Revision of the Genus Rhagastis Rothschild & Jordan, 1903 (Lepidoptera: Sphingidae) from China, Based on Morphological and Phylogenetic Analyses.

Here, the taxonomy of the genus Rhagastis Rothschild & Jordan, 1903 (Lepidoptera, Sphingidae, Macroglossinae, Macroglossini) from China is revised based on differences in wing morphology, male and female genitalia, and the phylogenetic relationship of the DNA barcodes. Subspecies of Rhagastis albomarginatus (Rothschild, 1894) and R. castor (Walker, 1856) are treated as "good" species, namely Rhagastis dichroae Mell, 1922 stat. nov.; R. everetti Rothschild & Jordan, 1903 stat. nov.; R. aurifera (Butler, 1875) stat. rev.; R. chinensis Mell, 1922 stat. nov.; R. formosana Clark, 1925 stat. nov.; and R. jordani Oberthür, 1904 stat. rev. The distribution maps, biological notes, and ecological records of the genus Rhagastis Rothschild & Jordan, 1903 from China are given, and a species inventory of genus Rhagastis in the world is also included.

Prediction Technique and Measuring Device for Coupled Disturbance Forces from Large Equipment in the Spacecraft.

To guarantee the accuracy of sophisticated equipment in spacecraft, it is essential to evaluate the dynamic forces of vibration sources. In contrast to conventional rigid-based measuring approaches, a method for predicting the interference of dynamic forces from large sources on spacecraft considering vibration coupling is proposed. In addition, a flexible-based dynamic force measuring platform capable of withstanding large masses and mounting large-volume vibration sources is designed. After that, the experiments for calibrating the platform and acquiring unknown terms in the derived theoretical models are detailed. The principle prototype is then manufactured for feasibility verification. It is demonstrated that despite the low fundamental frequency of the measuring platform of 242.8 Hz, the measurement error of the flexible measuring platform is less than 8% when the coupling is taken into account, which is 29% lower than that without coupling. Additionally, the prediction error of disturbance forces is within 17%. As a result, the accuracy of the proposed dynamic force measurement and prediction of large vibration sources considering coupling is substantially improved, providing a good reference for aerospace applications.

Slow-Released Cationic Redox Activity Promoted Stable Anionic Redox and Suppressed Jahn-Teller Distortion in Layered Sodium Manganese Oxides.

Manganese-based layered oxides are considered promising cathodes for sodium ion batteries due to their high capacity and low-cost manganese and sodium resources. Triggering the anionic redox reaction (ARR) can exceed the capacity limitation determined by conventional cationic redox. However, the unstable ARR charge compensation and Jahn-Teller distortion of Mn3+ ions readily result in structural degradation and rapid capacity fade. Here, we report a P2-type Na0.8Li0.2Mn0.7Cu0.1O2 cathode that shows a capacity retention of 84.5% at 200 mA/g after 200 cycles. Combining in situ X-ray diffraction and multi other ex situ characterizations, we reveal that the enhanced cycling stability is ascribed to a slow release of cationic redox activity which can well suppress the Jahn-Teller distortion and favor the ARR reversibility. Furthermore, density-functional theory calculations demonstrate that the inhibited interlayer migration and reduced band gap facilitate the stability and kinetic behavior of ARR. These findings provide a perspective for designing high-energy-density cathode materials with ARR activity.

Interval Type-2 Fuzzy PID Controller Using Disassembled Gradational Optimization.

