The virtual model control (VMC) method establishes a direct correlation model between the end-effector and the main body by selecting appropriate virtual mechanical components. This approach facilitates direct force control while circumventing the necessity for complex dynamic modeling. However, the simplification inherent in this modeling can result in inaccuracies in the calculation of joint driving torques, ultimately diminishing control precision. Moreover, VMC typically depends on predefined models for control, which constrains its adaptability in dynamically complex environments and under varying movement conditions. To address these limitations, this paper proposes the BP-VMC method, which is based on a backpropagation neural network (BPNN). Initially, a quadruped robot model was established through kinematic analysis. Subsequently, a decomposed VMC model was developed, and BPNN was introduced to facilitate the adaptive tuning of virtual parameters. This approach resulted in the creation of a virtual mechanical component model with adaptive capabilities, compensating for errors arising from simplified modeling. Finally, a simulation control system was constructed based on the BP-VMC control framework to validate the optimization of control performance. Simulation experiments demonstrated that, in comparison to traditional VMC methods, the BP-VMC method exhibits enhanced control accuracy and stability, achieving a 30% reduction in trajectory tracking error, a 40% reduction in velocity tracking error, and a 20–30% improvement in instability indices across various working conditions. This evidence underscores the BP-VMC method’s robust adaptability in dynamic environments.

We report a high-power ultra-narrow fiber-coupled diode laser using a Faraday anomalous dispersion optical filter (FADOF) as an external cavity element. An external cavity suitable for both the fiber-coupled package and FADOF configuration has been proposed. Using a 87Rb-based FADOF as the frequency-selective element, we realized a 103 W continuous laser output with a uniform circular beam. The center wavelength was precisely locked at the D2 line of the Rb resonance, and the bandwidth was narrowed from 1.8 nm (free-running, full width at half maximum (FWHM)) to 0.013 nm (6.9 GHz, FWHM). The side mode suppression ratio reached 31 dB. Such diode lasers with precise wavelength and high spectral brightness have critical applications in many fields, such as high-energy gas laser pumping, spin-exchange optical pumping, Raman spectroscopy and nonlinear optics.

The delay-shift of the pre-pulse may mislead the determination of its origination and cause problems for the temporal contrast improvement of high-peak-power lasers, especially when the corresponding post-pulse is beyond the time window of the measurement device. In this work, an empirical formula is proposed to predict the delay-shift of pre-pulses for the first time. The empirical formula shows that the delay-shift is proportional to the square of the post-pulse’s initial delay, and also the ratio of the third-order dispersion to the group delay dispersion’s square, which intuitively reveals the main cause for the delay-shift and may provide a convenient routing for identifying the real sources of pre-pulses in both chirped-pulse amplification (CPA) and optical parametric chirped-pulse amplification (OPCPA) systems. The empirical formula agrees well with the experimental results both in the CPA and the OPCPA systems. Besides, a numerical simulation is also carried out to further verify the empirical formula.

Folate metabolism is involved in the development and progression of various cancers. We investigated the association of single nucleotide polymorphisms (SNP) in folate-metabolising genes and their interactions with serum folate concentrations with overall survival (OS) and liver cancer-specific survival (LCSS) of newly diagnosed hepatocellular carcinoma (HCC) patients. We detected the genotypes of six SNP in three genes related to folate metabolism: methylenetetrahydrofolate reductase (MTHFR), 5-methyltetrahydrofolate-homocysteine methyltransferase reductase (MTRR) and 5-methyltetrahydrofolate-homocysteine methyltransferase (MTR). Cox proportional hazard models were used to calculate multivariable-adjusted hazard ratios (HR) and 95 % CI. This analysis included 970 HCC patients with genotypes of six SNP, and 864 of them had serum folate measurements. During a median follow-up of 722 d, 393 deaths occurred, with 360 attributed to HCC. In the fully-adjusted models, the MTRR rs1801394 polymorphism was significantly associated with OS in additive (per G allele: HR = 0·84, 95 % CI: 0·71, 0·99), co-dominant (AG v. AA: HR = 0·77; 95 % CI: 0·62, 0·96) and dominant (AG + GG v. AA: HR = 0·78; 95 % CI: 0·63, 0·96) models. Carrying increasing numbers of protective alleles was linked to better LCSS (HR10–12 v. 2–6 = 0·70; 95 % CI: 0·49, 1·00) and OS (HR10–12 v. 2–6 = 0·67; 95 % CI: 0·47, 0·95). Furthermore, we observed significant interactions on both multiplicative and additive scales between serum folate levels and MTRR rs1801394 polymorphism. Carrying the variant G allele of the MTRR rs1801394 is associated with better HCC prognosis and may enhance the favourable association between higher serum folate levels and improved survival among HCC patients.

