With advancements in industrial robot technology and the ongoing enhancements in control system performance, the demand for precise robot motion is increasing. Generally, an increased number of interpolation points enhances the precision of robot movement, but excessive points can lead to jittering and out-of-step issues. This paper investigates the relationship between the number of motion interpolation points and the response times of the control system and the robot’s terminal velocity, based on the theoretical calculation and experimental analysis of the limit interpolation points for the control system of a self-developed 6-DOF (Six Degree of Freedom) robot. The method for calculating limit interpolation points is refined using the least squares method, and equations are derived for different control system response time and robot’s terminal velocity reaction times. The validity of the prediction curves is verified through experimental analysis.

Recent experiments and simulations have sparked growing interest in the study of Rayleigh–Bénard convection in very slender cells. One pivotal inquiry arising from this interest is the elucidation of the flow structure within these very slender cells. Here we employ tomographic particle image velocimetry, for the first time, to capture experimentally the full-field three-dimensional and three-component velocity field in a very slender cylindrical cell with aspect ratio $\Gamma =1/10$. The experiments cover a Rayleigh number range $5.0 \times 10^8 \leqslant Ra \leqslant 5.0 \times 10^9$ and Prandtl number 5.7. Our experiments reveal that the flow structure in the $\Gamma =1/10$ cell is neither in the multiple-roll form nor in the simple helical form; instead, the ascending and descending flows can intersect and cross each other, resulting in the crossing events. These crossing events separate the flow into segments; within each segment, the ascending and descending flows ascend or descend side by side vertically or in the twisting manner, and the twisting is not unidirectional, while the segments near the boundary can also be in the form of a donut like structure. By applying the mode decomposition analyses to the measured three-dimensional velocity fields, we identified the crossing events as well as the twisting events for each instantaneous flow field. Statistical analysis of the modes reveals that as $Ra$ increases, the average length of the segments becomes smaller, and the average number of segments increases from 2.5 to 3.9 in the $Ra$ range of our experiments.

Urban air mobility (UAM) utilising novel transportation tools is gradually being recognised as a significant means to alleviate ground transportation pressures, vertiports which serve as pivotal nodes in UAM require efficient methods for assessing its operational capacity to develop an appropriate operational strategy and help to design vertiport ground infrastructure scientifically. This study proposes a multi-dimensional assessment method for the capacity of vertiports considering throughput and quality of service based on genetic algorithm (CEGA). The method comprehensively considers constraints such as unmanned aerial vehicle (UAV) safety separation, battery endurance, number of landing vertipads and UAV speed. The experimental results indicate that the vertiport with the scheduling algorithm proposed by this study has a larger capacity and experiences fewer delay than the vertiport with first-come-first-served (FCFS) algorithm when the vertiport has the same limited number of vertipads. Different proportions of UAVs significantly affect the quality of service and the degree of operation delays. The weights of vertiport throughput and customer satisfaction are the parameters that represent the importance of throughput and customer satisfaction in the objective function of the capacity assessment model. When the weights of throughput and customer satisfaction are set to 0.8 and 0.2 respectively, the performance of this optimisation model is optimal. This study provides a novel solution for capacity assessment and operation scheduling of vertiports, laying the foundation for improving the efficiency of UAM operations.

