Safety is an essential requirement as well as a major bottleneck for legged robots in the real world. Particularly for learning-based methods, their trial-and-error nature and unexplainable policy have raised widespread concerns. Existing methods usually treat this challenge as a trade-off between safety assurance and task performance. One reason for this drawback stems from the inaccurate inference for the robot’s safety. In this paper, we re-examine the segmentation of the robot’s state space in terms of safety. According to the current state and the prediction of the state transition trajectory, the states of legged robots are classified into safe, recoverable, unsafe, and failure, and a safety verification method is introduced to online infer the robot’s safety. Then, task, recovery, and fall protection policies are trained to ensure the robot’s safety in different states, forming a safety supervision framework independently from the learning algorithm. To validate the proposed method and framework, experiment results are conducted both in the simulation and on the real-world robot, indicating improvements in terms of safety and efficiency.

When a droplet impacts onto a superheated liquid pool, vapour generation and drainage within the gas cushion play a crucial role in postponing or even preventing contact between the droplet and the pool surface. Through direct numerical simulations, we closely examine the transient dynamics of vapour flow confined within the thin film, with a particular focus on the minimum thickness of this film under a range of impact conditions. Our numerical findings manifest the significant influence of evaporation on the vertical motion of the liquid–vapour interface, revealing how the minimum film thickness evolves in response to variations in impact velocity and degree of superheat. In our numerical simulations, we have identified two distinct evolution laws for the minimum film thickness, corresponding to moderate and high superheat regimes, respectively. These regimes are differentiated by the dominance of evaporation effects within the vapour film during the early falling stage. Subsequently, we establish scaling relations to characterize these regimes by carefully balancing inertial, pressure and evaporation effects within the thin vapour film. Furthermore, we observe that the vapour pressure eventually reaches equilibrium with the rapid increase in capillary pressure at the spreading front, thereby controlling the minimum thickness of the vapour layer in both moderate and high superheat regimes. We derive self-similar solutions based on this equilibrium, and the predicted minimum film thickness aligns remarkably well with our numerical results. This provides compelling evidence that evaporation alone is insufficient to prevent droplet–pool coalescence.

This study is dedicated to achieving efficient active noise control in a supersonic underexpanded planar jet, utilizing control parameters informed by resolvent analysis. The baseline supersonic underexpanded jet exhibits complex wave structures and substantial high-amplitude noise radiations. To perform the active control, unsteady blowing and suction are applied along the nozzle inner wall close to the exit. Employing both standard and acoustic resolvent analyses, a suitable frequency and spanwise wavenumber range for the blowing and suction is identified. Within this range, the control forcing can be significantly amplified in the near field, effectively altering the original sound-producing energetic structure while minimizing far-field amplification to prevent excessive noise. A series of large-eddy simulations are further conducted to validate the control efficiency, demonstrating an over 10 dB reduction in upstream-propagated screech noise. It is identified that the present unsteady control proves more effective than steady control at the same momentum coefficient. The controlled jet flow indicates that the shock structures become more stable, and the stronger the streamwise amplification of the forcing, the more likely it is to modify the mean flow characteristics, which is beneficial for reducing far-field noise radiation. Spectral proper orthogonal decomposition analysis of the controlled flow confirms that the control redistributes energy to higher forcing frequencies and suppresses large-scale antisymmetric and symmetric modes related to screech and its harmonics. The findings of this study highlight the potential of resolvent-guided control techniques in reducing noise in supersonic underexpanded jets and provide a detailed understanding of the inherent mechanisms for effective noise reduction through active control strategies.

