An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control

In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ameliorated.Specially,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be addressed.To deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI control.The upper limb-robotic exoskeleton system is re-modelled as an artificial system.Depending on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical system.Furthermore,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and compared.Theoretical results substantiate the global convergence and robustness of the proposed controller in the presence of different external disturbances.In addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

Isochrone Fitting of Galactic Globular Clusters—Ⅵ.High-latitude Clusters NGC 5024 (M53),NGC 5053,NGC 5272 (M3),NGC 5466,and NGC7099 (M30)

We fit various color–magnitude diagrams(CMDs) of the high-latitude Galactic globular clusters NGC 5024(M53),NGC 5053,NGC 5272(M3),NGC 5466,and NGC 7099(M30) by isochrones from the Dartmouth Stellar Evolution Database and Bag of Stellar Tracks and Isochrones for α–enrichment [α/Fe] = +0.4.For the CMDs,we use data sets from Hubble Space Telescope,Gaia,and other sources utilizing,at least,25 photometric filters for each cluster.We obtain the following characteristics with their statistical uncertainties for NGC 5024,NGC 5053,NGC 5272,NGC 5466,and NGC 7099,respectively:metallicities [Fe/H] =-1.93 ± 0.02,-2.08 ± 0.03,-1.60 ± 0.02,-1.95 ± 0.02,and-2.07 ± 0.04 dex with their systematic uncertainty 0.1 dex;ages 13.00 ± 0.11,12.70 ± 0.11,11.63 ± 0.07,12.15 ± 0.11,and 12.80 ± 0.17 Gyr with their systematic uncertainty 0.8 Gyr;distances(systematic uncertainty added) 18.22 ± 0.06 ± 0.60,16.99 ± 0.06 ± 0.56,10.08 ± 0.04 ± 0.33,15.59 ±0.03 ± 0.51,and 8.29 ± 0.03 ± 0.27 kpc;reddenings E(B-V) = 0.023 ± 0.004,0.017 ± 0.004,0.023 ± 0.004,0.023 ± 0.003,and 0.045 ± 0.002 mag with their systematic uncertainty 0.01 mag;extinctions AV= 0.08 ± 0.01,0.06 ± 0.01,0.08 ± 0.01,0.08 ± 0.01,and 0.16 ± 0.01 mag with their systematic uncertainty 0.03 mag,which suggest the total Galactic extinction AV= 0.08 across the whole Galactic dust to extragalactic objects at the North Galactic Pole.The horizontal branch morphology difference of these clusters is explained by their different metallicity,age,mass-loss efficiency,and loss of low-mass members in the evolution of the core-collapse cluster NGC 7099 and loose clusters NGC 5053 and NGC 5466.

Marijuana Use and Depressive Symptoms among Young People: Examining Unidirectional and Bidirectional Effects

Research suggests that the prevalence of marijuana use and depression are increasing in the United States. Although it is not entirely clear what accounts for these coincident trends, several studies have shown that these two health concerns are associated among young people. This study assessed four hypotheses regarding the association between marijuana use and depression: 1) whether marijuana use affects subsequent symptoms of depression;2) whether depressive symptoms affect subsequent marijuana use;3) whether they are associated in a bidirectional (reciprocal) manner;and 4) whether the association between the two is confounded by stressful life events. Using eight years of longitudinal data from the Family Wellness and Health Study, a fixed-effects regression model provided empirical support for the first hypothesis only, but not for the others. Future research should explore in greater detail why marijuana use may have a causal impact on experiences with depression among young people.

Social relationship satisfaction and accumulation of chronic conditions and multimorbidity:a national cohort of Australian women

Background Social relationships are associated with mortality and chronic conditions.However,little is known about the effects of social relationship satisfaction on multiple chronic conditions(multimorbidity).Aims To examine whether social relationship satisfaction is associated with the accumulation of multimorbidity.Methods Data from 7694 Australian women who were free from 11 chronic conditions at 45–50 years of age in 1996 were analysed.Five types of social relationship satisfaction(partner,family members,friends,work and social activities)were measured approximately every 3 years and scored from 0(very dissatisfied)to 3(very satisfied).Scores from each relationship type were summed to provide an overall satisfaction score(range:≤5–15).The outcome of interest was the accumulation of multimorbidity in 11 chronic conditions.Results Over a 20-year period,4484(58.3%)women reported multimorbidities.Overall,the level of social relationship satisfaction had a dose–response relationship with the accumulation of multimorbidities.Compared with women reporting the highest satisfaction(score 15),women with the lowest satisfaction(score≤5)had the highest odds of accumulating multimorbidity(odds ratio(OR)=2.35,95%confidence interval(CI):1.94 to 2.83)in the adjusted model.Similar results were observed for each social relationship type.Other risk factors,such as socioeconomic,behavioural and menopausal status,together explained 22.72%of the association.Conclusions Social relationship satisfaction is associated with the accumulation of multimorbidity,and the relationship is only partly explained by socioeconomic,behavioural and reproductive factors.Social connections(eg,satisfaction with social relationships)should be considered a public health priority in chronic disease prevention and intervention.

