With the increase of accidents and disasters occurring in the explosive environment, search-and-rescue activities are more and more essential. At present, explosive-proof robots can be designed for ...detection in the explosive environment. However, most robots only detect parameters of disaster scenes, and cannot go forward when they are blocked by obstacles. So, manipulators are needed in order for robots to finish search-and-rescue missions. However, few robots can meet these requirements, because it is difficult to design an explosive-proof manipulator. This paper introduces a method used for designing manipulators which can work in the explosive environment. The manipulator adopted in this design method can drive more than three joints, and only uses two motors. One motor is used to supply power for driving joints and the other is used for switching the power among joints. Both of them can be separated with a manipulator and mounted on a robot chassis with an explosive-proof box. In this way, the load capacity and explosion-proof security of manipulators can be improved. The development of this design method can provide a reference for designers to develop future search-and-rescue robots in explosive environments.
This paper presents a novel blade mistuning identification method based on blade detuning tests. Blade detuning tests consist of blade-by-blade impact testing in a blisk with detuning masses ...purposefully attached on all the blades except the one currently under test. Due to the quite simple test setup and implementation, the detuning tests enable to estimate the blade frequency mistuning pattern of the blisk with low experimental effort. However, it was proved that non-negligible residual inter-blade coupling is responsible for an inaccurate identification of the truly ‘blade-alone’ mistuning pattern from the blade detuning test results. Therefore, a novel mistuning identification method is herein proposed in order to improve the accuracy of the estimated mistuning pattern. This method fully exploits the blade detuning test results and includes the residual inter-blade coupling due to the mass detuning mechanism. The quantification and the introduction of the residual inter-blade coupling into the identification procedure leads to the determination of a more accurate ‘blade-alone’ frequency mistuning pattern. This novel mistuning identification method is firstly validated in a numerical test case and then applied to a real blisk test piece.
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•A novel mistuning identification method is proposed based on blade detuning test.•Blade detuning test approximately determines blade mistuning in blisks with low experimental efforts.•Residual inter-blade coupling due to detuning masses is effectively quantified and included.•Blade mistuning can be identified with improved accuracy.
To fulfill the industrial requirements of salt fractionation and recovery from saline wastewater, a two-chamber selective electrodialysis (SED) stack incorporating commercial monovalent selective ...anion exchange membranes was employed and investigated in this study. Three different initial concentration ratios of NaCl/Na2SO4, namely 1:1 (10 g/L:10 g/L), 3:1 (30 g/L:10 g/L), and 5:1 (50 g/L:10 g/L) were examined to simulate various scenarios of saline wastewater. The influence of applied current density on membrane selectivity and overall system efficiency was further evaluated. The results indicated that an increase in the NaCl fraction within the feed solution directly correlates with enhanced concentration and purity of Na2SO4 in the product, achieving purities exceeding 92 %. A lower current density contributed to improved concentration and purity of Na2SO4, whereas higher current densities were conducive to augmenting the concentration and purity of NaCl. Additionally, a linear correlation was observed between the volumetric water transport and NaCl migration. Through numerical simulations, the concentrations of Na2SO4 and NaCl in the effluent were predicted, facilitating a comparative analysis with the salt fractionation efficiency of commercial nanofiltration membranes. Subsequent assessments of energy consumption and current efficiency revealed that the SED system ensured high product concentration and purity at reasonably low energy consumption (0.22–0.28 kWh per kg NaCl) alongside a high current efficiency (83–89 %). These findings offer critical insights into the optimization of salt fractionation process and highlight its economic and technical feasibility for the sustainable management of industrial saline wastewater.
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•SED efficiently recovers high-purity NaCl and Na2SO4 from industrial wastewater.•Current density impacts salt purity and concentration.•SED achieves higher than 83 % current efficiency across conditions.•Energy consumption of 0.22–0.28 kWh/kg competes with other methods.•SED promotes resource recovery and environmental sustainability.
Key messages
Genetic analysis revealed that
CmCLV3
is a candidate gene for the variation in melon carpel number.
Carpel number (CN) is an important trait in melon. Three-CN melon fruit is oval, while ...5-CN melon fruit has a round or flat shape. Herein, a genetic analysis of a population in which the CN locus was segregated indicated that 3-CN is controlled by a major dominant effective gene. Bulked segregant analysis and initial linkage mapping placed the CN locus in a 6.67 Mb region on chromosome 12, and it was narrowed to 882.19 kb with molecular markers and recombinant plants. Fine mapping with a large F
2
population containing 1026 individuals further narrowed the locus to an 83.98 kb region harboring five annotated genes. Gene structure alignment between the parental lines revealed
MELO3C035640.2
(annotated as
CLAVATA3
,
CmCLV3
) as the best candidate gene for the CN trait.
