Traditional bulky and complex control devices such as remote control and ground station cannot meet the requirement of fast and flexible control of unmanned aerial vehicles (UAVs) in complex environments. Therefore, a data glove based on multi-sensor fusion is designed in this paper. In order to achieve the goal of gesture control of UAVs, the method can accurately recognize various gestures and convert them into corresponding UAV control commands. First, the wireless data glove fuses flexible fiber optic sensors and inertial sensors to construct a gesture dataset. Then, the trained neural network model is deployed to the STM32 microcontroller-based data glove for real-time gesture recognition, in which the convolutional neural network-Attention mechanism (CNN-Attention) network is used for static gesture recognition, and the convolutional neural network-bidirectional long and short-term memory (CNN-Bi-LSTM) network is used for dynamic gesture recognition. Finally, the gestures are converted into control commands and sent to the vehicle terminal to control the UAV. Through the UAV simulation test on the simulation platform, the average recognition accuracy of 32 static gestures reaches 99.7%, and the average recognition accuracy of 13 dynamic gestures reaches 99.9%, which indicates that the system’s gesture recognition effect is perfect. The task test in the scene constructed in the real environment shows that the UAV can respond to the gestures quickly, and the method proposed in this paper can realize the real-time stable control of the UAV on the terminal side.

This work investigates the spatio-temporal evolution of coherent structures in the wake of a generic high-speed train, based on a three-dimensional database from large eddy simulation. Spectral proper orthogonal decomposition (SPOD) is used to extract energy spectra and energy ranked empirical modes for both symmetric and antisymmetric components of the fluctuating flow field. The spectrum of the symmetric component shows overall higher energy and more pronounced low-rank behaviour compared with the antisymmetric one. The most dominant symmetric mode features periodic vortex shedding in the near wake, and wave-like structures with constant streamwise wavenumber in the far wake. The mode bispectrum further reveals the dominant role of self-interaction of the symmetric component, leading to first harmonic and subharmonic triads of the fundamental frequency, with remarkable deformation of the mean field. Then, the stability of the three-dimensional wake flow is analysed based on two-dimensional local linear stability analysis combined with a non-parallelism approximation approach. Temporal stability analysis is first performed for both the near-wake and the far-wake regions, showing a more unstable condition in the near-wake region. The absolute frequency of the near-wake eigenmode is determined based on spatio-temporal analysis, then tracked along the streamwise direction to find out the global mode growth rate and frequency, which indicate a marginally stable global mode oscillating at a frequency very close to the most dominant SPOD mode. The global mode wavemaker is then located, and the structural sensitivity is calculated based on the direct and adjoint modes derived from a local spatial analysis, with the maximum value localized within the recirculation region close to the train tail. Finally, the global mode shape is computed by tracking the most spatially unstable eigenmode in the far wake, and the alignment with the SPOD mode is computed as a function of streamwise location. By combining data-driven and theoretical approaches, the mechanisms of coherent structures in complex wake flows are well identified and isolated.

The social-sexual environment is well known for its influence on the survival of organisms by modulating their reproductive output. However, whether it affects survival indirectly through a variety of cues without physical contact and its influence relative to direct interaction remain largely unknown. In this study, we investigated both the indirect and direct influences of the social-sexual environment on the survival and reproduction of the mite Tyrophagus curvipenis (Acari: Acaridae). The results demonstrated no apparent influence of conspecific cues on the survival of mites, but the survival and reproduction of mated female mites significantly changed, with the females mated with males having a significantly shortened lifespan and increased lifetime fecundity. For males, no significant difference was observed across treatments in their survival and lifespan. These findings indicate that direct interaction with the opposite sex has a much more profound influence on mites than indirect interaction and highlight the urgent need to expand research on how conspecific cues modulate the performance of organisms with more species to clarify their impacts across taxa.

