The formation mechanism for the stopping vortex ring (SVR) and its effects on the development of starting jets have been systematically investigated. The radial inward flow near the nozzle exit, arising from the pressure difference caused by the deceleration of starting jets, is considered to be the main contributing factor to the formation of the SVR. The formation process can generally be divided into (i) the rapid accumulation stage ($t_d^*\leq 1$) and (ii) the development stage ($t_d^*>1$), where $t_d^*$ is the formation time defined by the duration of the deceleration stage. For starting jets with different $(L/D)_d$, the final circulation value and circulation growth rate of the SVR can be scaled by $[(L/D)_d]^{-0.5}$ and $[(L/D)_d]^{-1.5}$, respectively. Here $(L/D)_d$ represents the stroke ratio during the deceleration stage. Analysing the temporal evolution of fluid parcels in the vicinity of the nozzle exit reveals that SVR entrains fluid from both inside and outside of the nozzle. Additionally, the influence of the SVR on the leading vortex ring and the trailing jet has been examined, with particular attention to its effects on the propulsive performance of the starting jet. The SVR affects the profiles of axial velocity and gauge pressure at the nozzle exit, thereby enhancing the generation of total thrust during the deceleration stage. Analysis has shown that depending on the deceleration rate, SVR can enhance the average velocity thrust by at least $10\,\%$ and compensate for up to a $60\,\%$ reduction in pressure thrust due to deceleration.

Environmental exposures are known to be associated with pathogen transmission and immune impairment, but the association of exposures with aetiology and severity of community-acquired pneumonia (CAP) are unclear. A retrospective observational study was conducted at nine hospitals in eight provinces in China from 2014 to 2019. CAP patients were recruited according to inclusion criteria, and respiratory samples were screened for 33 respiratory pathogens using molecular test methods. Sociodemographic, environmental and clinical factors were used to analyze the association with pathogen detection and disease severity by logistic regression models combined with distributed lag nonlinear models. A total of 3323 CAP patients were included, with 709 (21.3%) having severe illness. 2064 (62.1%) patients were positive for at least one pathogen. More severe patients were found in positive group. After adjusting for confounders, particulate matter (PM) 2.5 and 8-h ozone (O3-8h) were significant association at specific lag periods with detection of influenza viruses and Klebsiella pneumoniae respectively. PM10 and carbon monoxide (CO) showed cumulative effect with severe CAP. Pollutants exposures, especially PM, O3-8h, and CO should be considered in pathogen detection and severity of CAP to improve the clinical aetiological and disease severity diagnosis.

Lower limb exoskeletons (LLEs) have demonstrated their potential in delivering quantified repetitive gait training for individuals afflicted with gait impairments. A critical concern in robotic gait training pertains to fostering active patient engagement, and a viable solution entails harnessing the patient’s intrinsic effort to govern the control of LLEs. To address these challenges, this study presents an innovative online gait learning approach with an appropriate control strategy for rehabilitation exoskeletons based on dynamic movement primitives (DMP) and an Assist-As-Needed (AAN) control strategy, denoted as DMP-AAN. Specifically tailored for post-stroke patients, this approach aims to acquire the gait trajectory from the unaffected leg and subsequently generate the reference gait trajectory for the affected leg, leveraging the acquired model and the patient’s personal exertion. Compared to conventional AAN methodologies, the proposed DMP-AAN approach exhibits adaptability to diverse scenarios encompassing varying gait patterns. Experimental validation has been performed using the lower limb rehabilitation exoskeleton HemiGo. The findings highlight the ability to generate suitable control efforts for LLEs with reduced human-robot interactive force, thereby enabling highly patient-controlled gait training sessions to be achieved.

In order to solve the problems of low loading capacity and low driving efficiency for the powered exoskeleton, this paper presents a bionic multi-chamber pneumatic actuator based on muscle scale mechanism. Firstly, the bionic muscle scale mechanism and multi-chamber structure design for the novel pneumatic actuator are introduced. Afterward, the driving characteristics of the multi-chamber actuator are analyzed theoretically, including analysis of output force and analysis of energy efficiency. Then, the load matching control strategy for the novel actuator is optimized, and the load matching performance, displacement tracking accuracy, and energy efficiency are studied by simulation. Finally, the prototype of the multi-chamber actuator is developed, and the exoskeleton testing platform is built, experiment and discussion are conducted for the driving characteristics, which realized the high energy efficiency and the feasibility of load matching.

