Inverse kinematics of robot is the basis of robot assembly, which directly determines the pose of robot. Because the traditional inverse solution algorithm is limited by the robot topology structure, singular pose and inverse solution accuracy, it affects the use of robots. In order to solve the above problems, an improved particle swarm optimization (PSO) algorithm is proposed to solve the inverse problem of robot. This algorithm initializes the particle population based on joint angle limitations, accelerating the convergence speed of the algorithm. In order to avoid falling into local optima and premature convergence, we have proposed a nonlinear weight strategy to update the speed and position of particles, enhancing the algorithm’s search ability, in addition introducing a penalty function to eliminate particles exceeding joint limits. Finally, the positions of common points and singular points are selected on PUMA 560 robot and redundant robot for inverse kinematics simulation verification. The results show that, compared with other algorithms, the improved PSO algorithm has higher convergence accuracy and better convergence speed in solving the inverse solution, and the algorithm has certain universality, which provides a new solution for the inverse kinematics solution of the assembly robot.

This study is aimed to evaluate the effect and underling mechanism of dietary supplementation with pyrroloquinoline quinone (PQQ) disodium on improving inflammatory liver injury in piglets challenged with lipopolysaccharide (LPS). A total of seventy-two crossbred barrows were allotted into four groups as follows: the CTRL group (basal diet + saline injection); the PQQ group (3 mg/kg PQQ diet + saline injection); the CTRL + LPS group (basal diet + LPS injection) and the PQQ + LPS group (3 mg/kg PQQ diet + LPS injection). On days 7, 11 and 14, piglets were challenged with LPS or saline. Blood was sampled at 4 h after the last LPS injection (day 14), and then the piglets were slaughtered and liver tissue was harvested. The results showed that the hepatic morphology was improved in the PQQ + LPS group compared with the CTRL + LPS group. PQQ supplementation decreased the level of serum inflammatory factors, aspartate aminotransferase and alanine transaminase, and increased the HDL-cholesterol concentration in piglets challenged with LPS; piglets in the PQQ + LPS group had lower liver mRNA level of inflammatory factors and protein level of α-smooth muscle actin than in the CTRL + LPS group. Besides, mRNA expression of STAT3/TGF-β1 pathway and protein level of p-STAT3(Tyr 705) were decreased, and mRNA level of PPARα and protein expression of p-AMPK in liver were increased in the PQQ + LPS group compared with the CTRL + LPS group (P < 0·05). In conclusion, dietary supplementation with PQQ alleviated inflammatory liver injury might partly via inhibition of the STAT3/TGF-β1 pathway in piglets challenged with LPS.

We define $\Psi $-autoreducible sets given an autoreduction procedure $\Psi $. Then, we show that for any $\Psi $, a measurable class of $\Psi $-autoreducible sets has measure zero. Using this, we show that classes of cototal, uniformly introenumerable, introenumerable, and hyper-cototal enumeration degrees all have measure zero.

By analyzing the arithmetical complexity of the classes of cototal sets and cototal enumeration degrees, we show that weakly 2-random sets cannot be cototal and weakly 3-random sets cannot be of cototal enumeration degree. Then, we see that this result is optimal by showing that there exists a 1-random cototal set and a 2-random set of cototal enumeration degree. For uniformly introenumerable degrees and introenumerable degrees, we utilize $\Psi $-autoreducibility again to show the optimal result that no weakly 3-random sets can have introenumerable enumeration degree. We also show that no 1-random set can be introenumerable.

The COVID-19 pandemic led to an initial increase in the incidence of carbapenem-resistant Enterobacterales (CRE) from clinical cultures in South-East Asia hospitals, which was unsustained as the pandemic progressed. Conversely, there was a decrease in CRE incidence from surveillance cultures and overall combined incidence. Further studies are needed for future pandemic preparedness.

Concentrating on a surface vessel with input saturation, model uncertainties and unknown disturbances, a path following the adaptive backstepping control method based on prescribed performance line-of-sight (PPLOS) guidance is proposed. First, a prescribed performance asymmetric modified barrier Lyapunov function (PPAMBLF) is used to design the PPLOS and the heading controller, which make the path following position and heading errors meet the prescribed performance requirements. Furthermore, the backstepping and dynamic surface technique (DSC) are used to design the path following controller and the adaptive assistant systems are constructed to compensate the influence of input saturation. In addition, neural networks are introduced to approximate model uncertainties, and the adaptive laws are designed to estimate the bounds of the neural network approximation errors and unknown disturbances. According to the Lyapunov stability theory, all signals are semi-globally uniformly ultimately bounded. Finally, a 76$\,{\cdot }\,$2 m supply surface vessel is used for simulation experiments. The experimental results show that although the control inputs are limited, the control system can still converge quickly, and both position and heading errors can be limited to the prescribed performance requirements.

