At present, the study on autonomous unmanned ground vehicle navigation in an unstructured environment is still facing great challenges and is of great significance in scenarios where search and rescue robots, planetary exploration robots, and agricultural robots are needed. In this paper, we proposed an autonomous navigation method for unstructured environments based on terrain constraints. Efficient path search and trajectory optimization on octree map are proposed to generate trajectories, which can effectively avoid various obstacles in off-road environments, such as dynamic obstacles and negative obstacles, to reach the specified destination. We have conducted empirical experiments in both simulated and real environments, and the results show that our approach achieved superior performance in dynamic obstacle avoidance tasks and mapless navigation tasks compared to the traditional 2-dimensional or 2.5-dimensional navigation methods.

Data on average iodine requirements for the Chinese population are limited following implementation of long-term universal salt iodisation. We explored the minimum iodine requirements of young adults in China using a balance experiment and the ‘iodine overflow’ hypothesis proposed by our team. Sixty healthy young adults were enrolled to consume a sequential experimental diet containing low, medium and high levels of iodine (about 20, 40 and 60 μg/d, respectively). Each dose was consumed for 4 d, and daily iodine intake, excretion and retention were assessed. All participants were in negative iodine balance throughout the study. Iodine intake, excretion and retention differed among the three iodine levels (P < 0·01 for all groups). The zero-iodine balance derived from a random effect model indicated a mean iodine intake of 102 μg/d, but poor correlation coefficients between observed and predicted iodine excretion (r 0·538 for μg/d data) and retention (r 0·304 for μg/d data). As iodine intake increased from medium to high, all of the increased iodine was excreted (‘overflow’) through urine and faeces by males, and 89·5 % was excreted by females. Although the high iodine level (63·4 μg/d) might be adequate in males, the corresponding level of 61·6 μg/d in females did not meet optimal requirements. Our findings indicate that a daily iodine intake of approximately half the current recommended nutrient intake (120 μg/d) may satisfy the minimum iodine requirements of young male adults in China, while a similar level is insufficient for females based on the ‘iodine overflow’ hypothesis.

Underground Nuclear Astrophysics in China (JUNA) will take the advantage of the ultra-low background in Jinping underground lab. High current accelerator with an ECR source and detectors were commissioned. JUNA plans to study directly a number of nuclear reactions important to hydrostatic stellar evolution at their relevant stellar energies. At the first period, JUNA aims at the direct measurements of 25Mg(p,γ)26 Al, 19F(p,α) 16 O, 13C(α, n) 16O and 12C(α,γ) 16O near the Gamow window. The current progress of JUNA will be given.

Some critical limitations of prior research on organizational controls stem from the scant theory identifying the coexistence of contradictions and interrelations between differing organizational controls and exploring how the contradictory but interrelated controls affect innovation modes. To address this gap, this research links Hitt’s internal control system framework and the ambidexterity perspective by building on their focus on the interplay and tensions between different organizational controls. Using survey data from 182 Chinese firms in innovation-intensive industries, the results show that besides the independent use of strategic control, both the combined and balance use of strategic and financial controls are important for internal innovation. For firms specializing in cooperative innovation, however, financial control is more effective, and the combined use of strategic and financial controls has negative effect on cooperative innovation. These findings contribute to our understanding of organizational control itself and its connection to the ambidexterity perspective and innovation theory.

The present study investigated the effects of medium-chain TAG (MCT) on hepatic oxidative damage in weanling piglets with intra-uterine growth retardation (IUGR). At weaning (mean 21 (sd 1·06) d of age), twenty-four IUGR piglets and twenty-four normal-birth weight (NBW) piglets were selected according to their birth weight (BW; IUGR: mean 0·95 (sd 0·04) kg; NBW: mean 1·58 (sd 0·04) kg) and weight at the time of weaning (IUGR: mean 5·26 (sd 0·15) kg; NBW: mean 6·98 (sd 0·19) kg) and fed either a soyabean oil (SO) diet (containing 5 % SO) or a MCT diet (containing 1 % SO and 4 % MCT) for 28 d. IUGR piglets exhibited poor (P< 0·05) growth performance, lower (P< 0·05) metabolic efficiency of hepatic glutathione (GSH) redox cycle, and increased (P< 0·05) levels of reactive oxygen species, apoptosis and necrosis in hepatocytes compared with NBW piglets. The MCT diet increased (P< 0·05) the average daily gain and feed efficiency of piglets during the first 4 weeks after weaning. Furthermore, MCT diet-fed piglets had a higher (P< 0·05) GSH:oxidised glutathione ratio and increased (P< 0·05) activities of glucose-6-phosphate dehydrogenase (G6PD) and GSH reductase. The expression of G6PD was up-regulated (P< 0·05) by the MCT diet irrespective of BW. Moreover, malondialdehyde concentrations in the liver and apoptosis and necrosis levels in hepatocytes were decreased (P< 0·05) by the MCT diet irrespective of BW. These results indicate that MCT might have auxiliary therapeutic potential to attenuate hepatic oxidative damage in IUGR offspring during early life, thus leading to an improvement in the metabolic efficiency of the hepatic GSH redox cycle.

The isotropy of the generalized inertia ellipsoid is an evaluation index that can measure dynamic performance of a robot. This has significance in motion planning and design of a jumping robot. The generalized inertia of a jumping robot is analyzed. The generalized inertia tensor and the generalized inertia ellipsoid (GIE) are derived from the kinetic energy of the robot mechanism. From the viewpoint of geometrical shape change of the GIE, nonlinear characteristics of a jumping robot are analyzed. With the goal of minimizing nonlinear effects during its movement, the mechanism parameters of a jumping robot are optimized by adopting isotropy of the generalized inertia ellipsoid as its objective function. Example results demonstrate the efficiency and validity of the proposed optimization method.

We present measurements on the decline of the open-circuit voltage VOC in a-Si:H solar cells during extended illumination (light-soaking) at 295 K. We used a near-infrared laser that was nearly uniformly absorbed in the intrinsic layer of the cell. At the highest photogeneration rate (about 2x1021 cm-3), a noticeable decline (0.01 V) occurred within about 10 minutes; VOC stabilized at 0.04 V below its initial value after about 200 hours. We found that both the kinetics and the magnitudes of VOC are reasonably consistent with the predictions of a calculation combining a bandtail+defect picture for recombination and a hydrogen-collision model for defect generation. The version of the hydrogen-collision model that we used assumes that only bandtail recombination drives the hydrogen collision processes. Within this picture, the crossover between bandtail and defect recombination occurs on the same timescale as the “light-induced annealing” process that accounts for stabilization of the optoelectronic properties for long lightsoaking times.

We present temperature-dependent measurements of the open-circuit voltage VOC(T) in hydrogenated amorphous silicon nip solar cells prepared at United Solar. At room-temperature and above, VOC measured using near-solar illumination intensity differs by as much as 0.04 V for the as-deposited and light-soaked states; the values of VOC for the two states converge below 250 K. Models for VOC based entirely on recombination through deep levels (dangling bonds) do not account for the convergence effect. The convergence is present in a model that assumes the recombination traffic in the as-deposited state involves only bandtails, but which splits the recombination traffic fairly evenly between bandtails and defects for the light-soaked state at room-temperature. Recombination mechanisms are important in understanding light-soaking, and the present results are inconsistent with at least one well-known model for defect generation.