Age of first exposure (AoFE) is an important factor that influences the quality of L2 acquisition. This study aims to investigate the AoFE effect on the contextual learning of L2 novel words at the neural level, as measured by the N400 component from event-related potentials (ERPs). Eighty-eight participants were recruited for the experiment of L2 pseudoword learning, which includes a learning session and a testing session. The participants’ EEG data were recorded from the testing session, and the N400 effect was derived from target words that were either congruous or incongruous with the context. The linear mixed model and multiple regression model revealed a positive AoFE effect on the N400 effect in discourses that were designed for testing retrieval of episodic and semantic memory even after accounting for the variance contributed by several confounding factors. In addition to AoFE, the effects of total L2 exposure, L2 proficiency and personality on the L2 novel word learning performance indicated by the N400 effect were also confirmed in the statistical results.

The aim of this experiment was to investigate the differential proteomic characteristics of milk from high- and low-yielding Guanzhong dairy goats during the peak lactation period under the same feeding conditions. Nine Guanzhong dairy goats with high yield (H: 3.5 ± 0.17 kg/d) and nine with low yield (L:1.2 ± 0.25 kg/d) were selected for milk proteomic analysis using tandem mass tag technology. A total of 78 differentially expressed proteins were identified. Compared with L, 50 proteins including HK3, HSPB1 and ANXA2 were significantly upregulated in H milk, while 28 proteins including LALBA and XDH were significantly downregulated. Bioinformatics analysis of the differentially expressed proteins showed that galactose metabolism, purine metabolism, glycolysis/gluconeogenesis, MAPK signaling pathway, regulation of actin cytoskeleton and other pathways were closely related to milk yield. HK3, HSPB1, ANXA2, LALBA and XDH were important candidate proteins associated with the milk production characteristics of Guanzhong dairy goats. Our data provide relevant biomarkers and a theoretical basis for improving milk production in Guanzhong dairy goats.

Vitrification has been widely used for oocyte cryopreservation, but there is still a need for optimization to improve clinical outcomes. In this study, we compared the routine droplet merge protocol with modified multi-gradient equilibration vitrification for cryopreservation of mouse oocytes at metaphase II. Subsequently, the oocytes were thawed and subjected to intracytoplasmic sperm injection (ICSI). Oocyte survival and spindle status were evaluated by morphology and immunofluorescence staining. Moreover, the fertilization rates and blastocyst development were examined in vitro. The results showed that multi-gradient equilibration vitrification outperformed droplet merge vitrification in terms of oocyte survival, spindle morphology, blastocyst formation, and embryo quality. In contrast, droplet merge vitrification exhibited decreasing survival rates, a reduced proportion of oocytes with normal spindle morphology, and lower blastocyst rates as the number of loaded oocytes increased. Notably, when more than six oocytes were loaded, reduced oocyte survival rates, abnormal oocyte spindle morphology, and poor embryo quality were observed. These findings highlight that the vitrification of mouse metaphase II oocytes by the modified multi-gradient equilibration vitrification has the advantage of maintaining oocyte survival, spindle morphology, and subsequent embryonic development.

The relationship between magmatism and gold mineralization has been a topic of interest in understanding the formation of ore deposits. The Baizhangzi gold deposit, located in the northern margin of the North China Craton, is hosted by the Baizhangzi granite (BZG) and provides a case to evaluate the relation between granite and gold mineralization in Late Triassic. In this study, we present petrography, bulk geochemistry, zircon U-Pb isotope and trace elements data, as well as major elements of biotite and plagioclase for the BZG to evaluate the petrogenesis and link with gold mineralization. The BZG comprises biotite monzogranite, biotite-bearing monzogranite and monzogranite (BZGs). Zircon U-Pb geochronology shows that all the granitoids of BZGs were coeval with a formation age of 232 Ma. The granitoids, with high SiO2, Al2O3 and Sr, while low Y and Yb, show adakitic affinity. They are enriched in LILFs (e.g., Rb, Ba, Th, U and Sr) and LREEs, while depletion in HFSEs (e.g., Nb, Ta, P and Ti). The geochemical and mineral chemical data suggest that the granitoids have experienced the fractional crystallization of biotite + plagioclase + K- feldspar + apatite. Crystallization temperature is estimated as ca. 700°C, and pressure is between 0.71 kbar and 1.60 kbar. The monzogranite shows higher values of logfO2, △FMQ and △NNO than the biotite-bearing monzogranite, ranging from −19.76 to −11.71, −4.93 to +3.67 and −5.48 to +3.11, respectively. The fractional crystallization, together with high fO2, K-metasomatism and low evolution degree, provided favourable conditions for gold mineralization.

