This paper proposes an online robust self-learning terminal sliding mode control (RS-TSMC) with stability guarantee for balancing control of reaction wheel bicycle robots (RWBR) under model uncertainties and disturbances, which improves the balancing control performance of RWBR by optimising the constrained output of TSMC. The TSMC is designed for a second-order mathematical model of RWBR. Then robust adaptive dynamic programming based on an actor-critic algorithm is used to optimise the TSMC only by data sampled online. The system closed-loop stability and convergence of the neural network weights are guaranteed based on the Lyapunov analysis. The effectiveness of the proposed algorithm is demonstrated through simulations and experiments.

Isolated multi-MeV $\gamma$-rays with attosecond duration, high collimation and beam angular momentum (BAM) may find many interesting applications in nuclear physics, astrophysics, etc. Here, we propose a scheme to generate such $\gamma$-rays via nonlinear Thomson scattering of a rotating relativistic electron sheet driven by a few-cycle twisted laser pulse interacting with a micro-droplet target. Our model clarifies the laser intensity threshold and carrier-envelope phase effect on the generation of the isolated electron sheet. Three-dimensional numerical simulations demonstrate the $\gamma$-ray emission with 320 attoseconds duration and peak brilliance of $9.3\times 10^{24}$ photons s${}^{-1}$ mrad${}^{-2}$ mm${}^{-2}$ per 0.1$\%$ bandwidth at 4.3 MeV. The $\gamma$-ray beam carries a large BAM of $2.8 \times 10^{16}\mathrm{\hslash}$, which arises from the efficient BAM transfer from the rotating electron sheet, subsequently leading to a unique angular distribution. This work should promote the experimental investigation of nonlinear Thomson scattering of rotating electron sheets in large laser facilities.

Accurately converting satellite instantaneous evapotranspiration (λETi) over time to daily evapotranspiration (λETd) is crucial for estimating regional evapotranspiration from remote sensing satellites, which plays an important role in effective water resource management. In this study, four upscaling methods based on the principle of energy balance, including the evaporative fraction method (Eva-f method), revised evaporative fraction method (R-Eva-f method), crop coefficient method (Kc-ET0 method) and direct canopy resistance method (Direct-rc method), were validated based on the measured data of the Bowen ratio energy balance system (BREB) in maize fields in northwestern (NW) and northeastern (NE) China (semi-arid and semi-humid continental climate regions) from 2021 to 2023. Results indicated that Eva-f and R-Eva-f methods were superior to Kc-ET0 and Direct-rc methods in both climatic regions and performed better between 10:00 and 11:00, with mean absolute errors (MAE) and coefficient of efficiency (ɛ) reaching <10 W/m2 and > 0.91, respectively. Comprehensive evaluation of the optimal upscaling time using global performance indicators (GPI) showed that the Eva-f method had the highest GPI of 0.59 at 12:00 for the NW, while the R-Eva-f method had the highest GPI of 1.18 at 11:00 for the NE. As a result, the Eva-f approach is recommended as the best way for upscaling evapotranspiration in NW, with 12:00 being the ideal upscaling time. The R-Eva-f method is the optimum upscaling method for the Northeast area, with an ideal upscaling time of 11:00. The comprehensive results of this study could be useful for converting λETi to λETd.

Path planning for the unmanned aerial vehicle (UAV) is to assist in finding the proper path, serving as a critical role in the intelligence of a UAV. In this paper, a path planning for UAV in three-dimensional environment (3D) based on enhanced gravitational search algorithm (EGSA) is put forward, taking the path length, yaw angle, pitch angle, and flight altitude as considerations of the path. Considering EGSA is easy to fall into local optimum and convergence insufficiency, two factors that are the memory of current optimal and random disturbance with chaotic levy flight are adopted during the update of particle velocity, improving the balance between exploration and exploitation for EGSA through different time-varying characteristics. With the identical cost function, EGSA is compared with seven peer algorithms, such as moth flame optimization algorithm, gravitational search algorithm, and five variants of gravitational search algorithm. The experimental results demonstrate that EGSA is superior to the seven comparison algorithms on CEC 2020 benchmark functions and the path planning method based on EGSA is more valuable than the other seven methods in diverse environments.

