Changes of ecological vulnerability in areas with different urban expansion patterns- A case study in the Yanhe river basin, China.

Urban expansion has the potentiality to disrupt ecosystems and form highly fragile urban landscapes. However, studies investigating the impact of different urban expansion patterns on the ecological environments are relatively limited. Taking the Yanhe river basin, a typical basin in a loess region, as a case study, we developed an ecological vulnerability assessment system as well as assessed the main drivers of ecological vulnerability for different time periods (1990, 2000, 2010 and 2018). Additionally, we classified each urban expansion region into three different patterns according to the landscape expansion index, and analyzed changes in the ecological vulnerability under these three diverse patterns. Finally, the Kruskal-Wallis rank sum test was applied to compare the factors for the different changes in ecological vulnerability across different urban expansion patterns. Our investigation also aimed to elucidate the impacts of different urban expansion patterns on ecological vulnerability and identify key physical-social-economic-climatic drivers. The results indicate that the ecological vulnerability index (EVI) of the study area is decreasing gradually from the peak value of 0.459 in 2000 to 0.383 in 2018. Habitat quality index is found to be the most influencing factor, followed by aridity index and building density (mean q of 0.53, 0.46, and 0.42, respectively). Our study also reveals that the outlying expansion areas have the greatest increase in EVI at 0.38, with edge and infill expansions at 0.31 and 0.27, respectively. It is also found that when the overall environment is improving, the outlying expansion areas have the smallest decrease in EVI. Initial ecological vulnerability and key drivers may explain this difference. Therefore, results of this study indicate that the ecological impacts of diverse urban expansion patterns are significantly different, among which outlying expansions should receive prioritized attention.

Guideline for the management of pediatric off-label use of drugs in China (2021).

BACKGROUND: The "Law on Doctors of the People's Republic of China," which was officially implemented on March 1, 2022, emphasizes the requirements for rational drug use and the necessity for appropriate management of off-label drug use. The safety and ethical considerations related to off-label drug use are different in children than in adults. There is so far no management guideline for pediatric off-label use of drugs in China, and the applicability of foreign guidelines is limited. Establishing a localized evidence-based management guideline for pediatric off-label use of drugs to support the national legislation and clinical practice is of critical importance. METHODS: We established a guideline working group, including experts from a broad range of disciplines and developed recommendations following the guidance of the World Health Organization Handbook and the Chinese Medical Association. The following themes were identified by questionnaires and expert interviews to be of great concern in the management of off-label drug use in children: general principles and characteristics of management of pediatric off-label drug use; establishment of expert committees; evidence evaluation; risk-benefit assessment; informed consent; monitoring and assessment of the risk; and monitoring and patient education. Two rounds of Delphi surveys were organized to determine the final recommendations of this guideline. We graded the recommendations based on the body of evidence, referring to the evaluation tool of the Evidence-based management (EBMgt) and the Oxford Center for Evidence-Based Medicine: Level of Evidence (March 2009). RESULTS: We developed the first guideline for the management of pediatric off-label use of drugs in China. CONCLUSIONS: The guideline is to offer guidance for pediatricians, pharmacists, medical managers, policymakers, and primary care physicians on how to manage off-label drug use in pediatrics and to provide recommendations for Chinese healthcare policy in the future.

Sequential Growth of High Quality Sub-10 nm Core-Shell Nanocrystals: Understanding the Nucleation and Growth Process Using Dynamic Light Scattering.