Diode-pumped rare gas lasers are potential candidates for high-energy and high-beam quality laser systems. Currently, most investigations are focused on metastable Ar lasers. The Kr system has the unique advantages of higher quantum efficiency and lower discharge requirements for comparison. In this paper, a diode-pumped metastable Kr laser was demonstrated for the first time. Using a repetitively pulsed discharge at a Kr/He pressure of up to approximately 1500 Torr, metastable Kr atoms of more than 1013 cm–3 were generated. Under diode pumping, the laser realized a dual-wavelength output with an average output power of approximately 100 mW and an optical conversion efficiency of approximately 10% with respect to the absorbed pump power. A kinetics study involving population distribution and evolution was conducted to analyze the laser performance.

Sterol regulatory element-binding protein 2 (SREBP2) is considered to be a major regulator to control cholesterol homoeostasis in mammals. However, the role of SREBP2 in teleost remains poorly understand. Here, we explored the molecular characterisation of SREBP2 and identified SREBP2 as a key modulator for 3-hydroxy-3-methylglutaryl-coenzyme A reductase and 7-dehydrocholesterol reductase, which were rate-limiting enzymes of cholesterol biosynthesis. Moreover, dietary palm oil in vivo or palmitic acid (PA) treatment in vitro elevated cholesterol content through triggering SREBP2-mediated cholesterol biosynthesis in large yellow croaker. Furthermore, our results also found that PA-induced activation of SREBP2 was dependent on the stimulating of endoplasmic reticulum stress (ERS) in croaker myocytes and inhibition of ERS by 4-Phenylbutyric acid alleviated PA-induced SREBP2 activation and cholesterol biosynthesis. In summary, our findings reveal a novel insight for understanding the role of SREBP2 in the regulation of cholesterol metabolism in fish and may deepen the link between dietary fatty acid and cholesterol biosynthesis.

A single-shot measurement of electron emittance was experimentally accomplished using a focused transfer line with a dipole. The betatron phase of electrons based on laser wakefield acceleration (LWFA) is energy dependent owing to the coupling of the longitudinal acceleration field and the transverse focusing (defocusing) field in the bubble. The phase space presents slice information after phase compensation relative to the center energy. Fitting the transverse size of the electron beam at different energy slices in the energy spectrum measured 0.27 mm mrad in the experiment. The diagnosis of slice emittance facilitates local electron quality manipulation, which is important for the development of LWFA-based free electron lasers. The quasi-3D particle-in-cell simulations matched the experimental results and analysis well.

We report dispersion management based on a mismatched-grating compressor for a 100 PW level laser, which utilizes optical parametric chirped pulse amplification and also features large chirped pulse duration and an ultra-broadband spectrum. The numerical calculation indicates that amplified pulses with 4 ns chirped pulse duration and 210 nm spectral bandwidth can be directly compressed to sub-13 fs, which is close to the Fourier-transform limit (FTL). More importantly, the tolerances of the mismatched-grating compressor to the misalignment of the stretcher, the error of the desired grating groove density and the variation of material dispersion are comprehensively analyzed, which is crucially important for its practical application. The results demonstrate that good tolerances and near-FTL compressed pulses can be achieved simultaneously, just by keeping a balance between the residual second-, third- and fourth-order dispersions in the laser system. This work can offer a meaningful guideline for the design and construction of 100 PW level lasers.

Angiopoietin-like 4 (ANGPTL4) is a potent regulator of TAG metabolism, but knowledge of the mechanisms underlying ANGPTL4 transcription in response to fatty acids is still limited in teleost. In the current study, we explored the molecular characterisation of ANGPTL4 and regulatory mechanisms of ANGPTL4 in response to fatty acids in large yellow croaker (Larimichthys crocea). Here, croaker angptl4 contained a 1416 bp open reading frame encoding a protein of 471 amino acids with highly conserved 12-amino acid consensus motif. Angptl4 was widely expressed in croaker, with the highest expression in the liver. In vitro, oleic and palmitic acids (OA and PA) treatments strongly increased angptl4 mRNA expression in croaker hepatocytes. Moreover, angptl4 expression was positively regulated by PPAR family (PPAR-α, β and γ), and expression of PPARγ was also significantly increased in response to OA and PA. Moreover, inhibition of PPARγ abrogated OA- or PA-induced angptl4 mRNA expression. Beyond that, PA might increase angptl4 expression partly via the insulin signalling. Overall, the expression of ANGPTL4 is strongly upregulated by OA and PA via PPARγ in the liver of croaker, which contributes to improve the understanding of the regulatory mechanisms of ANGPTL4 in fish.

