In complex work environments, improving efficiency and stability is an important issue in robot path planning. This article proposes a new path optimization algorithm based on pseudospectral methods. The algorithm includes an adaptive weighting factor in the objective function, which automatically adjusts the quality of the path while satisfying the performance indicators of the shortest time. It also considers kinematic, dynamic, boundary, and obstacle constraints, and applies the Separating Axis Theorem collision detection method to improve computational efficiency. To discretize the continuous path optimization problem into a nonlinear programming problem, the algorithm utilizes Chebyshev polynomials for the interpolation of state and control variables, along with the adoption of the Lagrange interpolation polynomial to approximate the curve. Finally, it solves the nonlinear programming problem numerically using CasADi, which supports automatic differentiation. The results of the simulation demonstrate that the path optimized by the adaptive-weight pseudospectral method can satisfy various constraints and optimization objectives simultaneously. Experimental verification confirms the efficiency and feasibility of the proposed algorithm.

Raman fiber lasers, known for their capacity to provide both high-power and precise wavelength emissions, are gaining attraction across a spectrum of applications, including fiber optic communications, sensing, spectroscopy and imaging. However, the scalability of Raman laser power is impeded by the constraints of pump brightness and the deleterious effects of second-order Raman scattering. In this research, we have undertaken a comprehensive experimental and simulation-based investigation into the impact of pump brightness on the output characteristics within an amplifier framework. Our innovative approach integrates high-brightness pumping with multi-mode graded-index fibers. Notably, we have pioneered the introduction of multi-wavelength seed light to facilitate four-wave mixing, thereby effectively mitigating higher-order Raman scattering. This novel strategy has culminated in the achievement of a 4 kW Raman laser output in an all-fiber configuration, representing the highest output power reported so far.

This work reports high-fidelity shock-tube experiments on the convergent Richtmyer–Meshkov (RM) instability at a heavy gas layer. The convergent shock tube is designed based on shock dynamics theory, significantly mitigating interface deceleration and reflected shock. As a result, long-term observation of instability growth up to nonlinear stage, free of interface deceleration and reshock, is achieved. Various types of SF$_6$ layers surrounded by air with controllable thicknesses and shapes, created using a soap film technique, are examined. For thick layers, the evolutions of the outer and inner interfaces are nearly decoupled regardless of the layer shape. The weakly nonlinear model of Wang (Phys. Plasmas,vol. 22, 2015, p. 082702), designed for cylindrical RM instability at a single interface, provides a reasonable prediction of perturbation growth at the inner interface, while slightly underestimating instability growth at the outer interface, as it neglects the effects of rarefaction wave. For thin layers, perturbation growth is fastest at either interface when both interfaces initially possess in-phase perturbations, moderate when only one interface is initially perturbed and slowest when the two interfaces have anti-phase perturbations. This variation in growth rates is due to the fact that the evolution of a thin layer is influenced by both reverberating waves and interface coupling, with each factor being highly sensitive to the layer shape. The original vortex method is extended to address the convergent RM instability by incorporating the influences of unsteady background flow, interface coupling and reverberating waves into the transport of a vortex sheet. This extended vortex method enables accurate prediction of convergent RM instability at a gas layer, covering the full range from early linear to late nonlinear stages.

Fiber Bragg grating-based Raman oscillators are capable of achieving targeted frequency conversion and brightness enhancement through the provision of gain via stimulated Raman scattering across a broad gain spectrum. This capability renders them an exemplary solution for the acquisition of high-brightness, specialized-wavelength lasers. Nonetheless, the output power of all-fiber Raman oscillators is typically limited to several hundred watts, primarily due to limitations in injectable pump power and the influence of higher-order Raman effects, which is inadequate for certain application demands. In this study, we introduce an innovative approach by employing a graded-index fiber with a core diameter of up to 150 μm as the Raman gain medium. This strategy not only enhances the injectable pump power but also mitigates higher-order Raman effects. Consequently, we have successfully attained an output power of 1780 W for the all-fiber Raman laser at 1130 nm, representing the highest output power in Raman fiber oscillators with any configuration reported to date.