In the Lake Zone of Tanzania, Behavioral Determinants Are Associated with Hygiene but Not Sanitation Practice

Understanding why individuals do or do not adopt optimal water, sanitation, and hygiene (WASH) practices is critical to designing successful behavior change interventions. However, policy makers and program implementers often fail to obtain the context-specific information on behavioral determinants of WASH practices. This two-stage, randomized survey among 5000 female primary caregivers in the Lake Zone of Tanzania assessed associations between behavioral determinants and a range of hygiene and sanitation practices. Behavioral determinants of hygiene were almost always significantly associated with cleaning one’s own hands after cleaning the baby’s bottom and being able to show at least one place where family members wash their hands. In regression models, those who knew when to wash their own hands (OR = 1.8, 95% CI: 1.5, 2.1) and their child’s hands (OR = 1.5, 95% CI: 1.3, 1.7) and mothers who thought that their female friends washed their hands after cleaning the baby’s bottom (OR = 5.5, 95% CI: 4.5, 6.7) were significantly more likely to frequently clean their own hands after cleaning the baby’s bottom. This research suggests that in the Lake Zone of Tanzania, numerous determinants are associated with hygiene practices. Identifying context-specific determinants of WASH behaviors is the first step toward developing effective interventions.

Microplastics in Marine Environment: Occurrence, Distribution, and Extraction Methods in Marine Organisms

The pervasive presence of microplastics in marine environments has raised significant concerns. This review addresses the pressing issue of microplastic pollution in marine ecosystems and its potential implications for both the environment and human health. It outlines the current state of microplastic occurrence, distribution, and extraction methods within marine organisms. Microplastics have emerged as a significant environmental concern due to their harmful effects on ecosystems and their potential human health risks. These particles infiltrate marine environments through runoff and atmospheric deposition, ultimately contaminating beaches and posing threats to marine life. Despite the gravity of this issue, there has been limited research on the presence and distribution of microplastics in marine organisms. This review aims to bridge this knowledge gap by comprehensively examining the occurrence, distribution, and various extraction methods used to detect microplastics in marine organisms. It emphasizes the urgent need for targeted measures to manage microplastic pollution, highlights the significant role of human activities in contributing to this problem, and underscores the importance of reducing human-induced pollution to safeguard marine ecosystems. While this paper contributes to the understanding of microplastic pollution in marine environments and underscores the critical importance of taking action to protect marine organisms and preserve our oceans for future generations, it also emphasizes that, in effectively tackling the microplastic problem, a well-coordinated approach is essential, involving research initiatives, policy adjustments, public involvement, and innovative technologies. Crucially, prompt and resolute responses must exist to counteract the escalating peril posed by microplastics to the oceans and the global environment.

老年人夫妻依恋的测量及与一般依恋的关系

通过对697名60岁以上、配偶健在的老年人进行调查,对《老年人夫妻依恋问卷》进行修订及信效度的检验,并应用该问卷对老年人的夫妻依恋风格进行划分,考察夫妻依恋风格与一般依恋之间的吻合程度。结果显示修订后的《老年人夫妻依恋问卷》具有稳定的三维度结构以及良好的信效度;聚类分析显示老年人夫妻依恋以安全型和专注型为主,而一般依恋以安全型和冷漠型居多。在老年人中仅有39.9%的个体具有相同类型的夫妻依恋与一般依恋,呈现出较低的一致性。

二氧化钛(TiO2)表面能的理论研究

用密度泛函理论和虚拟原子轨道方法对二氧化钛-金红石(TiO2)(110)表面的表面能进行了理论计算.结果表明,二氧化钛的表面能与表面缺陷的百分率相关.完整的表面具有最低的表面能,表面能随着表面缺陷百分率的增大而升高,这与自然环境下二氧化钛-金红石(TiO2)具有规整的(110)表面一致.在光催化实验中利用二氧化钛表面的缺陷作催化剂需要考虑到表面的稳定性.另一方面,在完整的表面五配位Ti4+上填加氧原子与表面作用时,表面能起初变化很小,直到50%的五配位Ti4+被填充后表面能才开始升高.