Monodisperse sub-10 nm core-shell nanocrystals have been extensively studied owing to their important applications in catalysis, bioimaging, nanomedicine, and so on. In this work, an amorphous shell component crystallization strategy has been proposed to prepare high quality sub-10 nm NaYF4:Yb/Er@NaGdF4 core-shell nanocrystals successfully via a sequential growth process. The dynamic light scattering technique has been used to investigate the secondary nucleation and growth process forming the core-shell nanocrystals. The size and morphology evolution of the core-shell nanocrystals reveals that the secondary nucleation of the shell component is unavoidable after hot-injecting the shell precursor at high temperatures, which was followed by dissolution and recrystallization (an Ostwald ripening process) to partially produce the core-shell nanocrystals. The present study demonstrates that the size of seed nanocrystals and the injection temperature of the shell component precursor play a vital role in the formation of core-shell nanostructures completely. This work will provide an alternative strategy for precisely controlling the fabrication of sub-10 nm core-shell nanostructures for various applications.

Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms.

Physical compliance has been increasingly used in robotic legs, due to its advantages in terms of the mechanical regulation of leg mechanics and energetics and the passive response to abrupt external disturbances during locomotion. This article presents a review of the exploitation of physical compliance in robotic legs. Particular attention has been paid to the segmented, electrically actuated robotic legs, such that a comparable analysis can be provided. The utilization of physical compliance is divided into three main categories, depending on the setting locations and configurations, namely, (1) joint series compliance, (2) joint parallel compliance, and (3) leg distal compliance. With an overview of the representative work related to each category, the corresponding working principles and implementation processes of various physical compliances are explained. After that, we analyze in detail some of the structural characteristics and performance influences of the existing designs, including the realization method, compliance profile, damping design, and quantitative changes in terms of mechanics and energetics. In parallel, the design challenges and possible future works associated with physical compliance in robotic legs are also identified and proposed. This article is expected to provide useful paradigmatic implementations and design guidance for physical compliance for researchers in the construction of novel physically compliant robotic legs.

Preparation and evaluation of human-murine chimeric antibody against protective antigen of Bacillus anthracis.

The aim of this research is to develop a human/murine chimeric Fab antibody which neutralizes the anthrax toxin, protective antigen (PA). The chimeric Fab was constructed using variable regions of murine anti-PA monoclonal antibody in combination with constant regions of human IgG. The chimeric PA6-Fab was expressed in E. coli. BL21 and evaluated by ELISA and co-immunoprecipitation- mass spectra. The potency of PA6-Fab to neutralize LeTx was examined in J774A.1 cell viability in vitro and in Fisher 344 rats in vivo. The PA6-Fab did not have domain similarity corresponding to the current anti PA mAbs, but specifically bound to anthrax PA at an affinity of 1.76 nM, and was able to neutralize LeTx in vitro and protected 56.9% cells at 20 µg/mL against anthrax LeTx. One hundred µg PA6-Fab could neutralize 300 µg LeTx in vivo. The PA6-Fab has potential as a therapeutic mAb for treatment of anthrax.

A novel global path planning method for robot based on dual-source light continuous reflection.

Aiming to address the problem of robot path planning in environments containing narrow passages, this paper proposes a novel global path planning method: the DSR (Dual-source Light Continuous Reflection Exploration) algorithm. This algorithm, inspired by the natural reflection of light, employs the concept of continuous reflection for path planning. It can efficiently generate an asymptotically optimal path on the map containing narrow passages. The DSR algorithm has been evaluated on different maps with narrow passages and compared with other algorithms. In comparison with the bidirectional Rapidly-exploring Random Tree algorithm, the DSR algorithm achieves a significant reduction in both path length (by 27.08% and 34.35%) and time consumption (by 98.47% and 91.03%). Numerical simulations and experimental analysis have demonstrated the excellent performance of the DSR algorithm.

Dynamic modelling and inverse compensation for coupled hysteresis in pneumatic artificial muscle-actuated soft manipulator with variable stiffness.

