Remote center-of-motion (RCM) manipulators are a key issue in minimally invasive surgeries (MIS). The existing RCM parallel mechanisms (PMs) can only generate RCM motion based on the invariant RCM. To provide mobility for RCM, this paper designed a new family of RCM PMs with movable RCM that features a double-stage topological structure. Drawing mainly on configuration evolution and Lie-group, a general approach is proposed to design double-stage PMs with movable RCM. Feasible limbs for 2R1T RCM motion are enumerated and used to construct the secondary PM. Type synthesis of the primary PMs that realize movable RCM is accomplished based on the method presented. Different connection styles between the two stages that ensure the geometrical conditions of RCM motion are designed. Using different connection styles, double-stage PMs with movable RCM are constructed. These new RCM PMs can realize precise positioning of RCM by taking advantage of the primary PMs, which indicates their potential application prospects in MIS.

We aimed to evaluate the association of coffee consumption with different additives, including milk and/or sweetener (sugar and/or artificial sweetener), and different coffee types, with new-onset acute kidney injury (AKI), and examine the modifying effects of genetic variation in caffeine metabolism. 194 324 participants without AKI at baseline in the UK Biobank were included. The study outcome was new-onset AKI. During a median follow-up of 11·6 years, 5864 participants developed new-onset AKI. Compared with coffee non-consumers, a significantly lower risk of new-onset AKI was found in coffee consumers adding neither milk nor sugar to coffee (hazard ratio (HR), 0·86; 95 % CI, 0·78, 0·94) and adding only milk to coffee (HR,0·83; 95 % CI, 0·78, 0·89), but not in coffee consumers adding only sweetener (HR,1·14; 95 % CI, 0·99, 1·31) and both milk and sweetener to coffee (HR,0·96; 95 % CI, 0·89, 1·03). Moreover, there was a U-shaped association of coffee consumption with new-onset AKI, with the lowest risk at 2–3 drinks/d, in unsweetened coffee (no additives or milk only to coffee), but no association was found in sweetened coffee (sweetener only or both milk and sweetener to coffee). Genetic variation in caffeine metabolism did not significantly modify the association. A similar U-shaped association was found for instant, ground and decaffeinated coffee consumption in unsweetened coffee consumers, but not in sweetened coffee consumers. In conclusion, moderate consumption (2–3 drinks/d) of unsweetened coffee with or without milk was associated with a lower risk of new-onset AKI, irrespective of coffee type and genetic variation in caffeine metabolism.

Suppose $\mathcal {H}$ is an admissible Heegaard diagram for a balanced sutured manifold $(M,\gamma )$. We prove that the number of generators of the associated sutured Heegaard Floer complex is an upper bound on the dimension of the sutured instanton homology $\mathit {SHI}(M,\gamma )$. It follows, in particular, that strong L-spaces are instanton L-spaces.

The new mineral tennantite-(Ni), Cu6(Cu4Ni2)As4S13, has been discovered from the Luobusa Chromitite, Tibet, southwestern China. Tennantite-(Ni) occurs as anhedral grains ranging from 2 to 20 μm in size. In reflected light microscopy, tennantite-(Ni) is isotropic and appears yellow-greenish grey. Reflectance data for Commission on Ore Mineralogy wavelengths in air for tennantite-(Ni) are: 31.0 (470 nm), 29.6 (546 nm), 29.6 (589 nm) and 29.3 (650 nm). Electron microprobe analysis for holotype material gave the empirical formula (on basis of total cations = 16 apfu): M(2)Cu6 M(1)[Cu4.00(Ni0.97Cu0.53Fe0.50)Σ2.00]Σ6.00X(3)(As2.94Sb1.06)Σ4S12.77. Tennantite-(Ni) is cubic, with space group I$\bar{ 4}$3m (#217), a =10.2957(9) Å, V = 1091.4(3) Å3 and Z = 2. By using single-crystal X-ray diffraction, the crystal structure has been determined and refined to a final R1 = 0.0423 on the basis of 163 independent reflections [Fo > 4σ (Fo)]. The calculated seven strongest powder X-ray diffraction lines [d in Å (I) (hkl)] are: 2.972 (100) (222), 1.820 (83) (440), 2.574 (28) (400), 1.552 (18) (622), 3.640 (10) (220), 1.880 (10) (521) and 1.287 (7) (800). Tennantite-(Ni) is isostructural with other tetrahedrite-group minerals, and nickel is hosted at the tetrahedrally coordinated M(1) site, along with Cu and minor Fe. The mineral and its name have been approved by the Commission on New Minerals, Nomenclature and Classification of the International Mineralogical Association (IMA2021-018).

