To address the issues of low positioning accuracy and weak robustness of prior visual simultaneous localization and mapping (VSLAM) systems in dynamic environments, a semantic VSLAM (Sem-VSLAM) approach based on deep learning is proposed in this article. The proposed Sem-VSLAM algorithm adds semantic segmentation threads in parallel based on the open-source ORB-SLAM2’s visual odometry. First, while extracting the ORB features from an RGB-D image, the frame image is semantically segmented, and the segmented results are detected and repaired. Then, the feature points of dynamic objects are eliminated by using semantic information and motion consistency detection, and the poses are estimated by using the remaining feature points after the dynamic feature elimination. Finally, a 3D point cloud map is constructed by using tracking information and semantic information. The experiment uses Technical University of Munich public data to show the usefulness of the Sem-VSLAM algorithm. The experimental results show that the Sem-VSLAM algorithm can reduce the absolute trajectory error and relative attitude error of attitude estimation by about 95% compared to the ORB-SLAM2 algorithm and by about 14% compared to the VO-YOLOv5s in a highly dynamic environment and the average time consumption of tracking each frame image reaches 61 ms. It is verified that the Sem-VSLAM algorithm effectively improves the robustness and positioning accuracy in high dynamic environment and owning a satisfying real-time performance. Therefore, the Sem-VSLAM has a better mapping effect in a highly dynamic environment.

The assessment of seed quality and physiological potential is essential in seed production and crop breeding. In the process of rapid detection of seed viability using tetrazolium (TZ) staining, it is necessary to spend a lot of labour and material resources to explore the pretreatment and staining methods of hard and solid seeds with physical barriers. This study explores the TZ staining methods of six hard seeds (Tilia miqueliana, Tilia henryana, Sassafras tzumu, Prunus subhirtella, Prunus sibirica, and Juglans mandshurica) and summarizes the TZ staining conditions required for hard seeds by combining the difference in fat content between seeds and the kinship between species, thus providing a rapid viability test method for the protection of germplasm resources of endangered plants and the optimization of seed bank construction. The TZ staining of six species of hard seeds requires a staining temperature above 35 °C and a TZ solution concentration higher than 1%. Endospermic seeds require shorter staining times than exalbuminous seeds. The higher the fat content of the seeds, the lower the required incubation temperature and TZ concentration for staining, and the longer the staining time. And the closer the relationship between the two species, the more similar their staining conditions become. The TZ staining method of similar species can be predicted according to the genetic distance between the phylogenetic trees, and the viability of new species can be detected quickly.

Adsorption desulfurization is a potential new method for deep desulfurization of fuel oil. The development of adsorbents with high adsorption capacity and selectivity is the core of deep adsorption desulfurization. The adsorption behavior of thiophene in MCM-41 mesoporous materials modified by various metal ions was studied in order to understand the adsorption desulfurization process of molecular sieves. The Fe-, Co-, and Zn-modified MCM-41 materials were prepared using a one-step in situ hydrothermal synthesis method. The modified MCM-41 molecular sieves maintained the mesoporous structure, and the metal ions had specific dispersion on the surface of the molecular sieves. Adsorption of thiophene on the surfaces of molecular sieves had both physical and chemical characteristics. The adsorption desulfurization performance of the modified molecular sieve was superior to that of the pure silica molecular sieve. In the simulated gasoline with sulfur content of 220 μg/g, when the amount of adsorbent used was 100 mg, the adsorptive desulfurization performance tended to be in equilibrium, and the optimum adsorption temperature was 30°C. Fe-MCM-41 and MCM-41 molecular sieves reached adsorption equilibrium after ~60 min, but the desulfurization rate of Co-MCM-41 and Zn-MCM-41 still increased slightly. The kinetic simulation results indicated that the pseudo-second-order kinetics adsorption model described well the adsorption process of thiophene on molecular sieves. The molecular sieve Fe-MCM-41 had the best desulfurization performance with an equilibrium adsorption capacity of 14.02 mg/g and the desulfurization rate was ~90%.

LongYan kaolin has a large Fe content which affects the coloring. Bioleaching treatments to remove Fe impurities were conducted here using indigenous dissimilatory Fe(III)-reducing bacteria. The factors that affect bioleaching efficiency include bioleaching time, carbon source, pH, temperature, pulp density, and inoculum density and these were examined. Environmental scanning electron microscopy and X-ray diffraction were used to examine any textural or mineralogical changes at the surface of the kaolin that may have occurred during the bioleaching. Iron impurities in the kaolin were reduced from 0.88% to 0.48% with an increase in the natural whiteness index from 60.8% to 81.5% after 7 days of bioleaching treatment. A granulometric analysis of dispersed kaolin demonstrated that the bioleaching resulted in a decrease in particle size. The results demonstrated that the bioleaching was very effective at improving the quality of the kaolin, where insoluble Fe(III), either adsorbed to the kaolin surfaces or admixed as amorphous forms, was leached out by micro-organisms as water-soluble Fe(II).