The fiber laser based on an oscillating-amplifying integrated structure has the potential to benefit from the advantages of a fiber laser oscillator and amplifier with the characteristics of strong anti-back-reflected light ability and high efficiency. Here, we achieved a 3.5-kW near-single-mode (M2 ∼ 1.24) oscillating–amplifying integrated fiber laser with an active fiber length of 8 m in the oscillating section and 17.6 m in the amplifying section. While operating at the maximum power, the optical-to-optical conversion efficiency is 87.0%, and the intensity of stimulated Raman scattering is about 23.61 dB lower than that of the signal light. To the best of the authors’ knowledge, this is the highest output power of an oscillating–amplifying integrated fiber laser, accompanied with the best beam quality and the highest efficiency.

Power scaling based on traditional ytterbium-doped fibers (YDFs) is limited by optical nonlinear effects and transverse mode instability (TMI) in high-power fiber lasers. Here, we propose a novel long tapered fiber with a constant cladding and tapered core (CCTC) along its axis direction. The tapered-core region of the fiber is designed to enhance the stimulated Raman scattering (SRS) threshold and suppress higher-order mode resonance in the laser cavity. The CCTC YDF was fabricated successfully with a modified chemical vapor deposition (MCVD) method combined with solution doping technology, which has a cladding diameter of 400 μm and a varying core with a diameter of ~24 μm at both ends and ~31 μm in the middle. To test the performance of the CCTC fiber during high-power operation, an all-fiber laser oscillator based on a CCTC YDF was investigated experimentally. As a result, a maximum output power of 3.42 kW was achieved with an optical-to-optical efficiency of 55.2%, although the TMI effect was observed at an output power of ~3.12 kW. The measured beam quality (M2 factor) was ~1.7, and no sign of the Raman component was observed in the spectrum. We believe that CCTC YDF has great potential to simultaneously mitigate the SRS and TMI effects, and further power scaling is promising by optimizing the structure of the YDF.

The molten-salt method was used to synthesize CaBi2Ta2O9 (CBTa) powder, and the influence of temperature on the structure and micromorphology of products was investigated using X-ray diffraction and the scanning and transmission electron microscope. The results showed that highly crystalline CBTa nanoplates exhibit single orthorhombic symmetry and could be obtained in the temperature range of 850–900 °C. Among which, the nanoplates prepared at 900 °C have optimal properties (average grain size of 1.7 μm and uniform size distribution). Above 900 °C, various CaO–Ta2O5 binary compounds, Bi2O3, and BiTaO4 formed due to the decomposition of CBTa and subsequent reactions of decomposition products, transforming plate-like grains to cuboid nano-particles with a small amount of prismatic grains. Possible reaction mechanisms at different synthesizing temperature were proposed. This work provides a method for the preparation of template grains to synthesize textured CaBi2Ta2O9 high-temperature piezoelectric ceramics by the template grain growth method.

This paper examines ethnic differences in fuelwood consumption in rural households, using an original survey dataset from two western Chinese provinces with large ethnic minority populations. We use a Heckman two-stage selection model to explain the quantity of fuelwood consumed conditional on a decision to use fuelwood. We find that ethnic minority families are more likely than majority Han Chinese families to use fuelwood. We also find that a household's off-farm income has a stronger negative effect on the quantity of fuelwood consumed for the ethnic minority families than for the Han Chinese families. In addition, families owning a larger area of forestland are more likely to use fuelwood. Yet the quantity of fuelwood consumed, especially in ethnic minority families, does not increase with owned forestland. Finally, we find that coal, rather than electricity, is a substitute for fuelwood for residential cooking and heating.

The razor clam, Sinonovacula constricta, contains high levels of long-chain PUFA (LC-PUFA), which are critical for human health. In addition, S. constricta is the first marine mollusc demonstrated to possess Δ6 fatty acyl desaturase (Fad) and complete LC-PUFA biosynthetic ability, providing a good representative to investigate the molecular mechanism of sterol regulatory element binding proteins (SREBP) in regulating Δ6 Fad for LC-PUFA biosynthesis in marine molluscs. Herein, S. constricta SREBP and Δ6 Fad promoter were cloned and characterised. Subsequently, dual luciferase and electrophoretic mobility shift assays were conducted to explore the SREBP binding elements in the core regulatory region of S. constricta Δ6 Fad promoter. Results showed that S. constricta SREBP had a very conservative basic helix-loop-helix-leucine zipper motif, while S. constricta Δ6 Fad promoter exhibited very poor identity with teleost Fads2 promoters, indicating their differentiation during evolution. A 454 bp region harbouring a core sequence in S. constricta Δ6 Fad promoter was predicted to be essential for the transcriptional activation by SREBP. This was the first report on the regulatory mechanism of LC-PUFA biosynthesis in marine molluscs, which would facilitate optimising the LC-PUFA biosynthetic pathway of bivalves in further studies.

