Interfacial interactions, including adhesion and friction, directly affect the ability of the robot system to interact with the external environment, such as the realization of operation and motion functions. Bionics provides guidance for the active control of interface forces. Creatures such as geckos, tree frogs, octopuses, and beetles have developed delicate topological structures and smart control strategies during long-term evolution, facilitating their ability to adhere to, manipulate, capture, and traverse various surfaces across diverse environments. Inspired by the advantages of high strength, adaptability, controllability, durability, and no residue, biomimetic controllable adhesion structures, materials, and systems have been developed, showing a wide range of potential applications in reversible attachment, flexible locomotion, and dexterous grasping. In this paper, the mechanisms and theoretical models of various biological reversible adhesion systems in nature are summarized. Then the design criteria, optimization method, and preparation technology of the artificial adhesion structures based on van der Waals interaction, capillary force, negative pressure, and mechanical interlocking mechanisms are reviewed. In particular, the adhesion/load ratio and the switch ratio of adhesive materials and structures are highlighted to evaluate the adhesion ability and controllability of various designs. The applications of biomimetic controllable adhesion structures and systems in robotics manipulation and locomotion are presented. Finally, the conclusion and possible future direction are discussed.

Expert drivers possess the ability to execute high sideslip angle maneuvers, commonly known as drifting, during racing to navigate sharp corners and execute rapid turns. However, existing model-based controllers encounter challenges in handling the highly nonlinear dynamics associated with drifting along general paths. While reinforcement learning-based methods alleviate the reliance on explicit vehicle models, training a policy directly for autonomous drifting remains difficult due to multiple objectives. In this paper, we propose a control framework for autonomous drifting in the general case, based on curriculum reinforcement learning. The framework empowers the vehicle to follow paths with varying curvature at high speeds, while executing drifting maneuvers during sharp corners. Specifically, we consider the vehicle’s dynamics to decompose the overall task and employ curriculum learning to break down the training process into three stages of increasing complexity. Additionally, to enhance the generalization ability of the learned policies, we introduce randomization into sensor observation noise, actuator action noise, and physical parameters. The proposed framework is validated using the CARLA simulator, encompassing various vehicle types and parameters. Experimental results demonstrate the effectiveness and efficiency of our framework in achieving autonomous drifting along general paths. The code is available at https://github.com/BIT-KaiYu/drifting.

In this work, the Riemann–Hilbert (RH) problem is employed to study the multiple high-order pole solutions of the cubic Camassa–Holm (cCH) equation with the term characterizing the effect of linear dispersion under zero boundary conditions and nonzero boundary conditions. Under the reflectionless situation, we generalize the residue theorem and obtain the multiple high-order pole solutions of cCH equation by solving an algebraic system. During the process of establishing the solution of RH problem, to simplify the calculations involving the implicitly expressed of variables (x, t) in the solution, we introduce a new scale (y, t) to ensure the solution of RH problem is explicitly expressed with respect to it. Finally, the exact solutions are obtained for cases involving one high-order pole and N high-order poles.

Femtosecond oscillators with gigahertz (GHz) repetition rate are appealing sources for spectroscopic applications benefiting from the individually accessible and high-power comb line. The mode mismatch between the potent pump laser diode (LD) and the incredibly small laser cavity, however, limits the average output power of existing GHz Kerr-lens mode-locked (KLM) oscillators to tens of milliwatts. Here, we present a novel method that solves the difficulty and permits high average power LD-pumped KLM oscillators at GHz repetition rate. We propose a numerical simulation method to guide the realization of Kerr-lens mode-locking and comprehend the dynamics of the Kerr-lens mode-locking process. As a proof-of-principle demonstration, an LD-pumped Yb:KGW oscillator with up to 6.17-W average power and 184-fs pulse duration at 1.6-GHz repetition rate is conducted. The simulation had a good agreement with the experimental results. The cost-effective, compact and powerful laser source opens up new possibilities for research and industrial applications.

