Capturing dynamic targets is particularly challenging for either rigid or soft grippers, as impact buffering should be completed in a short time to ensure the reliability of the robotic system. At collision onset, to deal with relatively low contact forces, adopting low stiffness and damping can effectively mitigate the rebound of the dynamic targets. As the contact area and forces increase, employing high stiffness and damping becomes necessary for absorbing high energy. This paper proposed a novel robotic gripper whose stiffness and damping follow a predefined profile “low stiffness and damping for low impact and high stiffness and damping for high impact.” The variable effects of impact buffering and energy dissipation in a collision process were modeled and analyzed. Then, a passive variable stiffness and damping regulator (P-VSDR) was developed where tendons and pulleys are used to generate a nonlinear motion from a linear spring-damper unit. The contact dynamics model of the robotic gripper equipped with P-VSDR was established. Simulated and experimental results show that this gripper enables reliable capture of dynamic targets with different velocities.

Reporting effect size index estimates with their confidence intervals (CIs) can be an excellent way to simultaneously communicate the strength and precision of the observed evidence. We recently proposed a robust effect size index (RESI) that is advantageous over common indices because it’s widely applicable to different types of data. Here, we use statistical theory and simulations to develop and evaluate RESI estimators and confidence/credible intervals that rely on different covariance estimators. Our results show (1) counter to intuition, the randomness of covariates reduces coverage for Chi-squared and F CIs; (2) when the variance of the estimators is estimated, the non-central Chi-squared and F CIs using the parametric and robust RESI estimators fail to cover the true effect size at the nominal level. Using the robust estimator along with the proposed nonparametric bootstrap or Bayesian (credible) intervals provides valid inference for the RESI, even when model assumptions may be violated. This work forms a unified effect size reporting procedure, such that effect sizes with confidence/credible intervals can be easily reported in an analysis of variance (ANOVA) table format.

Triploid, parthenogenetic forms of the lungfluke, Paragonimus westermani, occur in Japan, Korea and China. The origin(s) of triploidy has been debated over the years. Sequences of two regions in the mitochondrial DNA, i.e. partial lrRNA (16S), and a portion of the non-coding region, were obtained from natural populations of P. westermani. All triploid individuals (Japan, Korea, China) and a single tetraploid individual (China) had identical sequences in the 16S region studied. Some sequence variation was observed among diploids, with those from Taiwan being distinct from the remainder. Both neighbour joining and parsimony trees using the 16S region placed diploid individuals from southwestern Japan close to the triploids and the tetraploid. The fragment amplified from the mitochondrial non-coding region showed dimorphism. One form (type A) consisted of 239bp comprising two identical tracts of 70bp separated by a tract of 93bp. The second form (Type B) consisted of only a single 70bp tract. All diploid individuals from Taiwan, China and Korea possessed type A, while those from Japan were polymorphic; individuals from Oita and Hyogo had type B, those from Chiba had type A, but both types were found in Mie. On the other hand, all of the triploid individuals and two tetraploid individuals possessed type B. Both the form present in the non-coding region and the 16S sequence suggest an affinity between a south-eastern group of diploid populations in Japan and the triploid form. A possible mechanism responsible for the origin of the triploid is discussed.

Physically compliant actuator brings significant benefits to robots in terms of environmental adaptability, human–robot interaction, and energy efficiency as the introduction of the inherent compliance. However, this inherent compliance also limits the force and position control performance of the actuator system due to the induced oscillations and decreased mechanical bandwidth. To solve this problem, we first investigate the dynamic effects of implementing variable physical damping into a compliant actuator. Following this, we propose a structural scheme that integrates a variable damping element in parallel to a conventional series elastic actuator. A damping regulation algorithm is then developed for the parallel spring-damping actuator (PSDA) to tune the dynamic performance of the system while remaining sufficient compliance. Experimental results show that the PSDA offers better stability and dynamic capability in the force and position control by generating appropriate damping levels.

Intense acoustic loads from jet noise cause noise pollution and induce failures, such as the malfunctioning of electronic devices and fatigue failure of internal/external structures. Consequently, the prediction of jet noise characteristics is crucial in the development of high-speed vehicles. This study presents acoustic experiments and predictions for an under-expanded, unheated jet using a small-scale prototype. Outdoor measurements are carried out using a vertical ejection setup. Acoustic characteristics are measured using both linear and circular microphone arrays. Additionally, numerical prediction of the same jet noise is performed using a detached eddy simulation and the permeable Ffowcs-Williams and Hawkings acoustic analogy. The vertical experimental setup exhibits the typical acoustic characteristics of a supersonic jet in terms of directivity and broadband shock-associated noise. Moreover, the numerical prediction exhibits satisfactory accuracy for the jet downstream, where the large-scale turbulence structures of the directivity predominate. However, discrepancy increases in the domain of lower directivity. The presented experiment and prediction will be extended to future studies regarding the noise of various deflector duct configurations impinging on supersonic jets.