The formation process of the leading vortex ring in starting jets with uniform background co- and counter-flow has been studied numerically for $-0.5\leq R_v\leq 0.5$, where $R_v$ is the ratio of background velocity to jet velocity. For the cases with background counter-flow, the normal formation process of the leading vortex ring would be destroyed when $R_v<-0.4$, i.e. the trailing jet would overtake the leading vortex ring through the centre, a phenomenon reminiscent of vortex leapfrogging. As the velocity ratio $R_v$ increases, the formation number $F_{t^*}$ decreases from $9.6$ at $R_v=-0.4$ to $1.92$ at $R_v=0.5$. An analytical model based on the kinematic criterion has been developed so as to describe the relationship between the formation number $F_{t^*}$ and velocity ratio $R_v$. A linear relationship between the vortex core parameter and stroke ratio of starting jet ($\varepsilon \sim k_1L/D$) for the Norbury vortex ring has been established and used effectively to close the model. For co-flow with $0< R_v\leq 0.5$, the results from this model are consistent with the present numerical simulation and the experiments by Krueger et al. (J. Fluid Mech., vol. 556, 2006, pp. 147–166). For counter-flow, two different equations are proposed for $-0.4\leq R_v\leq -0.2$ and $-0.2< R_v<0$, respectively.

There are few studies on the intelligent guidance of unmanned sailboats, which should coordinate pluralistic tasks at sea in the nature of its maneuvring intractability. To ensure the algorithmic practicability, this paper proposes a path-following and collision-avoidance guidance approach of unmanned sailboats with total formulaic description. The risk-detecting mechanism is fabricated by setting a circular detecting zone and using the time to the closest point of approach. Then, the risk of collision, the path deviation, the speed loss, and the course loss can be judged by constructing the cost functions and applying the distance to closest point of approach. The optimized heading angle is deemed as the one minimizing the aggregate cost functions, which is sought by applying and improving the beetle antennae search (BAS) algorithm. In the proposed modified BAS, the searching step is redesigned to enhance the searching efficiency. To ensure the convergence of the real heading angle to the reference, the backstepping-based control law is fabricated for the high-order sailboat model and in the linear form. The control parameters are offline optimized through the modified BAS. Compared with the adaptive control, this controller can guarantee more computation simplicity and the optimized control performance. Finally, simulation corroborates that the sailboat can successfully complete path following and collision avoidance while encountering multiple static and moving obstacles under the proposed schemes.

The formation and evolution process of the outer vortex ring (denoted as OV0) in annular starting jets has been studied numerically at stroke ratio $3\leqslant L_m/D\leqslant 8$, $\beta \leqslant 0.8$ and Reynolds number $400\leqslant Re_{\triangle R}\leqslant 1400$, where $D$ is the outer diameter of orifice, $L_m$ is the length of the fluid column, $\beta$ and $\triangle R$ are the ratio and difference between inner and outer radii of the annular orifice, respectively. The initial formation process of OV0 is found to be similar to that of the leading vortex ring in a circular starting jet, but the circulation strength is relatively lower and decreases gradually with increasing $\beta$. The pinch-off process will also appear after OV0 grows to a certain size but is different from that of the circular starting jet. On one hand, OV0 is stretched and deformed by the strain field generated by the trailing jet's instability, and vorticity would be shed. On the other hand, OV0 accelerates the irrotational fluids around it under viscous action so as to form the induced velocity field, which would consume energy causing it to shed vorticity further under the limit of the Kelvin–Benjamin variational principle. Furthermore, OV0 would eventually become a stable vortex ring whose non-dimensional circulation ($\varGamma /(U_{0max}D$)) is found to be between 0.59–0.62 and it would not change with different $L_m/D$ at $\beta =0.5$, which is much less than the 2–2.5 of circular starting jets.

A novel ionic liquid/α-ZrP (C16MIM/α-ZrP) lamellar nanocomposite was fabricated via the electrostatic self-assembly deposition technique by using exfoliated α-ZrP nanosheets and guest molecules (1-hexadecyl-3-methylimidazolium bromide) as building blocks under mild conditions. C16MIM/α-ZrP nanocomposite was characterized by various analytical techniques such as X-ray diffraction (XRD), transmission electron microscopy (TEM), scanning electron microscope (SEM), Fourier transform infrared spectroscopy, and synchronous thermal analyzer. The net interlayer spacing of α-ZrP determined by XRD confirmed that the C16MIM cations formed a monolayer arrangement between the α-ZrP nanosheets. The morphology and microstructure of C16MIM/α-ZrP composite were observed using SEM and TEM. The C16MIM/α-ZrP modified glass carbon electrode exhibited excellent electrocatalytic activity toward the oxidation of nitrite in weak base media. The results obtained with differential pulse voltammetry demonstrated that the C16MIM/α-ZrP hybrid detected nitrite linearly in the concentration range from 7.3 μM to 1.25 mM with the detection limit of 1.26 μM (S/N = 3). Additionally, the prepared sensor showed outstanding reproducibility, high stability, and anti-interference capability.