We aimed to evaluate the association of coffee consumption with different additives, including milk and/or sweetener (sugar and/or artificial sweetener), and different coffee types, with new-onset acute kidney injury (AKI), and examine the modifying effects of genetic variation in caffeine metabolism. 194 324 participants without AKI at baseline in the UK Biobank were included. The study outcome was new-onset AKI. During a median follow-up of 11·6 years, 5864 participants developed new-onset AKI. Compared with coffee non-consumers, a significantly lower risk of new-onset AKI was found in coffee consumers adding neither milk nor sugar to coffee (hazard ratio (HR), 0·86; 95 % CI, 0·78, 0·94) and adding only milk to coffee (HR,0·83; 95 % CI, 0·78, 0·89), but not in coffee consumers adding only sweetener (HR,1·14; 95 % CI, 0·99, 1·31) and both milk and sweetener to coffee (HR,0·96; 95 % CI, 0·89, 1·03). Moreover, there was a U-shaped association of coffee consumption with new-onset AKI, with the lowest risk at 2–3 drinks/d, in unsweetened coffee (no additives or milk only to coffee), but no association was found in sweetened coffee (sweetener only or both milk and sweetener to coffee). Genetic variation in caffeine metabolism did not significantly modify the association. A similar U-shaped association was found for instant, ground and decaffeinated coffee consumption in unsweetened coffee consumers, but not in sweetened coffee consumers. In conclusion, moderate consumption (2–3 drinks/d) of unsweetened coffee with or without milk was associated with a lower risk of new-onset AKI, irrespective of coffee type and genetic variation in caffeine metabolism.

Methionine (Met) can activate the mechanistic target of rapamycin (mTOR) to promote milk synthesis in mammary epithelial cells. However, it is largely unknown which G protein-coupled receptor can mediate the stimulation of Met on mTOR activation. In this study, we employed transcriptome sequencing to analyse which G protein-coupled receptors were associated with the role of Met and further used gene function study approaches to explore the role of G protein-coupled receptor 183 (GPR183) in Met stimulation on mTOR activation in HC11 cells. We identified nine G protein-coupled receptors including GPR183 whose expression levels were upregulated by Met treatment through RNA sequencing and subsequent quantitative real-time PCR analysis. Using GPR183 knockdown and overexpression technology, we demonstrate that GPR183 is a positive regulator of milk protein and fat synthesis and proliferation of HC11 cells. Met affected GPR183 expression in a dose-dependent manner, and GPR183 mediated the stimulation of Met (0·6 mM) on milk protein and fat synthesis, cell proliferation and mTOR phosphorylation and mRNA expression. The inhibition of phosphoinositide 3-kinase blocked the phosphorylation of mTOR and AKT stimulated by GPR183 activation. In summary, through RNA sequencing and gene function study, we uncover that GPR183 is a key mediator for Met to activate the phosphoinositide 3-kinase-mTOR signalling and milk synthesis in mouse mammary epithelial cells.

The power scaling on short wavelength (SW) fiber lasers operating around 1 μm are in significant demand for applications in energy, environment and industry. The challenge for performance scalability of high-power SW lasers based on rare-earth-doped fiber primarily lies in the physical limitations, including reabsorption, amplified spontaneous emission and parasitic laser oscillation. Here, we demonstrate an all-fiberized, purely passive SW (1018 nm) random-distributed-feedback Raman fiber laser (RRFL) to validate the capability of achieving high-power output at SWs based on multimode laser diodes (LDs) direct pumping. Directly pumped by multimode LDs, the high-brightness RRFL delivers over 656 W, with an electro-optical efficiency of 20% relative to the power. The slope efficiency is 94%. The beam quality M2 factor is 2.9 (which is ~20 times that of the pump) at the maximum output signal power, achieving the highest brightness enhancement of 14.9 in RRFLs. To the best of our knowledge, this achievement also represents the highest power record of RRFLs utilizing multimode diodes for direct pumping. This work may not only provide a new insight into the realization of high-power, high-brightness RRFLs but also is a promising contender in the power scaling of SWs below 1 μm.

Adherence to post-exposure prophylaxis and post-exposure vaccination (PEV) is an important measure to prevent rabies. The purpose of this study was to explore the adherence to the vaccination protocol and its influencing factors among rabies-exposed patients in Shenzhen, China. A cross-sectional survey was conducted in a tertiary hospital in Shenzhen, China, to obtain epidemiological characteristics of patients; knowledge, attitude, and practice scores of rabies prevention; and medical records. A total of 326 patients requiring full rabies PEV were included in this study, and only 62% (202) completed the full course of vaccination according to the norms of the vaccination guidelines. After multifactor logistic regression, the factors influencing adherence to vaccination were as follows: age 31 to 40 years, time spent to reach the nearest rabies prevention clinic was >60 min, the time of injury was at night to early morning, the place of injury was a school/laboratory, the animal causing injury was a cat, the health status of the animal causing injury could not be determined, and patients with higher practice scores (all p<0.05). Understanding the factors influencing rabies vaccination adherence among rabies-exposed patients in urban areas of China and promote changes in patients’ practice toward rabies prevention is essential for rabies elimination by 2030.

