer accelerates the outer interface inward and induces the decompression effect for both the Outer and Inner cases, and the compression wave inside the fluid layer accelerates the inner interface inward and causes the decompression effect for the Outer case and compression effect for the Inner case. It is noted that the compressible Bell model excluding the compression/decompression effect of waves, thin-shell correction and interface coupling effect deviates significantly from the perturbation growth. To this end, an improved compressible Bell model is proposed, including three new terms to quantify the compression/decompression effect of waves, thin-shell correction and interface coupling effect, respectively. This improved model is verified by numerical results and successfully characterizes various effects that contribute to the perturbation growth of a shock-accelerated thin heavy fluid layer.

Pyrophyllite is an important layered phyllosilicate material that is used in many fields due to its beneficial physicochemical and mechanical properties. Due to the presence of multiple defects in pyrophyllite, an in-depth investigation was conducted using density functional theory to explore the effects of Na(I), K(I), Mg(II), Ca(II) and Fe(II) doping on the atomic structure, electronic properties and mechanical characteristics of pyrophyllite. The results demonstrated that, among the studied defects, K(I) doping had the most pronounced effects on the lattice constants and bonding lengths of pyrophyllite, while the least significant effects were observed in the case of Fe(II) doping. Moreover, the partial and total densities of states and band structures of the five kinds of doped pyrophyllite also changed significantly due to the redistribution of electrons. Finally, the elastic constants of the doped pyrophyllite were lower than that of the undoped pyrophyllite. Doping with Na(I), K(I), Mg(II), Ca(II) and Fe(II) reduced the deformation resistance, stiffness and elastic wave velocity but increased the degree of anisotropy in pyrophyllite. The observed effects on the mechanical properties of pyrophyllite followed the order: Mg(II) > Fe(II) > Ca(II) >K(I) > Na(I).

Compared with nitrogen and argon, helium is lighter and can better reduce the beam loss caused by angular scattering during beam transmission. The molecular dissociation cross-section in helium is high and stable at low energies, which makes helium the prevalent stripping gas in low-energy accelerator mass spectrometry (AMS). To study the stripping behavior of 14C ions in helium at low energies, the charge state distributions of carbon ion beams with −1, +1, +2, +3, and +4 charge states were measured at energies of 70–220 keV with a compact 14C-AMS at Guangxi Normal University (GXNU). The experimental data were used to analyze the stripping characteristics of C-He in the energy range of 70–220 keV, and new charge state yields and exchange cross-sections in C-He were obtained at energies of 70–220 keV.

The advent of immersive and interactive technologies has facilitated the growth of the museum and gallery sector by offering a variety of new experiences. In the UK and China, in particular, the museum and gallery sector lies at the heart of the creative industries and makes a significant contribution to cultural growth. Both countries have recognised the impact of such technologies on the growth of the sector and have actively sought opportunities to use them for bilateral collaboration. However, the interest in immersive and interactive technologies among museum and gallery audiences remains underexplored, as do their preferences and behavioural patterns with respect to such technologies. This study discusses the key findings of user research, exploring the awareness, experiences and preferences of current museum and gallery audiences regarding (i) immersive and interactive museum and gallery experiences and (ii) the cultural exchange between the UK and China.

This study analyzes the linewidth narrowing characteristics of free-space-running Brillouin lasers and investigates the approaches to achieve linewidth compression and power enhancement simultaneously. The results show that the Stokes linewidth behavior in a free-space-running Brillouin laser cavity is determined by the phase diffusion of the pump and the technical noise of the system. Experimentally, a Stokes light output with a power of 22.5 W and a linewidth of 3.2 kHz was obtained at a coupling mirror reflectivity of 96%, which is nearly 2.5 times compressed compared with the linewidth of the pump (7.36 kHz). In addition, the theorical analysis shows that at a pump power of 60 W and a coupling mirror reflectivity of 96%, a Stokes output with a linewidth of 1.6 kHz and up to 80% optical conversion efficiency can be achieved by reducing the insertion loss of the intracavity. This study provides a promising technical route to achieve high-power ultra-narrow linewidth special wavelength laser radiations.

Although ethanol treatment is widely used to activate oocytes, the underlying mechanisms are largely unclear. Roles of intracellular calcium stores and extracellular calcium in ethanol-induced activation (EIA) of oocytes remain to be verified, and whether calcium-sensing receptor (CaSR) is involved in EIA is unknown. This study showed that calcium-free ageing (CFA) in vitro significantly decreased intracellular stored calcium (sCa) and CaSR expression, and impaired EIA, spindle/chromosome morphology and developmental potential of mouse oocytes. Although EIA in oocytes with full sCa after ageing with calcium does not require calcium influx, calcium influx is essential for EIA of oocytes with reduced sCa after CFA. Furthermore, the extremely low EIA rate in oocytes with CFA-downregulated CaSR expression and the fact that inhibiting CaSR significantly decreased the EIA of oocytes with a full complement of CaSR suggest that CaSR played a significant role in the EIA of ageing oocytes. In conclusion, CFA impaired EIA and the developmental potential of mouse oocytes by decreasing sCa and downregulating CaSR expression. Because mouse oocytes routinely treated for activation (18 h post hCG) are equipped with a full sCa complement and CaSR, the present results suggest that, while calcium influx is not essential, CaSR is required for the EIA of oocytes.

