Aircraft with bio-inspired flapping wings that are operated in low-density atmospheric environments encounter unique challenges associated with the low density. The low density results in the requirement of high operating velocities of aircraft to generate sufficient lift resulting in significant compressibility effects. Here, we perform numerical simulations to investigate the compressibility effects on the lift generation of a bio-inspired wing during hovering flight using an immersed boundary method. The aim of this study is to develop a scaling law to understand how the lift is influenced by the Reynolds and Mach numbers, and the associated flow physics. Our simulations have identified a critical Mach number of approximately $0.6$ defined by the average wing-tip velocity. When the Mach number is lower than 0.6, compressibility does not have significant effects on the lift or flow fields, while when the Mach number is greater than $0.6$, the lift coefficient decreases linearly with increasing Mach number, due to the drastic change in the pressure on the wing surface caused by unsteady shock waves. Moreover, the decay rate is dependent on the Reynolds number and the angle of attack. Based on these observations, we propose a scaling law for the lift of a hovering flapping wing by considering compressible and viscous effects, with the scaled lift showing excellent collapse.

The effects of the evolution of vortices on the aeroacoustics generated by a hovering wing are numerically investigated by using a hybrid method of an immersed boundary–finite difference method for the three-dimensional incompressible flows and a simplified model based on the Ffowcs Williams-Hawkings acoustic analogy. A low-aspect-ratio ($AR=1.5$) rectangular wing at low Reynolds ($Re=1000$) and Mach ($M=0.04$) numbers is investigated. Based on the simplified model, the far-field acoustics is shown to be dominated by the time derivative of the pressure on the wing surface. Results show that vortical structure evolution in the flow fields, which is described by the divergence of the convection term of the incompressible Navier–Stokes equations in a body-fixed reference frame, determines the time derivative of the surface pressure and effectively the far-field acoustics. It dominates over the centrifugal acceleration and Coriolis acceleration terms in determining the time derivative of the surface pressure. The position of the vortex is also found to affect the time derivative of the surface pressure. A scaling analysis reveals that the vortex acoustic source is scaled with the cube of the flapping frequency.

Flow control of a low-aspect-ratio flat-plate heaving wing at an average angle of attack of $10^{\circ }$ by a steady-blowing jet is numerically studied by using a feedback immersed boundary–lattice Boltzmann method. Blowing jets at the leading edge, mid-chord and trailing edge are considered. The wing enjoys the highest lift production with the trailing-edge downstream blowing jet, which improves the average lift by 50.0 % at $Re = 1000$ and 22.9 % at $Re = 5000$ through the enhancement of the tip vortex circulation caused by the increase in the mass flux of the shear layer at the wing tips. This increase in mass flux decreases as $Re$ increases from 1000 to 5000 due to its self-limiting mechanism. A mid-chord vertical blowing jet induces a middle vortex which enhances the lift production but the enhancement is smaller than that of trailing-edge downstream blowing jet. Other jet arrangements do not significantly increase the lift coefficient, but the mid-chord upstream blowing jet experiences a significant reduction in the drag coefficient, leading to an increase of 50.6 % in the average lift-to-drag ratio. The effectiveness of the flow control is not significantly affected by the aspect ratio.

Escherichia albertii is an emerging foodborne enteropathogen associated with infectious diarrhoea in humans. In February 2023, an outbreak of acute gastroenteric cases was reported in a junior high school located in Hangzhou, Zhejiang province, China. Twenty-two investigated patients presented diarrhoea (22/22, 100%), abdominal pain (21/22, 95.5%), nausea (6/22, 27.3%), and vomiting (3/22, 13.6%). E. albertii strains were successfully isolated from anal swabs collected from six patients. Each isolate was classified as sequence type ST2686, harboured eae-β gene, and carried both cdtB-I and cdtB-II subtypes, being serotyped as EAOg32:EAHg4 serotype. A comprehensive whole-genome phylogenetic analysis revealed that the six isolates formed a distinct cluster, separate from other strains. These isolates exhibited minimal genetic variation, differing from one another by 0 to 1 single nucleotide polymorphism, suggesting a common origin from a single clone. To the best of our knowledge, this represented the first reported outbreak of gastroenteritis attributed to E. albertii outside of Japan on a global scale.