The nonlinear evolution of electron Weibel instability in a symmetric, counterstream, unmagnetized electron–positron e−/e+ plasmas is studied by a 2D particle-in-cell (PIC) method. The magnetic field is produced and amplified by the Weibel instability, which extracts energy from the plasma anisotropy. A weakly relativistic drift velocity of 0.5c is considered for two counterstreaming e−/e+ plasma flows. Simulations show that in a homogeneous e−/e+ plasma distribution, the magnetic field amplifies exponentially in the linear regime and rapidly decays after saturation. However, in the case of inhomogeneous e−/e+ plasma distribution, the magnetic field re-amplifies at post-saturation. We also find that the amount of magnetic field amplification at post-saturation depends on the strength of the density inhomogeneity of the upstream plasma distribution. The temperature calculation shows that the finite thermal anisotropy exists in the case of an inhomogeneous plasma distribution which leads to the second-stage magnetic field amplification after the first saturation. Such density inhomogeneities are present in a variety of astrophysical sources: for example, in supernova remnants and gamma-ray bursts. Therefore, the present analysis is very useful in understanding these astrophysical sources, where anisotropic density fluctuations are very common in the downstream region of the relativistic shocks and the widely distributed magnetic field.

Although the evolution of premixed flames in turbulence has been frequently studied, it is not well understood how small flames interact with large-scale turbulent flow motion. Since this question is of practical importance for the occurrence of cycle-to-cycle variations in spark ignition engines, the objective of the present work is to fundamentally differentiate early flame kernel development from well-established turbulent flame configurations. For this purpose, a direct numerical simulation database consisting of three flames propagating in homogeneous isotropic turbulence (Falkenstein et al., Combust. Flame, 2019, Preprint, arXiv:1908.07556 (accepted)) is considered. The flames feature different ratios of the initially laminar flame diameter to the integral length scale. To quantify flame kernel development, the time evolution of flame topology and flame front geometry are analysed in detail. It is shown that some realizations of the early flame kernel are substantially influenced by high compressive strain caused by large-scale turbulent flow motion with characteristic length scales greater than the flame kernel size. As a result, the initial spherical kernel topology may become highly distorted, which is reflected in the stochastic occurrence of excessive curvature variance. Two mechanisms of curvature production resulting from early flame kernel/turbulence interactions are identified by analysis of the mean curvature balance equation. Further, it is shown that the curvature distribution of small flame kernels becomes strongly skewed towards positive curvatures, which is contrary to developed turbulent flames. Hence, the transition of ignition kernels to self-sustaining turbulent flames is very different in nature compared with the development of a statistically planar flame brush.

Here we provide an update of the 2013 report on the Nigerian Twin and Sibling Registry (NTSR). The major aim of the NTSR is to understand genetic and environmental influences and their interplay in psychological and mental health development in Nigerian children and adolescents. Africans have the highest twin birth rates among all human populations, and Nigeria is the most populous country in Africa. Due to its combination of large population and high twin birth rates, Nigeria has one of the largest twin populations in the world. In this article, we provide current updates on the NTSR samples recruited, recruitment procedures, zygosity assessment and findings emerging from the NTSR.

This paper focus on the mechanical and martensitic transformation behaviors of axially functionally graded shape memory alloy (AFG SMA) beams. It is taken into consideration that material properties, such as austenitic elastic modulus, martensitic elastic modulus, critical transformation stresses and maximum transformation strain vary continuously along the longitudinal direction. According to the simplified linear SMA constitutive equations and Bernoulli-Euler beam theory, the formulations of stress, strain, martensitic volume fraction and governing equations of the deflection, height and length of transformed layers are derived. Employing the Galerkin’s weighted residual method, the governing differential equation of the deflection is solved. As an example, the bending behaviors of an AFG SMA cantilever beam subjected to an end concentrated load are numerically analyzed using the developed model. Results show that the mechanical and martensitic transformation behaviors of the AFG SMA beam are complex after the martensitic transformation of SMA occurs. The influences of FG parameter on the mechanical behaviors and geometrical shape of transformed regions are obvious, and should be considered in the design and analysis of AFG SMA beams in the related regions.