The soft manipulator actuated parallel with contractile and extensor pneumatic artificial muscles (PAMs) can perform continuous operations and vary stiffness. Due to the hysteresis nonlinearity of PAMs and parallel driving, the manipulator shows coupled hysteresis with stiffness-dependent and rate-dependent characteristics, causing inaccurate positioning performance. This paper firstly proposes a comprehensive dynamic model consisting of two parts in series to predict the manipulator dynamical behaviors with coupled hysteresis. Furthermore, a decoupled inverse compensation and decoupling control on the basis of the proposed model is conducted on the soft manipulator. Experimental results and comparisons illustrate the high precision and strong generalization ability of the proposed model and the validity of the compensator in mitigating the coupled dynamic hysteresis of the system.

Characterization and drivers of water and carbon fluxes dynamics in dune ecosystems of the Horqin Sandy Land.

Sandy regions constitute pivotal components of terrestrial ecosystems, exerting significant influences on global ecological equilibrium and security. This study meticulously explored water and carbon fluxes dynamics within a dune ecosystem in the Horqin Sandy Land throughout the growing seasons from 2013 to 2022 by employing an advanced eddy covariance system. The dynamic characteristics of these fluxes and their underlying driving forces were extensively analyzed, with a particular focus on the impact of precipitation. The main results are as follows: (1) During the growing seasons of 2015 and 2016, the dune ecosystem acted as a modest carbon source, while in 2013, 2014, and 2017- 2022, it transformed into a net carbon sink. Notably, the annual mean values of water use efficiency (WUE) and evapotranspiration (ET) were 5.16 gC·kg-1H2O and 255.4 mm, respectively. (2) The intensity, frequency, and temporal distribution of precipitation were found to significantly influence the carbon and water fluxes dynamics. Isolated minor precipitation events did not trigger substantial fluctuations, but substantial and prolonged precipitation events spanning multiple days or consecutive minor precipitation events resulted in notable assimilation delays. (3) Air temperature, soil temperature, and fractional vegetation cover (FVC) were found to be key factors influencing the carbon and water fluxes. Specifically, FVC exhibited a negative logarithmic correlation with net ecosystem CO2 exchange (NEE) and a power function relationship with WUE. (4) The interaction between carbon and water fluxes is exhibited by exponential increases in ecosystem respiration (Reco) and gross primary productivity (GPP) with WUE, while NEE displayed an exponential decrease in relation to WUE. These findings are of high significance in predicting the potential ramifications of climate change on the intricate carbon and water cycles, and enhance our understanding of ecosystem dynamics in sandy environments.

Vegetation response to large-scale mountain excavation and city construction projects on the Loess Plateau of China.

Since 2012, the "Mountain Excavation and City Construction" (MECC) project has been implemented extensively on the Loess Plateau of China, transforming gullies into flat land for urban sprawl by leveling loess hilltops to fill in valleys. However, this unprecedented human activity has caused widespread controversy over its unknown potential ecological impacts. Quantitative assessment of the impacts of the MECC project on the vegetation is key to ecological management and restoration. Taking the largest MECC project area on the Loess Plateau, Yan'an New District (YND), as the study area, this study investigated the spatiotemporal pattern of vegetation dynamics before and after the implementation of the MECC project using a multitemporal normalized difference vegetation index (NDVI) time series from 2009 to 2023 and explored the response of vegetation dynamics to the large-scale MECC project. The results showed that the vegetation dynamics in the YND exhibited significant spatial and temporal heterogeneity due to the MECC project, with the vegetation in the project-affected areas showing rapid damage followed by slow recovery. Vegetation damage occurred only in the project-affected area, and 84 % of these areas began recovery within 10 years, indicating the limited impact of the large-scale MECC project on the regional vegetation. The strong correlation between vegetation dynamics and the MECC project suggested that the destruction and recovery of vegetation in the project-affected areas was mainly under anthropogenic control, which highlights the importance of targeted ecological policies. Specifically, the MECC project induced local anthropogenic damage to the plant population structure during the land creation period, but regeneration and rational allocation of the vegetation were achieved through urbanization, gradually forming a new balanced ecological environment. These findings will contribute to a full understanding of the response of vegetation to such large-scale engineering activities and help local governments adopt projects or policies that facilitate vegetation recovery.