Grounding our research in social exchange theory and the conservation of resources perspective, we hypothesized a model that examines the effects of servant leadership (SL) on employees' workplace thriving via agentic work behaviors. To clarify the effects, employee core self-evaluations (CSEs) were investigated to determine boundary conditions on the relationship between SL and thriving. Data were collected at three points in time from 260 professionals across diverse functional backgrounds and industries. The analysis results confirmed an indirect effect from SL to workplace thriving via agentic work behaviors. Importantly, the moderation results demonstrated that the relationship between SL and workplace thriving is stronger when individuals have high CSEs. Implications for theory and practice are discussed.

Hot extrusion experiments were conducted on Al–5.50Zn–2.35Mg–1.36Cu (wt%) alloy under various temperatures and extrusion speeds. Results indicated that dynamic recovery occurred at low temperature and then dynamic recrystallization was triggered at higher temperature or speed. High billet temperature reduced the grain size and increased the volume fraction of Al23CuFe4 and AlMgZn. When the extrusion speed was enhanced to 0.5 mm/s, the peak of MgZn2 phase diminished in the results of X-ray diffraction. The strong brass and S components appeared in all the extruded specimens. Texture intensity gradually decreased with increasing temperature and the fraction of texture components was also significantly affected by the extrusion parameters. The extruded alloy exhibited the highest ultimate tensile strength of 350.2 MPa at 480 °C and 0.5 mm/s and the best elongation of 16.78% at 520 °C and 0.1 mm/s. Moreover, the extrusion speed had more significant effects on the tensile properties than that of the temperature.

High inductive helical support provides a solution to controlling the alignment error of inner electrodes in magnetically insulated transmission lines (MITLs). Three-dimensional particle-in-cell simulations were performed to examine the current loss mechanism and the effects of structural parameters on electron flow in an MITL with a helical inductor. An empirical expression related to the ratio of electron current loss to anode current and the ratio of anode current to self-limited current was obtained. Electron current loss caused by helical inductor with different structures was displayed. The results indicate that the current loss in an MITL, near an inductive helical support, comprises both the inductor current and the electron current loss. The non-uniform structure and current of a helical inductor cause an abrupt change in the magnetic field near the helical support, which leads to anomalous behavior and current loss of electron flow. In addition, current loss in the inductive helical-supported MITL is negligible when the inductance of the support is sufficiently high. This work facilitates the estimation of electron current loss caused by the inductive helical support in MITLs.

Determining an appropriate grasp configuration for multi-finger grasping is difficult due to the complexity of robotic hands. The multi-finger grasp planning should consider not only geometry constraints of objects but also kinematics and dynamics of robotic hand. In this paper, a precision grasp-planning framework is presented for multi-finger hand to grasp unknown objects. First, the manipulation capabilities of the robotic hand are analyzed. The analysis results are further used as bases for the precision grasp planning. Second, the superquadric (SQ) fitting method is used for approximating unknown object models. Finally, a local–global optimization method is implemented to find appropriate grasp configurations for dexterous hand. The presented planning framework is validated in simulation experiments. Simulation results demonstrated that the presented grasp-planning framework enables the multi-finger hand to grasp unknown objects effectively.

The central projection transform can be employed to extract invariant features by combining contour-based and region-based methods. However, the central projection transform only considers the accumulation of the pixels along the radial direction. Consequently, information along the radial direction is inevitably lost. In this paper, we propose the Mellin central projection transform to extract affine invariant features. The radial factor introduced by the Mellin transform, makes up for the loss of information along the radial direction by the central projection transform. The Mellin central projection transform can convert any object into a closed curve as a central projection transform, so the central projection transform is only a special case of the Mellin central projection transform. We prove that closed curves extracted from the original image and the affine transformed image by the Mellin central projection transform satisfy the same affine transform relationship. A method is provided for the extraction of affine invariants by employing the area of closed curves derived by the Mellin central projection transform. Experiments have been conducted on some printed Chinese characters and the results establish the invariance and robustness of the extracted features.

