This paper introduces an equivalent series mechanism model to improve ankle rehabilitation robots’ ability to recurrence the complex movements of the anthropo-ankle and enhance human-machine locomotion compatibility. The model emulates the true anatomical architecture of the ankle joint and is integrated with a parallel rehabilitative mechanism. The rehabilitative robot includes dual virtual motion centers to mimic the ankle joint’s intricate motion, accommodate individual patient variations, and address the rehabilitation requirements of both right and left feet. Firstly, a serial equivalence model of anthropo-ankle is developed based on the kinematic and anatomical characteristics of the human ankle. The type design for the 4-degree of freedom (4-DOF) parallel ankle rehabilitative robot is then conducted on the basis of the kinematical and restrictive properties of the anthropo-ankle equivalence kinematic model. Secondly, the mechanism’s motion properties allow it to be equivalent to a series branch chain, enabling the establishment of an inverse kinematics model. The kinematical performance of the mechanisms is analyzed using the transmissibility and constrainability indices, followed by workspace analysis and dimensional optimization of the rehabilitative mechanism. Finally, a human-machine coupled rehabilitative simulation model is developed using OpenSim biomechanics software to evaluate the recovery effect.

Characterised by the extensive use of obsidian, a blade-based tool inventory and microblade technology, the late Upper Palaeolithic lithic assemblages of the Changbaishan Mountains are associated with the increasingly cold climatic conditions of Marine Isotope Stage 2, yet most remain poorly dated. Here, the authors present new radiocarbon dates associated with evolving blade and microblade toolkits at Helong Dadong, north-east China. At 27 300–24 100 BP, the lower cultural layers contain some of the earliest microblade technology in north-east Asia and highlight the importance of the Changbaishan Mountains in understanding changing hunter-gatherer lifeways in this region during MIS 2.

The widely used model predictive control of discrete-time control barrier functions (MPC-CBF) has difficulties in obstacle avoidance for unmanned ground vehicles (UGVs) in complex terrain. To address this problem, we propose adaptive dynamic control barrier functions (AD-CBF). AD-CBF is able to adaptively select an extended class of functions of CBF to optimize the feasibility and flexibility of obstacle avoidance behaviors based on the relative positions of the UGV and the obstacle, which in turn improves the obstacle avoidance speed and safety of the MPC algorithm when integrated with MPC. The algorithmic constraints of the CBF employ hierarchical density-based spatial clustering of applications with noise (HDBSCAN) for parameterization of dynamic obstacle information and unscaled Kalman filter (UKF) for trajectory prediction. Through simulations and practical experiments, we demonstrate the effectiveness of the AD-CBF-MPC algorithm in planning optimal obstacle avoidance paths in dynamic environments, overcoming the limitations of the point-by-point feasibility of MPC-CBF.

A new species of Moniliformis, M. tupaia n. sp. is described using integrated morphological methods (light and scanning electron microscopy) and molecular techniques (sequencing and analysing the nuclear 18S, ITS, 28S regions and mitochondrial cox1 and cox2 genes), based on specimens collected from the intestine of the northern tree shrew Tupaia belangeri chinensis Anderson (Scandentia: Tupaiidae) in China. Phylogenetic analyses show that M. tupaia n. sp. is a sister to M. moniliformis in the genus Moniliformis, and also challenge the systematic status of Nephridiacanthus major. Moniliformis tupaia n. sp. represents the third Moniliformis species reported from China.

Chlorite is one of the most common Fe-bearing minerals and is susceptible to weathering in loess and soils. The conventional method for analyzing chlorite, based on XRD with the Rietveld technique, is quantitative, but very time consuming and expensive. In this paper we develop a new methodology based on diffuse reflectance spectroscopy (DRS) and selective chemical extractions to identify chlorite qualitatively in the Chinese loess sequence and present evidence suggesting that DRS may be used to quantify chlorite content. The spectral signature of chlorite in loess is obscured by Fe oxides, but becomes obvious when they are removed. Changes in the ferrous absorption band near 1140 nm vary consistently with changing chlorite content. Using this spectral feature, DRS can distinguish chlorite contents as small as 1 wt.% in loess sediments. Future possibilities for this method in other soil and sediment types need to be explored.

With the advantages of short duration and extreme brightness, laser proton accelerators (LPAs) show great potential in many fields for industrial, medical, and research applications. However, the quality of current laser-driven proton beams, such as the broad energy spread and large divergence angle, is still a challenge. We use numerical simulations to study the propagation of such proton bunches in the plasma. Results show the bunch will excite the wakefield and modulate itself. Although a small number of particles at the head of the bunch cannot be manipulated by the wakefield, the total energy spread is reduced. Moreover, while reducing the longitudinal energy spread, the wakefield will also pinch the beam in the transverse direction. The space charge effect of the bunch is completely offset by the wakefield, and the transverse momentum of the bunch decreases as the bunch transports in the plasma. For laser-driven ion beams, our study provides a novel idea about the optimization of these beams.