Comparison of Ciprofol-Based and Propofol-Based Total Intravenous Anesthesia on Microvascular Decompression of Facial Nerve with Neurophysiological Monitoring: A Randomized Non-Inferiority Trial.

Purpose: Ciprofol is a recently developed short-acting gamma-aminobutyric acid receptor agonist with a higher potency than that of propofol. As a new sedative drug, there are few clinical studies on ciprofol. We sought to examine the safety and efficacy of ciprofol use for general anesthesia in neurosurgical individuals undergoing neurosurgical surgery with intraoperative neurophysiological monitoring (IONM). Patients and Methods: This single-center, non-inferiority, single-blind, randomized controlled trial was conducted from September 13, 2022 to September 22, 2023. 120 patients undergoing elective microvascular decompression surgery (MVD) with IONM were randomly assigned to receive either ciprofol or propofol. The primary outcome of this study was the amplitude of intraoperative compound muscle action potential decline, and the secondary outcome included the indexes related to neurophysiological monitoring and anesthesia outcomes. Results: The mean values of the primary outcome in the ciprofol group and the propofol group were 64.7±44.1 and 53.4±35.4, respectively. Furthermore, the 95% confidence interval of the difference was -25.78 to 3.12, with the upper limit of the difference being lower than the non-inferiority boundary of 6.6. Ciprofol could achieve non-inferior effectiveness in comparison with propofol in IONM of MVD. The result during anesthesia induction showed that the magnitude of the blood pressure drop and the incidence of injection pain in the ciprofol group were significantly lower than those in the propofol group (P<0.05). The sedative drug and norepinephrine consumption in the ciprofol group was significantly lower than that in the propofol group (P<0.05). Conclusion: Ciprofol is not inferior to propofol in the effectiveness and safety of IONM and the surgical outcome. Concurrently, ciprofol is more conducive to reducing injection pain and improving hemodynamic stability, which may be more suitable for IONM-related surgery, and has a broad application prospect.

Rapid visual detection of highly pathogenic Streptococcus suis serotype 2 isolates by use of loop-mediated isothermal amplification.

Streptococcus suis serotype 2 (S. suis 2) is an important zoonotic pathogen that causes considerable economic losses to the pig industry and significantly threatens public health worldwide. The highly pathogenic S. suis 2, which contains the 89K pathogenicity island (PAI), has caused large-scale outbreaks of infections in humans, resulting in high mortality rates. In this study, we established two loop-mediated isothermal amplification (LAMP)-based assays that can rapidly detect S. suis 2 and the 89K PAI and can be performed simultaneously under the same conditions. Further, based on the findings of these two LAMP assays and using the same set of serially diluted DNA samples, we compared the sensitivities of different LAMP product detection methods, including SYBR green detection, gel electrophoresis, turbidimetry, calcein assays, and hydroxynaphthol blue detection. The results suggest that target genes can be amplified and detected within 48 min under 63°C isothermal conditions. The sensitivity of tests for S. suis 2 detection varies between detection methods and reaction systems, indicating that for each LAMP reaction system, multiple detection methods should be performed to select the optimal one. The sensitivities of the optimized methods (7.16 copies/reaction) in the present study were identical to those of the real-time PCR assay, and the test results for reference strains and clinical samples showed that these LAMP systems have high specificities. Thus, since the LAMP systems established in this study are simple, fast, and sensitive, they may have good clinical potential for detecting the highly pathogenic S. suis 2.

Rapid and sensitive detection of H7N9 avian influenza virus by use of reverse transcription-loop-mediated isothermal amplification.

