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.

Rhopalosiphum padi is an important grain pest, causing severe losses during crop production. As a systemic insecticide, flonicamid can control piercing-sucking pests efficiently. In our study, the lethal effects of flonicamid on the biological traits of R. padi were investigated via a life table approach. Flonicamid is highly efficiently toxic to R. padi, with an LC50 of 9.068 mg L−1. The adult longevity and fecundity of the R. padi F0 generation were markedly reduced under the LC25 and LC50 concentrations of flonicamid exposure. In addition, negative transgenerational effects on R. padi were observed under exposure to lethal concentrations of flonicamid, with noticeable decreases in the reproductive period, adult longevity, total longevity, and total fecundity of the F1 generation under the LC25 concentration of flonicamid. Furthermore, the third nymph stage (N3), preadult stage, duration of the adult pre-reproductive period, duration of the total pre-reproductive period, reproductive period, adult longevity, total longevity, and total fecundity of the F1 generation were significantly lower under treatment with the LC50 concentration of flonicamid. The life table parameters were subsequently analysed, revealing that the intrinsic rate of increase (rm) and the net reproductive rate (R0) were significantly lower but that the finite rate of increase (λ) and the mean generation time (T) were not significantly different under the LC25 and LC50 concentrations of flonicamid. These data are beneficial for grain aphid control and are critical for exploring the role of flonicamid in the integrated management of this key pest.

Mythimna separata (Lepidoptera: Noctuidae) is an omnivorous pest that poses a great threat to food security. Insect antimicrobial peptides (AMPs) are small peptides that are important effector molecules of innate immunity. Here, we investigated the role of the AMP cecropin B in the growth, development, and immunity of M. separata. The gene encoding M. separata cecropin B (MscecropinB) was cloned. The expression of MscecropinB was determined in different developmental stages and tissues of M. separata. It was highest in the prepupal stage, followed by the pupal stage. Among larval stages, the highest expression was observed in the fourth instar. Tissue expression analysis of fourth instar larvae showed that MscecropinB was highly expressed in the fat body and haemolymph. An increase in population density led to upregulation of MscecropinB expression. MscecropinB expression was also upregulated by the infection of third and fourth instar M. separata with Beauveria bassiana or Bacillus thuringiensis (Bt). RNA interference (RNAi) targeting MscecropinB inhibited the emergence rate and fecundity of M. separata, and resulted in an increased sensitivity to B. bassiana and Bt. The mortality of M. separata larvae was significantly higher in pathogen plus RNAi-treated M. separata than in controls treated with pathogens only. Our findings indicate that MscecropinB functions in the eclosion and fecundity of M. separata and plays an important role in resistance to infection by B. bassiana and Bt.

Kazal-type serine protease inhibitors (KaSPI) play important roles in insect growth, development, digestion, metabolism and immune defence. In this study, based on the transcriptome of Mythimna separata, the cDNA sequence of MsKaSPI with Kazal domain was uploaded to GenBank (MN931651). Spatial and temporal expression analysis showed that MsKaSPI was expressed at different developmental stages and different tissues, and it was induced by 20-hydroxyecdysone in third-instar larvae of M. separata. After 24 h infection by Beauveria bassiana, the expression level of MsKaSPI and the corresponding MsKaSPI content were significantly up-regulated, being 6.42-fold and 1.91-fold to the control group, respectively, while the activities of serine protease, trypsin and chymotrypsin were inhibited. After RNA interference interfered with MsKaSPI for 6 h, the expression decreased by 73.44%, the corresponding content of MsKaSPI protein decreased by 55.66% after 12 h, and the activities of serine protease and trypsin were significantly enhanced. Meanwhile, both the larval and pupal stages of M. separata were prolonged, the weights were reduced and the number of eggs per female decreased by 181. Beauveria bassiana infection also increased the mortality of MsKaSPI-silenced M. separata by 18.96%. These prove MsKaSPI can not only result in slow growth and low fecundity of M. separata by regulating the activity of related protease, but also participate in the resistance to pathogenic fungi by regulating the serine protease inhibitor content and the activities of related serine protease.