We present an experimental study on the drag reduction by polymers in Taylor–Couette turbulence at Reynolds numbers ($Re$) ranging from $4\times 10^3$ to $2.5\times 10^4$. In this $Re$ regime, the Taylor vortex is present and accounts for more than 50 % of the total angular velocity flux. Polyacrylamide polymers with two different average molecular weights are used. It is found that the drag reduction rate increases with polymer concentration and approaches the maximum drag reduction (MDR) limit. At MDR, the friction factor follows the $-0.58$ scaling, i.e. $C_f \sim Re^{-0.58}$, similar to channel/pipe flows. However, the drag reduction rate is about $20\,\%$ at MDR, which is much lower than that in channel/pipe flows at comparable $Re$. We also find that the Reynolds shear stress does not vanish and the slope of the mean azimuthal velocity profile in the logarithmic layer remains unchanged at MDR. These behaviours are reminiscent of the low drag reduction regime reported in channel flow (Warholic et al., Exp. Fluids, vol. 27, no. 5, 1999, pp. 461–472). We reveal that the lower drag reduction rate originates from the fact that polymers strongly suppress the turbulent flow while only slightly weaken the mean Taylor vortex. We further show that polymers steady the velocity boundary layer and suppress the small-scale Görtler vortices in the near-wall region. The former effect reduces the emission rate of both intense fast and slow plumes detached from the boundary layer, resulting in less flux transport from the inner cylinder to the outer one and reduces energy input into the bulk turbulent flow. Our results suggest that in turbulent flows, where secondary flow structures are statistically persistent and dominate the global transport properties of the system, the drag reduction efficiency of polymer additives is significantly diminished.

The presence of dispersed-phase droplets can result in a notable increase in a system's drag. However, our understanding of the mechanism underlying this phenomenon remains limited. In this study, we use three-dimensional direct numerical simulations with a modified multi-marker volume-of-fluid method to investigate liquid–liquid two-phase turbulence in a Taylor–Couette geometry. The dispersed phase has the same density and viscosity as the continuous phase. The Reynolds number $Re\equiv r_i\omega _i d/\nu$ is fixed at 5200, the volume fraction of the dispersed phase is up to $40\,\%$, and the Weber number $We\equiv \rho u^2_\tau d/\sigma$ is approximately 8. It is found that the increase in the system's drag originates from the contribution of interfacial tension. Specifically, droplets experience significant deformation and stretching in the streamwise direction due to shear near the inner cylinder. Consequently, the rear end of the droplets lags behind the fore head. This causes opposing interfacial tension effects on the fore head and rear end of the droplets. For the fore head of the droplets, the effect of interfacial tension appears to act against the flow direction. For the rear end, the effect appears to act in the flow direction. The increase in the system's drag is attributed primarily to the effect of interfacial tension on the fore head of the droplets which leads to the hindering effect of the droplets on the surrounding continuous phase. This hindering effect disrupts the formation of high-speed streaks, favouring the formation of low-speed ones, which are generally associated with higher viscous stress and drag of the system. This study provides new insights into the mechanism of drag enhancement reported in our previous experiments.

Direct numerical simulations are performed to explore the evolution behaviour of the turbulent/non-turbulent interface (TNTI) in a temporally evolving turbulent plane jet, using the evolution equation for the TNTI surface area. A novel algorithm is used to calculate the surface area of the TNTI and entrainment flux. It is shown that the surface area remains relatively constant, which leads to the mean entrainment velocity being inversely proportional to the square root of time. On average, the effects of the stretching and curvature/viscous terms on the TNTI area roughly counterbalance each other, while the curvature/inviscid term associated with vortex stretching is virtually zero. More specifically, the stretching term contributes to the production of the surface area, while the curvature/viscous term is associated with a destruction in the surface area. The local effect of the curvature/viscous term exhibits high spatial intermittency with small-scale extreme/intense events, whereas the effect of the large-scale stretching term is more continuous. To shed light on the contribution of curvature/viscous term to the evolution of the surface area, we decompose it into three components. The effect of the curvature/normal diffusion term (the curvature/viscous dissipation term) in the bulging regions (the valley regions) mainly contributes to the production of the area. The continuous decrease of the average mean curvature is associated with the production of the bulging regions and the destruction of the valley regions. Finally, although the entrainment velocity is mainly dominated by the normal diffusion effect, all three components related to the viscous effect are indispensable to the production and destruction of the TNTI area. This numerical study contributes to a better understanding of the evolution of the TNTI area.