Human alveolar echinococcosis is a hard-to-treat and largely untreated parasitic disease with high associated health care costs. The current antiparasitic treatment for alveolar echinococcosis relies exclusively on albendazole, which does not act parasiticidally and can induce severe adverse effects. Alternative, and most importantly, improved treatment options are urgently required. A drug repurposing strategy identified the approved antimalarial pyronaridine as a promising candidate against Echinococcus multilocularis infections. Following a 30-day oral regimen (80 mg kg−1 day−1), pyronaridine achieved an excellent therapeutic outcome in a clinically relevant hepatic alveolar echinococcosis murine model, showing a significant reduction in both metacestode size (72.0%) and counts (85.2%) compared to unmedicated infected mice, which revealed significantly more potent anti-echinococcal potency than albendazole treatment at an equal dose (metacestode size: 42.3%; counts: 4.1%). The strong parasiticidal activity of pyronaridine was further confirmed by the destructive damage to metacestode tissues observed morphologically. In addition, a screening campaign combined with computational similarity searching against an approved drug library led to the identification of pirenzepine, a gastric acid-inhibiting drug, exhibiting potent parasiticidal activity against protoscoleces and in vitro cultured small cysts, which warranted further in vivo investigation as a promising anti-echinococcal lead compound. Pyronaridine has a known drug profile and a long track record of safety, and its repurposing could translate rapidly to clinical use for human patients with alveolar echinococcosis as an alternative or salvage treatment.

Escherichia albertii is an emerging foodborne enteropathogen associated with infectious diarrhoea in humans. In February 2023, an outbreak of acute gastroenteric cases was reported in a junior high school located in Hangzhou, Zhejiang province, China. Twenty-two investigated patients presented diarrhoea (22/22, 100%), abdominal pain (21/22, 95.5%), nausea (6/22, 27.3%), and vomiting (3/22, 13.6%). E. albertii strains were successfully isolated from anal swabs collected from six patients. Each isolate was classified as sequence type ST2686, harboured eae-β gene, and carried both cdtB-I and cdtB-II subtypes, being serotyped as EAOg32:EAHg4 serotype. A comprehensive whole-genome phylogenetic analysis revealed that the six isolates formed a distinct cluster, separate from other strains. These isolates exhibited minimal genetic variation, differing from one another by 0 to 1 single nucleotide polymorphism, suggesting a common origin from a single clone. To the best of our knowledge, this represented the first reported outbreak of gastroenteritis attributed to E. albertii outside of Japan on a global scale.

Pavlov [Adv. Math. 295 (2016), 250–270; Nonlinearity 32 (2019), 2441–2466] studied the measures of maximal entropy for dynamical systems with weak versions of specification property and found the existence of intrinsic ergodicity would be influenced by the assumptions of the gap functions. Inspired by these, in this article, we study the dynamical systems with non-uniform specification property. We give some basic properties these systems have and give an assumption for the gap functions to ensure the systems have the following five properties: CO-measures are dense in invariant measures; for every non-empty compact connected subset of invariant measures, its saturated set is dense in the total space; ergodic measures are residual in invariant measures; ergodic measures are connected; and entropy-dense. In addition, we will give examples to show the assumption is optimal.

Gust response has consistently been a concern in engineering. Critical theories have been proposed in the past to predict the unsteady lift response of an airfoil experiencing vertical gusts by Atassi, and longitudinal gusts by Greenberg. However, their applicability for an airfoil with non-zero angles of attack still needs clarification. Thus, force measurements are conducted to examine these theories’ validity and quasi-steady corrections are applied to compensate potential disparities between the idealised and real flow conditions. Velocity measurements are performed to scrutinise the effect of gusts on the flow around the airfoil, and subsequently to reveal the underlying mechanism governing the airfoil's response to gust-induced perturbations. In the study, two pitching vanes are arranged upstream to generate periodic vertical and longitudinal gusts, whereas a downstream airfoil with angles of attack of 0–12° is subjected to two gust types. It is found that Greenberg's theory demonstrates superior predictive capability in pre-stall regimes, with the potential for its effectiveness to be expanded to post-stall regimes through theoretical refinements. In contrast, Atassi's theory exhibits significant deviations from experimental outcomes across the measured angles of attack. Nevertheless, a modified version of the theory aligns better with experimental results at small angles of attack, whereas substantial discrepancies persist as the angle of attack increases. In the pre-stall regime, the aerodynamic response of the airfoil to vertical gusts displays a linear correlation with the flow angle near the leading edge. In the post-stall regime, the vertical gust induces dynamic stall of the airfoil. The flow angle has an essential effect on the lift coefficient but it alone is inadequate to dictate the trend of the lift coefficient. The vorticity statistics show that negative vortex circulation strongly correlates with the lift coefficient. Thus, further correction of the theory or a new vortex model can be expected to predict the lift variation.