Fast neutron absorption spectroscopy is widely used in the study of nuclear structure and element analysis. However, due to the traditional neutron source pulse duration being of the order of nanoseconds, it is difficult to obtain a high-resolution absorption spectrum. Thus, we present a method of ultrahigh energy-resolution absorption spectroscopy via a high repetition rate, picosecond duration pulsed neutron source driven by a terawatt laser. The technology of single neutron count is used, which results in easily distinguishing the width of approximately 20 keV at 2 MeV and an asymmetric shape of the neutron absorption peak. The absorption spectroscopy based on a laser neutron source has one order of magnitude higher energy-resolution power than the state-of-the-art traditional neutron sources, which could be of benefit for precisely measuring nuclear structure data.

Hepatitis E virus infection is a major cause of acute hepatitis, typically self-limiting but occasionally leading to liver failure. Understanding disease progression factors could inform prevention strategies. This study aimed to analyse the characteristics of a large cohort of hospitalised hepatitis E patients in Tianjin, China, and explore factors influencing their progression to liver failure. A total of 1279 hospitalised patients with hepatitis E were included in this cross-sectional study in Tianjin, China. Student's t-test and the Mann–Whitney U-test were used for comparisons. Multiple logistic regression analysis was used to explore the association. Among these 1279 patients, 107 (8.4%) developed liver failure. Patients with diabetes mellitus (DM) (95% confidence interval [CI] 1.150–2.887, p = 0.011), liver cirrhosis (95% [CI] 2.229–7.224, p < 0.001), and hepatitis B (95% [CI] 1.159–4.512, p = 0.017) were more likely to progress to liver failure. Hepatitis E patients with comorbid DM, liver cirrhosis, or hepatitis B virus co-infection have higher risks of developing liver failure. Hepatitis E vaccination may be recommended for these vulnerable patients to curb disease severity.

Improving existing products plays a vital role in enhancing customer satisfaction and coping with changes in the market. Analyzing user experience (UX) to find the deficiencies of existing products and establishing improved schemes is the key to UX-driven product improvement, especially at the conceptual design stage. Although some tools used in conceptual design, such as requirements analysis and knowledge reasoning, have advanced recently, they lack targeted goals and sufficient efficiency in identifying insufficient product attributes and improving existing functions and structures. The challenge lies in considering the influence imposed on design activities by the original product features (including attributes, functions, and structure). In this study, a knowledge-enabled approach and framework that integrates the conceptual design process, online reviews for UX, and knowledge is proposed to support product improvement. Specifically, a decision-making algorithm based on UX analysis is proposed to identify to-be-improved product attributes. Then, through optimizing the previous knowledge application model from knowledge requirement transformation, knowledge modeling, and knowledge reasoning, a smart knowledge reasoning model is established to push knowledge for functional solving of the to-be-improved attributes. A knowledge configuration method is used to modify product features to generate an improved scheme. To demonstrate the feasibility of the proposed approach, a case study of improving an agricultural sprayer is conducted. Through discussion, this study can help to regulate design activities for product improvement, enhance data and knowledge application, and promote divergent thinking during scheme modification.

As the southernmost part of the central segment of the Central Asian Orogenic Belt, the northern Alxa area is characterized by abundant Permian magmatism and records key information on the geological evolution of the Palaeo-Asian Ocean. This study reports new zircon U–Pb and Lu–Hf isotopic and whole-rock geochemical data of the early Permian (285–286 Ma) Huisentala gabbro and Huodonghaer diorites from the Zhusileng–Hangwula Belt in the northern Alxa area. The gabbro is characterized by high Al, Ca, Mg# and light rare-earth elements, and low K, P and high field strength elements (e.g., Ti, Nb and Ta). Furthermore, the gabbro shows heterogeneous zircon ϵHf(t) value (−2.5 to +2.6). The Huodonghaer diorites show high MgO (3.46–6.32 wt%), Mg# (49–58), Sr (408–617 ppm) and Ba (223–419 ppm), and low FeOT/MgO (1.27–1.83) and TiO2 (0.48–0.90 wt%), with geochemical features similar to the high-Mg andesite/diorite. They show radiogenic zircon ϵHf(t) values of +1.2 to +4.9 and high Th/Nb ratios. These features suggest that the Huisentala gabbro and the Huodonghaer diorites were derived from the partial melting of mantle peridotite that was metasomatized by subduction-related fluids and by subducted sediment-derived melts, respectively.

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.

Breast cancer is a high-risk disease with a high mortality rate among women. Chemotherapy plays an important role in the treatment of breast cancer. However, chemotherapy eventually results in tumours that are resistant to drugs. In recent years, many studies have revealed that the activation of Wnt/β-catenin signalling is crucial for the emergence and growth of breast tumours as well as the development of drug resistance. Additionally, drugs that target this pathway can reverse drug resistance in breast cancer therapy. Traditional Chinese medicine has the properties of multi-target and tenderness. Therefore, integrating traditional Chinese medicine and modern medicine into chemotherapy provides a new strategy for reversing the drug resistance of breast tumours. This paper mainly reviews the possible mechanism of Wnt/β-catenin in promoting the process of breast tumour drug resistance, and the progress of alkaloids extracted from traditional Chinese medicine in the targeting of this pathway in order to reverse the drug resistance of breast cancer.