Accurate online estimation of the payload parameters benefits robot control. In the existing approaches, however, on the one hand, only the linear friction model was used for online payload identification, which reduced the online estimation accuracy. On the other hand, the estimation models contain much noise because of using actual joint trajectory signals. In this article, a new estimation algorithm based on parameter difference for the payload dynamics is proposed. This method uses a nonlinear friction model for the online payload estimation instead of the traditionally linear one. In addition, it considers the commanded joint trajectory signals as the computation input to reduce the model noise. The main contribution of this article is to derive a symbolic relationship between the parameter difference and the payload parameters and then apply it to the online payload estimation. The robot base parameters without payload were identified offline and regarded as the prior information. The one with payload can be solved online by the recursive least squares method. The dynamics of the payload can be then solved online based on the numerical difference of the two parameter sets. Finally, experimental comparisons and a manual guidance application experiment are shown. The results confirm that our algorithm can improve the online payload estimation accuracy (especially the payload mass) and the manual guidance comfort.

In order to establish a compact all-optical Thomson scattering source, experimental studies were conducted on the 45 TW Ti: sapphire laser facility. By including a steel wafer, mixed gas, and plasma mirror into a double-exit jet, several mechanisms, such as shock-assisted ionization injection, ionization injection, and driving laser reflection, were integrated into one source. So, the source of complexity was remarkably reduced. Electron bunches with central energy fluctuating from 90 to 160 MeV can be produced. Plasma mirrors were used to reflect the driving laser. The scattering of the reflected laser on the electron bunches led to the generation of X-ray photons. Through comparing the X-ray spots under different experimental conditions, it is confirmed that the X-ray photons are generated by Thomson scattering. For further application, the energy spectra and source size of the Thomson scattering source were measured. The unfolded spectrum contains a large amount of low-energy photons besides a peak near 67 keV. Through importing the electron energy spectrum into the Monte Carlo simulation code, the different contributions of the photons with small and large emitting angles can be used to explain the origin of the unfolded spectrum. The maximum photon energy extended to about 500 keV. The total photon production was 107/pulse. The FWHM source size was about 12 μm.

Aerospace represents the development of national science and technology. It is an important foundation for exploring space and an important guarantee for the construction of aerospace power. There are many large workpieces in the aerospace field. The box insulation layer of large workpieces is an important processing problem. A new thick processing equipment is proposed to process the box insulation layer of large workpieces. The thick processing equipment consists of the XYZ shaft long guide rail and five degrees of freedom (5-DOF) RAPA. The mechanical structure of the 5-DOF RAPA is a redundantly actuated parallel mechanism (RAPM). Meanwhile, this paper proposes a new method to design 5-DOF redundantly actuated parallel mechanisms (RAPMs) with large output rotational angles. Based on configuration evolution and Li group, two articulated moving platforms (AMPs) and four kinds of limbs are designed, and a series of 3T2R (T represents translation, R represents rotation) RAPMs and 2T3R RAPMs are synthesized. To verify the designed RAPMs with large angle, an example of RAPMs, 4UPS-{2UPR}-R is analyzed. To ensure that the RAPM has no mechanism vibration impact in movement, this paper represents the RAPM adopts a newly proposed trajectory planning method. The results show that the 4SPU-(2UPR)R mechanism possesses large angles and verifies the efficiency of the new proposed trajectory planning method in simplified trajectories. This work lays the foundation for processing the box insulation layer of large workpieces with straight lines and arcs paths.