The laser-driven flyer plate is an important loading technology in high energy physics, shock wave physics, and explosive initiation application. How to generate a high-velocity and intact flyer plate by using the laser is a matter of concern for laser driving. In this study, the multilayer flyer plates (MFPs) of Al/Al2O3/Al and TiO2/Al/Al2O3/Al with adjustable performance were designed and fabricated by magnetron sputtering and analyzed by scanning electron microscopy (SEM), laser reflectance spectrometer, and differential thermal analysis (DTA). The effects of the structure and material on the output performance of MFPs were analyzed by photon Doppler velocimetry (PDV) and ultrahigh-speed video. The morphology results showed that the structure of MFPs had uniform and clear boundaries between side-by-side layers. The MFP velocity was controlled in the range of 4.0–6.0 km/s by adjusting the film thickness, structure, and thermite material with 43.1 J/cm2 laser ablation. Among them, the energetic flyers with the thermite ablation layer had the highest final velocity of 5.38 km/s due to the prestored energy of TiO2/Al. By appropriately increasing the thickness of Al2O3 from 0.4 μm to 0.8 μm, the complete flight of the flyer plate to 3.72 mm can be realized. In addition, TiO2/Al thermite film had characteristics of reaction heat release and lower laser reflectivity (72.13%) than the Al layer (80.55%), which explained the velocity enhancement effect of energetic flyer plates. This work provides facile strategy to enhance the output performance of MFPs, which may facilitate the practical applications of laser driving technology.

Femtosecond laser ablation is widely applied in high-precision machining of microholes in aeroengine turbine blades. To further explore the mechanism of action during the laser processing of microholes, numerical simulations were performed on the basis of a molecular dynamics (MD) method coupled with a two-temperature model (TTM). Laser irradiation on the surface of copper for different femtosecond-laser processing parameters is investigated in this work. Through the femtosecond-laser single-pulse central ablation simulation model, the laser energy flux density in a Gaussian laser spot range was discretized and analyzed to calculate the ablation depth at multiple points separately. The cross-sectional morphology of the femtosecond-laser single-pulse ablation pits was approximated and fitted. Finally, a 3D simulation model of the whole process of multiscale femtosecond-laser spiral processing microholes was established by superimposing multipulse femtosecond-laser spiral trajectories. This provides a theoretical basis for analyzing the evolution of geometric parameters and morphological characteristics of the hole during machining with specific laser and process parameters.

Product graphics interchange formats (GIFs) employ this format to show the features of the product and make up for the lack of physical experience online. These GIFs have been widely applied in domains such as e-shopping and social media, aiming to interest and impress viewers. Contrary to this wide application, most designers in this domain lack expertise and produce GIFs of varied quality. Moreover, the knowledge of techniques to enhance viewers’ engagement with product GIFs is also lacking. To bridge the gap, we conducted a series of studies. First, we collected and summarized seven design factors referring to existing literature and semi-structured interviews. Then, the impacts of these design factors were revealed through an online study with 106 product GIFs among 307 participants. The results showed that visual-related factors such as color contrast and moving intensity mainly impact viewers’ interest, while content-related factors such as scenario and style matching impact viewers’ impressions. The simplicity of GIFs also impressed viewers with a quick viewing mode. Finally, we conducted a workshop and verified that these results support large-scale production of product GIFs. Our studies might support the codesign methods of product GIFs and enhance their quality in design practice.

This study presents novel findings on stochastic electron heating via a random electron cyclotron wave (ECW) in a spherical tokamak. Hard x ray measurements demonstrate the time evolution of hard x ray counts at different energy bands, consistent with predictions from the stochastic heating model. The ECW heating rate shows a positive correlation with applied power, confirming the effectiveness of stochastic heating. Remarkably, the ECW-driven plasma current remains insensitive to ECW incidence angle, consistent with model predictions. The observed stochastic heating of electrons offers potential for exploring innovative non-inductive current drive modes in spherical tokamaks. This research contributes to the understanding of plasma behaviour and motivates the development of new models for non-inductive current drive in fusion devices.