Although ethanol treatment is widely used to activate oocytes, the underlying mechanisms are largely unclear. Roles of intracellular calcium stores and extracellular calcium in ethanol-induced activation (EIA) of oocytes remain to be verified, and whether calcium-sensing receptor (CaSR) is involved in EIA is unknown. This study showed that calcium-free ageing (CFA) in vitro significantly decreased intracellular stored calcium (sCa) and CaSR expression, and impaired EIA, spindle/chromosome morphology and developmental potential of mouse oocytes. Although EIA in oocytes with full sCa after ageing with calcium does not require calcium influx, calcium influx is essential for EIA of oocytes with reduced sCa after CFA. Furthermore, the extremely low EIA rate in oocytes with CFA-downregulated CaSR expression and the fact that inhibiting CaSR significantly decreased the EIA of oocytes with a full complement of CaSR suggest that CaSR played a significant role in the EIA of ageing oocytes. In conclusion, CFA impaired EIA and the developmental potential of mouse oocytes by decreasing sCa and downregulating CaSR expression. Because mouse oocytes routinely treated for activation (18 h post hCG) are equipped with a full sCa complement and CaSR, the present results suggest that, while calcium influx is not essential, CaSR is required for the EIA of oocytes.

Direct numerical simulations are performed to investigate the wake transitions of the flow normal to a circular rotating disk. The diameter-thickness aspect ratio of the disk is $\chi =50$. The Reynolds number of the free stream is defined as $Re_s=U_\infty D/\nu$, with incoming flow velocity $U_\infty$, disk diameter $D$, and kinematic viscosity of the fluid $\nu$. The rotational motion of the disk is described by the Reynolds number of rotation $Re_r=\varOmega Re_s$, with non-dimensional rotation rate $\varOmega =\frac {1}{2}\omega D/U_\infty$, where $\omega$ is the angular rotation speed of the disk. Extensive numerical simulations are performed in the parameter space $50 \leqslant Re_s \leqslant 250$ and $0 \leqslant Re_r \leqslant 250$, in which six flow regimes are identified as follows: the axisymmetric state, the low-speed steady rotation (LSR) state, the high-speed steady rotation (HSR) state, the low-speed unsteady rotation (LUR) state, the rotational vortex shedding state, and the chaotic state. Although plane symmetry exists in the wake when the disk is stationary, a small rotation will immediately destroy its symmetry. However, the vortex shedding frequencies and wake patterns of the stationary disk are inherited by the unsteady rotating cases at low $Re_r$. A flow rotation rate jump is observed at $Re_s\approx 125$. The LUR state is intermediate between the LSR and HSR states. Due to the rotational motion, the wake of the disk enters the steady rotation state earlier at large $Re_r$, and is delayed into the vortex shedding state in the whole range of $Re_r$. In the steady rotation states (LSR and HSR), the steady flow rotation rate is linearly correlated with the disk rotation rate. It is found that the rotation of the disk can restrain the vortex shedding. The chaotic state can be regularized by the medium rotation speed of the disk.

This study evaluated the association between inflammatory diets as measured by the Dietary Inflammatory index (DII), inflammation biomarkers and the development of preeclampsia among the Chinese population. We followed the reporting guidelines of the Strengthening the Reporting of Observational Studies in Epidemiology statement for observational studies. A total of 466 preeclampsia cases aged over 18 years were recruited between March 2016 and June 2019, and 466 healthy controls were 1:1 ratio matched by age (±3 years), week of gestation (±1 week) and gestational diabetes mellitus. The energy-adjusted DII (E-DII) was computed based on dietary intake assessed using a seventy-nine item semiquantitative FFQ. Inflammatory biomarkers were analysed by ELISA kits. The mean E-DII scores were −0·65 ± 1·58 for cases and −1·19 ± 1·47 for controls (P value < 0·001). E-DII scores positively correlated with interferon-γ (r s = 0·194, P value = 0·001) and IL-4 (r s = 0·135, P value = 0·021). After multivariable adjustment, E-DII scores were positively related to preeclampsia risk (P trend < 0·001). The highest tertile of E-DII was 2·18 times the lowest tertiles (95 % CI = 1·52, 3·13). The odds of preeclampsia increased by 30 % (95 % CI = 18 %, 43 %, P value < 0·001) for each E-DII score increase. The preeclampsia risk was positively associated with IL-2 (OR = 1·07, 95 % CI = 1·03, 1·11), IL-4 (OR = 1·26, 95 % CI = 1·03, 1·54) and transforming growth factor beta (TGF-β) (OR = 1·17, 95 % CI = 1·06, 1·29). Therefore, proinflammatory diets, corresponding to higher IL-2, IL-4 and TGF-β levels, were associated with increased preeclampsia risk.