The bird cherry-oat aphid Rhopalosiphum padi (L.) is one of the most important wheat pests with polyphagia and autumn migrants. And, chemosensory genes were thought to play a key role in insect searching their hosts, food and mate. However, a systematic identification of the chemosensory genes in this pest has not been reported. Thus, in this study, we identified 14 odorant-binding proteins, nine chemosensory proteins, one sensory neuron membrane protein, 15 odorant receptors, 19 gustatory receptors and 16 ionotropic receptors from R. padi transcriptomes with a significantly similarity (E-value < 10−5) to known chemosensory genes in Acyrthosiphon pisum and Aphis gossypii. In addition, real-time quantitative polymerase chain reaction (RT-qPCR) was employed to determine the expression profiles of obtained genes. Among these obtained genes, we selected 23 chemosensory genes to analyze their expression patterns in different tissues, wing morphs and host plants. We found that except RpOBP1, RpOBP3, RpOBP4 and RpOBP5, the rest of the selected genes were highly expressed in the head with antennae compared with body without head and antennae. Besides that, the stimulation and depression of chemosensory genes by plant switch indicated that chemosensory genes might be involved in the plant suitability assessment. These results not only provide insights for the potential roles of chemosensory genes in plant search and perception of R. padi but also provide initial background information for the further research on the molecular mechanism of the polyphagia and autumn migrants of it. Furthermore, these chemosensory genes are also the candidate targets for pest management control in future.

Robust time-averaged molecular dynamics has been developed to calculate finite-temperature elastic constants of a single crystal. We find that when the averaging time exceeds a certain threshold, the statistical errors in the calculated elastic constants become very small. We applied this method to compare the elastic constants of Pd and PdH0.6 at representative low (10 K) and high (500 K) temperatures. The values predicted for Pd match reasonably well with ultrasonic experimental data at both temperatures. In contrast, the predicted elastic constants for PdH0.6 only match well with ultrasonic data at 10 K; whereas, at 500 K, the predicted values are significantly lower. We hypothesize that at 500 K, the facile hydrogen diffusion in PdH0.6 alters the speed of sound, resulting in significantly reduced values of predicted elastic constants as compared to the ultrasonic experimental data. Literature mechanical testing experiments seem to support this hypothesis.

This study proposes a method to identify the characteristic parameters of hydrostatic bearing. When load or supply pressure changed, the inlet and outlet pressures of restrictor, flow rate and worktable displacement are examined for establish identification equations. The practical values of the characteristic parameters can be obtained by minimizing the differences between measure flow rate and identify flow rate. The differences between practical and design values of these parameters can be used to calibrate design parameters for satisfying the requirements.

In 2009, we examined HIV and sexually transmitted infections (STIs) in 750 female sex workers (FSWs) in Shanghai using a cross-sectional survey. Participants (mean age 27 years) were interviewed and tested for HIV and selected STIs. Prevalence was: HIV 0·13%, chlamydia 14·7%, gonorrhoea 3·5% and syphilis 1·3%. In a demographic multivariate model, younger age, higher income and originating from provinces other than Zhejiang and Shanghai were independently associated with STI. In a social and sexual behavioural model, women working in small venues with fewer clients per week, use of drugs, and higher price charged per sex act indicated a greater risk for STI. Although HIV appears rare in Shanghai FSWs, chlamydial infection is common, especially in women aged <25 years (prevalence 19·6%). Since STI and HIV share similar risk factors, preventive intervention measures should be implemented immediately based on the venues and characteristics of FSWs to prevent future spread of HIV.

Intense competition can compel lobbyists to exaggerate the benefits the government would see in tax returns and social welfare if agency officials allocate such resources to the lobbyist's members. This incentive to misrepresent grows when information asymmetry exists between lobbyists and government officials. A large body of literature has investigated how interest groups compete and interact, but it disregards the interdependency of interests between competing groups and associated strategic behaviors of other players. Our signaling model of lobbying reveals ways in which agency officials can compel lobbyists for competing interests to lobby truthfully and what the policy implications of this compulsion can be. We also present case-study evidence of how this works in practice.

A 3D lattice Boltzmann (LB) model with twenty-seven discrete velocities is presented and used for the simulation of three-dimensional porous media flows. Its accuracy in combination with the half-way bounce back boundary condition is assessed. Characteristic properties of the gas diffusion layers that are used in polymer electrolyte fuel cells can be determined with this model. Simulation in samples that have been obtained via X-ray tomographic microscopy, allows to estimate the values of permeability and relative effective diffusivity. Furthermore, the computational LB results are compared with the results of other numerical tools, as well as with experimental values.