The article studies an initial boundary valueproblem (ibvp) for the radial solutions of the nonlinear Schrödinger (NLS) equation in a radially symmetric region $\Omega\in \mathbb R^n$ with boundaries. All such regions can be classified into three types: a ball Ω0 centred at origin, a region Ω1 outside a ball, and an n-dimensional annulus Ω2. To study the well-posedness of those ibvps, the function spaces for the boundary data must be specified in terms of the solutions in appropriate Sobolev spaces. It is shown that when $\Omega = \Omega_1$, the ibvp for the NLS equation is locally well-posed in $ C( [0, T^*]; H^s(\Omega_1))$ if the initial data is in $H^s(\Omega_1)$ and boundary data is in $ H^{\frac{2s+1}{4}}(0, T)$ with $s \geq 0$. This is the optimal regularity for the boundary data and cannot be improved. When $\Omega = \Omega_2$, the ibvp is locally well-posed in $ C( [0, T^*]; H^s(\Omega_2))$ if the initial data is in $ H^s(\Omega_2)$ and boundary data is in $ H^{\frac{s+1}{2}}(0, T)$ with $s \geq 0$. In this case, the boundary data requires $1/4$ more derivative compared to the case when $\Omega = \Omega_1$. When $\Omega = \Omega_0$ with n = 2 (the case with n > 2 can be discussed similarly), the ibvp is locally well-posed in $ C( [0, T^*]; H^s(\Omega_0))$ if the initial data is in $ H^s(\Omega_0)$ and boundary data is in $ H^{\frac{s+1}{2}}(0, T)$ with s > 1 (or $s \gt n/2$). Due to the lack of Strichartz estimates for the corresponding boundary integral operator with $ 0 \leq s \leq 1$, the local well-posedness can only be achieved for s > 1. It is noted that the well-posedness results on Ω0 and Ω2 are the first ones for the ibvp of NLS equations in bounded regions of higher dimension.

We consider linear-fractional branching processes (one-type and two-type) with immigration in varying environments. For $n\ge0$, let $Z_n$ count the number of individuals of the nth generation, which excludes the immigrant who enters the system at time n. We call n a regeneration time if $Z_n=0$. For both the one-type and two-type cases, we give criteria for the finiteness or infiniteness of the number of regeneration times. We then construct some concrete examples to exhibit the strange phenomena caused by the so-called varying environments. For example, it may happen that the process is extinct, but there are only finitely many regeneration times. We also study the asymptotics of the number of regeneration times of the model in the example.

The tension distribution problem of cable-driven parallel robots is inevitable in real-time control. Currently, iterative algorithms or geometric algorithms are commonly used to solve this problem. Iterative algorithms are difficult to improve in real-time performance, and the tension obtained by geometric algorithms may not be continuous. In this paper, a novel tension distribution method for four-cable, 3-DOF cable-driven parallel robots is proposed based on the wave equation. The tension calculated by this method is continuous and differentiable, without the need for iterative computation or geometric centroid calculations, thus exhibiting good real-time performance. Furthermore, the feasibility and rationality of this algorithm are theoretically proven. Finally, the real-time performance and continuity of cable tension are analyzed through a specific numerical example.

As a required sample preparation method for 14C graphite, the Zn-Fe reduction method has been widely used in various laboratories. However, there is still insufficient research to improve the efficiency of graphite synthesis, reduce modern carbon contamination, and test other condition methodologies at Guangxi Normal University (GXNU). In this work, the experimental parameters, such as the reduction temperature, reaction time, reagent dose, Fe powder pretreatment, and other factors, in the Zn-Fe flame sealing reduction method for 14C graphite samples were explored and determined. The background induced by the sample preparation process was (2.06 ± 0.55) × 10–15, while the 12C– beam current were better than 40μA. The results provide essential instructions for preparing 14C graphite of ∼1 mg at the GXNU lab and technical support for the development of 14C dating and tracing, contributing to biology and environmental science.

A new vacuum line to extract CO2 from carbonate and dissolved inorganic carbon (DIC) in water was established at Guangxi Normal University. The vacuum line consisted of two main components: a CO2 bubble circulation region and a CO2 purification collection region, both of which were made of quartz glass and metal pipelines. To validate its reliability, a series of carbonate samples were prepared using this system. The total recovery rate of CO2 extraction and graphitization exceeded 80%. Furthermore, the carbon content in calcium carbonate exhibited a linear relationship with the CO2 pressure within the system, demonstrating its stability and reliability. The system was also employed to prepare and analyze various samples, including calcium carbonate blanks, foraminiferal, shell, groundwater, and subsurface oil-water samples. The accelerator mass spectrometry (AMS) results indicated that the average beam current for 12C- in the samples exceeded 40 μA. Additionally, the contamination introduced during the liquid sample preparation process was approximately (1.77 ± 0.57) × 10−14. Overall, the graphitized preparation system for carbonate and DIC in water exhibited high efficiency and recovery, meeting the requirements for samples dating back to approximately 30,000 years.