汶川8.0级地震板桥学校液化震害剖析

2008年汶川8.0级地震中绵竹市板桥镇板桥学校液化破坏具有典型性,通过现场调查、高密度电法测试、波速测试、钻孔、探坑和室内试验等手段,研究了其地裂缝成因,分析了学校教学楼破坏机理以及液化土的特性。结果表明:①地裂缝是由液化而不是由次断层或破裂带引起;②板桥学校较周围房屋建筑震害严重,其破坏不是由于地震时振动惯性力所致,而是由于地基液化直接造成;③地下液化层为3.0～6.1 m的砂砾土,液化土不是地表喷出的细砂,地表喷出物与地下实际液化土差异显著;④以往认为砂砾土不会液化从而选择砂砾层作为持力层这一观点有误,需要重新认识。

早期半定量检测HIV-1 nef RNA的水平

目的 早期半定量检测HIV - 1nefRNA。方法 以nef基因引物nef6 ,nef7和β-actin基因引物BA1,BA4 在同一反应体系中对标本进行逆转录聚合酶链反应 ,用BIO - 1D软件对条带密度进行分析 ,半定量测定HIV - 1nefRNA水平。结果 所试 7例实验标本均扩增出HIV - 1nef和 β -actin的基因产物。且通过BIO - 1D软件分析条带密度 ,判断艾滋病病毒感染情况。结论 该方法灵敏 ,简便 ,经济 。

BYU语料库系统及其语言研究应用

美国杨百翰大学(BYU)的语料库系统现含10多个免费语料库,在规模、速度、检索方式、语料范围等方面均为同类之最。文章在简要介绍该系统的最新进展后,从语言资源和技术手段评价其优势与局限性。然后收集国内外基于该系统的重要前沿研究文献,建成小型文本,用AntConc软件输出其高频主题词,从而分析相关研究的热点和趋势。发现相关研究集中在如下互为交叉的领域——变异语言学、认知语言学、词汇语义学和语言习得或教学。最后从语言研究、外语教学与词典编纂三方面分析了该系统的应用前景,强调它在语言变异和认知语言学研究等方面的特殊意义,并阐述了相关研究的跨学科整合趋势。

个性化虚拟语料库及其应用——以维基百科英文语料库为例

个性化虚拟语料库是大数据时代应运而生的新兴工具,在语言教学与研究中应用前景广阔.它是以现有语料库或互联网语料为基础,根据个性化需求临时创建的专题语料库.本文以美国杨百翰大学维基百科英文语料库为例,介绍了如何创建、编辑、管理和使用个性化虚拟语料库,包括其检索方法,阐述了如何从中挖掘利用语言教学和词典编纂所需的各类词表,并探索了其在专门用途英语教学中的应用,最后提出了如何有效利用该类资源的建议和展望.

萘基取代的手性双噁唑啉-铜(Ⅰ)络合物催化下环烯烃不对称烯丙基氧化反应的研究

阐述了萘基取代丙二酰衍生的手性双噁唑啉(Box)和吡啶为中心的双噁唑啉(PyBox)手性配体的合成方法,及它们的铜(Ⅰ)络合物与对硝基过苯甲酸特丁酯在环己烯的不对称烯丙基氧化反应中的催化应用。并对双噁唑啉配体的侧链取代基与反应活性和选择性的内在联系进行了深入的探讨。结果表明,当1-萘基取代的双噁唑啉铜(Ⅰ)作为催化剂时,反应活性得到极大提高(分离产率75%),同时能保持极好的对映体选择性(85%)。通过对原始数据的研究,建立了双噁唑啉配体的侧链取代基与反应活性和选择性的内在联系。

Baseline effects of lysophosphatidylcholine and nerve growth factor in a rat model of sciatic nerve regeneration after crush injury