Childhood maltreatment is an established risk factor for psychopathology. However, it remains unclear how childhood traumatic events relate to mental health problems and how the brain is involved. This study examined the serial mediation effect of brain morphological alterations and emotion-/reward-related functions on linking the relationship from maltreatment to depression. We recruited 156 healthy adolescents and young adults and an additional sample of 31 adolescents with major depressive disorder for assessment of childhood maltreatment, depressive symptoms, cognitive reappraisal and anticipatory/consummatory pleasure. Structural MRI data were acquired to identify maltreatment-related cortical and subcortical morphological differences. The mediation models suggested that emotional maltreatment of abuse and neglect, was respectively associated with increased gray matter volume in the ventral striatum and greater thickness in the middle cingulate cortex. These structural alterations were further related to reduced anticipatory pleasure and disrupted cognitive reappraisal, which contributed to more severe depressive symptoms among healthy individuals. The above mediating effects were not replicated in our clinical group partly due to the small sample size. Preventative interventions can target emotional and reward systems to foster resilience and reduce the likelihood of future psychiatric disorders among individuals with a history of maltreatment.

The laboratory generation and diagnosis of uniform near-critical-density (NCD) plasmas play critical roles in various studies and applications, such as fusion science, high energy density physics, astrophysics as well as relativistic electron beam generation. Here we successfully generated the quasistatic NCD plasma sample by heating a low-density tri-cellulose acetate (TCA) foam with the high-power-laser-driven hohlraum radiation. The temperature of the hohlraum is determined to be 20 eV by analyzing the spectra obtained with the transmission grating spectrometer. The single-order diffraction grating was employed to eliminate the high-order disturbance. The temperature of the heated foam is determined to be T = 16.8 ± 1.1 eV by analyzing the high-resolution spectra obtained with a flat-field grating spectrometer. The electron density of the heated foam is about $N_e=4.0\pm 0.3\times {10}^{20}{\text{cm}}^{-3}$ under the reasonable assumption of constant mass density.

Frequency modulation (FM)-to-amplitude modulation (AM) conversion is an important factor that affects the time–power curve of inertial confinement fusion (ICF) high-power laser facilities. This conversion can impact uniform compression and increase the risk of damage to optics. However, the dispersive grating used in the smoothing by spectral dispersion technology will introduce a temporal delay and can spatially smooth the target. The combined effect of the dispersive grating and the focusing lens is equivalent to a Gaussian low-pass filter, which is equivalent to 8 GHz bandwidth and can reduce the intensity modulation on the target to below 5% with 0.3 nm @ 3 GHz + 20 GHz spectrum phase modulation. The results play an important role in the testing and evaluating of the FM-to-AM on the final optics and the target, which is beneficial for comprehensively evaluating the load capacity of the facility and isentropic compression experiment for ICF.

Iodine is an essential nutrient that may change the occurrence of autoimmune thyroiditis (AIT). Apoptosis and DNA methylation participate in the pathogenesis and destructive mechanism of AIT. We detected the methylation and the expression of mRNA of intrinsic apoptosis-associated genes (YWHAG, ING4, BRSK2 and GJA1) to identify the potential interactions between the levels of methylation in these genes and different levels of iodine. 176 adult patients with AIT in Shandong Province, China, were included. The MethylTargetTM assay was used to verify the levels of methylation. We used PCR to detect the mRNA levels of the candidate genes. Interactions between methylation levels of the candidate genes and iodine levels were evaluated with multiplicative and addictive interaction models and GMDR. In the AIT group, YWHAG_1 and six CpG sites and BRSK2_1 and eight CpG sites were hypermethylated, whereas ING4_1 and one CpG site were hypomethylated. A negative correlation was found between methylation levels of YWHAG and mRNA expression. The combination of iodine fortification, YWHAG_1 hypermethylation and BRSK2_1 hypermethylation was significantly associated with elevated AIT risk. A four-locus model (YWHAG_1 × ING4_1 × BRSK2_1 × iodine level) was found to be the best model of the gene–environment interactions. We identified abnormal changes in the methylation status of YWHAG, ING4 and BRSK2 in patients with AIT in different iodine levels. Iodine fortification not only affected the methylation levels of YWHAG and BRSK2 but also interacted with the methylation levels of these genes and may ultimately increase the risk of AIT.