During the existence of Proto-Tethys Ocean (550–430 Ma), microcontinents in northern East Gondwana merged with the northern margin of India-Australia, completing the assembly of Gondwana. Ongoing controversy surrounds the disappearance of the Proto-Tethys Ocean, the dynamic mechanisms of suturing and the palaeogeographic relationships among microcontinents in northern East Gondwana, contributing to the uncertainty about the tectonic evolution of the region. This paper concerns the lower Silurian Zusailing Formation in the Hainan Island and focuses on the affinity between Hainan Island and various microcontinents in northern East Gondwana during the early Silurian. We use detrital zircon geochronology to reconstruct the closure process of the Proto-Tethys Ocean and show that the detrital zircon U–Pb age groups of the lower Silurian Zusailing Formation are 2800–2200, 2100–1350, 1250–950, 600–480 and 480–430 Ma, with a significant age peak of ca. 449 Ma. Furthermore, the analysis of detrital zircon geochemistry and europium anomalies shows that the Hainan Island crust continued to thicken during 600–434 Ma. Comparing the age spectrum of early Palaeozoic detrital zircons from Hainan Island and various microcontinents in northern East Gondwana, as well as the affinity among them during the Silurian, we conclude that the closure of the eastern Proto-Tethys Ocean evolved from unidirectional subduction (600–480 Ma) to bidirectional subduction (480–430 Ma).

The assessment of seed quality and physiological potential is essential in seed production and crop breeding. In the process of rapid detection of seed viability using tetrazolium (TZ) staining, it is necessary to spend a lot of labour and material resources to explore the pretreatment and staining methods of hard and solid seeds with physical barriers. This study explores the TZ staining methods of six hard seeds (Tilia miqueliana, Tilia henryana, Sassafras tzumu, Prunus subhirtella, Prunus sibirica, and Juglans mandshurica) and summarizes the TZ staining conditions required for hard seeds by combining the difference in fat content between seeds and the kinship between species, thus providing a rapid viability test method for the protection of germplasm resources of endangered plants and the optimization of seed bank construction. The TZ staining of six species of hard seeds requires a staining temperature above 35 °C and a TZ solution concentration higher than 1%. Endospermic seeds require shorter staining times than exalbuminous seeds. The higher the fat content of the seeds, the lower the required incubation temperature and TZ concentration for staining, and the longer the staining time. And the closer the relationship between the two species, the more similar their staining conditions become. The TZ staining method of similar species can be predicted according to the genetic distance between the phylogenetic trees, and the viability of new species can be detected quickly.

Soft drink consumption has become a highly controversial public health issue. Given the pattern of consumption in China, sugar-sweetened beverage is the main type of soft drink consumed. Due to containing high levels of fructose, a soft drink may have a deleterious effect on handgrip strength (HGS) due to oxidative stress, inflammation and insulin resistance. However, few studies show an association between soft drink consumption and HGS in adults. We aimed to investigate the association between soft drink consumption and longitudinal changes in HGS among a Chinese adult population. A longitudinal population-based cohort study (5-year follow-up, median: 3·66 years) was conducted in Tianjin, China. A total of 11 125 participants (56·7 % men) were enrolled. HGS was measured using a handheld digital dynamometer. Soft drink consumption (mainly sugar-containing carbonated beverages) was measured at baseline using a validated FFQ. ANCOVA was used to evaluate the association between soft drink consumption and annual change in HGS or weight-adjusted HGS. After adjusting for multiple confounding factors, the least square means (95 % CI) of annual change in HGS across soft drink consumption frequencies were −0·70 (–2·49, 1·09) for rarely drinks, −0·82 (–2·62, 0·97) for < 1 cup/week and −0·86 (–2·66, 0·93) for ≥ 1 cup/week (Pfor trend < 0·05). Likewise, a similar association was observed between soft drink consumption and annual change in weight-adjusted HGS. The results indicate that higher soft drink consumption was associated with faster HGS decline in Chinese adults.