The sequential occurrence of three layers of smooth muscle layers (SML) in human embryos and fetus is not known. Here, we investigated the process of gut SML development in human embryos and fetuses and compared the morphology of SML in fetuses and neonates. The H&E, Masson trichrome staining, and Immunohistochemistry were conducted on 6–12 gestation week human embryos and fetuses and on normal neonatal intestine. We showed that no lumen was seen in 6–7th gestation week embryonic gut, neither gut wall nor SML was developed in this period. In 8–9th gestation week embryonic and fetal gut, primitive inner circular SML (IC-SML) was identified in a narrow and discontinuous gut lumen with some vacuoles. In 10th gestation week fetal gut, the outer longitudinal SML (OL-SML) in gut wall was clearly identifiable, both the inner and outer SML expressed α-SMA. In 11–12th gestation week fetal gut, in addition to the IC-SML and OL-SML, the muscularis mucosae started to develop as revealed by α-SMA immune-reactivity beneath the developing mucosal epithelial layer. Comparing with the gut of fetuses of 11–12th week of gestation, the muscularis mucosae, IC-SML, and OL-SML of neonatal intestine displayed different morphology, including branching into glands of lamina propria in mucosa and increased thickness. In conclusions, in the human developing gut between week-8 to week-12 of gestation, the IC-SML develops and forms at week-8, followed by the formation of OL-SML at week-10, and the muscularis mucosae develops and forms last at week-12.

Bathymetric simultaneous localisation and mapping (SLAM) methods yield accurate navigation results for autonomous underwater vehicles (AUVs) and can construct consistent seabed terrain maps. Multiple independently working vehicles can complete tasks like surveying and mapping efficiently, which means cooperative bathymetric SLAM using multiple AUVs is suitable for large-scale seabed mapping. However, the transmission of bathymetric measurements collected using a multi-beam echo sounder over a low bandwidth, noisy, and unreliable acoustic channel is difficult, making cooperative bathymetric SLAM very challenging. This paper develops a graph-based cooperative bathymetric SLAM system that can compress many bathymetric measurements into small-scale acoustic packets and yield accurate navigation results with a 10% loss of acoustic packets caused by unreliable acoustic communication. According to the simulation conducted using the field data, the new algorithm is shown to be robust and capable of providing accurate location and mapping results over a low bandwidth, noisy, and unreliable acoustic channel.

With differentiated tissues and organs, a high-level eukaryotic macroalga Lanceaphyton xiaojiangensis n. gen. n. sp. lived on the middle–late Ediacaran (ca. 560–551 Ma) seafloor in South China. Its body had a pith (perhaps mechanical tissue) and outer tissue (perhaps epidermis and/or cortex). The lance-like macroalga consists of an unbranching thallus that grew over the sediment surface for sunlight and a holdfast grown into sediments to keep the thallus fixed on the seafloor. The pithy stipe (lower thallus) might have served to support the upper pithless thallus for photosynthesis. The holdfast is composed of a tapering pithy rhizome growing down into the sediments, with many filamentous pithless rhizoids dispersedly growing within the sediments. With the differentiated tissues and organs, especially the pith accounting for about half of the width of the rhizome and stipe, Lanceaphyton n. gen. was a high-level eukaryotic macroalga, similar to phaeophytes in morphological features, but further research is needed on its microstructural details. The pithy macroalga shows that the macroalgal pith had emerged in the Ediacaran.

UUID: http://zoobank.org/bc924c5c-84e4-4170-9ca1-caee0d56c6d5.

The superfluorescent fiber source (SFS) with tunable optical spectrum has shown great application potential in the sensing, imaging, and spectral combination. Here, we demonstrate for the first time a 2-kW-level wavelength and linewidth tunable SFS. Based on a flexible filtered SFS seed and three stages of fiber amplifiers, the output power can be scaled from the milliwatt level to about 2 kW, with a wavelength tuning range of 1068–1092 nm and a linewidth tuning range of 2.5–9.7 nm. Moreover, a numerical simulation is conducted based on the generalized nonlinear Schrödinger equation, and the results reveal that the wavelength tuning range is limited by the decrease of seed power and the growth of amplified spontaneous emission, whereas the linewidth tuning range is determined by the gain competition and nonlinear Kerr effects. The developed wavelength and linewidth tunable SFS may be applied to scientific research and industrial processing.