Industrial robots are widely used in the painting industry, such as automobile manufacturing and solid wood furniture industry. An important problem is how to improve the efficiency of robot programming, especially in the current furniture industry with multiple products, small batches and increasingly high demand for customization. In this work, we propose an outer loop adaptive control scheme, which allow users to realize the practical application of the zero-moment lead-through teaching method based on dynamic model without opening the inner torque control interface of robots. In order to accurately estimate the influence of joint friction, a friction model is established based on static, Coulomb and viscous friction characteristics, and the Sigmoid function is used to represent the transition between motion states. An identification method is used to quickly identify the dynamic parameters of the robot. The joint position/speed command of the robot’s inner joint servo loop is dynamically generated based on the user-designed adaptive control law. In addition, the zero-moment lead-through teaching scheme based on the dynamic model is applied to a spray-painting robot with closed control system. In order to verify our method, CMA GR630ST is used to conduct experiments. We identified the parameters of the dynamic model and carried out the zero-moment lead-through teaching experiment to track the target trajectory. The results show that the proposed method can realize the application of modern control methods in industrial robot with closed control systems, and achieve a preliminary exploration to improve the application scenarios of spray-painting robots.

Many protected areas worldwide have been established to protect the last natural refuges of flagship animal species. However, long-established protected areas do not always match the current distributions of target species under changing environmental conditions. Here we present a case study of the Asian elephant Elephas maximus in Xishuangbanna, south-west China, to evaluate whether the established protected areas match the species’ current distribution and to identify key habitat patches for Asian elephant conservation. Our results show that currently only 24.5% of the predicted Asian elephant distribution in Xishuangbanna is located within Xishuangbanna National Nature Reserve, which was established for elephant conservation. Based on the predicted Asian elephant distribution, we identified the most important habitat patches for elephant conservation in Xishuangbanna. The three most important patches were outside Xishuangbanna National Nature Reserve and together they contained 43.3% of the estimated food resources for Asian elephants in all patches in Xishuangbanna. Thus, we identified a spatial mismatch between immobile protected areas and mobile animals. We recommend the inclusion of the three identified key habitat patches in a new national park currently being planned by the Chinese authorities for the conservation of the Asian elephant.

Celestial navigation is an important means of maritime navigation; it can automatically achieve inertially referenced positioning and orientation after a long period of development. However, the impact of different accuracy of observations and the influence of nonstationary states, such as ship speed change and steering, are not taken into account in existing algorithms. To solve this problem, this paper proposes an adaptively robust maritime celestial navigation algorithm, in which each observation value is given an equivalent weight according to the robust estimation theory, and the dynamic balance between astronomical observation and prediction values of vessel motion is adjusted by applying the adaptive factor. With this system, compared with the frequently used least square method and extended Kalman filter algorithm, not only are the real-time and high-precision navigation parameters, such as position, course, and speed for the vessel, calculated simultaneously, but also the influence of abnormal observation and vessel motion status change could be well suppressed.

In the laser plasma interaction of quantum electrodynamics (QED)-dominated regime, γ-rays are generated due to synchrotron radiation from high-energy electrons traveling in a strong background electromagnetic field. With the aid of 2D particle-in-cell code including QED physics, we investigate the preplasma effect on the γ-ray generation during the interaction between an ultraintense laser pulse and solid targets. We found that with the increasing preplasma scale length, the γ-ray emission is enhanced significantly and finally reaches a steady state. Meanwhile, the γ-ray beam becomes collimated. This shows that, in some cases, the preplasmas will be piled up acting as a plasma mirror in the underdense preplasma region, where the γ-rays are produced by the collision between the forward electrons and the reflected laser fields from the piled plasma. The piled plasma plays the same role as the usual reflection mirror made from a solid target. Thus, a single solid target with proper scale length preplasma can serve as a manufactural and robust γ-ray source.