The resurgence and outbreaks of mumps occur frequently in many countries worldwide in recent years, even in countries with high vaccination coverage. In this study, a descriptive and spatiotemporal clustering analysis at the township level was conducted to explore the dynamic spatiotemporal aggregation and epidemiological characteristics of mumps in Wuhan. During 2005 and 2019, there were 40 685 cases reported in Wuhan, with an average annual morbidity of 28.11 per 100 000 populations. The morbidity showed a fluctuating tendency, and peaked in 2010 and 2018. Bimodal seasonality was found, with a large peak between May and July, and a mild peak from November to January in the following year. Male students aged 5–9-year-old were the main risk group of mumps infection. Significant global spatial auto-correlation was detected except in 2007, 2009 and 2015. The spatial and temporal scan statistics indicated that the hot-spots mainly located at the western and southern areas of Wuhan with variations almost every year. Our findings could assist the public health authorities to develop and improve targeted health strategies, and allocate health resources rationally.

A novel low-profile two-arm backfire tapered cone helical antenna for telemetry tracking and command (TT&C) is introduced theoretically and experimentally in this paper. Compared with the conventional helical antenna, this design has a substantial decrease in its height and an increase both in its half power beamwidth (HPBW) and 3-dB axial ratio beamwidth by replacing the uniform structure with two tapered cone structures. It provides a maximum gain of 5.1 dBi, an excellent circular polarization radiation over a wide angular range of more than 124°, a 3-dB axial ratio bandwidth of 18.8%, a wide HPBW of more than 125°, and nearly equal E- and H- plane far-field patterns with high degree of axial symmetry over S-band (2–2.3 GHz). These excellent radiation characteristics with an endurable and compact structure make it an attractive candidate for TT&C application in microsatellite system, where the installation envelope and space for antenna are extremely limited.

In this work, theoretical modelling, quasi-three-dimensional (quasi-3D) simulations and micromodel experiments are conducted to study spontaneous imbibition with gravity in porous media micromodels. By establishing the force balance governing the spontaneous imbibition process, we develop a theoretical model for predicting the imbibition length against time in a rectangular capillary. The theoretical model is then extended to the prediction of a compact displacement process in a micromodel by using an equivalent width, which is derived by analogising the micromodel to a rectangular capillary. By simulating spontaneous imbibition in a rectangular capillary with various aspect ratios ($\varepsilon$), we show that the application condition of the quasi-3D method is $\varepsilon \leqslant 1/3$. Next, we simulate spontaneous imbibition in micromodels with various geometries and flow conditions. Fingering and compact displacement are identified for varying viscosity ratios and gravitational accelerations. At low (high) viscosity ratio of wetting to non-wetting fluids, an upward (downward) gravity can promote the stability of the wetting front, favouring the transition from fingering to compact displacement. In addition, we find that the depth-oriented interface curvature dominates the capillary effect during the imbibition, and such a mechanism is considered by introducing an equivalent contact angle into the theoretical model. With the help of equivalent width and contact angle, the theoretical model is shown to provide satisfactory prediction of the compact displacement process. Finally, a micromodel experiment is presented to further verify the developed theoretical model and the quasi-3D simulation.

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.