Schwann cells play a major role in helping heal injured nerves. They help clear debris, produce neurotrophins, upregulate neurotrophin receptors, and form bands of Büngner to guide the healing nerve. But nerves do not always produce enough neurotrophins and neurotrophin receptors to repair themselves. Nerve growth factor（NGF） is an important neurotrophin for promoting nerve healing and lysophosphatidylcholine（LPC） has been shown to stimulate NGF receptors（NGFR）. This study tested the administration of a single intraneural injection of LPC（1 mg/mL for single LPC injection and 10 mg/mL for multiple LPC injections） at day 0 and one（day 7）, two（days 5 and 7）, or three（days 5, 7, and 9） injections of NGF（160 ng/mL for single injections and 80 ng/mL for multiple injections） to determine baseline effects on crush ed sciatic nerves in rats. The rats were randomly divided into four groups： control, crush, crush-NGF, and crush-LPC-NGF. The healing of the nerves was measured weekly by monitoring gait; electrophysiological parameters： compound muscle action potential（CMAP） amplitudes; and morphological parameters： total fascicle areas, myelinated fiber counts, fiber densities, fiber packing, and mean g-ratio values at weeks 3 and 6. The crush, crush-NGF, and crush-LPC-NGF groups statistically differed from the control group for all six weeks for the electrophysiological parameters but only differed from the control group at week 3 for the morphological parameters. The crush, crush-NGF, and crush-LPC-NGF groups did not differ from each other over the course of the study. Single injections of LPC and NGF one week apart or multiple treatments of NGF at 5, 7 and 9 days post-injury did not alter the healing rate of the sciatic nerves during weeks 1-6 of the study. These findings are important to define the baseline effects of NGF and LPC injections, as part of a larger effort to determine the minimal dose regimen of NGF to regenerate peripheral nerves.

Preparation of Fe-Mn/K/Al2O3 Fischer-Tropsch Catalyst and Its Catalytic Kinetics for the Hydrogenation of Carbon Monoxide

A K promoted iron-manganese catalyst was prepared by sol-gel method,and subsequently was tested for hydrogenation of carbon monoxide to light olefins.The kinetic experiments on a well-characterized Fe-Mn/K/Al2O3 catalyst were performed in a fixed-bed micro-reactor in a temperature range of 280-380 ℃,pressure range of 0.1-1.2 MPa,H2/CO feed molar ratio range of 1-2.1 and a space velocity range of 2000-7200 h-1.Considering the mechanism of the process and Langmuir-Hinshelwood-Hogan-Watson（LHHW） approach,unassisted CO dissociation and H-assisted CO dissociation mechanisms were defined.The best models were obtained using non-linear regression analysis and Levenberg-Marquardt algorithm.Consequently,4 models were considered as the preferred models based on the carbide mechanism.Finally,a model was proposed as a best model that assumed the following kinetically relevant steps in the iron-Fischer-Tropsch（FT） synthesis：（1） CO dissociation occurred without hydrogen interaction and was not a rate-limiting step;（2） the first hydrogen addition to surface carbon was the rate-determining steps.The activation energy and adsorption enthalpy were calculated 40.0 and -30.2 kJ.mol-1,respectively.

An Iterative Pose Estimation Algorithm Based on Epipolar Geometry With Application to Multi-Target Tracking

This paper introduces a new algorithm for estimating the relative pose of a moving camera using consecutive frames of a video sequence. State-of-the-art algorithms for calculating the relative pose between two images use matching features to estimate the essential matrix. The essential matrix is then decomposed into the relative rotation and normalized translation between frames. To be robust to noise and feature match outliers, these methods generate a large number of essential matrix hypotheses from randomly selected minimal subsets of feature pairs, and then score these hypotheses on all feature pairs. Alternatively, the algorithm introduced in this paper calculates relative pose hypotheses by directly optimizing the rotation and normalized translation between frames, rather than calculating the essential matrix and then performing the decomposition. The resulting algorithm improves computation time by an order of magnitude. If an inertial measurement unit(IMU) is available, it is used to seed the optimizer, and in addition, we reuse the best hypothesis at each iteration to seed the optimizer thereby reducing the number of relative pose hypotheses that must be generated and scored. These advantages greatly speed up performance and enable the algorithm to run in real-time on low cost embedded hardware. We show application of our algorithm to visual multi-target tracking(MTT) in the presence of parallax and demonstrate its real-time performance on a 640 × 480 video sequence captured on a UAV. Video results are available at https://youtu.be/Hh K-p2 h XNn U.

Transcriptome Analysis of Drought Induced Stress in <i>Chenopodium quinoa</i>

Quinoa (Chenopodium quinoa Willd.) is a halophytic, allotetraploid grain crop of the Amaranthaceae family with impressive drought tolerance, nutritional content and an increasing worldwide market. Here we report the results of an RNA-seq transcriptome analysis of Chenopodium quinoa using four water treatments (field capacity to drought) on the varieties “Ingapirca” (representing valley ecotypes) and “Ollague” (representing Altiplano Salares ecotypes). Physiological results, including growth rate, photosynthetic rate, stomatal conductance, and stem water potential, support the earlier findings that the Altiplano Salares ecotypes display greater tolerance to drought-like stress conditions than the valley ecotypes. cDNA libraries from root tissue samples for each variety × treatment combination were sequenced using Illumina Hi-Seq technology in an RNA-seq experiment. De novo assembly of the transcriptome generated 20,337 unique transcripts. Gene expression analysis of the RNA-seq data identified 462 putative gene products that showed differential expression based on treatment, and 27 putative gene products differentially expressed based on variety × treatment, including significant expression differences in root tissue in response to increasing water stress. BLAST searches and gene ontology analysis show an overlap between drought tolerance stress and other abiotic stress mechanisms.