The power exchange between fluid and structure plays a significant role in the force production and flight efficiency of flapping wings in insects and artificial flyers. This work numerically investigates the performance of flapping wings by using a high-fidelity fluid–structure interaction solver. Simulations are conducted by varying the hinge flexibility (measured by the Cauchy number, $Ch$, i.e. the ratio between aerodynamic and torsional elastic forces) and the wing shape (quantified by the radius of the first moment of area, $\bar {r}_1$). Results show that the lift production is optimal at $0.05 < Ch \leq 0.2$ and larger $\bar {r}_1$ where the minimum angle of attack is around $45^\circ$ at midstroke. The power economy is maximised for wings with lower $\bar {r}_1$ near $Ch=0.2$. Power analysis indicates that the optimal performance measured by the power economy is obtained for those cases where two important power synchronisations occur: anti-synchronisation of the pitching elastic power and the pitching aerodynamic and inertial powers and nearly in-phase synchronisation of the flapping aerodynamic power and the total input power of the system. While analysis of the kinematics for the different wing shapes and hinge stiffnesses reveals that the optimal performance occurs when the timing of pitch and stroke reversals are matched, thus supporting the effective transfer of input power from flapping to passive pitching and into the fluid. These results suggest that careful optimisation between wing shapes and hinge properties can allow insects and robots to exploit the passive dynamics to improve flight performance.

Rodents and shrews are major reservoirs of various pathogens that are related to zoonotic infectious diseases. The purpose of this study was to investigate co-infections of zoonotic pathogens in rodents and shrews trapped in four provinces of China. We sampled different rodent and shrew communities within and around human settlements in four provinces of China and characterised several important zoonotic viral, bacterial, and parasitic pathogens by PCR methods and phylogenetic analysis. A total of 864 rodents and shrews belonging to 24 and 13 species from RODENTIA and EULIPOTYPHLA orders were captured, respectively. For viral pathogens, two species of hantavirus (Hantaan orthohantavirus and Caobang orthohantavirus) were identified in 3.47% of rodents and shrews. The overall prevalence of Bartonella spp., Anaplasmataceae, Babesia spp., Leptospira spp., Spotted fever group Rickettsiae, Borrelia spp., and Coxiella burnetii were 31.25%, 8.91%, 4.17%, 3.94%, 3.59%, 3.47%, and 0.58%, respectively. Furthermore, the highest co-infection status of three pathogens was observed among Bartonella spp., Leptospira spp., and Anaplasmataceae with a co-infection rate of 0.46%. Our results suggested that species distribution and co-infections of zoonotic pathogens were prevalent in rodents and shrews, highlighting the necessity of active surveillance for zoonotic pathogens in wild mammals in wider regions.

The inertial parameters of payloads attached to the end effector of robots benefit to several robotics applications, such as the model-based control, the task optimization, and so on. These applications require the accurate estimation of the inertial parameters. In the existing payload estimation approaches, however, the data weighting technique, which can reduce the adverse effects of outliers and significantly improve the final results, has not been applied yet. In this article, an accurate identification method based on double weighting for inertial parameters of robot payloads is proposed. In order to obtain the weighting matrices, a modified dynamic parameter identification method with two loops is firstly proposed. Then, based on the identified results of dynamic parameters, a payload identification model based on double weighting is constructed. In addition, the variations of both nonlinear friction parameters and linear friction parameters caused by the payload are considered in this model. Finally, experimental comparisons between our method and another four methods are conducted. The results confirm that our method shows the best performance, especially on improving the identification accuracy of mass and center of mass of the payload.