Snow and ice were monitored by thermistor-string-based Snow and Ice Mass Balance Array (SIMBA) in Lake Orajärvi in northern Finland. An existing automatic SIMBA-algorithm was further developed to derive air/snow, snow/ice and ice/water interfaces based on the SIMBA environment temperature (ET) profiles. The identified interfaces agreed with in situ observations made in 2011/12 winter season. The method was capable to identify upward-moving snow/ice interface that was also visible from SIMBA heating temperature (HT) profiles, which responds to differences in the thermal diffusivities of air, snow, ice and water. The SIMBA data obtained in winters 2017/18 and 2018/19 were used to investigate snow and ice mass balance. An upward-moving snow/ice interface was detected as a result of meteoric ice (snow ice and superimposed ice) formation. Snow contributed to granular lake ice formation up to 40–55% of the total ice thickness on the seasonal mean. Heavy snowfalls and low air temperature in early winter are favourable for granular ice formation. The seasonal mean snow depth on nearby land was 2.7–2.9 times of that on the lake. The estimation of freeboard from snow and ice mass-balance measurement is sensitive to the snow density. Accurate ice freeboard calculation is still a challenge.

To reduce the seed length while maintaining the advantages of the cuboid KDP-type crystal, a long-seed KDP crystal with size $471~\text{mm}\times 480~\text{mm}\times 400~\text{mm}$ is rapidly grown. With almost the same high cutting efficiency to obtain third harmonic generation oriented samples,this long-seed KDP-type crystal can be grown with a shorter seed than that of the cuboid KDP-type crystal. The full width at half maximum of the high-resolution X-ray diffraction of the (200) crystalline face is 28.8 arc seconds, indicating that the long-seed KDP crystal has good crystalline quality. In the wavelength range of 377–1022 nm, the transmittance of the long-seed KDP crystal is higher than 90%. The fluence for the 50% probability of laser-induced damage (LID)is $18.5~\text{J}/\text{cm}^{2}$ (3 ns, 355 nm). Several test points survive when the laser fluence exceeds $30~\text{J}/\text{cm}^{2}$ (3 ns, 355 nm), indicating the good LID performance of the long-seed KDP crystal. At present, the growth of a long-seed DKDP crystal is under way.

In this paper, the atomic resolution high-angle annular dark-field scanning transmission electron microscope (HAADF-STEM) was used as the main research method. Using HAADF-STEM, two types of long-period stacking ordered structure (LPSO)—14H and 18R-LPSO—were observed in Mg96Gd2Y1Ni1 alloy, and the precipitates at various stages of aging were observed. Moreover, a type of rectangular β precipitates were found, and the atomic models of β precipitates along the [0001]Mg and ${\tf="TeXGyrePagella-Bold (TrueType)"\char9001} 11\bar 20\hbox{]}_{{\rm{Mg}}}$ directions were identified. At the aging peak stage, a three-dimensional network structure composed of LPSO/γ′ precipitates and β′ precipitates and β precipitates was observed. The hardness of the unaged homogenized Mg96Gd2Y1Ni1 alloy was only 87 HV and the hardness value of aging peak was 128.4 HV. Compared with the unaged alloy, the hardness of the peak-aged alloy increased by 47.59%. The composite strengthening of the three types of precipitates induced a significant strengthening to the alloy.

Aging treatment plays an important role in strengthening of 2198 Al–Li alloy. Through a serious of heat treatment processes, a large amount of precipitates emerge, mainly observed to be θ′(Al2Cu), Al3Zr, and T1(Al2CuLi), among which, T1 turns to be the most important precipitate that contributes to the strengthening of 2198 Al–Li alloy. While the temperature of the aging process is 175 °C, the density and size of T1 phase keep increasing through the process and reach peak in about 18 h. T1 phase tends to have a certain orientation relationship of ${\left( {0001} \right)_{{{\rm{T}}_1}}}//{\left\{ {111} \right\}_{{\rm{Al}}}}$, ${\left\langle {1010} \right\rangle _{{{\rm{T}}_{\rm{1}}}}}//{\left\langle {110} \right\rangle _{{\rm{Al}}}}$ and may have different kinds of multilayered structures. In most of the multilayered structures, the distance between two adjacent copper-rich laths is less than that in classical single-layered phase. Thus, it can be inferred that the microstructure of T1 phase might change in the process of developing from single-layered structure to multilayered structure. In addition, the interactions between different phases become relatively frequent when the density of T1 phase reaches a threshold.