The strongly nonlinear Miyata–Choi–Camassa model under the rigid lid approximation (MCC-RL model) can describe accurately the dynamics of large-amplitude internal waves in a two-layer fluid system for shallow configurations. In this paper, we apply the MCC-RL model to study the internal waves generated by a moving body on the bottom. For the case of the moving body speed $U=1.1c_{0}$, where ${c_0}$ is the linear long-wave speed, the accuracy of the MCC-RL results is assessed by comparing with Euler's solutions, and very good agreement is observed. It is found that when the moving body speed increases from $U=0.8c_{0}$ to $U=1.241c_{0}$, the amplitudes of the generated internal solitary waves in front of the moving body become larger. However, a critical moving body speed is found between $U=1.241c_{0}$ and $U=1.242c_{0}$. After exceeding this critical speed, only one internal wave right above the body is generated. When the moving body speed increases from $U=1.242c_{0}$ to $U=1.5c_{0}$, the amplitudes of the internal waves become smaller.

In 2020, hundreds of sub-national government officials and Chinese Communist Party cadres undertook a months-long experiment in livestreaming and social commerce. These sectors are among the most dynamic in the Chinese internet economy and culture, yet Chinese officials have generally resisted engaging with popular and celebrity cultures, even as institutions have begun to expand and modernize their digital operations. Why, then, did a substantial cohort of local officials undertake this experiment? The proximate reason was that they wanted to help local producers hit by the pandemic and to meet their own pending poverty alleviation targets. However, the significance of the case is broader, reflecting the central state and Party's revised thinking on political communications in an era of internet celebrity and self-media and the propensity for local officials to innovate and experiment in the field of digital and popular communication. Investigating empirically how and how effectively livestreaming was employed at the local level helps us to illuminate these dynamics. To facilitate the study, we investigated how officials understood and performed internet celebrity through in-person semi-structured interviews and a three-month virtual ethnographic study.

This study aims to understand the epidemiological characteristics of SARS-CoV-2 infection in the paediatric population during the outbreak of the Omicron variant in Shanghai. We retrospectively analysed the population-based epidemiological characteristics and clinical outcome of SARS-CoV-2 Omicron variant infection in children in Minhang District, Shanghai, based on the citywide surveillance system during the outbreak period in 2022 (March to May). During this time, a total of 63,969 cases of SARS-CoV-2 infection were notified in Minhang District, out of which 4,652 (7.3%) were children and adolescents <18 years. The incidence rate of SARS-CoV-2 infections in children was 153 per 10,000. Of all paediatric cases, 50% reported to be clinically symptomatic within 1–3 days after PCR confirmation by parents or themselves, with 36.3% and 18.9% of paediatric cases reporting fever and cough. Also, 58.4% of paediatric cases had received at least one dose of the COVID-19 vaccine and 52.1% had received two doses of the COVID-19 vaccination. Our findings are informative for the implementation of appropriate measures to protect children from the threat of SARS-CoV-2 infection.

Shortawn foxtail (Alopecurus aequalis Sobol.) is an obligate wetland plant that is widely distributed throughout Europe, temperate Asia, and North America. In China, it is widespread in the middle and lower reaches of the Yangtze River as a noxious weed in winter cropping fields with a rice (Oryza sativa L.) rotation. The acetolactate synthase (ALS)-inhibiting herbicide mesosulfuron-methyl has been widely used to control annual grass and broadleaf weeds, including A. aequalis, in wheat (Triticum aestivum L.) fields, leading to the selection of herbicide-resistant weeds. In this study, an A. aequalis population, AHFT-4, that survived mesosulfuron-methyl at the field-recommended rate (9 g ai ha−1) was collected in Anhui Province. Single-dose testing confirmed that the suspected resistant AHFT-4 had evolved resistance to mesosulfuron-methyl. Target gene sequencing revealed a resistance mutation of Pro-197-Ala in ALS1 of the resistant plants, and a derived cleaved amplified polymorphic sequence marker was developed to specifically detect the mutation. A relative expression assay showed no significant difference in ALS expression between AHFT-4 and a susceptible population without or with mesosulfuron-methyl treatment. Whole-plant dose–response bioassays indicated that AHFT-4 had evolved broad-spectrum cross-resistance to ALS-inhibiting herbicides of all five chemical families tested, with GR50 resistance index (RI) values ranging from 21 to 206. However, it remained susceptible to the photosystem II inhibitor isoproturon. Pretreatment with the cytochrome P450 inhibitor malathion or the glutathione S-transferase inhibitor 4-chloro-7-nitrobenzoxadiazole had no significant effects on the resistance of AHFT-4 to mesosulfuron-methyl. To our knowledge, this study reports for the first time the ALS gene Pro-197-Ala substitution conferring broad-spectrum cross-resistance to ALS-inhibiting herbicides in A. aequalis.

Post-acceleration of protons in helical coil targets driven by intense, ultrashort laser pulses can enhance ion energy by utilizing the transient current from the targets’ self-discharge. The acceleration length of protons can exceed a few millimeters, and the acceleration gradient is of the order of GeV/m. How to ensure the synchronization between the accelerating electric field and the protons is a crucial problem for efficient post-acceleration. In this paper, we study how the electric field mismatch induced by current dispersion affects the synchronous acceleration of protons. We propose a scheme using a two-stage helical coil to control the current dispersion. With optimized parameters, the energy gain of protons is increased by four times. Proton energy is expected to reach 45 MeV using a hundreds-of-terawatts laser, or more than 100 MeV using a petawatt laser, by controlling the current dispersion.