Effects of polysaccharides and polyphenolics fractions of Zijuan tea (Camellia sinensis var. kitamura) on α‐glucosidase activity and blood glucose level and glucose tolerance of hyperglycaemic mice

The effects of polysaccharides, theaflavins, thearubigins and theabrownin fractions of Zijuan tea on α‐glucosidase and blood glucose level and intolerance of hyperglycaemic mice were evaluated. The polysaccharides or theaflavins fraction exhibited greater inhibition rate of α‐glucosidase than acarbose positive control, thearubigins fraction or theabrownin fraction. The four fractions were delivered to the treatment mice through oval gavage each day for 15 days. The mice in polysaccharides and theaflavins high‐ and low‐dose and theabrownin high‐dose treatments significantly lowered their blood glucose levels while all the treatment mice gained body weight. The mice in polysaccharides, theaflavins and theabrownin high‐ and low‐dose treatments had greater glucose tolerance as well. Thus, the theaflavins and polysaccharides fractions of Zijuan tea effectively moderated the complications of hyperglycaemic mice. The lower effectiveness of thearubigins and theabrownin fractions may be caused by the highly polymerised polyphenolics which decreased their accessibility to α‐glucosidase and digestibility in mice.     

Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision

In an environment where robots coexist with humans, mobile robots should be human-aware and comply with humans' behavioural norms so as to not disturb humans' personal space and activities. In this work, we propose an inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision. In this method, the planning process of time-dependent A* is regarded as a Markov decision process and the cost function of the time-dependent A* is learned using the inverse reinforcement learning via capturing humans' demonstration trajectories. With this method, a robot can plan a path that complies with humans' behaviour patterns and the robot's kinematics. When constructing feature vectors of the cost function, considering the local vision characteristics, we propose a visual coverage feature for enabling robots to learn from how humans move in a limited visual field. The effectiveness of the proposed method has been validated by experiments in real-world scenarios: using this approach robots can effectively mimic human motion patterns when avoiding pedestrians; furthermore, in a limited visual field, robots can learn to choose a path that enables them to have the larger visual coverage which shows a better navigation performance.     

Robust orientation control of multi‐DOF cell based on uncertainty and disturbance estimation

Multiple degrees‐of‐freedom (multi‐DOF) cell orientation control is a vital important technique involved in single cell surgery applications. Currently, few studies have been performed toward automation of multi‐DOF cell orientation control using robotically controlled optical tweezers. In this paper, a robust control framework is developed to perform multi‐DOF cell rotational control with consideration of model uncertainties and external disturbances. Both simulation and experimental studies are presented to illustrate the performance of the proposed control strategy. The main contributions of this work lie in that this is the first time to develop a unified framework to achieve multi‐DOF cell orientation control without the need for accurate dynamic model parameters and/or any knowledge about uncertainty characteristic, which greatly enhances the robustness of the overall system.     

Microstructure and Mechanical Properties of Mg–RE–TM Cast Alloys Containing Long Period Stacking Ordered Phases: A Review

Casting magnesium alloys hold the greatest share of magnesium application products due to their short processing period, low cost and near net shape forming. Compared with conventional commercial magnesium alloys or other Mg–RE-based alloys, the novel Mg–RE–TM cast alloys with long period stacking ordered(LPSO) phases usually possess a higher strength and are promising candidates for aluminum alloy applications. Up to now, two ways: alloying design and casting process control(including subsequent heat treatments), have been predominantly employed to further improve the mechanical properties of these alloys. Alloying with other elements or ceramic particles could alter the solidifi cation pattern of alloys, change the morphology of LPSO phases and refi ne the microstructures. Diff erent casting techniques(conventional casting, rapidly solidifi cation, directional solidifi cation, etc.) introduce various microstructure characteristics, such as dendritic structure, nanocrystalline, metastable phase, anisotropy. Further heat treatments could activate the transformation of various LPSO structures and precipitation of diverse precipitates. All these evolutions exert great impacts on the mechanical properties of the LPSO-containing alloys. However, the underlying mechanisms still remain a subject of debate. Therefore, this review mainly provides the state of the art of the casting magnesium alloys research and the accompanying challenges and summarizes some topics that merit future investigation for developing high-performance Mg–RE–TM cast alloys.     