In this paper, we report the recent progress on the $1~\text{PW}/0.1~\text{Hz}$ laser beamline of Shanghai Superintense Ultrafast Laser Facility (SULF). The SULF-1 PW laser beamline is based on the double chirped pulse amplification (CPA) scheme, which can generate laser pulses of 50.8 J at 0.1 Hz after the final amplifier; the shot-to-shot energy fluctuation of the amplified pulse is as low as 1.2% (std). After compression, the pulse duration of 29.6 fs is achieved, which can support a maximal peak power of 1 PW. The contrast ratio at $-80~\text{ps}$ before main pulse is measured to be $2.5\times 10^{-11}$. The focused peak intensity is improved by optimizing the angular dispersion in the grating compressor. The maximal focused peak intensity can reach $2.7\times 10^{19}~\text{W}/\text{cm}^{2}$ even with an $f/26.5$ off-axis parabolic mirror. The horizontal and vertical angular pointing fluctuations in 1 h are measured to be 1.89 and $2.45~\unicode[STIX]{x03BC}\text{rad}$, respectively. The moderate repetition rate and the good stability are desirable characteristics for laser–matter interactions. The SULF-1 PW laser beamline is now in the phase of commissioning, and preliminary experiments of particle acceleration and secondary radiation under 300–400 TW/0.1 Hz laser condition have been implemented. The progress on the experiments and the daily stable operation of the laser demonstrate the availability of the SULF-1 PW beamline.

In this paper, we focus on the configuration design of a reconfigurable robot that merges the functions of wheels, tracks, and legs together. A deformable rim is utilized to make the robot wheel reconfigurable to change its locomotion mode. Three rules of configuration design to achieve reconfiguration between different modes are proposed: (1) in wheel mode, the track wheel set should be hidden inside the wheel rim; (2) in track/leg mode, the folded wheel rim should be hidden inside the caterpillar loop; (3) the circumference of the wheel rim in wheel mode should be equal to the length of the track ring in track mode. According to these rules, the configuration of the deformable rim, track wheel set, and telescopic spoke are analyzed and designed. A prototype of the reconfigurable wheel is fabricated by three-dimensional printing, and its functions of locomotion in different modes, the switch between different modes, and its load-bearing ability are tested, verifying the effectiveness of the configuration design. Furthermore, a prototype of the reconfigurable robot is manufactured by computerized numerical control (CNC) machining to verify the structural design of the reconfigurable wheel. Compared to traditional hybrid robots with separate wheels, tracks, and legs, this reconfigurable design lends the multimodal robot both excellent terrain adaptability and a compact structure; thus, it can be widely used as a universal mobile platform in search and rescue missions and explosive object disposal missions.

High-peak-power transform-limited narrow-linewidth nanosecond all-fiber lasers are desired in a range of applications. However, their linewidths will be broadened by self-phase modulation (SPM). We propose a novel concept that generates transform-limited laser pulses by temporally shaping the pulse seed. The impact of the pulse shape on SPM-induced spectral broadening was studied numerically and experimentally. It was found theoretically that the square-shape pulsed laser is immune to SPM-induced spectral broadening. Based on this principle, we built a high-peak-power, linearly polarized, square-shape nanosecond all-fiber laser in a master oscillator power amplifier (MOPA) configuration. Stimulated Brillouin scattering (SBS) limited peak powers of 4.02 kW, 5.06 kW, 6.52 kW and 9.30 kW were obtained at pulse widths of 8 ns, 7 ns, 6 ns and 5 ns. Thanks to the square-shape pulsed seed, the linewidths at maximum peak power remained at 129.5 MHz, 137.6 MHz, 156.2 MHz and 200.1 MHz, respectively, close to the transform-limited values of 110.8 MHz, 126.6 MHz, 147.7 MHz and 177.3 MHz.

The average power of diode-pumped fiber lasers has been developed deeply into the kW regime in the past years. However, stimulated Raman scattering (SRS) is still a major factor limiting the further power scaling. Here, we have demonstrated the mitigation of SRS in kilowatt-level diode-pumped fiber amplifiers using a chirped and tilted fiber Bragg grating (CTFBG) for the first time. The CTFBG is designed and inscribed in large-mode-area (LMA) fibers, matching with the operating wavelength of the fiber amplifier. With the CTFBG inserted between the seed laser and the amplifier stage, an SRS suppression ratio of ${\sim}10~\text{dB}$ is achieved in spectrum at the maximum output laser power of 2.35 kW, and there is no reduction in laser slope efficiency and degradation in beam quality. This work proves the feasibility and practicability of CTFBGs for SRS suppression in high-power fiber lasers, which is very useful for the further power scaling.