Although the streaked optical pyrometer (SOP) system has been widely adopted in shock temperature measurements, its reliability has always been of concern. Here, two calibrated Planckian radiators with different color temperatures were used to calibrate and verify the SOP system by comparing the two calibration standards using both multi-channel and single-channel methods. A high-color-temperature standard lamp and a multi-channel filter were specifically designed for the measurement system. To verify the reliability of the SOP system, the relative deviation between the measured data and the standard value of less than 5% was calibrated out, which demonstrates the reliability of the SOP system. Furthermore, a method to analyze the uncertainty and sensitivity of the SOP system is proposed. A series of laser-induced shock experiments were conducted at the ‘Shenguang-II’ laser facility to verify the reliability of the SOP system for temperature measurements at tens of thousands of kelvin. The measured temperature of the quartz in our experiments agreed fairly well with previous works, which serves as evidence for the reliability of the SOP system.

Porphyrins are vital pigments involved in biological energy transduction processes. Their abilities to absorb light, then convert it to energy, have raised the interest of using porphyrin nanoparticles as photosensitizers in photodynamic therapy. A recent study showed that self- assembled porphyrin-silica composite nanoparticles can selectively destroy tumor cells, but detection of the cellular uptake of porphyrin-silica composite nanoparticles was limited to imaging microscopy. Here we developed a novel method to rapidly identify porphyrin-silica composite nanoparticles using Atmospheric Solids Analysis Probe-Mass Spectrometry (ASAP-MS). ASAP-MS can directly analyze complex mixtures without the need for sample preparation. Porphyrin-silica composite nanoparticles were vaporized using heated nitrogen desolvation gas, and their thermo-profiles were examined to identify distinct mass- to-charge (M/Z) signatures. HeLa cells were incubated in growth media containing the nanoparticles, and after sufficient washing to remove residual nanoparticles, the cell suspension was loaded onto the end of ASAP glass capillary probe. Upon heating, HeLa cells were degraded and porphyrin-silica composite nanoparticles were released. Vaporized nanoparticles were ionized and detected by MS. The cellular uptake of porphyrin-silica composite nanoparticles was identified using this ASAP-MS method.

The addition of vegetable to carbohydrate-based meals was shown to contribute to glycaemic management. The aim of this study was to investigate the impact of homogenisation on vegetables added to rice meals in terms of acute glycaemic responses (GR). In a randomised crossover trial, sixteen healthy volunteers completed thirteen test sessions, which included two sessions for glucose control, two for rice and nine for different vegetable-rice mixed meals: cooked pak choi and cooked rice (CP+R); cooked cauliflower and cooked rice (CC+R); cooked eggplant and cooked rice (CE+R); and their homogenised counterparts, both raw or cooked. Postprandial GR tests, in vitro carbohydrate digestion and chemical analyses were carried out for each test meal. Compared with pure rice, CE+R, CP+R and CC+R meals achieved significantly lower glycaemic indexes (GI) of 67, 71 and 73, whereas their homogenised counterparts failed to show significant difference with rice. The hydrolysis indexes (HI) of CE+R, CP+R and CC+R were 69·6, 83·8 and 80·6 % of the HI of the rice control. CE had the greatest effect on lowering the GI, the incremental area under the blood glucose curve from 0 to 120 min, the peak glucose value, the maximum amplitude of glucose excursion in 0–120 min (MAGE0–120), the HI and rapid available starch. Both in vitro and in vivo tests demonstrated that incorporating non-homogenised cooked vegetables into a rice meal could slow the carbohydrate digestion and improve postprandial GR. Texture properties of vegetable may play an important role in underlying glycaemic control mechanisms.

The effects of the thermal cyclic aging treatment on the microstructure and mechanical properties of 2060 Al–Li alloy laser beam welded joints were investigated. Aging treatments were conducted at different temperatures and for different cycles. Test results showed that the tensile strength of the weld joints increased and the elongation slightly decreased after the thermal cycling treatment. It was also found that the heat affected zone (HAZ) of the welds exhibited a significant increase in microhardness, whilst the microhardness variation of the nondendrite equiaxed zone (EQZ) can be neglected. The strengthening effect of the thermal cycling became more obvious as the temperature and cycles increased. The highest strength of around 513 MPa (96% of the base metal) was obtained at the temperature of 180 °C. Reprecipitation of strengthening phases such as T1 in the HAZ at 180 °C was observed by TEM, which can be considered as the main reason for the strengthening effect of the aging treatment.