Proton acceleration in a near-critical-density gas driven by a light spring (LS) pulse with a helical structure in its intensity profile is investigated using three-dimensional particle-in-cell simulations. Compared with other pulse modes with the same laser power, such as the Gaussian pulse or the donut Laguerre–Gaussian (LG) pulse, the LS structure significantly enhances the peak intensity and drives a stronger longitudinal acceleration field and transverse focusing field. Both the high intensity and helical structure of the LS pulse contribute to the formation of a bubble-like structure with a fine electron column on the axis, which is critical for stable proton acceleration. Therefore, it is very promising to obtain ultra-high-energy protons using LS pulses with a relatively lower power. For example, by using LS pulses with the same power of 4.81 PW, the proton in the gas can be accelerated up to 8.7 GeV, and the witness proton can be accelerated to 10.6 GeV from 0.11 GeV, which shows the overwhelming advantage over the Gaussian and LG pulse cases.

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.

We investigate the coupling effects of the two-phase interface, viscosity ratio and density ratio of the dispersed phase to the continuous phase on the flow statistics in two-phase Taylor–Couette turbulence at a system Reynolds number of $6\times 10^3$ and a system Weber number of 10 using interface-resolved three-dimensional direct numerical simulations with the volume-of-fluid method. Our study focuses on four different scenarios: neutral droplets, low-viscosity droplets, light droplets and low-viscosity light droplets. We find that neutral droplets and low-viscosity droplets primarily contribute to drag enhancement through the two-phase interface, whereas light droplets reduce the system's drag by explicitly reducing Reynolds stress due to the density dependence of Reynolds stress. In addition, low-viscosity light droplets contribute to greater drag reduction by further reducing momentum transport near the inner cylinder and implicitly reducing Reynolds stress. While interfacial tension enhances turbulent kinetic energy (TKE) transport, drag enhancement is not strongly correlated with TKE transport for both neutral droplets and low-viscosity droplets. Light droplets primarily reduce the production term by diminishing Reynolds stress, whereas the density contrast between the phases boosts TKE transport near the inner wall. Therefore, the reduction in the dissipation rate is predominantly attributed to decreased turbulence production, causing drag reduction. For low-viscosity light droplets, the production term diminishes further, primarily due to their greater reduction in Reynolds stress, while reduced viscosity weakens the density difference's contribution to TKE transport near the inner cylinder, resulting in a more pronounced reduction in the dissipation rate and consequently stronger drag reduction. Our findings provide new insights into the physics of turbulence modulation by the dispersed phase in two-phase turbulence systems.

This study examined the sour grapes/sweet lemons rationalization through 2 conditions: ‘attainable’ (sweet lemons) and ‘unattainable’ (sour grapes), reflecting China’s 2019-nCoV vaccination strategy. The aim was to find ways to change people’s beliefs and preferences regarding vaccines by easing their safety concerns and encouraging more willingness to get vaccinated. An online survey was conducted from January 22 to 27, 2021, with 3,123 residents across 30 provinces and municipalities in the Chinese mainland. The direction of belief and preference changed in line with the sour grapes/sweet lemons rationalization. Using hypothetical and real contrasts, we compared those for whom the vaccine was relatively unattainable (‘sour grapes’ condition) with those who could get the vaccine easily (‘sweet lemons’). Whether the vaccine was attainable was determined in the early stage of the vaccine roll-out by membership in a select group of workers that was supposed to be vaccinated to the greatest extent possible, or, by being in the second stage when the vaccine was available to all. The attainable conditions demonstrated higher evaluation in vaccine safety, higher willingness to be vaccinated, and lower willingness to wait and see. Hence, we propose that the manipulation of vaccine attainability, which formed the basis of the application of sour grapes/sweet lemons rationalization, can be utilized as a means to manipulate the choice architecture to nudge individuals to ease vaccine safety concerns, reducing wait-and-see tendencies, and enhancing vaccination willingness. This approach can expedite universal vaccination and its associated benefits in future scenarios resembling the 2019-nCoV vaccine rollout.

