The large number of patients with ankle injuries and the high incidence make ankle rehabilitation an urgent health problem. However, there is a certain degree of difference between the motion of most ankle rehabilitation robots and the actual axis of the human ankle. To achieve more precise ankle joint rehabilitation training, this paper proposes a novel 3-PUU/R parallel ankle rehabilitation mechanism that integrates with the human ankle joint axis. Moreover, it provides comprehensive ankle joint motion necessary for effective rehabilitation. The mechanism has four degrees of freedom (DOFs), enabling plantarflexion/dorsiflexion, eversion/inversion, internal rotation/external rotation, and dorsal extension of the ankle joint. First, based on the DOFs of the human ankle joint and the variation pattern of the joint axes, a 3-PUU/R parallel ankle joint rehabilitation mechanism is designed. Based on the screw theory, the inverse kinematics inverse, complete Jacobian matrix, singular characteristics, and workspace analysis of the mechanism are conducted. Subsequently, the motion performance of the mechanism is analyzed based on the motion/force transmission indices and the constraint indices. Then, the performance of the mechanism is optimized according to human physiological characteristics, with the motion/force transmission ratio and workspace range as optimization objectives. Finally, a physical prototype of the proposed robot was developed, and experimental tests were performed to evaluate the above performance of the proposed robot. This study provides a good prospect for improving the comfort and safety of ankle joint rehabilitation from the perspective of human-machine axis matching.

To address the issues of low positioning accuracy and weak robustness of prior visual simultaneous localization and mapping (VSLAM) systems in dynamic environments, a semantic VSLAM (Sem-VSLAM) approach based on deep learning is proposed in this article. The proposed Sem-VSLAM algorithm adds semantic segmentation threads in parallel based on the open-source ORB-SLAM2’s visual odometry. First, while extracting the ORB features from an RGB-D image, the frame image is semantically segmented, and the segmented results are detected and repaired. Then, the feature points of dynamic objects are eliminated by using semantic information and motion consistency detection, and the poses are estimated by using the remaining feature points after the dynamic feature elimination. Finally, a 3D point cloud map is constructed by using tracking information and semantic information. The experiment uses Technical University of Munich public data to show the usefulness of the Sem-VSLAM algorithm. The experimental results show that the Sem-VSLAM algorithm can reduce the absolute trajectory error and relative attitude error of attitude estimation by about 95% compared to the ORB-SLAM2 algorithm and by about 14% compared to the VO-YOLOv5s in a highly dynamic environment and the average time consumption of tracking each frame image reaches 61 ms. It is verified that the Sem-VSLAM algorithm effectively improves the robustness and positioning accuracy in high dynamic environment and owning a satisfying real-time performance. Therefore, the Sem-VSLAM has a better mapping effect in a highly dynamic environment.

Visual simultaneous localisation and mapping (vSLAM) has shown considerable promise in positioning and navigating across a variety of indoor and outdoor settings, significantly enhancing the mobility of robots employed in industrial and everyday services. Nonetheless, the prevalent reliance of vSLAM technology on the assumption of static environments has led to suboptimal performance in practical implementations, particularly in unstructured and dynamically noisy environments such as substations. Despite advancements in mitigating the influence of dynamic objects through the integration of geometric and semantic information, existing approaches have struggled to strike an equilibrium between performance and real-time responsiveness. This study introduces a lightweight, multi-modal semantic framework predicated on vSLAM, designed to enable intelligent robots to adeptly navigate the dynamic environments characteristic of substations. The framework notably enhances vSLAM performance by mitigating the impact of dynamic objects through a synergistic combination of object detection and instance segmentation techniques. Initially, an enhanced lightweight instance segmentation network is deployed to ensure both the real-time responsiveness and accuracy of the algorithm. Subsequently, the algorithm’s performance is further refined by amalgamating the outcomes of detection and segmentation processes. With a commitment to maximising performance, the framework also ensures the algorithm’s real-time capability. Assessments conducted on public datasets and through empirical experiments have demonstrated that the proposed method markedly improves both the accuracy and real-time performance of vSLAM in dynamic environments.

Very-large-scale motions are commonly observed in moderate- and high-Reynolds-number wall turbulence, constituting a considerable portion of the Reynolds stress and skin friction. This study aims to investigate the behaviour of these motions in high-speed and high-Reynolds-number turbulent boundary layers at varying Mach numbers. With the aid of high-precision numerical simulations, numerical experiments and theoretical analysis, it is demonstrated that the very-large-scale motions are weakened in high-Mach-number turbulence at the same friction Reynolds numbers, leading to the reduction in turbulent kinetic energy in the outer region. Conversely, the lower wall temperature enhances the very-large-scale motions but shortens the scale separation between the structures in the near-wall and outer regions.

