Exoskeleton robots have been widely used in many fields at present. When wearing the exoskeleton to operate, the wearer may be unconscious of the position of exoskeleton or affected by the surrounding environment, causing collision between two arms of exoskeleton or between arms and environment. The collision may result in the exoskeleton destroyed or even the wearer injured. This paper proposes a hierarchical safety control strategy for exoskeleton robots based on maximum correntropy Kalman filter and bounding box to ensure safe operation. Accurate joint angle prediction can be obtained by filtering out non-Gaussian impulsive noise using maximum correntropy criterion as evaluation criterion. Relative position relationship of the arms can be derived based on bounding box to realize hierarchical safe control. Enough experiments have been carried out, and the results validated the feasibility of the proposed method.

Underground Nuclear Astrophysics in China (JUNA) will take the advantage of the ultra-low background in Jinping underground lab. High current accelerator with an ECR source and detectors were commissioned. JUNA plans to study directly a number of nuclear reactions important to hydrostatic stellar evolution at their relevant stellar energies. At the first period, JUNA aims at the direct measurements of 25Mg(p,γ)26 Al, 19F(p,α) 16 O, 13C(α, n) 16O and 12C(α,γ) 16O near the Gamow window. The current progress of JUNA will be given.

The Honggong pluton is the largest ferroan alkalic (A-type) granite intrusion emplaced along the Jiangshan–Shaoxing fault zone in southwestern Zhejiang Province, and has important implications for understanding the Late Mesozoic tectonic evolution of SE China. U–Pb ages of 138.7 ± 0.8, 134.2 ± 1.1, 128.5 ± 1.5 and 126.1 ± 0.9 Ma were obtained from zircon by laser ablation–inductively coupled plasma–mass spectrometry, indicating that the Honggong pluton formed in the Early Cretaceous. The Honggong pluton has a clear ferroan alkalic (A-type) granite geochemical signature with, for example, high total alkali contents and FeOt/(FeOt + MgO) values. The Sr–Nd–Hf isotopic compositions suggest that there was juvenile material in the magma source. Geochemical evidence indicates that the pluton was derived through extensive fractionation of melts that contained both asthenospheric mantle and Mesoproterozoic crustal components. These rare granites in southern China were emplaced during five episodes at 235–225, 190, 165–155, 100–90 and 140–120 Ma. The age of the Honggong pluton suggests that localized extension in southwestern Zhejiang Province began as early as ~138 Ma and continued to 126 Ma. This Early Cretaceous extensional event was triggered by localized rollback of the subducting Pacific Plate.

Dietary patterns represent the combined effects of foods, and illustrate efficaciously the impact of diet on health outcomes. Some findings of previous studies have limited applicability to Chinese children due to cultural factors. The presnt study was designed to identify dietary patterns and determine their relationships with obesity among Chinese children and adolescents. Data collected from 1282 children and adolescents aged 7–17 years from the 2011 China Health and Nutrition Survey (CHNS) were used. Dietary patterns were identified using factor analysis of data from three consecutive 24-h dietary recalls. Weight and height were measured following standard methods, and BMI was calculated. Three dietary patterns were identified: modern (high intakes of milk, fast foods and eggs), traditional north (high intakes of wheat, tubers and other cereals) and traditional south (high intakes of vegetables, rice and pork). After adjusting for some confounders and total energy intake, subjects in the highest quartiles of the modern and traditional north patterns were found to have significantly greater risk of obesity (OR 3·10, 95 % CI 1·52, 6·32, and OR 2·42, 95 % CI 1·34, 4·39, respectively). In conclusion, the modern dietary pattern and the traditional north dietary pattern were associated with higher risk of obesity. Promoting healthier eating patterns could help prevent obesity in Chinese children.

This paper presents a method to improve the speed and accuracy rate for space robot visual target recognition based on illumination and affine invariant feature extraction. The method takes illumination changes, strong nonlinear light due to refraction and reflection, target affine transformation and occlusion into consideration, all of which occur on the cabin target surface and affect the target recognition accuracy seriously. In this paper, a method is proposed to capture a same target at multi-viewpoints to establish feature library for high recognition accuracy and speed at any viewpoint. By using an analysis of the light intensity and gray level transformation, we obtain the corrected image which reduce the influence of illumination change. Then the affine moment invariants features of the correction images at multi-viewpoints were extracted and the average feature datum were stored in the library. To verify the validity of the method, a robot vision system provided images, followed by image preprocessing, dynamic local threshold segmentation and feature extraction. These methods were verified on a target recognition system of space robot built for this research. The experimental results showed that the methods were feasible and effective.

A crucial problem is the risk that a manipulator arm would be damaged by twisting or bending during and after contacting a target satellite. This paper presents a solution to minimize the risk of damage to the arm and thereby enhance contact performance. First, a hand-eye servo controller is proposed as a method for accurately tracking and capturing a target satellite. Next, a motion planning strategy is employed to obtain the best-fit contacting moments. Also, an impedance control law is implemented to increase protection during operation and to ensure more accurate compliance. Finally, to overcome the challenge of verifying algorithms for a space manipulator while on the ground, a novel experimental system with a 6-DOF (degree of freedom) manipulator on a chaser field robot is presented and implemented to capture a target field robot; the proposed methods are then validated using the experimental platform.