Foodborne diseases are ongoing and significant public health concerns. This study analysed data obtained from the Foodborne Outbreaks Surveillance System of Wenzhou to comprehensively summarise the characteristics of foodborne outbreaks from 2012 to 2022. A total of 198 outbreaks were reported, resulting in 2,216 cases, 208 hospitalisations, and eight deaths over 11 years. The findings suggested that foodborne outbreaks were more prevalent in the third quarter, with most cases occurring in households (30.8%). Outbreaks were primarily associated with aquatic products (17.7%) as sources of contamination. The primary transmission pathways were accidental ingestion (20.2%) and multi-pathway transmission (12.1%). Microbiological aetiologies (46.0%), including Vibrio parahaemolyticus, Salmonella ssp., and Staphylococcus aureus, were identified as the main causes of foodborne outbreaks. Furthermore, mushroom toxins (75.0%), poisonous animals (12.5%), and poisonous plants (12.5%) were responsible for deaths from accidental ingestion. This study identified crucial settings and aetiologies that require the attention of both individuals and governments, thereby enabling the development of effective preventive measures to mitigate foodborne outbreaks, particularly in coastal cities.

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.

To investigate the associations between dietary patterns and biological ageing, identify the most recommended dietary pattern for ageing and explore the potential mediating role of gut microbiota in less-developed ethnic minority regions (LEMRs). This prospective cohort study included 8288 participants aged 30–79 years from the China Multi-Ethnic Cohort study. Anthropometric measurements and clinical biomarkers were utilised to construct biological age based on Klemera and Doubal’s method (KDM-BA) and KDM-BA acceleration (KDM-AA). Dietary information was obtained through the baseline FFQ. Six dietary patterns were constructed: plant-based diet index, healthful plant-based diet index, unhealthful plant-based diet index, healthy diet score, Dietary Approaches to Stop Hypertension (DASH), and alternative Mediterranean diets. Follow-up adjusted for baseline analysis assessed the associations between dietary patterns and KDM-AA. Additionally, quantile G-computation identified significant beneficial and harmful food groups. In the subsample of 764 participants, we used causal mediation model to explore the mediating role of gut microbiota in these associations. The results showed that all dietary patterns were associated with KDM-AA, with DASH exhibiting the strongest negative association (β = −0·91, 95 % CI (–1·19, −0·63)). The component analyses revealed that beneficial food groups primarily included tea and soy products, whereas harmful groups mainly comprised salt and processed vegetables. In mediation analysis, the Synergistetes and Pyramidobacter possibly mediated the negative associations between plant-based diets and KDM-AA (5·61–9·19 %). Overall, healthy dietary patterns, especially DASH, are negatively associated with biological ageing in LEMRs, indicating that Synergistetes and Pyramidobacter may be potential mediators. Developing appropriate strategies may promote healthy ageing in LEMRs.

Hydrogen sulfide (H2S) has been shown to play a significant role in oxidative stress across various tissues and cells; however, its role in sperm function remains poorly understood. This study aimed to investigate the protective effect of GYY4137, a slow-releasing H2S compound, on sperm damage induced by H2O2. We assessed the effects of GYY4137 on motility, viability, lipid peroxidation and caspase-3 activity in human spermatozoa in vitro following oxidative damage mediated by H2O2. Spermatozoa from 25 healthy men were selected using a density gradient centrifugation method and cultured in the presence or absence of 10 μM H2O2, followed by incubation with varying concentrations of GYY4137 (0.625–2.5 μM). After 24 h of incubation, sperm motility, viability, lipid peroxidation, and caspase-3 activity were evaluated. The results indicated that H2O2 adversely affected sperm parameters, reducing motility and viability, while increasing oxidative stress, as evidenced by elevated lipid peroxidation and caspase-3 activity. GYY4137 provided dose-dependent protection against H2O2-induced oxidative stress (OS). We concluded that supplementation with GYY4137 may offer antioxidant protection during in vitro sperm preparation for assisted reproductive technology.