Organo-montmorillonite (OMnt) has wide applications in paints, clay-polymer nanocomposites, biomaterials, etc. In most cases, the dispersibility and swellability of OMnt dictate the performance of OMnt in the target products. Previous studies have revealed that the properties can be improved when multiple organic species are co-introduced into the interlayer space of montmorillonite (Mnt). In the present study, single surfactant erucylamide (EA), dual-surfactants cetyltrimethyl ammonium bromide (CTAB) and octadecyltrimethyl ammonium chloride (OTAC), and ternary-surfactants EA, CTAB, and OTAC were co-introduced into Mnt by solution intercalation. The resulting OMnts were characterized by powder X-ray diffraction (XRD), Fourier-transform infrared (FTIR) spectroscopy, thermogravimetry-differential thermogravimetry (TG-DTG), water contact-angle tests, scanning electronic microscopy (SEM), laser particle-size analysis, and swelling indices. Mnt co-modified by ternary CTAB, OTAC, and EA led to a large d001 value (4.20 nm), surface hydrophobicity with a contact angle of 95.6°, swellability (50 mL/g) with small average particle sizes (2.1−2.8 μm) in xylene, and >99% of the OMnt particles were kept as <5 μm in deionized water. The formation of EA-modified-Mnt was proposed according to hydrophobic affinity, hydrogen bonding, and van der Waals forces. The nanoplatelets of the CTA+, OTA+, and EA co-modified OMnts in xylene were assembled into a house-of-cards structure by face-to-edge and edge-to-edge associations. The electrostatic attractions, electrostatic and steric repulsions, and hydrophobic interactions were responsible for the good dispersibility of OMnt in xylene. The ternary surfactant co-modified OMnt with high dispersion and swellability will make OMnt better suited for real-world applications.

In order to establish a compact all-optical Thomson scattering source, experimental studies were conducted on the 45 TW Ti: sapphire laser facility. By including a steel wafer, mixed gas, and plasma mirror into a double-exit jet, several mechanisms, such as shock-assisted ionization injection, ionization injection, and driving laser reflection, were integrated into one source. So, the source of complexity was remarkably reduced. Electron bunches with central energy fluctuating from 90 to 160 MeV can be produced. Plasma mirrors were used to reflect the driving laser. The scattering of the reflected laser on the electron bunches led to the generation of X-ray photons. Through comparing the X-ray spots under different experimental conditions, it is confirmed that the X-ray photons are generated by Thomson scattering. For further application, the energy spectra and source size of the Thomson scattering source were measured. The unfolded spectrum contains a large amount of low-energy photons besides a peak near 67 keV. Through importing the electron energy spectrum into the Monte Carlo simulation code, the different contributions of the photons with small and large emitting angles can be used to explain the origin of the unfolded spectrum. The maximum photon energy extended to about 500 keV. The total photon production was 107/pulse. The FWHM source size was about 12 μm.

Montmorillonite (Mnt)-based solid acids have a wide range of applications in catalysis and adsorption of pollutants. For such solid acids, the acidic characteristic often plays a significant role in these applications. The objective of the current study was to examine the effects of H3PO4-activation and supporting WO3 on the textural structure and surface acidic properties of Mnt. The Mnt-based solid acid materials were prepared by H3PO4 treatment and an impregnation method with a solution of ammonium metatungstate (AMT) and were examined as catalysts in the dehydration of glycerol to acrolein. The catalysts were characterized by nitrogen adsorption-desorption, powder X-ray diffraction (XRD), Fourier-transform infrared (FTIR) spectroscopy, scanning electronic microscopy (SEM), X-ray photoelectron spectroscopy (XPS), diffuse reflectance ultraviolet-visible (DR UV-Vis) spectroscopy, temperature programmed desorption of NH3 (NH3-TPD), diffuse reflectance Fourier-transform infrared (DR FTIR) spectroscopy of adsorbed pyridine, and thermogravimetric (TG) analyses. The phosphoric acid treatment of Mnt created Brönsted and Lewis acid sites and led to increases in specific surface areas, porosity, and acidity. WO3 species influenced total acidity, acid strength, the numbers of Brönsted and Lewis acid sites, and catalytic performances. A high turnover frequency (TOF) value (31.2 h−1) based on a maximal 60.7% yield of acrolein was reached. The correlation of acrolein yield with acidic properties indicated that the cooperative role of Brönsted and Lewis acid sites was beneficial to the formation of acrolein and a little coke deposition (<3.3 wt.%). This work provides a new idea for the design of solid acid catalysts with cooperative Brönsted and Lewis acidity for the dehydration of glycerol.