An epidemic of human H7N9 influenza virus infection recently emerged in China whose clinical features include high mortality and which has also resulted in serious economic loss. The novel reassortant avian-origin influenza A (H7N9) virus which was the causative agent of this epidemic raised the possibility of triggering a large-scale influenza pandemic worldwide. It seemed likely that fast molecular detection assays specific for this virus would be in great demand. Here, we report a one-step reverse transcription-loop-mediated isothermal amplification (RT-LAMP) method for rapid detection of the hemagglutinin (HA) and neuraminidase (NA) genes of H7N9 virus, the minimum detection limit of which was evaluated using in vitro RNA transcription templates. In total, 135 samples from clinical specimens (from either patients or poultry) were tested using this method in comparison with the real-time PCR recommended by the World Health Organization (WHO). Our results showed that (i) RT-LAMP-based trials can be completed in approximately 12 to 23 min and (ii) the detection limit for the H7 gene is around 10 copies per reaction, similar to that of the real-time PCR, whereas the detection limit for its counterpart the N9 gene is 5 copies per reaction, a 100-fold-higher sensitivity than the WHO-recommended method. Indeed, this excellent performance of our method was also validated by the results for a series of clinical specimens. Therefore, we believe that the simple, fast, and sensitive method of RT-LAMP might be widely applied for detection of H7N9 infections and may play a role in prevention of an influenza pandemic.

Nursing care for children with fulminant myocarditis treated with extracorporeal membrane oxygenation.

To summarize the nursing experience of treating pediatric fulminant myocarditis with extracorporeal membrane oxygenation (ECMO). The intensive care unit of our hospital treated 6 children with fulminant myocarditis with ECMO from 2019 to 2022. The main nursing measures included establishing an ECMO rescue team, preparing before initiation of ECMO, management of arterial and venous catheters, enteral nutrition support, reducing the risk of infection aggravation, anticoagulation management, prevention of bleeding and thrombosis, management of ECMO pump failure, and post-ECMO care. One child's family abandoned treatment and left the hospital, while the other 5 children were transferred to the cardiovascular department after stable weaning from ECMO and continued treatment, with good condition, and eventually discharged. Pediatric fulminant myocarditis has a high mortality rate, but detailed evaluation and nursing care can improve the outcome of these patients.

The Associations Between Alanine Aminotransferase and Other Biochemical Parameters in Lean PCOS.

To explore the associations of alanine aminotransferase in lean women of polycystic ovary syndrome (PCOS) with other biochemical parameters and the potential risk factors. This is a retrospective cohort study with lean PCOS (n = 91) and healthy controls (n = 45); we reviewed the electrical records and databases of the PCOS patients in our infertility clinic between January 2019 and September 2021; independent t-test, linear correlation analysis, and multiple linear regression were used to explore the associations. Higher levels of luteinizing hormone, total testosterone, thyroid stimulating hormone, platelet count, lymphocyte count, homocysteine, alanine aminotransferase (ALT), and uric acid were identified in lean PCOS patients, while follicle-stimulating hormone level was lower in in lean PCOS as expected (P < 0.05). Of note, the linear correlation showed that BMI, total testosterone, white blood cell count, lymphocyte count, aspartate aminotransferase, and uric acid were positively associated with alanine aminotransferase (r = 0.232, 0.318, 0.218, 0.388, 0.602, 0.353 respectively, P < 0.05). After multiple linear regression was performed, total testosterone and aspartate aminotransferase were independently and positively correlated with alanine aminotransferase in lean PCOS (B = 0.251, 0.605 respectively, P < 0.05). Higher level of ALT was identified in the lean PCOS. BMI, white blood cell count, lymphocyte count, aspartate aminotransferase, uric acid, and total testosterone were positively correlated with ALT in lean PCOS. Total testosterone and aspartate aminotransferase were independently and positively associated with ALT in lean PCOS after multiple linear regression. There might exist a potential risk of afflicting liver impairment for the lean PCOS women in the earlier period. Early examination and intervention might be necessary to prevent or delay the progression of the liver disease as soon as the diagnosis of PCOS.

Does the pain sensitivity questionnaire correlate with tourniquet pain in patients undergoing ankle surgery?