This paper presents an interval type-2 fuzzy proportional-integral-derivative (IT2F-PID) controller that is designed using a new disassembled gradational optimization (D-GO) method. A PID controller is first optimized using the D-GO method and then connected to a type-1 fuzzy logic system (T1-FLS). The parameters of the T1-FLS are optimized, and the T1-FLS is blurred into the interval type-2 fuzzy logic system (IT2-FLS). Finally, the IT2F-PID controller is formed. The proposed method is compared with the concurrent and general optimization methods. The simulation results show that the D-GO method reduces the optimization time by over 90% compared with the general method, and decreases the integral-of-time-absolute-error (ITAE) by 30%. Beyond that, compared with the concurrent optimization method, the D-GO method reduces time by over 25%, and the ITAE value by about 95%. In the normal case, model uncertainty, target uncertainty, and external disturbance, the control ability of the IT2F-PID controller designed using the D-GO method is verified via simulations using a nonlinear forced closed-loop system. The results show that the overshoot is reduced by 80% and the fluctuation is reduced by 67% compared with a traditional PID controller and an IT2F-PID controller built using the general method.

Review of the Narrow-Banded Hawkmoth, Neogurelca montana (Rothschild & Jordan, 1915) (Lepidoptera: Sphingidae) in China, with Morphological and Phylogenetic Analysis.

Neogurelca montana (Rothschild & Jordan, 1915) is a species of the genus Neogurelca Hogenes & Treadaway, 1993, that was previously known from Sichuan, Yunnan, and Tibet, China. Recently, however, this species was also found in Beijing and Hebei. These populations differ from those in southwest China in body colour and the shape of the yellow patches of the hindwing-a paler body colour and triangular patches in the former and darker body colour and fan-like patches in the latter. Wing morphology, male and female genitalia, and molecular evidence (DNA barcodes) were analysed for the different localities of this species and three other Neogurelca species-N. hyas, N. himachala, and N. masuriensis. Our molecular data support the Beijing population of montana as a valid subspecies, which we describe as N. montana taihangensisssp. nov. Wing and genital morphology confirm the molecular conclusions. We also collected larvae of the new subspecies in the Beijing suburbs and describe its life history and larval hosts and compare them with those of N. himachala.

Design and Dynamic Control: A Free-Flying Space Robot Inspired by Water Striders.

This work designed a free-flying space robot (FFSR) that simulates the on-orbit assembly of large space telescopes, drawing inspiration from the flexible movement of water striders on water surfaces. Initially, we developed the system structure of the robot, including the corresponding air-floating ground simulation system. This system enables floating movement of the robot in a gravity-free environment through the utilization of planar air bearings. Subsequently, we established the kinematics and dynamics models for the FFSR. Following that, we propose a novel adaptive boundary layer fuzzy sliding mode control (ABLFSMC) method to achieve trajectory tracking control of the FFSR. The virtual angle and angular velocity are formulated to serve as references for the angle and angular velocity in the body coordinate system. Furthermore, a fuzzy logic system is employed to minimize the chattering effect of the sliding mode control. The global stability of the proposed controller is guaranteed through the Lyapunov stability theory. Finally, we validate the effectiveness of the proposed control method as well as the high trajectory tracking accuracy of the developed FFSR through simulation and experimental results, respectively. Overall, our findings present a crucial experimental platform and development opportunity for the ground-based validation of technologies concerning the on-orbit assembly of large space telescopes.

Research on Configuration Design Optimization and Trajectory Planning of Manipulators for Precision Machining and Inspection of Large-Curvature and Large-Area Curved Surfaces.

In recent years, high-quality surfaces with large areas and curvatures have been increasingly used in engineering, but the precision machining and inspection of such surfaces is a particular challenge. Surface machining equipment needs to have a large working space, high flexibility, and motion accuracy to meet the demands of micron-scale precision machining. However, meeting these requirements may result in extremely large equipment sizes. To solve this problem, an eight-degree-of-freedom redundant manipulator with one linear and seven rotational joints is designed to assist in the machining described in this paper. The configuration parameters of the manipulator are optimized by an improved multi-objective particle swarm optimization algorithm to ensure that the working space of the manipulator completely covers the working surface and that the size of the manipulator is small. In order to improve the smoothness and accuracy of manipulator motion on large surface areas, an improved trajectory planning strategy for a redundant manipulator is proposed. The idea of the improved strategy is to pre-process the motion path first and then use a combination of the clamping weighted least-norm method and the gradient projection method to plan the trajectory, while adding a reverse planning step to solve the singularity problem. The resulting trajectories are smoother than those planned by the general method. The feasibility and practicality of the trajectory planning strategy are verified through simulation.