The southern Great Xing’an Range (SGXR), located in the eastern segment of the Central Asian Orogenic Belt (CAOB), is one of the most economically important Cu–Mo–Fe–Sn–Pb–Zn–Ag metallogenic provinces in China. The newly discovered Panjiaduan Cu–Pb–Zn deposit (9.3 Mt; at 1.36% Cu, 2.90% Pb, 3.80% Zn and 38.12 g/t Ag), located in the SE segment of the SGXR, is primarily hosted in fracture zones in volcanic rocks and granodiorite of the Manitu Formation. Four paragenetic stages of metallic mineralization are identified: (I) quartz-pyrite-arsenopyrite; (II) quartz-polymetallic sulphide; (III) quartz-galena-sphalerite-argentite; and (IV) quartz-calcite-minor sulphide. The hydrothermal quartz contains three types of primary fluid inclusion (FIs): vapour-rich two-phase liquid-vapour (LV-type), liquid-rich two-phase liquid-vapour (VL-type) and three-phase liquid-vapour-solid FIs (SL-type). Stages I and II contain all types with homogenization temperatures (Th) of 324–386 °C and 276–334 °C as well as salinities of 0.7–38.0 wt% and 0.9–34.7 wt%, respectively, whereas stage III is composed of VL- and LV-type FIs with Th of 210–269 °C and salinities of 0.5–7.2 wt%. Only VL-type FIs occur in stage IV, with Th of 139–185 °C and salinities of 1.6–4.2 wt%. The δ18OH2O and δD values vary from −15.7 to 2.6‰ and −132.7 to −110.2‰, respectively, indicating predominant meteoric water with an initial magmatic source. The He–Ar isotopic compositions of the pyrite inclusions from the Panjiaduan Cu–Pb–Zn veins suggest that fluids were derived from the crust.

The subduction model of the Neo-Tethys during the Early Cretaceous has always been a controversial topic, and the scarcity of Early Cretaceous magmatic rocks in the southern part of the Gangdese batholith is the main cause of this debate. To address this issue, this article presents new zircon U–Pb chronology, zircon Hf isotope, whole-rock geochemistry and Sr–Nd isotope data for the Early Cretaceous quartz diorite dykes with adakite affinity in Liuqiong, Gongga. Zircon U–Pb dating of three samples yielded ages of c. 141–137 Ma, indicating that the Liuqiong quartz diorite was emplaced in the Early Cretaceous. The whole-rock geochemical analysis shows that the Liuqiong quartz diorite is enriched in large-ion lithophile elements (LILEs) and light rare-earth elements (LREEs) and is depleted in high-field-strength elements (HFSEs), which are related to slab subduction. Additionally, the Liuqiong quartz diorite has high SiO2, Al2O3 and Sr contents, high Sr/Y ratios and low heavy rare-earth element (HREE) and Y contents, which are compatible with typical adakite signatures. The initial 87Sr/86Sr values of the Liuqiong adakite range from 0.705617 to 0.705853, and the whole-rock ϵNd(t) values vary between +5.78 and +6.24. The zircon ϵHf(t) values vary from +11.5 to +16.4. Our results show that the Liuqiong adakite magma was derived from partial melting of the Neo-Tethyan oceanic plate (mid-ocean ridge basalt (MORB) + sediment + fluid), with some degree of subsequent peridotite interaction within the overlying mantle wedge. Combining regional data, we favour the interpretation that the Neo-Tethyan oceanic crust was subducted at a low angle beneath the Gangdese during the Early Cretaceous.

Due to the lack of research between the inner layers in the structure of colonic mucous and the metabolism of fatty acid in the constipation model, we aim to determine the changes in the mucous phenotype of the colonic glycocalyx and the microbial community structure following treatment with Rhubarb extract in our research. The constipation and treatment models are generated using adult male C57BL/6N mice. We perform light microscopy and transmission electron microscopy (TEM) to detect a Muc2-rich inner mucus layer attached to mice colon under different conditions. In addition, 16S rDNA sequencing is performed to examine the intestinal flora. According to TEM images, we demonstrate that Rhubarb can promote mucin secretion and find direct evidence of dendritic structure-linked mucus structures with its assembly into a lamellar network in a pore size distribution in the isolated colon section. Moreover, the diversity of intestinal flora has noticeable changes in constipated mice. The present study characterizes a dendritic structure and persistent cross-links have significant changes accompanied by the alteration of intestinal flora in feces in models of constipation and pretreatment with Rhubarb extract.