Ankle rehabilitation robots are widely used due to nerve injuries and sports injuries leading to decreased mobility of the ankle joint. However, the motion of most ankle rehabilitation robots has distinctions with human ankle physiological structure. In order to achieve more accurate rehabilitation training of the ankle joint, this paper proposes a novel 3-UPU parallel rehabilitation mechanism. In a certain range, the mechanism can perform rotation around any axis within the midplane, which means that the mechanism can achieve non-fixed-point rotation around the instantaneous axis of the ankle joint. The mechanism has three degrees of freedom and can perform ankle pronation/supination and inversion/eversion movements. Taking into account the structural differences of different human bodies, the rotating axis of the mechanism can be adjusted in both height and angle. Then, the workspace of the mechanism was solved, and the size parameters of the mechanism are analyzed based on the characteristics of the size parameters of the mechanism and the motion range of the ankle. A genetic algorithm was employed to optimize the mechanism’s parameters. Next, the motion trajectory of the mechanism was planned, and the length change of the mechanism driving pair during the motion planning of the angle was obtained through kinematics simulation. Finally, experimental verification of the above rehabilitation training methods indicates that the mechanism meets the requirements of ankle rehabilitation.

In order to solve the problems of low power transfer efficiency (PTE) and limited distance in magnetic coupling resonant wireless power transfer (MCR-WPT) technology. In this paper, based on the magnetic field control ability of metamaterials (MMs), the way to improve the performance of MCR-WPT systems is studied. First, the influence of MMs on the coupling of MCR-WPT system is theoretically analyzed by establishing an equivalent circuit model. Through a series of simulations and experiments, the relationships between the PTE and the array and placement of the MM slab are investigated. The results demonstrate that when one MM slab is placed in the middle, near the Tx coil or the Rx coil, the optimal PTE can be obtained by inserting one slab with $6 \times 6$, $1 \times 1$, and $6 \times 6$ arrays, respectively. Moreover, the systems with multilayer MM slabs are also studied. The measured PTEs on one, two, and three layers of MM slabs can increase by 20.6%, 29.3%, and 22.6%, respectively. The efficiency improvement capability of one MM slab is better than three slabs but worse than two slabs. This paper discusses the application of MMs in MCR-WPT systems, which has a certain reference significance.

The present study evaluated whether fat mass assessment using the triceps skinfold (TSF) thickness provides additional prognostic value to the Global Leadership Initiative on Malnutrition (GLIM) framework in patients with lung cancer (LC). We performed an observational cohort study including 2672 LC patients in China. Comprehensive demographic, disease and nutritional characteristics were collected. Malnutrition was retrospectively defined using the GLIM criteria, and optimal stratification was used to determine the best thresholds for the TSF. The associations of malnutrition and TSF categories with survival were estimated independently and jointly by calculating multivariable-adjusted hazard ratios (HR). Malnutrition was identified in 808 (30·2 %) patients, and the best TSF thresholds were 9·5 mm in men and 12 mm in women. Accordingly, 496 (18·6 %) patients were identified as having a low TSF. Patients with concurrent malnutrition and a low TSF had a 54 % (HR = 1·54, 95 % CI = 1·25, 1·88) greater death hazard compared with well-nourished individuals, which was also greater compared with malnourished patients with a normal TSF (HR = 1·23, 95 % CI = 1·06, 1·43) or malnourished patients without TSF assessment (HR = 1·31, 95 % CI = 1·14, 1·50). These associations were concentrated among those patients with adequate muscle mass (as indicated by the calf circumference). Additional fat mass assessment using the TSF enhances the prognostic value of the GLIM criteria. Using the population-derived thresholds for the TSF may provide significant prognostic value when used in combination with the GLIM criteria to guide strategies to optimise the long-term outcomes in patients with LC.

The objective of this study was to analyze differences in birth weight and overweight/obesity in a Shanghai twin cohort. We also wanted to study their association and explore possible risk factors for the discordance of overweight/obesity within twins. This was an internal case–control study designed for twins. The 2012 Shanghai Twin Registration System baseline survey data of a total of 3417 twin pairs were statistically analyzed using SPSS22 software. Results show that the body mass index (BMI) of the Shanghai twin population increased with age. Twins with a high birth weight had a higher BMI and a higher rate of overweight and obesity; 0- to 6-year-old twins, male twins and dizygotic (DZ) twins had higher rates of overweight/obesity than other groups. The greater the discordant birth weight rate of twins, the more obvious the difference in BMI (p < .05). There was a significant difference in overweight/obesity between twins with a relative difference of birth weight ≥15% in DZ twins (p < .05). DZ twins, male twins and 0- to 6-year-old twins were more likely to be discordant in overweight/obese than others. The discordant birth weight within twins was not a risk factor for discordant overweight/obesity. However, attention should be paid to childhood obesity, and appropriate interventions should be made at the appropriate time. Genetics may play an important role in the occurrence and development of overweight/obesity. In conclusion, discordant growth and development in the uterus early in life may not lead to discordant weight development in the future.