An Improved Design of the MultiCal On-Site Calibration Device for Industrial Robots.

MultiCal is an affordable, high-precision measuring device designed for the on-site calibration of industrial robots. Its design features a long measuring rod with a spherical tip that is attached to the robot. By restricting the rod's tip to multiple fixed points under different rod orientations, the relative positions of these points are accurately measured beforehand. A common issue with MultiCal is the gravitational deformation of the long measuring rod, which introduces measurement errors into the system. This problem becomes especially serious when calibrating large robots, as the length of the measuring rod needs to be increased to enable the robot to move in a sufficient space. To address this issue, we propose two improvements in this paper. Firstly, we suggest the use of a new design of the measuring rod that is lightweight yet has high rigidity. Secondly, we propose a deformation compensation algorithm. Experimental results have shown that the new measuring rod improves calibration accuracy from 20% to 39%, while using the deformation compensation algorithm, the accuracy increases from 6% to 16%. In the best configuration, the calibration accuracy is similar to that of a measuring arm with a laser scanner, producing an average positioning error of 0.274 mm and a maximum positioning error of 0.838 mm. The improved design is cost-affordable, robust, and has sufficient accuracy, making MultiCal a more reliable tool for industrial robot calibration.

Influence of okara with varying particle sizes on the gelling, rheological, and microstructural properties of glucono-δ-lactone-induced tofu.

Influence of lyophilized okara with varying particle sizes (250-380, 150-180, 120-150, and < 75 µm) on the quality of glucono-δ-lactone-induced tofu was investigated. Adding okara significantly (p < 0.05) improved the yield, water-holding capacity, cooking loss, and nutritional value of the conventional tofu. The gel strength and sensory score of the okara-added tofu (OAT) increased with the decreasing of the particle size of okara, and these quality attributes of the OAT were better than those of the conventional tofu, except for the OAT with 250-380 µm okara. The microstructural profile of the OAT with reduced okara particle size was similar to that of the conventional tofu. Theoretically, the addition of okara mainly impacted the interactions among denatured proteins via disulfide bonding and hydrophobic interactions and the sizes of insoluble solid and oil droplet in soymilk, thereby affecting the formation of the gel network and finally the edible quality of tofu. In conclusion, the addition of okara with appropriate particle sizes can remarkably improve the processing quality and nutritional value of tofu, which is beneficial to the reasonable exploration of okara for the producers of soybean products.

Cool Roofs in Guangzhou, China: Outdoor Air Temperature Reductions during Heat Waves and Typical Summer Conditions.

In this paper, we simulate temperature reductions during heat-wave events and during typical summer conditions from the installation of highly reflective "cool" roofs in the Chinese megacity of Guangzhou. We simulate temperature reductions during six of the strongest historical heat-wave events over the past decade, finding average urban midday temperature reductions of 1.2 °C. In comparison, we simulate 25 typical summer weeks between 2004 and 2008, finding average urban midday temperature reductions of 0.8 °C, indicating that air temperature sensitivity to urban albedo in Guangzhou varies with meteorological conditions. We find that roughly three-fourths of the variance in air temperature reductions across all episodes can be accounted for by a linear regression, including only three basic properties related to the meteorological conditions: mean daytime temperature, humidity, and ventilation to the greater Guangzhou urban area. While these results highlight the potential for cool roofs to mitigate peak temperatures during heat waves, the temperature reductions reported here are based on the upper bound case, which increases albedos of all roofs (but does not modify road albedo or wall albedo).

Drivers of recent decline in dust activity over East Asia.

It is essential to understand the factors driving the recent decline of dust activity in East Asia for future dust projections. Using a physically-based dust emission model, here we show that the weakening of surface wind and the increasing of vegetation cover and soil moisture have all contributed to the decline in dust activity during 2001 to 2017. The relative contributions of these three factors to the dust emission reduction during 2010-2017 relative to 2001 are 46%, 30%, and 24%, respectively. Much (78%) of the dust emission reduction is from barren lands, and a small fraction (4.6%) of the reduction is attributed to grassland vegetation increase that is partly ascribed to the ecological restoration. This suggests that the ecological restoration plays a minor role in the decline of dust activity. Rather, the decline is mainly driven by climatic factors, with the weakening of surface wind playing the dominant role.

Molecular identification of the broodsacs from Leucochloridium passeri (Digenea: Leucochloridiidae) with a review of Leucochloridium species records in Taiwan.

Leucochloridium spp. have been established in Taiwan since the 1930s, with five species listed: Leucochloridium turdi, Leucochloridium passeri, Leucochloridium muscularae, Leucochloridium sime, and Leucochloridium taiwanese listed until now. Because of the similar morphology among the adults of the Leucochloridiidae family, the taxonomic status of most of them should be reconsidered. Broodsacs are the most distinct characteristic shared by Leucochloridium flukes, and L. passeri is, by far, the only one whose broodsacs have been described. In this study, broodsacs collected from an infected Succinea sp. (amber snails) in Taiwan were morphologically compared to previous descriptions and sequenced using both nuclear and mitochondrial genetic markers for identification. Our samples resembled broodsacs of L. passeri previously described in northern Taiwan and those recently collected in Okinawa, Japan. The conspecific status of the broodsacs collected in Taiwan and Okinawa was supported by the identical DNA sequences identified in this study. Broodsacs have rarely been reported in tropical and subtropical regions, although some Leucochloridium spp. have been recorded. In such cases, genetic markers will be crucial to link Leucochloridium broodsacs in snails (intermediate host) with their corresponding adult stage in birds (definitive host).

