Improved Algorithm for Solving Inverse Kinematics of Biped Robots

Mobile Networks and Applications - Inverse kinematics is an important basic theory in walking control of biped robot. This study focuses on the parameter setting using the improved algorithm in...     

Resource management in UAV-assisted MEC: state-of-the-art and open challenges

Wireless Networks - Unmanned aerial vehicles (UAV) have been widely used in various fields because of their high mobility and portability. At the same time, due to the rapid development of...     

我国3～12岁儿童家长食品安全知识现状及其影响因素分析

了解我国儿童家长的家庭食品安全知识知晓情况及其影响因素，对开展精准食品安全宣教，减少家庭食源性疾病具有积极意义。本研究在7个城市的13 923名3～12岁儿童家长中开展问卷调查，收集基本信息、家庭食品安全知识知晓情况及需求。家长家庭食品安全知识平均得分为18.6分(总分29分)，及格率为68.7%。易错知识点包括熟食室温存储时间、食品保质期、易引起中毒的食物以及食品贮存环境等。多因素logistics回归分析显示:家长家庭食品安全知识及格率受地区、文化程度、职业、家长类型、是否关注食品安全、孩子是否讲过食品安全知识以及是否阅读孩子带回来资料的影响。家长最关心的前三位内容为滥用食品添加剂(84.9%)、卫生状况不合格(82.9%)、农药/药物残留(82.7%)。受家长信任的信息来源主要为电视/广播/广告(76.1%)、书籍/报纸/期刊(70.4%)、微博/微信等新媒体(57.7%)。家长的家庭食品安全知识仍存在短板，需利用传统媒体和新媒体结合的方式以及小手牵大手形式开展精准专题宣传，并特别关注文化程度低，从事食品行业的家长以及孩子父亲和保姆。     

One step from nanofiber to functional hybrid structure: Pd doped ZnO/SnO2 heterojunction nanofibers with hexagonal ZnO columns for enhanced low-temperature hydrogen gas sensing

In this paper, a novel hybrid structure of Pd doped ZnO/SnO₂ heterojunction nanofibers with hexagonal ZnO columns was one step synthesized from electrospun precursor nanofibers. Due to the synergistic effect of hexagonal ZnO, SnO₂ and Pd, the structure exhibited excellent hydrogen (H₂) gas sensing properties. At low-temperature of 120 °C, the response (R_a/R_g) to 100 ppm H₂ gas exceeded 160, the response/recovery time was only 20 s and 6 s respectively and the limit of detection was only 0.5 ppm. Meanwhile, it also had good selectivity for H₂ gas and excellent linearity. In addition, the materials were characterized by XRD, FESEM, HRTEM, XPS, and the synthesis mechanism and gas sensing mechanism were proposed.     

Changes in the content and antioxidative activity of β-carotene and its metabolite vitamin A during gastrointestinal digestion and absorption and optimisation of HPLC-based detection

The β-Carotene (BC), an important precursor of vitamin A (VA), possesses antioxidant activity but is fat-soluble and has low bioavailability. In previous in-vitro assays evaluating antioxidant and 2,2′-azobis(2-amidinopropane) dihydrochloride (AAPH) free radical scavenging, both BC and VA showed a strong ability to scavenge radicals and protected cells from oxidative stress. Here, we used artificially simulated gastrointestinal digestion and Caco-2 cell absorption models to evaluate the bioavailability of the BC during gastrointestinal digestion and absorption using high-performance liquid chromatography (HPLC) analysis. We observed high absorptive and transfer rates of BC and detected retinol metabolites (Vitamin A). Therefore, BC can be detected in the acidic gastrointestinal environment using HPLC. Optimised method provided better separation of BC and VA in the column, improving the accuracy of the test results.     

Effect of high hydrostatic pressure pretreatment on flavour and physicochemical properties of freeze-dried carambola slices

Ripe carambolas are hard to store and transport, while freeze-dried ones are easy to store. However, its long production time leads to higher costs. This study shows that high hydrostatic pressure (HHP) treatment could shorten the freeze-drying time of carambola slices. After HHP treatment (25–250 MPa), the drying time of the fresh sample can be shortened by 33.3–44.4% and the distribution of water and pigment in tissues is much uniform. With the increment of the pressure, 2,2-diphenyl-1-picrylhydrazyl (DPPH) and hydroxyl radical scavenging rate are increased. At 250 MPa, the total phenolic content (TPC) increased from 11.34 to 13.36 mg GAE g⁻¹, and the total flavonoid content (TFC) of the control sample was increased from 10.77 to 12.73 mg RE g⁻¹. Compared with the untreated sample, HHP treatment can enhance the flavour and shorten the freeze-drying time. This work guides the application of HHP technology for drying food processing.     

Finite-time adaptive fuzzy control for a class of output constrained nonlinear systems with dead-zone

The article investigates the finite-time adaptive fuzzy control for a class of nonlinear systems with output constraint and input dead-zone. First, by skillfully combining the barrier Lyapunov function, backstepping design method, and finite-time control theory, a novel adaptive state-feedback tracking controller is constructed, and the output constraint of the nonlinear system is not violated. Second, the fuzzy logic system is used to approximate unknown function in the nonlinear system. Third, the finite-time command filter is introduced to avoid the problem of “complexity explosion” caused by repeated differentiations of the virtual control signal in conventional backstepping control schemes. Meanwhile, a new saturation function is added in the compensating signal for filter error to improve control accuracy. Finally, based on Lyapunov stability analysis, all the signals of the closed-loop are proved to be semi-globally uniformly ultimately bounded, and the tracking error converges to a small neighborhood region of the origin in a finite time. A simulation example is presented to demonstrate the effectiveness for the proposed control scheme.