The role of saline lake sediments in preserving organic matter has long been recognized. In order to further understand the preservation mechanisms, the role of clay minerals was studied. Three sediment cores, 25, 57, and 500 cm long, were collected from Qinghai Lake, NW China, and dissected into multiple subsamples. Multiple techniques were employed, including density fractionation, X-ray diffraction, scanning and transmission electron microscopy (SEM and TEM), total organic carbon (TOC) and carbon compound analyses, and surface area determination. The sediments were oxic near the water-sediment interface, but became anoxic at depth. The clay mineral content was as much as 36.8%, consisting mostly of illite, chlorite, and halloysite. The TEM observations revealed that organic matter occurred primarily as organic matter-clay mineral aggregates. The TOC and clay mineral abundances are greatest in the mid-density fraction, with a positive correlation between the TOC and mineral surface area. The TOC of the bulk sediments ranges from 1 to 3% with the non-hydrocarbon fraction being predominant, followed by bitumen, saturated hydrocarbon, aromatic hydrocarbons, and chloroform-soluble bitumen. The bimodal distribution of carbon compounds of the saturated hydrocarbon fraction suggests that organic matter in the sediments was derived from two sources: terrestrial plants and microorganisms/algae. Depth-related systematic changes in the distribution patterns of the carbon compounds suggest that the oxidizing conditions and microbial abundance near the water-sediment interface promote degradation of labile organic matter, probably in adsorbed form. The reducing conditions and small microbial biomass deeper in the sediments favor preservation of organic matter, because of the less labile nature of organic matter, probably occurring within clay mineral-organic matter aggregates that are inaccessible to microorganisms. These results have important implications for our understanding of mechanisms of organic matter preservation in saline lake sediments.

Femtosecond laser ablation is widely applied in high-precision machining of microholes in aeroengine turbine blades. To further explore the mechanism of action during the laser processing of microholes, numerical simulations were performed on the basis of a molecular dynamics (MD) method coupled with a two-temperature model (TTM). Laser irradiation on the surface of copper for different femtosecond-laser processing parameters is investigated in this work. Through the femtosecond-laser single-pulse central ablation simulation model, the laser energy flux density in a Gaussian laser spot range was discretized and analyzed to calculate the ablation depth at multiple points separately. The cross-sectional morphology of the femtosecond-laser single-pulse ablation pits was approximated and fitted. Finally, a 3D simulation model of the whole process of multiscale femtosecond-laser spiral processing microholes was established by superimposing multipulse femtosecond-laser spiral trajectories. This provides a theoretical basis for analyzing the evolution of geometric parameters and morphological characteristics of the hole during machining with specific laser and process parameters.

This study presents novel findings on stochastic electron heating via a random electron cyclotron wave (ECW) in a spherical tokamak. Hard x ray measurements demonstrate the time evolution of hard x ray counts at different energy bands, consistent with predictions from the stochastic heating model. The ECW heating rate shows a positive correlation with applied power, confirming the effectiveness of stochastic heating. Remarkably, the ECW-driven plasma current remains insensitive to ECW incidence angle, consistent with model predictions. The observed stochastic heating of electrons offers potential for exploring innovative non-inductive current drive modes in spherical tokamaks. This research contributes to the understanding of plasma behaviour and motivates the development of new models for non-inductive current drive in fusion devices.

The relationship between magmatism and gold mineralization has been a topic of interest in understanding the formation of ore deposits. The Baizhangzi gold deposit, located in the northern margin of the North China Craton, is hosted by the Baizhangzi granite (BZG) and provides a case to evaluate the relation between granite and gold mineralization in Late Triassic. In this study, we present petrography, bulk geochemistry, zircon U-Pb isotope and trace elements data, as well as major elements of biotite and plagioclase for the BZG to evaluate the petrogenesis and link with gold mineralization. The BZG comprises biotite monzogranite, biotite-bearing monzogranite and monzogranite (BZGs). Zircon U-Pb geochronology shows that all the granitoids of BZGs were coeval with a formation age of 232 Ma. The granitoids, with high SiO2, Al2O3 and Sr, while low Y and Yb, show adakitic affinity. They are enriched in LILFs (e.g., Rb, Ba, Th, U and Sr) and LREEs, while depletion in HFSEs (e.g., Nb, Ta, P and Ti). The geochemical and mineral chemical data suggest that the granitoids have experienced the fractional crystallization of biotite + plagioclase + K- feldspar + apatite. Crystallization temperature is estimated as ca. 700°C, and pressure is between 0.71 kbar and 1.60 kbar. The monzogranite shows higher values of logfO2, △FMQ and △NNO than the biotite-bearing monzogranite, ranging from −19.76 to −11.71, −4.93 to +3.67 and −5.48 to +3.11, respectively. The fractional crystallization, together with high fO2, K-metasomatism and low evolution degree, provided favourable conditions for gold mineralization.