The association between 5, 10 - methylenetetrahydrofolate reductase and the risk of unexplained recurrent pregnancy loss in China: A Meta-analysis.

BACKGROUD: To analyze the correlation between gene polymorphisms of 5,10- methylenetetrahydrofolate reductase (MTHFR) and risk of unexplained recurrent pregnancy loss (URPL) in Chinese women. METHODS: Eligible studies were searched in Pubmed, Embase, Web of Science, Wanfang, and China National Knowledge Infrastructure (CNKI) databases. Established inclusion criteria were used to screening articles, subsequently evaluate the quality of the included studies, Stata 16.0 PM and RevMan 5.3 software were conducted for meta-analysis. The pooled odds ratio (OR) with 95% confidence interval (CI) was determined to assess the relationship between MTHFR and risk of URPL in Chinese women. RESULTS: For MTHFR C677T, fifty studies were included, involving 6677 URPL cases and 8111 controls. The overall results showed that MTHFR C677T was significantly correlated with URPL risk, especially in the homozygous model (TT vs CC; OR 3.06; 95% CI 2.56-3.66). For MTHFR A1298C, twenty-first studies were included, involving 3439 URPL cases and 3155 controls. The results showed that MTHFR A1298C was also significantly correlated with URPL risk in recessive (CC vs AC + AA; OR 1.55; 95% CI 1.25-1.93) and homozygous (CC vs AA; OR 1.53; 95% CI 1.22-1.91) models. In addition, sub-group results showed that no significant difference between north and south China populations in the MTHFR gene polymorphisms and URPL risk. Of note, the patients carrying MTHFR C677T and MTHFR A1298C joint mutants had no synergistic effect (OR 2.71; 95% CI 0.84-8.70) on the occurrence of URPL compared with the wild-type homozygous genotype (MTHFR 677CC/ MTHFR 1298AA). CONCLUSION: Studies included in this meta-analysis suggested that MTHFR 677T allele and 677TT genotype and MTHFR 1298CC genotype were both associated with URPL; testing MTHFR C677T gene polymorphism was a more appropriate target compared with other mutations in the prediction of URPL.

A new millipede-parasitizing horsehair worm, Gordius chiashanus sp. nov., at medium altitudes in Taiwan (Nematomorpha, Gordiida).

Gordius chiashanus sp. nov., a newly described horsehair worm that parasitizes the Spirobolus millipede, is one of the three described horsehair worm species in Taiwan. It is morphologically similar to G. helveticus Schmidt-Rhaesa, 2010 because of the progressively broadening distribution of bristles concentrated on the male tail lobes, but it is distinguishable from G. helveticus because of the stout bristles on the mid-body. In addition, a vertical white stripe on the anterior ventral side and areoles on the inside wall of the cloacal opening are rarely mentioned in other Gordius species. Free-living adults emerged and mated on wet soil under the forest canopy in the winter (late November to early February) at medium altitudes (1100-1700 m). Mucus-like structure covering on the body surface, which creates a rainbow-like reflection, might endow the worm with high tolerance to dehydration. Although Gordius chiashanus sp. nov. seems to be more adaptive to the terrestrial environment than other horsehair worm species, cysts putatively identified as belonging to this hairworm species found in the aquatic paratenic host, Ephemera orientalis McLachlan, 1875, suggest the life cycle of Gordius chiashanus sp. nov. could involve water and land. The free-living adults emerged from the definitive hosts might reproduce in the terrestrial environment or enter an aquatic habitat by moving or being washed away by heavy rain instead of manipulating the behavior of their terrestrial definitive hosts.

Energy Reduction Effect of the South-to-North Water Diversion Project in China.

The North China Plain, with a population of approximately 150 million, is facing severe water scarcity. The over-exploitation of groundwater in the region, with accumulation amounts reaching more than 150 billion m3, causes a series of hydrological and geological problems together with the consumption of a significant amount of energy. Here, we highlight the energy and greenhouse gas-related environmental co-benefits of the South-to-North Water Diversion Project (SNWDP). Moreover, we evaluate the energy-saving effect of SNWDP on groundwater exploitation based on the groundwater-exploitation reduction program implemented by the Chinese government. Our results show that the transferred water will replace about 2.97 billion m3 of exploited groundwater in the water reception area by 2020 and hence reduce energy consumption by 931 million kWh. Further, by 2030, 6.44 billion m3 of groundwater, which accounts for 27% of the current groundwater withdrawal, will save approximately 7% of Beijing's current thermal power generation output.