The parasite Fasciola hepatica is an important zoonotic parasite. The development of an animal model of F. hepatica's life cycle is critical for studying the biological characteristics of the parasite in snails and mammals. Eggs of F. hepatica of bovine origin were cultured, and metacercariae were obtained after infection of Galba pervia snails. The life cycle system of F. hepatica was initiated in 2 different animals by orally infecting rabbits, SD rats and Kunming mice with the metacercariae. The animals' survival after infection, parasite migration in the animals and pathological damage to the liver were observed. We discovered that rabbits died due to acute suppurative hepatitis 60–69 days after infection, and eggs were found in the feces on day 63 of infection. The liver of SD rats showed punctate lesions on day 3 of infection, and further changes occurred as the infection progressed. However, liver repair was observed at week 9. SD rats survived for more than a year after infection and continued the F. hepatica life cycle. The liver lesions in Kunming mice after infection were similar but more severe than those in SD rats. Death was observed on the 31st post-infection day. We discovered that while rabbits, SD rats and Kunming mice can all be used as animal models of F. hepatica, SD rats are more suitable experimental animals in terms of tolerance and pathological response.

This paper investigates the trajectory tracking problem of uncertain robot manipulators with input saturation and output constraints. Uncertainty and disturbance estimator (UDE) is used to tackle the model uncertainties and external disturbances. Different from most existing methods, UDE only needs the bandwidth of the unknown plant model for design, which makes it easy to be implemented. Nonlinear state-dependent function is employed to cope with output constraints and a second order auxiliary system is constructed to solve the input saturation. Finally, an UDE-based tracking controller is proposed based on the backstepping method. With the proposed control scheme, the input saturation and the output constraints are not violated, and all signals in the closed-loop system are bounded. The comparative simulation results of a two-link robot manipulator are utilized to validate the effectiveness and superiority of the proposed control method.

Theoretical results of frequentist model averaging mainly focus on asymptotic optimality and asymptotic distribution of the model averaging estimator. However, even for basic least squares model averaging, many theoretical problems have not been well addressed yet. This article discusses asymptotic properties of a class of least squares model averaging methods with nested candidate models that includes the Mallows model averaging (MMA) of Hansen (2007, Econometrica 75, 1175–1189) as a special case. Two scenarios are considered: (i) all candidate models are under-fitted; and (ii) the true model is included in the candidate models. We find that in the first scenario, the least squares model averaging method asymptotically assigns weight one to the largest candidate model and the resulting model averaging estimator is asymptotically normal. In the second scenario with a slightly special weight space, if the penalty factor in the weight selection criterion is diverging with certain order, the model averaging estimator is asymptotically optimal by putting weight one to the true model. However, MMA with fixed model dimensions is not asymptotically optimal since it puts nonnegligible weights to over-fitted models. The theoretical results are clearly summarized with their restrictions, and some critical implications are discussed. Monte Carlo simulations confirm our theoretical results.

The nonlinear dynamics of a two-sided collapsible channel flow is investigated by using an immersed boundary-lattice Boltzmann method. The stability of the hydrodynamic flow and collapsible channel walls is examined over a wide range of Reynolds numbers $Re$, structure-to-fluid mass ratios $M$ and external pressures $P_e$. Based on extensive simulations, we first characterise the chaotic behaviours of the collapsible channel flow and explore possible routes to chaos. We then explore the physical mechanisms responsible for the onset of self-excited oscillations. Nonlinear and rich dynamic behaviours of the collapsible system are discovered. Specifically, the system experiences a supercritical Hopf bifurcation leading to a period-1 limit cycle oscillation. The existence of chaotic behaviours of the collapsible channel walls is confirmed by a positive dominant Lyapunov exponent and a chaotic attractor in the velocity-displacement phase portrait of the mid-point of the collapsible channel wall. Chaos in the system can be reached via period-doubling and quasi-periodic bifurcations. It is also found that symmetry breaking is not a prerequisite for the onset of self-excited oscillations. However, symmetry breaking induced by mass ratio and external pressure may lead to a chaotic state. Unbalanced transmural pressure, wall inertia and shear layer instabilities in the vorticity waves contribute to the onset of self-excited oscillations of the collapsible system. The period-doubling, quasi-periodic and chaotic oscillations are closely associated with vortex pairing and merging of adjacent vortices, and interactions between the vortices on the upper and lower walls downstream of the throat.