In the Three Gorges and adjacent areas, there are three planation surfaces and five terraces along the Yangtze River that record the evolution history of the river system. Here, we used diagnostic heavy minerals, U-Pb geochronology, and trace elements of detrital zircons from one planation surface, two terraces, and a modern point bar to reconstruct the evolution history of the upper Yangtze River, specifically the Chuan River in the Sichuan Basin. The sediments in the lowest planation surface had different felsic source rocks derived from east of the Three Gorges, which indicated that before the disintegration of the lowest planation surface (0.75 Ma), there were two paleorivers: the westward-flowing paleo-Chuan River and eastward-flowing paleo-Yangtze River separated by the Huangling Dome. At 0.75–0.73 Ma, the dominant detrital zircons from the Sichuan Basin in the sediments of terrace T5 (the highest terrace) confirmed that the paleo-Yangtze River cut through the Three Gorges and captured the paleo-Chuan River, and the Daliang Mountains became the new drainage divide. Finally, the appearance of materials from the upper Jinsha River in terrace T2 indicated that the paleo-Yangtze River progressively captured the paleo-Jinsha River, and the modern upper Yangtze River formed before 0.05 Ma. These river capture events of the upper Yangtze River confirmed the Quaternary uplift of the SE Tibetan Plateau.

High-Mg andesites (HMAs) are crucial for the reconstruction of plate tectonics, continental margin formation and lithospheric evolution. In this study, we present new fossil age, whole-rock geochemical and Sr–Nd isotope data on the newly discovered Dundunshan Group HMAs in the Dundunshan area of the Beishan orogen (central-southern Central Asian Orogenic Belt). The Dundunshan HMA samples are characterized by high MgO (6.47–7.02 wt%) contents and high Mg# values (67.27–68.77), with SiO2 (58.57–62.13 wt%), Al2O3 (14.49–16.07 wt%) and CaO (5.05–6.24 wt%) resembling typical HMAs. The Dundunshan HMA samples are calc-alkaline and strongly enriched in light rare earth elements (LREEs) and large-ion lithophile elements (LILEs), with slightly negative Eu anomaly and high-field-strength element (HFSE) depletions. Their (87Sr/86Sr)i ratios (0.7041–0.7057) and ϵNd(t) (3.73–5.59) indicate that the Dundunshan HMAs were mainly formed by the interactions between subducted oceanic sediment-derived melts and mantle peridotites. Fossil evidence and published radiometric age data constrain the formation of the Dundunshan HMAs to early Late Devonian time. Sedimentological features of the Middle Devonian Sangejing Formation and regional tectonic correlation suggest that the Hongliuhe–Niujuanzi–Xichangjing Ocean in the Dundunshan area was likely closed during late Middle Devonian time, and that the Dundunshan HMAs were formed in a post-collision extensional setting.

Crematogaster rogenhoferi (Hymenoptera: Formicidae), an omnivorous ant, is one of the dominant predatory natural enemies of a soft scale pest, Parasaissetia nigra Nietner (Homoptera: Coccidae), and can effectively control P. nigra populations in rubber forests. Olfaction plays a vital role in the process of predation. However, the information about the molecular mechanism of olfaction-evoked behaviour in C. rogenhoferi is limited. In this study, we conducted antennal transcriptome analysis to identify candidate olfactory genes. We obtained 53,892 unigenes, 16,185 of which were annotated. Based on annotations, we identified 49 unigenes related to chemoreception, including four odourant-binding proteins, three chemosensory proteins, 37 odourant receptors, two odourant ionotropic receptors and three sensory neuron membrane proteins. This is the first report on the molecular basis of the chemosensory system of C. rogenhoferi. The findings provide a basis for elucidating the molecular mechanisms of the olfactory-related behaviours of C. rogenhoferi, which would facilitate a better application of C. rogenhoferi as a biological control agent.