Background: Tourniquet pain is the most prominent problem in ankle surgery, and there is no proper method to predict it. It was reported that pain sensitivity questionnaires could evaluate the pain sensitivity of subjects. Its potential to predict tourniquet pain in ankle surgery is constructive and meaningful. Methods: One hundred and twenty patients undergoing ankle surgery were included in this study. The pain sensitivity questionnaire (PSQ) and self-rating anxiety scale (SAS) were completed before the operation. The methods included an ultrasound-guided popliteal sciatic, a femoral nerve block, and a proximal thigh tourniquet. The pressure of the tourniquet was set according to the systolic blood pressure (SBP + 100 mmHg). A visual analogue scale (VAS) was used to assess the tourniquet pain. Also, the onset time of tourniquet pain ≥4 VAS units was recorded. Results: The PSQ-total and PSQ-minor scores were significantly correlated with the onset time when the tourniquet pain ≥4 VAS units (r = -0.763, r = -0.731, P < 0.001). The PSQ-total score <6.5 group gave significantly lower ratings for items 3, 4, 14, and 16 in the PSQ survey compared to the PSQ-total score ≥6.5 group (P < 0.05). Patients with high pain sensitivity have a higher need for analgesic drugs (P < 0.001). PSQ-total score ≥6.5 (OR = 185.8, 95% CI = 39.8-1,437.6, P < 0.001), sex (male, OR = 0.11, 95% CI = 0.018-0.488, P < 0.05), and age (OR = 0.92, 95% CI = 0.842-0.995, P < 0.05) were risk factors for reporting a tourniquet pain ≥4 VAS units within 30 min. Conclusion: The PSQ score is found to be correlated with intraoperative tourniquet pain. In addition, sex and age also affect the time of having intraoperative tourniquet pain.

Spatiotemporal variations of ecosystem security pattern in Horqin sandy dune meadow alternating area, China.

The natural and geographical environment of ecologically fragile areas in northern China is complex. Due to heavy human disturbance and impacts of climate change, the sustainable development of ecosystems is facing serious challenges. Constructing ecological security pattern can provide decision-making basis for ecological environment protection in desertification areas. Based on land use change data of Horqin dune-meadow interphase area from 1985 to 2021, we identified ecological sources with the importance of ecosystem services and ecological sensitivity, and constructed the ecological security pattern using the minimum cumulative resistance model. We further analyzed the ecological security pattern and its development trend in 1985, 1995, 2005, 2015 and 2021, and explored the ecological spatial layout adjustment strategy. The results showed that the proportion of source area in the ecological security pattern of the study area was always small and scattered from 1985 to 2021, the network of ecological corridors was low, and the connectivity between ecological patches was lacking. The ecological security pattern had experienced a trend of deterioration first and then gradually improving. Ecological policies such as returning farmland to forest and grassland and afforestation had significantly improved the environmental security. We optimized the study area by combining the cultivated land suitability evaluation method. The ecological security pattern showed a spatial trend of 'dual-core, scattered and semi-surrounded'. The results could provide references for the construction of county-scale ecological security pattern in ecologically fragile areas and the ecological management of Horqin sands.

A Review of the Development and Challenges of Cell Mechanical Models.

Cell models can express a variety of cell information, including mechanical properties, electrical properties, and chemical properties. Through the analysis of these properties, we can fully understand the physiological state of cells. As such, cell modeling has gradually become a topic of great interest, and a number of cell models have been established over the last few decades. In this paper, the development of various cell mechanical models has been systematically reviewed. First, continuum theoretical models, which were established by ignoring cell structures, are summarized, including the cortical membrane droplet model, solid model, power series structure damping model, multiphase model, and finite element model. Next, microstructural models based on the structure and function of cells are summarized, including the tension integration model, porous solid model, hinged cable net model, porous elastic model, energy dissipation model, and muscle model. What's more, from multiple viewpoints, the strengths and weaknesses of each cell mechanical model have been analyzed in detail. Finally, the potential challenges and applications in the development of cell mechanical models are discussed. This paper contributes to the development of different fields, such as biological cytology, drug therapy, and bio-syncretic robots.