CmCLV3
was more highly expressed in 3- than 5-CN lines and specifically expressed in terminal buds rather than in young leaves, hypocotyls, and roots. The
CmCLV3
coding region was cloned from eight 3- or 5-CN melon accessions, and a nonsynonymous SNP site was highly correlated with CN variation. This SNP site was also related to CN variations among 40 melon lines according to their resequencing data, causing a helix alteration in the
CmCLV3
protein. Promoter region sequence alignment and activity analysis showed that, unlike in cucumber and tomato,
CmCLV3
promoter variation and activity were not the main reasons for CN alteration. Overall, this study provides a genetic resource for melon fruit development research and molecular breeding tools for melon CN improvement.
The aim of this study was to explore the indirect immunomodulatory activities and its mechanism of enzymatic hydrolysis of Hericium erinaceus polysaccharides (EHEP) in the MODE-K/DCs co-culture ...model. According to the TEER value, transmission of phenol red and AKP activity of MODE-K cells, single model was established in order to evaluate the eligibility of MODE-K cells monolayer. Then the MODE-K/DCs co-culture model was set up and HEP and EHEP were added into the apical chamber, DCs were obtained for the expression of key surface markers, the ability of phagocytosis, the morphology, the secretion of cytokines and the production of target proteins. We found that after 21 d of culture, the MODE-K cells monolayer became intact and dense, which can be used for the MODE-K/DCs co-culture model. Under the treatment of HEP and EHEP, immature DCs become into mature DCs with the high expression of CD86 and MHCII, the low antigens up-taking, the typical morphology, the more content of IL-12 and TNF-α and the high level of TLR4, MyD88 and NF-κB proteins. However, compared with HEP, EHEP showed the better immunomodulatory activities. These findings indicated that EHEP could indirectly affect the immune function of DCs in the MODE-K/DCs co-culture model.
Premise
Theories of plant–herbivore interactions hold that seedlings are more vulnerable to herbivory in warmer and more stable climates at lower elevations. Hypotheses of plant apparency, resource ...concentration, and resource availability have been proposed to explain variability in leaf herbivory. However, seasonal differences in the effects of these hypotheses on leaf herbivory on seedlings remain unclear.
Methods
We evaluated the three herbivory hypotheses by comparing the percentage and frequency of leaf herbivory in understory broadleaf seedlings in a subtropical forest in May (spring) and October (autumn) along an elevational gradient (290–1370 m a.s.l.). In total, we measured 2890 leaves across 696 seedlings belonging to 95 species and used beta regressions to test the effects of plant apparency (e.g., leaf area, seedling height), resource concentration (e.g., plant species diversity), and resource availability (e.g., canopy openness, soil available N and P) on leaf herbivory.
Results
Seedlings exhibited unimodal patterns of leaf herbivory along elevation, with drivers of leaf herbivory varying by the month. Variation in the frequency of leaf herbivory was best explained by the resource concentration hypothesis (e.g., plant species diversity) in both months, and herbivory was lower on seedlings in sites with higher plant diversity. Plant apparency hypothesis (e.g., leaf area, seedling height) was weakly supported only in spring, and the evidence for resource availability hypothesis (e.g., canopy openness, soil nutrients) was mixed.
Conclusions
This study supports the resource concentration hypothesis and reveals the importance of seasonal difference on understanding leaf herbivory patterns and the drivers of plant diversity in subtropical forests.
Abstract
The satellite uses an electric propulsion system (EPS) to complete the north-south station-keeping (NSSK) work. Due to the change of satellite centroid position during the whole life period, ...electric propulsion thrust pointing adjustment is required to minimize the deviation between the thrust vector and the satellite centroid, to avoid the additional interference torque and the decrease of the position protection efficiency of the EPS. In this paper, the electric propulsion thrust pointing adjustment method is designed, the mathematical model of the pointing adjustment angle is established, the conformity of the thrust pointing adjustment during the whole life of the spacecraft is analyzed, and the ground integration test verification and the on-orbit electric propulsion thrust pointing adjustment verification are completed. The analysis and verification data show that the adjustment range and accuracy of the EPS can meet the requirements of the NSSK mission.
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