This study aimed to evaluate to what extent the different interval times between trophectoderm (TE) biopsy and vitrification influence the clinical outcomes in preimplantation genetic testing (PGT) cycles. Patients who underwent frozen embryo transfer (FET) after PGT between 2015 and 2019 were recruited. In total, 297 cycles with single day 5 euploid blastocyst transfer were included. These cycles were divided into three groups according to the interval times: <1 h group, 1–2 h group, and ≥2 h group. Blastocyst survival, clinical pregnancy, miscarriage, and ongoing pregnancy rates were compared. The results showed that, in PGT-SR cycles, survival rate in the ≥2 h group (96.72%) was significantly lower than in the <1 h group (100%, P = 0.047). The clinical pregnancy rate in the ≥2 h group was 55.93%, significantly lower than in the <1 h group (74.26%, P = 0.017). The ongoing pregnancy rates in the 1–2 h group and the ≥2 h group were 48.28% and 47.46%, respectively, significantly lower than that in the <1 h group (67.33%, P < 0.05). The miscarriage rate in the 1–2 h group was 18.42%, significantly higher than that in the <1 h group (5.33%, P = 0.027). In PGT-A cycles, the clinical pregnancy and ongoing pregnancy rates in the <1 h group were 67.44% and 53.49%, respectively, higher than that in the 1–2 h group (52.94%, 47.06%, P > 0.05) and the ≥2 h group (52.63%, 36.84%, P > 0.05). In conclusion, vitrification of blastocysts beyond 1 h after biopsy significantly influences embryo survival and clinical outcomes and is therefore not recommended.

In a high-level radioactive waste repository, bentonite may react with the alkaline solution produced by cement degradation. In this study, bentonite was mixed with alkaline solution in a closed system and reacted for 3–24 months. Furthermore, swelling tests were conducted on the alkaline-dissolved bentonite immersed in distilled water. The swelling deformation decreased significantly with increases in the concentration of NaOH solution and reaction time, and this was mainly due to montmorillonite dissolution. The fractal e–p relationship (e is the void ratio and p is the vertical pressure) with two calculation coefficients (the swelling coefficient and the fractal dimension) was employed to determine the swelling of alkaline-dissolved bentonite. The fractal dimension increased slightly with increasing reaction time or concentration of NaOH solution, as the dissolution traces caused by the alkaline solution favoured an increase in the irregularity and fractality of the bentonite surface. The swelling coefficient decreased linearly with decreasing montmorillonite content. In addition, the swelling coefficient and the fractal dimension were related exponentially to the reaction time in alkaline solution. A relationship between the swelling of alkaline-dissolved samples and the reaction time was proposed, which might be used to assess the swelling properties of bentonite barriers that would be affected by long-term dissolution of the alkaline solution in a closed repository.

This study examines the relationship between filial piety (adult children's filial behaviours and attitudes as well as elderly mothers’ overall evaluation of children's filial piety) and elderly mothers’ reports of intergenerational ambivalence (positive feelings, negative feelings and combined ambivalence) in rural China. We analysed the data from a survey in 2016 covering 2,203 adult children and 802 elderly mothers in Sichuan Province using a two-level mixed-effects modelling analysis. The results indicate that most components of filial piety are associated with mothers’ ambivalence, in that less ambivalence was reported by mothers when their adult children provided more emotional support to, had less conflict with and were evaluated as more filial by their mothers. Interestingly, mothers demonstrated greater positive feelings when their children were more filial in behaviour and attitude, but they also reported greater negative feelings and ambivalence when their children were more obedient, implying that absolute obedience to elderly parents might no longer be accepted by people. These findings may provide further understanding about the correlation between the culture of filial piety and intergenerational relationships in rural China.

Swelling deformation tests of Kunigel bentonite and its sand mixtures were performed in distilled water and NaCl solution. The salinity of NaCl solution has a significant impact on the swelling properties of bentonite, but not on its surface structure. The surface structure was characterized using the fractal dimension Ds. Based on the fractal dimension, a unique curve of the em–pe relationship (em is the void ratio of montmorillonite and pe is the effective stress) at full saturation was introduced to express the swelling deformation of bentonite–sand mixtures. In mixtures with a large bentonite content, the swelling deformation always followed the em–pe relationship. In mixtures with a small bentonite content, when the effective stress reached a threshold, the void ratio of montmorillonite em deviated from the unique em–pe curve due to the appearance of a sand skeleton. The threshold of vertical pressure for mixtures in different solutions and the maximum swelling strains were estimated using the em–pe relationship. The good agreement between estimates and experimental data suggest that the em–pe relationship might be an alternative method for predicting the swelling deformation of bentonite–sand mixtures in salt solution.

The output performances of a bidirectional ring amplifier with twin pulses are demonstrated. Compared to the extraction efficiency of 32% for single-pulse injection, the extraction efficiency of stored energy for twin-pulse injection with bidirectional propagation is increased to 60%. The maximum output energies of the twin pulses are 347 mJ and 351 mJ, and the output energy of a single pulse is only 373 mJ under the same amplifier operating conditions. The experimental results show that the bidirectional ring amplifier with twin pulses can achieve a higher extraction efficiency of stored energy at a lower operating fluence, and has potential applications in high-power and high-energy laser facilities.