The life history of Hayesiana triopus (Westwood, 1847), with taxonomic notes on both present and former species of the genus Hayesiana Fletcher, 1982 (Lepidoptera: Sphingidae).

The two species previously included in the genus Hayesiana Fletcher, 1982 were studied. The life history of the sole currently included species, Hayesiana triopus (Westwood, 1847) is illustrated in colour for the first time. Field records of Hayesiana triopus and Dahira farintaenia (Zhu & Wang, 1997) (previously Hayesiana farintaenia) are given, with the first description of the female genitalia of the latter. The diagnostic features and DNA barcoding data of Hayesiana triopus and Dahira farintaenia are also discussed.

Lightweight Force-Controlled Device for Freehand Ultrasound Acquisition.

This study investigates a force-controlled auxiliary device for freehand ultrasound (US) examinations. The designed device allows sonographers to maintain a steady target pressure on the US probe, thereby improving the US image quality and reproducibility. The use of a screw motor to power the device and a Raspberry Pi as the system controller results in a lightweight and portable device, while a screen enhances user-interactivity. Using gravity compensation, error compensation, an adaptive proportional-integral-derivative algorithm, and low-pass signal filtering, the designed device provides highly accurate force control. Several experiments using the developed device, including clinical trials relating to the jugular and superficial femoral veins, validate its utility in ensuring the desired pressure in response to varying environments and prolonged US examinations, enabling low or high pressures to be maintained and lowering the threshold of clinical experience. Moreover, the experimental results show that the designed device effectively relieves the stress on the sonographer's hand joints during US examinations and enables rapid assessment of the tissue elasticity characteristics. With automatic pressure tracking between probe and patient, the proposed device offers potentially significant benefits for the reproducibility and stability of US images and the health of sonographers.

Species Richness of Papilionidae Butterflies (Lepidoptera: Papilionoidea) in the Hengduan Mountains and Its Future Shifts under Climate Change.

The family of Papilionidae (Lepidoptera: Papilionoidea) is a group of butterflies with high ecological and conservation value. The Hengduan Mountains (HMDs) in Southwest China is an important diversity centre for these butterflies. However, the spatial distribution pattern and the climate vulnerability of Papilionidae butterflies in the HDMs remain unknown to date. The lack of such knowledge has already become an obstacle in formulating effective butterfly conservation strategies. The present research compiled a 59-species dataset with 1938 occurrence points. The Maxent model was applied to analyse the spatial pattern of species richness in subfamilies Parnassiinae and Papilioninae, as well as to predict the response under the influence of climate change. The spatial pattern of both subfamilies in the HDMs has obvious elevation prevalence, with Parnassiinae concentrated in the subalpine to alpine areas (2500-5500 m) in western Sichuan, northwestern Yunnan and eastern Tibet, while Papilioninae is concentrated in the low- to medium-elevation areas (1500-3500 m) in the river valleys of western Yunnan and western Sichuan. Under the influence of climate change, both subfamilies would exhibit northward and upward range shifts. The majority of Parnassiinae species would experience drastic habitat contraction, resulting in lower species richness across the HDMs. In contrast, most Papilioninae species would experience habitat expansion, and the species richness would also increase significantly. The findings of this research should provide new insights and a clue for butterfly diversity and climatic vulnerability in southwestern China. Future conservation efforts should be focused on species with habitat contraction, narrow-ranged distribution and endemicity with both in situ and ex situ measures, especially in protected areas. Commercialised collecting targeting these species must also be regulated by future legislation.