Arising of disasters by climate change had affected crop growth and yield, and then threaten local to global food security, particularly heat stress. Therefore, hazard assessment is essential to develop effective disaster risk management and adaptation interventions to ensure food security. In this study, the accumulated heat stress days (DAY), heat stress intensity (HSI) and heat degree-days (HDD) during the post-silking period of summer maize in The Huang-Huai-Hai Plain were investigated. Based on the optimal probability distribution function of HDD and information diffusion theory, we compute heat stress classification index and the possibility of heat stress, respectively. During 1981–2019, DAY, HSI and HDD were 11.8 d, 31.9°C and 23.6°Cd and increased by 0.67 d/decade, 0.10°C/decade and 3.14°Cd/decade, respectively. The threshold and hazard probability of mild, moderate and severe heat stress were 9.4, 19.4 and 34.2°Cd and 16.6, 9.3 and 4.5%, respectively. The heat stress hazard index (M) was 0.48, ranged from 0 to 0.77 during 1981 to 2019. M will increase in the future at all regions, particularly after 2060. Under SSP5-8.5 climate scenario, M ranged from 0.95 to 1.20 in 2080s, about two times than historical period. This could be used in optimizing agricultural management in summer maize production in order to combat heat stress under projected climate change.

High-power femtosecond mid-infrared (MIR) lasers are of vast importance to both fundamental research and applications. We report a high-power femtosecond master oscillator power amplifier laser system consisting of a single-mode Er:ZBLAN fiber mode-locked oscillator and pre-amplifier followed by a large-mode-area Er:ZBLAN fiber main amplifier. The main amplifier is actively cooled and bidirectionally pumped at 976 nm, generating a slope efficiency of 26.9%. Pulses of 8.12 W, 148 fs at 2.8 μm with a repetition rate of 69.65 MHz are achieved. To the best of our knowledge, this is the highest average power ever achieved from a femtosecond MIR laser source. Such a compact ultrafast laser system is promising for a wide range of applications, such as medical surgery and material processing.

Since 2018, the radiocarbon laboratory of Lanzhou University has been equipped with a compact accelerator mass spectrometer—a 200-KV mini carbon dating system (MICADAS), together with an auto graphitization equipment (AGE III). The laboratory has for a long time prepared graphite targets for 14C dating of plant fossils, charcoal, bones, and bulk organic matter. Herein, we give an overview of the operating status and performance of the dating facility. The long-term measurements of the standard and blank samples indicated that the results for MICADAS in Lanzhou University were accurate and stable and of high sensitivity. Fifteen sets of organic materials collected from archaeological sites in northwest China were selected for an inter-comparison study involving the participation of four specialist laboratories. The 14C dating results for the homogenized archaeological samples from several of the laboratories showed a high degree of consensus. The long-term performance and inter-comparison data for MICADAS confirmed that the radiocarbon laboratory of Lanzhou University could provide stable and accurate 14C dating results. In this context, the 14C dating results for a number of key archaeological/environmental samples were validated.

We aimed to examine the association between the quantity and quality of dietary fat in early pregnancy and gestational diabetes mellitus (GDM) risk. In total, 1477 singleton pregnant women were included from Sichuan Provincial Hospital for Women and Children, Southwest China. Dietary information was collected by a 3-d 24-h dietary recall. GDM was diagnosed based on the results of a 75-g, 2-h oral glucose tolerance test at 24–28 gestational weeks. Log-binomial models were used to estimate relative risks (RR) and 95% CI. The results showed that total fat intake was positively associated with GDM risk (Q4 v. Q1: RR = 1·40; 95 % CI 1·11, 1·76; P trend = 0·001). This association was also observed for the intakes of animal fat and vegetable fat. After stratified by total fat intake (< 30 %E v. ≥ 30 %E), the higher animal fat intake was associated with higher GDM risk in the high-fat group, but the moderate animal fat intake was associated with reduced risk of GDM (T2 v. T1: RR = 0·65; 95 % CI 0·45, 0·96) in the normal-fat group. Vegetable fat intake was positively associated with GDM risk in the high-fat group but not in the normal-fat group. No association between fatty acids intakes and GDM risk was found. In conclusion, total fat, animal and vegetable fat intakes were positively associated with GDM risk, respectively. Whereas when total fat intake was not excessive, higher intakes of animal and vegetable fat were likely irrelevant with increased GDM risk, even the moderate animal fat intake could be linked to lower GDM risk.