Nanosecond pulse discharges can provide high reduced electric field for exciting high-energy electrons, and the ultrafast rising time of the applied pulse can effectively suppress the generation of spark streamer and produce homogeneous discharges preionized by runaway electrons in atmospheric-pressure air. In this paper, the electrostatic field in a tube-plate electrodes gap is calculated using a calculation software. Furthermore, a simple physical model of nanosecond pulse discharges is established to investigate the behavior of the runaway electrons during the nanosecond pulse discharges with a rise time of 1.6 ns and a full-width at half-maximum of 3–5 ns in air. The physical model is coded by a numerical software, and then the runaway electrons and electron avalanche are investigated under different conditions. The simulated results show that the applied voltage, voltage polarity, and gas pressure can significantly affect the formation of the avalanche and the behavior of the runaway electrons. The inception time of runaway breakdown decreases when the applied voltage increases. In addition, the threshold voltage of runaway breakdown has a minimum value (10 kPa) with the variation of gas pressure.

PACS: 52.80.-s

The association of 24 h urinary Na and potassium excretion with the risk of the metabolic syndrome (MetS) has not been studied in China. The aim of the present study was to examine this association by analysing the data from 1906 study participants living in north China. To this end, 24 h urine samples were collected. Of the 1906 participants, 471 (24·7 %) had the MetS. The mean urinary Na and K excretion was 228·7 and 40·8 mmol/d, respectively. After multivariate adjustment, the odds of the MetS significantly increased across the increasing tertiles of urinary Na excretion (1·00, 1·40 and 1·54, respectively). For the components of the MetS, the odds of central obesity, elevated blood pressure and elevated TAG, but not the odds of low HDL-cholesterol and elevated fasting glucose, significantly increased with the successive tertiles of urinary Na excretion. Furthermore, for every 100 mmol/d increase in urinary Na excretion, the odds of the MetS, central obesity, elevated blood pressure and elevated TAG was significantly increased by 29, 63, 22 and 21 %, respectively. However, urinary K excretion was not significantly associated with the risk of the MetS. These findings suggest that high Na intake might be an important risk factor for the MetS in Chinese adults.

Spinal surgery is considered a high-risk surgery. To improve the accuracy, stability, and safety of such operations, we report the development of a novel six-degrees-of-freedom Robotic Spinal Surgical System that can assist surgeons in performing transpedicular surgery, one of the most common spinal surgeries. After optimization performed using Response Surface Methodology, the largest available workspace of the robot is determined and is found to easily cover the entire operation area. Cooperative control and navigation-based active control are implemented for different processes of the operation. We propose a hybrid control approach based on the speed and torque interface at the joint level. In this mode, the robot is compliant in Cartesian space, benefitting both the accuracy and efficiency of the operation. A comprehensive assessment index, combining the subjective and objective criteria in terms of positioning and operation efficiency, is proposed to compare the performance of cooperative control in speed mode, torque mode, and hybrid control mode. Active fine adjustment experiments are carried out to verify the positioning accuracy, and the results are found to satisfy the requirements of operation. As an application example, a pedicle screw insertion experiment is performed on a pig vertebral bone, demonstrating the effectiveness of our system.

An experiment was conducted to study the seasonal changes in the fatty acid profile of milk from yaks (Bos grunniens) when kept at altitudes of 3000 m above sea level (a.s.l.) and higher. Data and samples were collected in summer (July), autumn (September), winter (November) and spring (March) from ten lactating yaks (four in spring). The yaks grazed pastures adjacent to the farm building throughout the year. In spring only they received 0·6 kg crop by-products per day (dry matter basis). Fresh alpine grasses, available in summer and autumn, showed high concentrations of α-linolenic acid (46–51 g/100 g lipids) compared with the dry, yellow vegetation of winter and spring (16 g/100 g lipids). In autumn and summer, the milk fat had higher concentrations of polyunsaturated fatty acids than in winter. These polyunsaturated fatty acids were comprised of vaccenic acid, rumenic acid and α-linolenic acid, which are all considered beneficial to human health. The rare fatty acid, γ-linolenic acid, was also detected in yak milk, especially in the milk obtained in spring. The results suggest that yak milk, which is the most important basic food of the Tibetan herders, has the most favourable fatty acid profile when yaks grazed green pasture, which also corresponds to the period of highest milk production.