The effects of chordwise deformation and the half-amplitude asymmetry on the hydrodynamic performance and vortex dynamics of batoid fish have been numerically investigated, in which the two parameters were represented by the wavenumber ($W$) and the ratio of the half-amplitude above the longitudinal axis to that below ($HAR$). Fin kinematics were prescribed based on biological data. Simulations were conducted using the immersed boundary method. It was found that moderate chordwise deformation enhances the thrust, saves the power and increases the efficiency. A large $HAR$ can also increase thrust performance. By using the derivative-moment transformation theory at several subdomains to capture the local vortical structures and a force decomposition, it was shown that, at high Strouhal numbers ($St$), the tip vortex is the main source of thrust, whereas the leading-edge vortex (LEV) and trailing-edge vortex weaken the thrust generation. However, at lower $St$, the LEV would enhance the thrust. The least deformation ($W=0$) leads to the largest effective angle of attack, and thus the strongest vortices. However, moderate deformation ($W=0.4$) has an optimal balance between the performance enhancement and the opposite effect of different local structures. The performance enhancement of $HAR$ was also due to the increase of the vortical contributions. This work provides a new insight into the role of vortices and the force enhancement mechanism in aquatic swimming.

Vertex-primitive self-complementary graphs were proved to be affine or in product action by Guralnick et al. [‘On orbital partitions and exceptionality of primitive permutation groups’, Trans. Amer. Math. Soc.356 (2004), 4857–4872]. The product action type is known in some sense. In this paper, we provide a generic construction for the affine case and several families of new self-complementary Cayley graphs are constructed.

A new mineral species of the pyrochlore supergroup, hydroxyplumbopyrochlore (IMA2018-145), (Pb1.5,□0.5)Nb2O6(OH), has been discovered in the Jabal Sayid peralkaline granitic complex of the Arabian Shield, Saudi Arabia. It is associated with quartz, microcline, ‘biotite’, rutile, zircon, calcite, rhodochrosite, columbite-(Fe), goethite, thorite, bastnäsite-(Ce), xenotime-(Y), samarskite-(Y), euxenite-(Y), hydropyrochlore and fluornatropyrochlore. Hydroxyplumbopyrochlore usually shows euhedral octahedra, slightly rhombic dodecahedra and cubes or their combination (0.01–0.06 mm). The mineral is pale yellow to pale brown, transparent with white streak, and has adamantine to transparent lustre. It is brittle with conchoidal fracture. No cleavage or parting are observed. It is isotropic and non-fluorescent. The average microhardness is 463.4 kg mm–2. The calculated density is 6.474 g cm–3.

Hydroxyplumbopyrochlore belongs to the cubic crystal system and exhibits the space group Fd$\bar{3}$m with unit-cell parameters a = 10.5456(6) Å, V = 1172.8(2) Å3 and Z = 8. Electron microprobe analysis gave (6-point average composition, wt.%): CaO 0.32, SrO 0.16, FeO 0.17, Ce2O3 0.07, Pr2O3 0.02, PbO 51.69, Nb2O5 40.06, SiO2 0.05, TiO2 1.68, Ta2O5 4.74, H2Ocalc 0.95, total 99.90, yielding the empirical formula (Pb1.34Ca0.03Fe0.01Sr0.01□0.61)Σ2(Nb1.75Ti0.12Ta0.12Si0.01)Σ2O6(OH0.53O0.08□0.39)Σ1, where □ = vacancy. The Raman spectrum of hydroxyplumbopyrochlore contains the characteristic bands of O–H vibrations and no bands for H2O vibrations.