The effect and the mechanism of high glucose on fish muscle cells are not fully understood. In the present study, muscle cells of olive flounder (Paralichthys olivaceus) were treated with high glucose (33 mM) in vitro. Cells were incubated in three kinds of medium containing 5 mM glucose, 5 mM glucose and 28 mM mannitol (as an isotonic contrast) or 33 mM glucose named the Control group, the Mannitol group and the high glucose (HG) group, respectively. Results showed that high glucose increased the ADP:ATP ratio and the reactive oxygen species (ROS) level, decreased mitochondrial membrane potential (MMP), induced the release of cytochrome C (CytC) and cell apoptosis. High glucose also led to cell glycogen accumulation by increasing the glucose uptake ability and affecting the mRNA expressions of glycogen synthase and glycogen phosphorylase. Meanwhile, it activated AMP-activated protein kinase (AMPK), inhibited the activity of mammalian target of rapamycin (mTOR) signalling pathway and the expressions of myogenic regulatory factors (MRF). The expressions of myostatin-1 (mstn-1) and E3 ubiquitin ligases including muscle RING-finger protein 1 (murf-1) and muscle atrophy F-box protein (mafbx) were also increased by the high glucose treatment. No difference was found between the Mannitol group and the Control group. These results demonstrate that high glucose has the effects of inducing apoptosis, increasing glycogen accumulation and inhibiting protein synthesis on muscle cells of olive flounder. The mitochondria-mediated apoptotic signalling pathway, AMPK and mTOR pathways participated in these biological effects.

We aimed to examine the association between low-carbohydrate diet (LCD) scores during the first trimester and gestational diabetes mellitus (GDM) risk in a Chinese population. A total of 1455 women were included in 2017. Dietary information during the first trimester was collected by 24-h dietary recalls for 3 d. The overall, animal and plant LCD scores, which indicated adherence to different low-carbohydrate dietary patterns, were calculated. GDM was diagnosed based on the results of a 75-g, 2-h oral glucose tolerance test at 24–28 weeks gestation. Log-binomial models were used to estimate relative risks (RR) and 95 % CI. The results showed that the multivariable-adjusted RR of GDM from the lowest to the highest quartiles of the overall LCD score were 1·00 (reference), 1·15 (95 % CI 0·92, 1·42), 1·30 (95 % CI 1·06, 1·60) and 1·24 (95 % CI 1·01, 1·52) (P = 0·026 for trend). Multivariable-adjusted RR (95 % CI) of GDM from the lowest to the highest quartiles of the animal LCD score were 1·00 (reference), 1·20 (95 % CI 0·96, 1·50), 1·41 (95 % CI 1·14, 1·73) and 1·29 (95 % CI 1·04, 1·59) (P = 0·002 for trend). After additional adjustment for gestational weight gain before GDM diagnosis, the association of the overall LCD score with GDM risk was non-significant, while the association of animal LCD score with GDM risk remained significant. In conclusion, a low-carbohydrate dietary pattern characterised by high animal fat and protein during the first trimester is associated with an increased risk of GDM in Chinese women.

This study aimed to evaluate to what extent the different interval times between trophectoderm (TE) biopsy and vitrification influence the clinical outcomes in preimplantation genetic testing (PGT) cycles. Patients who underwent frozen embryo transfer (FET) after PGT between 2015 and 2019 were recruited. In total, 297 cycles with single day 5 euploid blastocyst transfer were included. These cycles were divided into three groups according to the interval times: <1 h group, 1–2 h group, and ≥2 h group. Blastocyst survival, clinical pregnancy, miscarriage, and ongoing pregnancy rates were compared. The results showed that, in PGT-SR cycles, survival rate in the ≥2 h group (96.72%) was significantly lower than in the <1 h group (100%, P = 0.047). The clinical pregnancy rate in the ≥2 h group was 55.93%, significantly lower than in the <1 h group (74.26%, P = 0.017). The ongoing pregnancy rates in the 1–2 h group and the ≥2 h group were 48.28% and 47.46%, respectively, significantly lower than that in the <1 h group (67.33%, P < 0.05). The miscarriage rate in the 1–2 h group was 18.42%, significantly higher than that in the <1 h group (5.33%, P = 0.027). In PGT-A cycles, the clinical pregnancy and ongoing pregnancy rates in the <1 h group were 67.44% and 53.49%, respectively, higher than that in the 1–2 h group (52.94%, 47.06%, P > 0.05) and the ≥2 h group (52.63%, 36.84%, P > 0.05). In conclusion, vitrification of blastocysts beyond 1 h after biopsy significantly influences embryo survival and clinical outcomes and is therefore not recommended.