Using the meta-analysis technique, this research comprehensively reviews the existing open innovation (OI) literature, systematically aggregates empirical findings on the impact of OI on performance to identify key moderators and statistically tests the significance of these moderators in influencing the OI–performance relationship. Based on a comprehensive dataset of 2,377,123 firms and sub-firm units in 171 studies published from 2003 to 2018, this research demonstrates that the OI–performance relationship is significantly moderated by three key factors: performance measure, OI approach, and level of analysis. This research helps explain the conflicting findings regarding the OI–performance relationship in the existing literature, and contributes to the understanding of the effectiveness of OI practice.

Long non-coding RNAs (lncRNAs) exert vital functions in the occurrence and development of various tumours. The aim of this study was to examine the regulatory effect and underlying molecular mechanism of lncRNA small nucleolar RNA host gene 14 (SNHG14) on the proliferation, invasion and migration of thyroid tumour cells. The expression of SNHG14 in thyroid tumour cell lines was determined using qRT-PCR. CCK-8 and western blot were used to detect the effects of SNHG14 on proliferation and apoptosis of thyroid tumour cells. The effect of SNHG14 on the migration and invasion of thyroid tumour cells was analyzed using immunofluorescence, wound-healing and transwell assays. A targeting relationship between SNHG14 and miR-93-5p was determined using bioinformatics software and luciferase reporter assays. In addition, CCK-8, immunofluorescence, wound-healing and transwell assays were applied to demonstrate that SNHG14 promoted the proliferation, migration and invasion of thyroid tumour cells by targeting miR-93-5p. The biological function of SNHG14 in vivo was explored through a xenograft model and immunohistochemistry. SNHG14 was upregulated in thyroid tumour cells compared with normal cells. Downregulation of SNHG14 effectively reduced the proliferation, migration and invasion of TPC-1 cells, and induced cell apoptosis. Moreover, SNHG14 directly targeted miR-93-5p and there was a negative correlation between them. Further functional experiments illustrated that miR-93-5p overexpression dramatically reversed the promoting role of SNHG14 in proliferation, migration and invasion of TPC-1 cells. Our results demonstrated that SNHG14 promotes the proliferation, invasion and migration of thyroid tumour cells by downregulating miR-93-5p.

Tremendous progress has been made in the field of ferroptosis since this regulated cell death process was first named in 2012. Ferroptosis is initiated upon redox imbalance and driven by excessive phospholipid peroxidation. Levels of multiple intracellular nutrients (iron, selenium, vitamin E and coenzyme Q10) are intimately related to the cellular antioxidant system and participate in the regulation of ferroptosis. Dietary intake of monounsaturated fatty acids (MUFA) and polyunsaturated fatty acids (PUFA) regulates ferroptosis by directly modifying the fatty acid composition in cell membranes. In addition, amino acids and glucose (energy stress) manipulate the ferroptosis pathway through the nutrient-sensitive kinases mechanistic target of rapamycin complex 1 (mTORC1) and AMP-activated protein kinase (AMPK). Understanding the molecular interaction between nutrient signals and ferroptosis sensors might help in the identification of the roles of ferroptosis in normal physiology and in the development of novel pharmacological targets for the treatment of ferroptosis-related diseases.

Nowadays, automated essay evaluation (AEE) systems play an important role in evaluating essays and have been successfully used in large-scale writing assessments. However, existing AEE systems mostly focus on grammar or shallow content measurements rather than higher-order traits such as ideas. This paper proposes a new formulation of graph-based features for concept maps using word embeddings to evaluate the quality of ideas for Chinese compositions. The concept map derived from the student’s composition is composed of the concepts appearing in the essay and the co-occurrence relationship between the concepts. By utilizing real compositions written by eighth-grade students from a large-scale assessment, the scoring accuracy of the computer evaluation system (named AECC-I: Automated Evaluation for Chinese Compositions—Ideas) is higher than the baselines. The results indicate that the proposed method deepens the construct-relevant coverage of automatic ideas evaluation in compositions and that it can provide constructive feedback for students.