Compared with nitrogen and argon, helium is lighter and can better reduce the beam loss caused by angular scattering during beam transmission. The molecular dissociation cross-section in helium is high and stable at low energies, which makes helium the prevalent stripping gas in low-energy accelerator mass spectrometry (AMS). To study the stripping behavior of 14C ions in helium at low energies, the charge state distributions of carbon ion beams with −1, +1, +2, +3, and +4 charge states were measured at energies of 70–220 keV with a compact 14C-AMS at Guangxi Normal University (GXNU). The experimental data were used to analyze the stripping characteristics of C-He in the energy range of 70–220 keV, and new charge state yields and exchange cross-sections in C-He were obtained at energies of 70–220 keV.

A single-stage accelerator mass spectrometer (GXNU-AMS) developed for radiocarbon and tritium measurements was installed and commissioned at Guangxi Normal University in 2017. After several years of operational and methodological upgrades, its performance has been continuously improved and applied in multidisciplinary fields. Currently, the measurement sensitivity for radiocarbon and tritium is 14C/12C ∼ (3.14 ± 0.05) ×10–15 and 3H/1H ∼ (1.23 ± 0.17)×10–16, respectively, and the measurement accuracy is ∼0.6%, which can meet the measurement requirements in the nuclear, earth, environmental and life science fields. This study presents the performance characteristics of GXNU-AMS and several interesting application studies.

We aimed to investigate the association of metabolic obesity phenotypes with all-cause mortality risk in a rural Chinese population. This prospective cohort study enrolled 15 704 Chinese adults (38·86 % men) with a median age of 51·00 (interquartile range: 41·00–60·00) at baseline (2007–2008) and followed up during 2013–2014. Obesity was defined by waist circumference (WC: ≥ 90 cm for men and ≥ 80 cm for women) or waist-to-height ratio (WHtR: ≥ 0·5). The hazard ratio (HR) and 95 % CI for the risk of all-cause mortality related to metabolic obesity phenotypes were calculated using the Cox hazards regression model. During a median follow-up of 6·01 years, 864 deaths were identified. When obesity was defined by WC, the prevalence of participants with metabolically healthy non-obesity (MHNO), metabolically healthy obesity (MHO), metabolically unhealthy non-obesity (MUNO) and metabolically unhealthy obesity (MUO) at baseline was 12·12 %, 2·80 %, 41·93 % and 43·15 %, respectively. After adjusting for age, sex, alcohol drinking, smoking, physical activity and education, the risk of all-cause mortality was higher with both MUNO (HR = 1·20, 95 % CI 1·14, 1·26) and MUO (HR = 1·20, 95 % CI 1·13, 1·27) v. MHNO, but the risk was not statistically significant with MHO (HR = 0·99, 95 % CI 0·89, 1·10). This result remained consistent when stratified by sex. Defining obesity by WHtR gave similar results. MHO does not suggest a greater risk of all-cause mortality compared to MHNO, but participants with metabolic abnormality, with or without obesity, have a higher risk of all-cause mortality. These results should be cautiously interpreted as the representation of MHO is small.

According to the positive time-discounting assumption of intertemporal decision-making, people prefer to undergo negative events in the future rather than in the present. However, negative discounting has been identified in the intertemporal choice and loss domains, which refers to people’s preference to experience negative events earlier rather than later. Studies have validated and supported the "anticipated dread" as an explanation for negative discounting. This study again explored the effect of anticipated dread on intertemporal choice using content analysis; that is, having participants identify anticipated dread among reasons for negative discounting. This study also validated the effect of anticipated dread on negative discounting by manipulating anticipated dread. This study adds empirical and direct evidence for the role of anticipated dread in negative discounting.