To enhance the developmental competency of murine ovarian follicles cultured in vitro, C-type natriuretic peptide (CNP) was supplemented in the culture system. Although the mechanism is not fully elucidated, it was reported that the effect of CNP supplementation was mediated by increased cyclic guanosine monophosphate (cGMP). In the present study, cGMP levels in media for murine preantral follicle culture were compared both between a control group without CNP supplementation and an experimental group with CNP supplementation and between days in each group. In addition, follicle growth patterns and oocyte maturity were assessed and compared between the two groups. Results demonstrated that along with in vitro culture, cGMP levels increased (P < 0.05) both in the control group and the experimental group, whereas cGMP levels were not significantly different between the two groups on the same day of in vitro culture (P > 0.05). The oocyte’s maturity was superior in the experimental group compared with the control group (P < 0.05). As ovarian follicles grew three-dimensionally in the experimental group but were flattened in the control group, CNP might improve oocyte maturity through maintaining the three-dimensional architecture of the ovarian follicle because of increased transzonal projections (TZP) and functional gap junctions between oocyte and surrounding granulosa cells.

New zircon U–Pb ages and whole-rock chemical data from four adakitic and two non-adakitic igneous rocks as tectonic blocks in the southern West Junggar accretionary complexes, northwestern China and one gabbro enclave in adakitic block provide further constraints on the initial subduction and following rollback process of the Junggar Ocean as part of southern Palaeo-Asian Ocean. The oldest adakitic monzonite in Tangbale is intruded by the non-adakitic quartz monzonite at 549 Ma, and the youngest adakitic diorite in Tierekehuola formed at 520 Ma. The Ediacaran–Cambrian magmatism show a N-wards younger trend. The high-SiO2 adakitic rocks have high Sr (300–663 ppm) and low Y (6.68–12.2 ppm), with Sr/Y = 40–84 and Mg no. = 46–60, whereas the non-adakitic rocks have high Y (13.2–22.7 ppm) and Yb (2.32–2.92 ppm), with Mg no. = 36–40. The gabbro has high MgO (14.81–15.11 wt%), Co (45–48 ppm), Cr (1120–1360 ppm) and Ni (231–288 ppm), with Mg no. = 72–73. All the samples show similar large-ion lithophile element (LILE) and light rare earth element (LREE) enrichment and Nb, Ta, Ti and varying Zr and Hf depletion, suggesting that they were formed in a subduction-related setting. The adakitic rocks were produced by partial melting of subducted oceanic slab, but the melts were modified by mantle wedge and slab-derived fluids; the non-adakitic rocks were likely derived from partial melts of the middle-lower arc crust; and the gabbro originated from the mantle wedge modified by slab-derived fluids. The magmatism could have been generated during the Ediacaran initial subduction and Cambrian slab rollback of the Junggar Ocean.

The present study investigated the effects of c-type natriuretic peptide (CNP) on the development of murine preantral follicles during in vitro growth (IVG). Preantral follicles isolated from ovaries of Kunming mice were cultured in vitro. In the culture system, CNP was supplemented in the experimental groups and omitted in the control groups. In Experiment 1, CNP was only supplemented at the early stage and follicle development was evaluated. In Experiments 2 and 3, CNP was supplemented during the whole period of in vitro culture. In Experiment 2, follicle development and oocyte maturity were evaluated. In Experiment 3, follicle development and embryo cleavage after in vitro fertilization (IVF) were assessed. The results showed that in the control groups in all three experiments, granulosa cells migrated from within the follicle and the follicles could not reach the antral stage. In the experimental groups in all three experiments, no migration of granulosa cells was observed and follicle development was assessed as attaining the antral stage, which was significantly superior to that of the control group (P < 0.0001). Oocyte meiotic arrest was effectively maintained, hence giving good developmental competence. In conclusion, CNP supplementation in the culture system during IVG benefited the development of murine preantral follicles.

This paper provides an up-to-date review of the problems related to the generation, detection and mitigation of strong electromagnetic pulses created in the interaction of high-power, high-energy laser pulses with different types of solid targets. It includes new experimental data obtained independently at several international laboratories. The mechanisms of electromagnetic field generation are analyzed and considered as a function of the intensity and the spectral range of emissions they produce. The major emphasis is put on the GHz frequency domain, which is the most damaging for electronics and may have important applications. The physics of electromagnetic emissions in other spectral domains, in particular THz and MHz, is also discussed. The theoretical models and numerical simulations are compared with the results of experimental measurements, with special attention to the methodology of measurements and complementary diagnostics. Understanding the underlying physical processes is the basis for developing techniques to mitigate the electromagnetic threat and to harness electromagnetic emissions, which may have promising applications.