The present study was undertaken to investigate the antiparasitic activity of extracellular products of Streptomyces albus. Bioactivity-guided isolation of chloroform extracts affording a compound showing potent activity. The structure of the compound was elucidated as salinomycin (SAL) by EI-MS, 1H NMR and 13C NMR. In vitro test showed that SAL has potent anti-parasitic efficacy against theronts of Ichthyophthirius multifiliis with 10 min, 1, 2, 3 and 4 h (effective concentration) EC50 (95% confidence intervals) of 2.12 (2.22–2.02), 1.93 (1.98–1.88), 1.42 (1.47–1.37), 1.35 (1.41–1.31) and 1.11 (1.21–1.01) mg L−1. In vitro antiparasitic assays revealed that SAL could be 100% effective against I. multifiliis encysted tomonts at a concentration of 8.0 mg L−1. In vivo test demonstrated that the number of I. multifiliis trophonts on Erythroculter ilishaeformis treated with SAL was markedly lower than that of control group at 10 days after exposed to theronts (P < 0.05). In the control group, 80% mortality was observed owing to heavy I. multifiliis infection at 10 days. On the other hand, only 30.0% mortality was recorded in the group treated with 8.0 mg L−1 SAL. The median lethal dose (LD50) of SAL for E. ilishaeformis was 32.9 mg L−1.

The Wuhan Pre/Post-Natal Twin Birth Registry (WPTBR) is one of the largest twin birth registries with comprehensive medical information in China. It recruits women from the first trimester of pregnancy and their twins from birth. From January 2006 to May 2016, the total number of twins enrolled in WPTBR is 13,869 twin pairs (27,553 individuals). The WPTBR initiated the Wuhan Twin Birth Cohort (WTBC). The WTBC is a prospective cohort study carried out through incorporation of three samples. The first one comprises 6,920 twin pairs, and the second one, 6,949 twin pairs. Both are population-based samples linked to the WPTBR and include pre- and post-natal information from WPTBR. The second sample includes neonatal blood spots as well. Using a hospital-based approach, we recently developed a third sample with a target enrolment of 1,000 twin pairs and their mothers. These twins are invited, via their parents, to participate in a periodic health examination from the first trimester of pregnancy to 18 years. Biological samples are collected initially from the mother, including blood, urine, cord blood, cord, amniotic fluid, placenta, breast milk and meconium, and vaginal secretions, and later from the twins, including meconium, stool, urine, and blood. This article describes the design, recruitment, follow-up, data collection, and measures, as well as ongoing and planned analyses at the WTBC. The WTBC offers a unique opportunity to follow women from prenatal to postnatal, as well as follow-up of their twins. This cohort study will expand the understanding of genetic and environmental influences on pregnancy and twins’ development in China.

SG-III laser facility is now the largest laser driver for inertial confinement fusion research in China. The whole laser facility can deliver 180 kJ energy and 60 TW power ultraviolet laser onto target, with power balance better than 10%. We review the laser system and introduce the SG-III laser performance here.

Ice algae have successfully adapted to the extreme environmental conditions in the Antarctic, however the underlying mechanisms involved in the regulation and response of thylakoid membranes and chloroplast to low-temperature stress are still not well understood. In this study, changes in pigment concentrations, lipids, fatty acids and pigment protein complexes in thylakoid membranes and chloroplast after exposure to low temperature conditions were investigated using the Antarctic ice algae Chlamydomonas sp. ICE-L. Results showed that the chloroplasts of Chlamydomonas sp. ICE-L are distributed throughout the cell except in the nuclear region in the form of thylakoid lamellas which exists in the gap between organelles and the starch granules. Also, the structure of mitochondria has no obvious change after cold stress. Concentrations of Chl a, Chl b, monogalactosyl diacylglycerol, digalactosyl diacylglycerol and fatty acids were also observed to exhibit changes with temperature, suggesting possible adaptations to cold environments. The light harvesting complex, lutein and β-carotene played an important role for adaptation of ICE-L, and increasing of monogalactosyl diacylglycerol and digalactosyl diacylglycerol improved the overall degree of unsaturation of thylakoid membranes, thereby maintaining liquidity of thylakoid membranes. The pigments, lipids, fatty acids and pigment-protein complexes maintained the stability of the thylakoid membranes and the normal physiological function of Chlamydomonas sp. ICE-L.