Design and assessment of a micro-nano positioning hexapod platform with flexure hinges for large aperture telescopes.

In order to compensate the optical system bias, which is caused by the change of elevation angle and thermal gradient during the optical alignment of the telescope, a novel high stiffness micro-nano positioning hexapod platform with flexure hinges is proposed in this paper. The novel flexure hinge has a mechanical limit, and its equivalent model is established and analyzed. In addition, in order to speed up the solution process, a novel simplified inverse kinematic model is developed based on the rigid body kinematic theory. Then, an effective rigid-flexible coupling simulation system is built to verify the correctness and applicability of the inverse kinematic model. Finally, a systematic experimental test method and a statistical-based data analysis theory are proposed. The experimental results show that the resolution and repeatability of translation and rotation and lateral stiffness are as follows: 0.3 mm and 0.5 arc sec, ± 0.5 µm and ±0.5 arc sec, 131.6N⋅µm-1 and 133.0N⋅µm-1. The proposed hexapod platform can be used to correct the optical system bias of large-aperture telescopes.

Ant-Inspired Bionic Design Method for the Support Structure of the Fengyun-3 Satellite Payload Infilled with Lattice Structure.

Owing to their high design freedom and excellent performance, lattice structures have shown outstanding capabilities and great potential in aeronautics and astronautics fields. In this paper, we propose a method to construct lattice structures by parameterizing biological features. An ant-leg configuration is used as the bionic object to generate a bionic lightweight design with a gradient lattice structure. To achieve the above goal, an innovative optimization method combining topology optimization, size optimization, and a bionic lattice structure is proposed in this paper. Taking the support structure of the Fengyun-3 satellite payload as the research object, this optimization method is applied to optimize the design. Further, the reconstructed optimization model and the original model are simulated to evaluate and compare the structural performance. The simulation results show that when combined with bionic lattice structure and structural optimization, the method can achieve the lightweight design goal while ensuring the stiffness and strength of the structure. The results demonstrate that the application of a bionic lattice design in a lightweight design has feasibility and expectable potential.

Portable Device to Assist With Force Control in Ultrasound Acquisition.

This study presents a portable device that ensures precise contact force between a subject and a probe to improve the stability and reproducibility of ultrasound (US) acquisition. The mechanical portion of the device includes a servo motor, gears, and a ball screw linear actuator; two photoelectric switches are used to limit the stroke. A combined force and position control system is developed, and a pressure threshold is introduced to reduce the chattering of the system so that it can be applied to US examinations of tissues of different stiffness levels. Force control experiments were conducted on the device, and the results showed that the device can overcome the chattering of a physician's hand and movement caused by a subject's respiration. Additionally, the stability of the US acquisition was substantially improved. Based on clinical trials on humans, this device was observed to improve the consistency of ultrasonic results and the repeatability of images, and it assisted sonographers with maintaining suitable contact force and improving imaging quality. The device can either be handheld by a physician or easily integrated with a manipulator as an autonomous robotic US acquisition device, thereby validating its potential for US applications.

Characterization of the Complete Mitochondrial Genome of Eight Diurnal Hawkmoths (Lepidoptera: Sphingidae): New Insights into the Origin and Evolution of Diurnalism in Sphingids.