This work proposes a machine-learning or artificial intelligence (AI) control of a low-drag Ahmed body with a rear slant angle φ = 35° with a view to finding strategies for efficient drag reduction (DR). The Reynolds number Re investigated is 1.7 × 105 based on the square root of the body cross-sectional area. The control system comprises of five independently operated arrays of steady microjets blowing along the edges of the rear window and vertical base, twenty-six pressure taps on the rear end of the body and a controller based on an ant colony algorithm for unsupervised learning of a near-optimal control law. The cost function is designed such that both DR and control power input are considered. The learning process of the AI control discovers forcing that produces a DR up to 18 %, corresponding to a drag coefficient reduction of 0.06, greatly exceeding any previously reported DR for this body. Furthermore, the discovered forcings may provide alternative solutions, i.e. a tremendously increased control efficiency given a small sacrifice in DR. Extensive flow measurements performed with and without control indicate significant alterations in the flow structure around the body, such as flow separation over the rear window, recirculation bubbles and C-pillar vortices, which are linked to the pressure rise on the window and base. The physical mechanism for DR is unveiled, along with a conceptual model for the altered flow structure under the optimum control or biggest DR. This mechanism is further compared with that under the highest control efficiency.

Particle-resolved direct numerical simulations are employed to investigate the particle–particle drag force in the bidisperse gas–particle suspensions where the particles are smooth and the single-particle velocity distribution function is Maxwellian. The particle Reynolds number ranges from 6.7 to 123.8, and in this range the particle inertia is high enough that the lubrication force is not essential. It is found that the relation derived by the kinetic theory of granular flow (KTGF) highly overestimates the particle–particle drag force. This is because the pre-collision velocities of colliding particles are not completely uncorrelated with each other. From the time sequence of collision events, it is observed that the particle pair that has just collided will probably collide again after a short time due to the restriction of the particle motion in dense suspensions. Since the post-collision velocities of the first collision cannot relax entirely in such a short time, the relative velocity before the subsequent collision is statistically smaller than the domain-averaged relative velocity. Consequently, the particle–particle drag force is over-predicted when the domain-averaged relative velocity is used. For this reason, this work assumes that the particle–particle drag force is determined by the relative velocity within a local region near large particles. When the local region is set to be the spherical shells centred on the centres of large particles and with an outer radius of a mean free path of small particles, the KTGF-based relation can reasonably predict the particle–particle drag force.

High Mountain Asia (HMA) glaciers are critical water reserves for montane regions, which are readily influenced by climate change. The glacier mass balance during 2000–2021 over HMA was estimated by comparing the elevations from ICESat-2 and the NASADEM. Radar penetration depth could be one of the intrinsic error sources in estimating glacier mass balance by using NASADEM. Therefore, we doubled elevation differences between the X-band Shuttle Radar Topography Missions (SRTMs) and NASADEM to estimate the potential error. The spatial characteristics of the altitude-dependent penetration depth can be detected in most sub-regions of HMA. Relatively deep penetrations in the Himalaya (2.3–3.7 m) and Hissar Alay (4.3 m) regions and small penetrations in the south-eastern HMA (1.0 m) were observed. The HMA region experienced a significant mass loss at a rate of −0.18 ± 0.12 m w.e. a−1, in which the Hengduan Shan exhibited the highest mass loss of −0.62 ± 0.10 m w.e. a−1, the West Kun Lun experienced a substantial mass gain of 0.23 ± 0.13 m w.e. a−1, and the Karakoram showed a more or less balance. Our results are in agreement with previous studies that assessed the mass balance of HMA glaciers from different methods.

The aim of this study was to explore the status of thyroid peroxidase antibody (TPOAb) and thyroglobulin antibody (TGAb) in three areas with differing water iodine concentrations; and to discuss the relationships between these two thyroid antibodies and thyroid diseases in the three areas. We investigated 2503 adults from three areas. Urinary iodine concentrations, thyroid stimulating hormone (TSH), free thyroxine (FT4), free triiodothyronine (FT3), TPOAb, TGAb and thyroid volume (TV) were measured, and thyroid ultrasonography was performed. The positivity rates of TGAb(+), TPOAb(+) and TGAb(+) and TPOAb(+) or TGAb(+) were significantly higher in iodine fortification (IF) areas than iodine adequate (IA) areas (all P < 0·05). In IF and iodine excess areas, the positivity rates of TPOAb(+), TGAb(+) and TPOAb(+) or TGAb(+) significantly increased with age (all P for trend < 0·05). The levels of TSH, TV and the prevalence of overt hypothyroidism, subclinical hypothyroidism and goitre were significantly elevated in the thyroid antibody-positive groups in the three areas, but the FT3 was diminished (all P < 0·010). Positivity for TPOAb and TGAb was associated with an increased risk of subclinical hypothyroidism in the three areas. In areas with different median water iodine, positivity for both TPOAb and TGAb was associated with elevated TSH values. Notably, with the increased levels of TPOAb, the frequency of abnormally elevated TSH increased dramatically in the three areas.