Considerable controversy exists regarding the associations of dietary patterns with the risk of all-cause, CVD and stroke mortality. Therefore, a meta-analysis was conducted to elucidate the potential associations between dietary patterns and the risk of all-cause, CVD and stroke mortality. The PubMed database was searched for prospective cohort studies on the associations between dietary patterns and the risk of all-cause, CVD and stroke mortality published until February 2014. Random-effects models were used to calculate the summary relative risk estimates (SRRE) based on the highest v. the lowest category of dietary pattern scores. Stratified analyses were conducted based on sex, geographical region, follow-up duration, and adjustment/non-adjustment for energy intake. A total of thirteen prospective cohort studies involving 338 787 participants were included in the meta-analysis. There was evidence of inverse associations between the prudent/healthy dietary pattern and the risk of all-cause (SRRE = 0·76, 95 % CI 0·68, 0·86) and CVD (SRRE = 0·81, 95 % CI 0·75, 0·87) mortality and an absence of association between this dietary pattern and stroke mortality (SRRE = 0·89, 95 % CI 0·77, 1·02). However, no significant associations were observed between the Western/unhealthy dietary pattern and the risk of all-cause (SRRE = 1·07, 95 % CI 0·96, 1·20), CVD (SRRE = 0·99, 95 % CI 0·91, 1·08) and stroke (SRRE = 0·94, 95 % CI 0·81, 1·10) mortality. In conclusion, the findings provide evidence that greater adherence to a prudent/healthy dietary pattern is associated with a lower risk of all-cause and CVD mortality and not significantly associated with stroke mortality and that the Western/unhealthy dietary pattern is not associated with all-cause, CVD and stroke mortality. Further studies are required to confirm these findings.

We have developed efficient numerical algorithms for solving 3D steady-state Poisson-Nernst-Planck (PNP) equations with excess chemical potentials described by the classical density functional theory (cDFT). The coupled PNP equations are discretized by a finite difference scheme and solved iteratively using the Gummel method with relaxation. The Nernst-Planck equations are transformed into Laplace equations through the Slotboom transformation. Then, the algebraic multigrid method is applied to efficiently solve the Poisson equation and the transformed Nernst-Planck equations. A novel strategy for calculating excess chemical potentials through fast Fourier transforms is proposed, which reduces computational complexity from O(N2) to O(NlogN), where N is the number of grid points. Integrals involving the Dirac delta function are evaluated directly by coordinate transformation, which yields more accurate results compared to applying numerical quadrature to an approximated delta function. Numerical results for ion and electron transport in solid electrolyte for lithiumion (Li-ion) batteries are shown to be in good agreement with the experimental data and the results from previous studies.

The present study aims to evaluate the antiparasitic activity of active components from Costus speciosus against Ichthyophthirius multifiliis. Bioassay-guided fractionation was employed to identify active compounds from C. speciosus yielding 2 bioactive compounds: Gracillin and Zingibernsis newsaponin. In-vitro assays revealed that Gracillin and Zingibernsis newsaponin could be 100% effective against I. multifiliis at concentrations of 0·8 and 4·5 mg L−1, with median effective concentration (EC50) values of 0·53 and 3·2 mg L−1, respectively. All protomonts and encysted tomonts were killed when the concentrations of Gracillin and Zingibernsis newsaponin were 1·0 and 5·0 mg L−1. In-vivo experiments demonstrated that fish treated with Gracillin and Zingibernsis newsaponin at concentrations of 1·0 and 5·0 mg L−1 carried significantly fewer parasites than the control (P<0·05). Mortality of fish did not occur in the treatment group (Zingibernsis newsaponin at 5·0 mg L−1) during the trial, although 100% of untreated fish died. Acute toxicities (LD50) of Gracillin and Zingibernsis newsaponin for grass carp were 1·64 and 20·7 mg L−1, respectively. These results provided evidence that the 2 compounds can be selected as lead compounds for the development of new drugs against I. multifiliis.