Symmetric Equations for Evaluating Maximum Torsion Stress of Rectangular Beams in Compliant Mechanisms

There are several design equations available for calculating the torsional compliance and the maximum torsion stress of a rectangular cross-section beam, but most depend on the relative magnitude of the two dimensions of the crosssection(i.e., the thickness and the width). After reviewing the available equations, two thickness-to-width ratio Independent equations that are symmetric with respect to the two dimensions are obtained for evaluating the maximum torsion stress of rectangular cross-section beams. Based on the resulting equations, outside lamina emergent torsional joints are analyzed and some useful design Insights are obtained. These equations, together with the previous work on symmetric equations for calculating torsional compliance, provide a convenient and effective way for designing and optimizing torsional beams in compliant mechanisms.

Photoreduction of CO_(2) in the presence of CH_(4) over g-C_(3)N_(4) modified with TiO_(2) nanoparticles at room temperature

CO_(2)reduction under simulated sunlight over photocatalysts has become an attractive researcher area recently.In this work,carbon nitride compounds modified by TiO_(2)nanoparticles(TNPs)have been used for the photoreduction of CO_(2)in the presence of CH_(4)at room temperature.Briefly,a series of noble-metal-free TNP-graphitic-carbon nitride(g-C_(3)N_(4),also abbreviated CN)photocatalysts with different TNPs loadings and calcination temperatures have been synthesized by a wet-chemical method.The characterization results of XRD,FTIR,SEM,TEM,BET,XPS,CO_(2)Adsorption,UV-vis,and PL demonstrate that the BET surface area and CO_(2)adsorption capacity have been improved after the calcination.Besides,the g-C_(3)N_(4)has been successfully coupled with the TNPs and a heterojunction has formed at their interface.These characters contribute to increase the photocatalytic activity of TNPs-CN toward reducing CO_(2)in the presence of CH_(4),and its'performance is better than bare g-C_(3)N_(4),Titania(P_(25))-CN,MgO-CN,or Cu_(2)O-CN.Orthogonal experiments are then carried out to investigate the sensitivity factors and optimum conditions.The sensitivity results show that the reaction pressure makes little difference on the photocatalysis results,which verifies the photoinduced CO_(2)-CH_(4)reaction has a tiny change in gas volume.In addition,under the optimum conditions,the turnover frequency(TOF)of CO after 4 h reaction can reach 9.98μmol g-cat.^(-1)h^(-1),and traces of ethane and ethylene have been detected during the reactions.In addition,surface acetate and carbonaceous deposit are found on the(20)TNPs-CN/450 surface after continuous 24 h irradiation under the optimum conditions,which resulting in the inactivation of the catalyst.Finally,possible reaction mechanisms have been proposed based on the results.

Direct conversion of methane to methanol by electrochemical methods

A convenient method for methane(CH_(4))direct conversion to methanol(CH_(3)OH)is of great significance to use methane-rich resources,especially clathrates and stranded shale gas resources located in remote regions.Theoretically,the activation of CH_(4) and the selectivity to the CH_(3)OH product are challenging due to the extreme stability of CH_(4) and relatively high reactivity of CH_(3)OH.The state-of-the-art‘methane reforming-methanol synthesis’process adopts a two-step strategy to avoid the further reaction of CH_(3)OH under the harsh conditions required for CH_(4) activation.In the electrochemical field,researchers are trying to develop conversion pathways under mild conditions.They have found suitable catalysts to activate the C–H bonds in methane with the help of external charge and have designed the electrode reactions to continuously generate certain active oxygen species.These active oxygen species attack the activated methane and convert it to CH_(3)OH,with the benefit of avoiding over-oxidation of CH_(3)OH,and thus obtain a high conversion efficiency of CH_(4) to CH_(3)OH.This mini-review focuses on the advantages and challenges of electrochemical conversion of CH4 to CH_(3)OH,especially the strategies for supplying electro-generated active oxygen species in-situ to react with the activated methane.