Rodents and shrews are major reservoirs of various pathogens that are related to zoonotic infectious diseases. The purpose of this study was to investigate co-infections of zoonotic pathogens in rodents and shrews trapped in four provinces of China. We sampled different rodent and shrew communities within and around human settlements in four provinces of China and characterised several important zoonotic viral, bacterial, and parasitic pathogens by PCR methods and phylogenetic analysis. A total of 864 rodents and shrews belonging to 24 and 13 species from RODENTIA and EULIPOTYPHLA orders were captured, respectively. For viral pathogens, two species of hantavirus (Hantaan orthohantavirus and Caobang orthohantavirus) were identified in 3.47% of rodents and shrews. The overall prevalence of Bartonella spp., Anaplasmataceae, Babesia spp., Leptospira spp., Spotted fever group Rickettsiae, Borrelia spp., and Coxiella burnetii were 31.25%, 8.91%, 4.17%, 3.94%, 3.59%, 3.47%, and 0.58%, respectively. Furthermore, the highest co-infection status of three pathogens was observed among Bartonella spp., Leptospira spp., and Anaplasmataceae with a co-infection rate of 0.46%. Our results suggested that species distribution and co-infections of zoonotic pathogens were prevalent in rodents and shrews, highlighting the necessity of active surveillance for zoonotic pathogens in wild mammals in wider regions.

Folate, also known as vitamin B9, is a water-soluble vitamin. Previous studies on dietary folate intake in severe headache patients were equivocal. Therefore, we conducted a cross-sectional study to elucidate the relationship between folate intake and severe headache. This cross-sectional study used data from participants over 20 years old who participated in the National Health and Nutrition Examination Survey (NHANES) from 1999 to 2004. The diagnosis of severe headache was made through participants’ self-report in the NHANES questionnaire section. We performed multivariate logistic regression and restricted cubic spline (RCS) regression to explore the relationship between folate intake and severe headache. A total of 9859 participants took part in the study, 1965 of whom were severe headache patients and the rest were non-severe headache. We found that dietary folate intake was significantly and inversely associated with severe headache. Compared with participants with lower folate intake Q1 (≤ 229·97 ug/d), the adjusted OR values for dietary folate intake and severe headache in Q2 (229·98–337 ug/d), Q3 (337·01–485 ug/d) and Q4 (≥ 485·01 ug/d) were 0·81 (95 % CI: 0·67, 0·98, P = 0·03), 0·93 (95 % CI: 0·77, 1·12, P = 0·41) and 0·63 (95 % CI: 0·49, 0·80, P < 0·001), respectively. For women aged 20–50 years, there was a non-linear association between folate intake and severe headache in the RCS. Women aged 20–50 years should have higher awareness of dietary folate and increase their dietary intake of folate, which may aid in preventing severe headache.

Instrument delivery is critical part in vascular intervention surgery. Due to the soft-body structure of instruments, the relationship between manipulation commands and instrument motion is non-linear, making instrument delivery challenging and time-consuming. Reinforcement learning has the potential to learn manipulation skills and automate instrument delivery with enhanced success rates and reduced workload of physicians. However, due to the sample inefficiency when using high-dimensional images, existing reinforcement learning algorithms are limited on realistic vascular robotic systems. To alleviate this problem, this paper proposes discrete soft actor-critic with auto-encoder (DSAC-AE) that augments SAC-discrete with an auxiliary reconstruction task. The algorithm is applied with distributed sample collection and parameter update in a robot-assisted preclinical environment. Experimental results indicate that guidewire delivery can be automatically implemented after 50k sampling steps in less than 15 h, demonstrating the proposed algorithm has the great potential to learn manipulation skill for vascular robotic systems.

When a charge neutral drop impacts on a flat solid substrate, a small air bubble is always trapped underneath due to the lubrication pressure coming from the viscous stress in the squeezed air film. Herein we find experimentally and numerically that the process of the air entrapment and the initial contact state of the drop with the substrate can be profoundly altered via an external electric field. In an electric field, the induced electric stresses at the bottom of the drop increase drastically right before the drop contacts the substrate, which acts against the lubrication pressure, resulting in reduced initial contact radius and air bubble size. When the external electric field reaches a critical value, the electrical stress accelerates the flow near the bottom of the drop and generates a conical tip quickly instead of a dimple, resulting in a centre contact and eliminating the air bubble entrapment. Based on the dipole mirror charge model, we find the dimensionless strength of critical electric field scales with the square root of capillary number based on the air viscosity. This scaling law of the critical electric field for eliminating the air bubble entrapment is verified experimentally and numerically. This work may offer a new way to mitigate defects caused by air bubble entrapment for inkjet printing and droplet-based additive manufacturing.