Ancient ivory, from the Chengdu Jinsha and Guanghan Sanxingdui sites in China, has been buried for several thousand years. In order to determine the degradation mechanisms and to provide a scientific basis for protecting them, these ancient ivory samples have been compared with modern ivory using infrared spectroscopy in the frequency range 400–4000 cm–1. By combining chemical analysis data we compare the crystallinity and crystal chemistry of the apatite component, as well as the structural characteristics of the ivory. These investigations showed that the ancient ivory consists almost entirely of hydroxyl-carbonate apatite as the predominant phase. Compared with the modern ivory, the PO43– and CO32– bands are stronger, the PO4RF values are obviously greater, and an extra OH– band at 3569 cm–1 is observed in the ancient ivory. These results indicate that there is a greater degree of apatite crystallinity in the ancient ivory and also imply that there has been incorporation and recrystallization of CO3 2– in the apatite during burial. Positive correlations have been found between the apatite crystallinity, CO3 2– and OH– ion contents, and burial time. The organic matter in ancient ivory has been lost or decomposed as the organic bands (e.g. at 1238 cm–1 and 1337 cm–1) have disappeared. This may be the main reason that ancient ivory is easily dewatered and readily friable after being unearthed.

The MODerate resolution Imaging Spectroradiometer (MODIS) land surface temperature (LST) data have been widely used for air temperature estimation in mountainous regions where station observations are sparse. However, the performance of MODIS LST in high-elevation glacierized areas remains unclear. This study investigates air temperature estimation in glacierized areas based on ground observations at four glaciers across the Tibetan Plateau. Before being used to estimate the air temperature, MODIS LST data are evaluated at two of the glaciers, which indicates that MODIS night-time LST is more reliable than MODIS daytime LST data. Then, linear models based on each of the individual MODIS LST products from two platforms (Terra and Aqua) and two overpasses (night-time and daytime) are built to estimate daily mean, minimum and maximum air temperatures in glacierized areas. Regional glacier surface (RGS) models (mean /-mean-square differences: 3.3, 3.0 and 4.8°C for daily mean, minimum and maximum air temperatures, respectively) show higher accuracy than local non-glacier surface models (mean root-mean-square differences: 4.2, 4.7 and 5.7°C). In addition, the RGS models based on MODIS night-time LST perform better to estimate daily mean, minimum and maximum air temperatures than using temperature lapse rate derived from local stations.

Low dimensional lead halide perovskite particles are of tremendous interest due to their size-tunable band gaps, low exciton binding energy, high absorption coefficients, outstanding quantum and photovoltaic efficiencies. Herein we report a new solution-based synthesis of stabilized Cs4PbBr6 perovskite particles with high luminescence. This method requires only mild conditions and produces colloidal particles that are ideal for highly efficient solution-based device fabrications. The synthesized microstructures not only display outstanding luminescence quantum yield but also long term stability in atmospheric conditions. Partial halide substitutions were also demonstrated to extend photoluminescence spectra of the perovskite particles. This convenient synthesis and optical tunability of Cs4PbBr6 perovskite particles will be advantageous for future applications of optoelectronic advices.

In an effort to utilize their unique photoactive properties, porphyrin monomers were assembled into tetragonal microparticles by a surfactant-assisted neutralization method through the cooperative interactions between the porphyrin building blocks including π-π stacking, J-aggregation and metal-ligand coordination. Electron microscopy characterization in combination with x-ray diffraction confirmed the three-dimensional ordered tetragonal microstructures with stable crystalline frameworks and well defined external surface morphology. Optical absorption and fluorescence spectroscopy revealed enhanced absorbance properties as compared with the raw porphyrin material, favourable for chromophore excitation and energy transport. With active and responsive optical properties, these new porphyrin microparticles look to serve as promising components for a wide range of applications including sensing, diagnostics, solar cells, and optoelectronic devices.

Babesiosis is an emerging tick-transmitted zoonosis prevalent in large parts of the world. This study was designed to determine the rates of Babesia microti infection among small rodents in Yunnan province, where human cases of babesiosis have been reported. Currently, distribution of Babesia in its endemic regions is largely unknown. In this study, we cataloged 1672 small wild rodents, comprising 4 orders, from nine areas in western Yunnan province between 2009 and 2011. Babesia microti DNA was detected by polymerase chain reaction in 4·3% (72/1672) of the rodents analyzed. The most frequently infected rodent species included Apodemus chevrieri and Niviventer fulvescens. Rodents from forests and shrublands had significantly higher Babesia infection rates. Genetic comparisons revealed that Babesia was most similar to the Kobe- and Otsu-type strains identified in Japan. A variety of rodent species might be involved in the enzootic maintenance and transmission of B. microti, supporting the need for further serological investigations in humans.