In this study, the mitochondrial genomes of 22 species from three subfamilies in the Sphingidae were sequenced, assembled, and annotated. Eight diurnal hawkmoths were included, of which six were newly sequenced (Hemaris radians, Macroglossum bombylans, M. fritzei, M. pyrrhosticta, Neogurelca himachala, and Sataspes xylocoparis) and two were previously published (Cephonodes hylas and Macroglossum stellatarum). The mitochondrial genomes of these eight diurnal hawkmoths were comparatively analyzed in terms of sequence length, nucleotide composition, relative synonymous codon usage, non-synonymous/synonymous substitution ratio, gene spacing, and repeat sequences. The mitogenomes of the eight species, ranging in length from 15,201 to 15,461 bp, encode the complete set of 37 genes usually found in animal mitogenomes. The base composition of the mitochondrial genomes showed A+T bias. The most commonly used codons were UUA (Leu), AUU (Ile), UUU (Phe), AUA (Met), and AAU (Asn), whereas GCG (Ala) and CCG (Pro) were rarely used. A phylogenetic tree of Sphingidae was constructed based on both maximum likelihood and Bayesian methods. We verified the monophyly of the four current subfamilies of Sphingidae, all of which had high support. In addition, we performed divergence time estimation and ancestral character reconstruction analyses. Diurnal behavior in hawkmoths originated 29.19 million years ago (Mya). It may have been influenced by the combination of herbaceous flourishing, which occurred 26-28 Mya, the uplift of the Tibetan Plateau, and the large-scale evolution of bats in the Oligocene to Pre-Miocene. Moreover, diurnalism in hawkmoths had multiple independent origins in Sphingidae.

A new species of Rhodambulyx Mell, 1939 (Lepidoptera: Sphingidae) from Southwest Chongqing, China.

A new species of the genus Rhodambulyx Mell, 1939, Rhodambulyx xinyuae sp. nov., is described from Simianshan Nature Reserve in Southwest Chongqing, China. This species is similar to R. davidi Mell, 1939 and R. kitchingi Brechlin, 2015 in habitus, but can be distinguished by a different wing pattern, male genitalia structure and DNA barcode sequence. In addition, Rhodambulyx namvui Eitschberger Nguyen, 2017 is removed from synonymy with R. kitchingi and synonymized instead with R. davidi, although whether it would be better treated as a subspecies of R. davidi requires further investigation.

Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation.

This paper describes an adaptive nonsingular fixed-time sliding mode control (ANFSMC) scheme under actuator saturation that can track the trajectory of a robotic manipulator under external disturbances and inertia uncertainties. First, a novel NFSMC that offers rapid convergence and avoids singularities is proposed for ensuring robotic manipulators global approximate fixed-time convergence. An ANFSMC is then developed for which the bound of the coupling uncertainty is not necessary to know in advance. The controller exhibits small absolute tracking errors and consumes little energy. An actuator saturation compensator is designed and shown to minimize the chattering of the system while accelerating the trajectory tracking. The proposed schemes are analyzed using Lyapunov stability theory, and their effectiveness and superiority are demonstrated through numerical simulations.

3D Printing Magnetic Actuators for Biomimetic Applications.

Biomimetic actuators with stimuli-responsiveness, adaptivity, and designability have attracted extensive attention. Recently, soft intelligent actuators based on stimuli-responsive materials have been gradually developed, but it is still challenging to achieve various shape manipulations of actuators through a simple 3D printing technology. In this paper, a 3D printing strategy based on magneto-active materials is developed to manufacture various biomimetic magnetic actuators, in which the new printable magnetic filament is composed of a thermoplastic rubber material and magnetic particles. The continuous shape transformation of magnetic actuators is further demonstrated to imitate the motion characteristic of creatures, including the predation behavior of octopus tentacles, the flying behavior of the butterfly, and the flower blooming behavior of the plant. Furthermore, the magnetic field-induced deformation of the biomimetic structure can be simulated by the finite element method, which can further guide the structural design of the actuators. This work proves that the biomimetic actuator based on soft magneto-active materials has the advantages of programmable integrated structure, rapid prototyping, remote noncontact actuation, and rapid magnetic response. As a result, this 3D printing method possesses broad application prospects in soft robotics and other fields.

First mitogenome of subfamily Langiinae (Lepidoptera: Sphingidae) with its phylogenetic implications.