Effects of hydroxyl radical induced oxidation on water holding capacity and protein structure of jumbo squid (Dosidicus gigas) mantle

Protein oxidation is considered as an important issue in food preservation process. In the present study, the potential influence of protein oxidation on water holding capacity and protein structure of jumbo squid (Dosidicus gigas) mantle was investigated. After the hydroxyl radical oxidation, it was found that the carbonyl, surface hydrophobicity and dityrosine content of myofibrillar protein significantly increased (P < 0.05), while the content of total sulphydryl decreased significantly (P < 0.01). Meanwhile, the fluorescence intensity of squid was weakened, and the maximum absorption peak of fluorescence red shift as the H₂O₂ concentration increased. The sodium dodecyl sulphate polyacrylamide gel electrophoresis (SDS-PAGE) showed that not only the protein cross-linking but also degradation could have occurred. The content of α-helix decreased, the content of β-sheet, β-turn and the unordered structures increased after oxidation. In addition, oxidation resulted in a decrease in water holding capacity. Taken together, oxidation resulted in the damage of the myofibrillar structure, the increase in muscle loss rate and the decrease in water holding capacity.     

Adaptive finite‐time formation tracking control for multiple nonholonomic UAV system with uncertainties and quantized input

An adaptive finite‐time formation tracking control approach is proposed for multiple unmanned aerial vehicle (UAV) system with quantized input signals in this paper. The UAVs are described by nonholonomic kinematic model and autopilot model with uncertainties. An enhanced hysteretic quantizer is introduced to avoid chattering, and some restrictions are released by using a new quantization decomposition method. Based on backstepping technique and finite‐time Lyapunov stability theory, the adaptive finite‐time controller is designed for the trajectory tracking of the multi‐UAV formation. The nonholonomic constraints are solved by a transverse function. A transformation is introduced to the control input signals to eliminate the quantization effect. Stability analysis proves that the tracking errors can converge to a small neighborhood of the origin within finite time and all the closed‐loop signals are semiglobally finite‐time bounded. The effectiveness of the proposed control approach is validated by simulation and experiment.     

Highly Bendable and Rotational Textile Structure with Prestrained Conductive Sewing Pattern for Human Joint Monitoring

Human joints have respective ranges of motion and joint forces corresponding to each kind of joint; this necessitates considerations of the characteristics of human joints to fabricate wearable strain sensors conformable to the human body, and capable of precisely monitoring complex motions of the human body. In the present study, the “all textile‐based highly stretchable structure” that is capable of precisely sensing motions (folding and rotation) of the human joints (finger, wrist, elbow, spine, and knee) is fabricated by optimizing patterns (straight, blind, and zigzag) of conductive yarns employed as the conductive part of the strain sensor, and several textile substrates (braided elastic fabric, knit fabric, and woven fabric), having preferable elasticity and conformability employed for the fabrication of strain sensors suitable for human joints. In particular, the technology, enabling the prestraining of textile substrate, is exploited to fabricate a strain sensor that is capable of outputting selective signals corresponding to the folding motion of the spinal joint over a predetermined angle of motion, and the gait pattern of the wearer of the sensor, attached to his or her knee joint doing folding and rotational motions, is analyzed.     

多分量数据全波形反演在气藏检测中的关键问题——以苏里格气田为例

苏里格气田是中国典型的致密砂岩气藏，构造简单、平缓，横向非均质性强，有效储层与围岩声学特征差别小，地震响应不明显，常规地震监测方法预测难度大，但气田含气砂岩泊松比低，是地震气藏检测的有效参数。利用弹性全波形反演精度高和能处理复杂非均质介质的优势，反演地层拉梅常数、剪切模量和密度，并计算泊松比，从而进行气藏预测。重点阐述了苏里格气田多分量数据全波形反演初始模型建模、先验模型建模和地震数据预处理3个关键问题的处理方法。二维三分量数据反演和"甜点"预测结果表明：①对于具有强非均质性的苏里格气田，利用全波形反演获得精度较高的地层弹性参数能显著提高气藏预测的准确度；②苏里格地区构造简单、平缓，利用常规叠加速度并结合构造解释可以建立比较好的初始模型，从而有效地解决了周波跳跃和局部极小的难题；③先验知识的约束和地震数据的预处理是全波形反演成功应用于苏里格气田气藏检测的关键。     

A novel coverless information hiding method based on the average pixel value of the sub-images

Multimedia Tools and Applications - In traditional information hiding methods, the secret information is embedded into the carriers, which will inevitably leave traces of modification on the...