Puerarin decreases apoptosis of retinal pigment epithelial cells in diabetic rats by reducing peroxynitrite level and iNOS expression.

The purpose of this study was to investigate the protective effect of puerarin on retina pigment epithelial (RPE) cells of diabetic rats against apoptosis. One hundred and eight Sprague-Dawley (SD) rats were randomly divided into 3 groups: control group, streptozotocin (STZ) group and puerarin group. STZ and puerarin groups received 3 d of STZ injection (45 mg/kg per day, i.p.). Additionally, puerarin groups were treated with puerarin (140 mg/kg, i.p.) from the 4th day to the end of experiment. The rats from different groups were sacrificed on 20, 40 and 60 d after STZ injection for harvesting RPE cells. Western blot analysis, DNA laddering, RT-PCR and immunohistochemistry were used for determining the expression of nitrotyrosine (NT, the foot print of peroxynitrite), cell apoptosis, iNOS mRNA and Fas/Fas ligand (FasL) signal transduction in RPE cells, respectively. The results showed that control group maintained low apoptosis level and little NT, iNOS mRNA, Fas/FasL protein expressions, as well as normal blood glucose and body weight during 60 d of the experiment. Compared with control group, STZ group showed obvious apoptosis and higher NT, iNOS mRNA, Fas/FasL protein expressions from 20 d after STZ injection. Puerarin relieved apoptosis of RPE cells and decreased NT, iNOS mRNA, Fas/FasL protein expressions in puerarin group 20 or 40 d after STZ injection, compared with STZ group. These results suggest puerarin can decrease RPE cells apoptosis in diabetic rats by reducing peroxynitrite level and iNOS expression, thus being a potential therapeutic agent in controlling of diabetic retinopathy.

Data-driven adaptive integral terminal sliding mode control for uncertain SMA actuators with input saturation and prescribed performance.

This paper focuses on the data-driven adaptive control problem of the shape memory alloy (SMA) actuators subject to uncertainties, input saturation and prescribed performance. Firstly, the uncertainties estimation method, anti-windup technology, and prescribed performance function are introduced to deal with uncertain nonlinearity, input constraint, and prespecified performance, respectively. Meanwhile, a general approach about designing asymmetrical convergence bound is presented to increase the flexibility of creating convergence area. Secondly, taking uncertainties, input saturation, and asymmetrical convergence bound into consideration, we design an integral terminal sliding mode controller to guarantee the prescribed tracking accuracy without using the knowledge of the SMA actuators model. Further, the stability of the controller and the boundedness of the convergence error are proved by rigorous theoretical analysis. Finally, the success and superiority of our controller are verified by the SMA actuator experiments.

Kinematic Diagnosis of Throwing Motion of the Chinese Elite Female Discus Athletes Who Are Preparing for the Tokyo Olympic Games.

The purpose of this study was to examine the difference of kinematic skill characteristics between the Chinese and world elite female discus athletes. We used the methods of literature, three-dimensional video analysis, and mathematical statistics to compare and analyze the differences of some kinematic parameters between the three Chinese female discus athletes and four world female discus athletes. The result shows that the speed of discus release of the Chinese elite female discus athletes is lower (p < 0.05) than that of the world elite female discus athletes. Compared to the world elite female discus athletes, the height of release is higher (p < 0.05). But there was no significant difference in the angle of release (p > 0.05), rotation rhythm (p > 0.05), and discus speed increment (p > 0.05) in different stages during the throwing procedure from double support stage to delivery stage. The results may provide reference for the special technique training of the Chinese female discus throwers, so as to improve the discus throwing level of Chinese women.