To date, a relatively complete classification of Sphingidae (Lepidoptera) has been generated, but the phylogeny of the family remains need to be fully resolved. Some phylogenetic relationships within Sphingidae still remains uncertain, especially the taxonomic status of the subfamily Langiinae and its sole included genus and species, Langia zenzeroides. To begin to address this problem, we generated nine new complete mitochondrial genomes, including that of Langia, and together with that of Theretra oldenlandiae from our previous study and 25 other Sphingidae mitogenomes downloaded from GenBank, analyzed the phylogenetic relationships of Sphingidae and investigated the mitogenomic differences among members of the Langiinae, Sphinginae, Smerinthinae and Macroglossinae. The mitogenomes of Sphingidae varied from 14995 bp to 15669 bp in length. The gene order of all newly sequenced mitogenomes was identical, containing 13 protein-coding genes, two ribosomal RNA genes, 22 transfer RNA genes and the A + T-rich region. Nucleotide composition was A + T biased, and all the protein-coding genes exhibited a positive AT-skew, which was reflected in the nucleotide composition, codon, and amino acid usage. The A + T-rich region was comprised of nonrepetitive sequences, which contained regulatory elements related to the control of replication and transcription. We analyzed concatenated gene sequences, with third codon positions of protein coding genes and rRNAs excluded, using Maximum Likelihood and Bayesian Inference techniques. All four currently recognized subfamilies were recovered as monophyletic but in contrast to the most recent studies, our preferred tree placed Langiinae as the first subfamily to diverge within Sphingidae rather as sister to Smerinthinae + Sphinginae. Our results also support the removal of the genus Barbourion from the smerinthine tribe Ambulycini to an unresolved position in "Smerinthinae incertae sedis".

Butterfly Conservation in China: From Science to Action.

About 10% of the Earth's butterfly species inhabit the highly diverse ecosystems of China. Important for the ecological, economic, and cultural services they provide, many butterfly species experience threats from land use shifts and climate change. China has recently adopted policies to protect the nation's biodiversity resources. This essay examines the current management of butterflies in China and suggests various easily implementable actions that could improve these conservation efforts. Our recommendations are based on the observations of a transdisciplinary group of entomologists and environmental policy specialists. Our analysis draws on other successful examples around the world that China may wish to consider. China needs to modify its scientific methodologies behind butterfly conservation management: revising the criteria for listing protected species, focusing on umbrella species for broader protection, identifying high priority areas and refugia for conservation, among others. Rural and urban land uses that provide heterogeneous habitats, as well as butterfly host and nectar plants, must be promoted. Butterfly ranching and farming may also provide opportunities for sustainable community development. Many possibilities exist for incorporating observations of citizen scientists into butterfly data collection at broad spatial and temporal scales. Our recommendations further the ten Priority Areas of China's National Biodiversity Conservation Strategy and Action Plan (2011-2030).

Spatial Distribution of Pollinating Butterflies in Yunnan Province, Southwest China with Resource Conservation Implications.

Pollinating butterflies are an important asset to agriculture, which still depends on wild resources. Yunnan Province in Southwest China is a region with typical montane agriculture, but this resource is poorly investigated. From literature reference and specimen examination, the present study identified 554 species of pollinating butterflies (50.8% of the total butterflies) from Yunnan, with family Nymphalidae possessing the least number of pollinators (80 species, 16.0%), while the remaining four families are pollinator-rich (>73%). Tropical lowlands and mountain-valley areas possess higher species richness than those with plain terrains. The species richness of pollinating butterflies in Yunnan does not simply decline with the increase of latitude, nor is significantly different between West and East Yunnan. Zonation of pollinating butterflies using the parsimony analysis of endemicity (PAE) identified nine distribution zones and ten subzones. Most areas of endemism (AOE) are found in lowlands or mountain-valley areas, complexity of terrains, climates, and vegetation types are believed to be the main causes of such endemicity. The potential pollinating service of these butterflies could be great to montane agriculture with expanding areas of cash crops and fruit horticulture. Conservation strategies for pollinating butterflies may consist of preserving habitats and establishing butterfly-friendly agriculture based on local traditions.