In confined multi-obstacle environments, generating feasible paths for continuum robots is challenging due to the need to avoid obstacles while considering the kinematic limitations of the robot. This paper deals with the path-planning algorithm for continuum robots in confined multi-obstacle environments to prevent their over-deformation. By modifying the tree expansion process of the Rapidly-exploring Random Tree Star (RRT*) algorithm, a path-planning algorithm called the continuum-RRT* algorithm herein is proposed to achieve fewer iterations and faster convergence as well as generating desired paths that adhere to the kinematic limitations of the continuum robots. Then path planning and path tracking are implemented on a tendon-driven four-section continuum robot to validate the effectiveness of the path-planning algorithm. The path-planning results show that the path generated by the algorithm indeed has fewer transitions, and the path generated by the algorithm is closer to the optimal path that satisfies the kinematic limitations of the continuum robot. Furthermore, path-tracking experiments validate the successful navigation of the continuum robot along the algorithm-generated path, exhibiting an error range of 2.51%–3.91%. This attests to the effectiveness of the proposed algorithm in meeting the navigation requirements of continuum robots.

The elimination of Pb2+ and recovery of lead metal during the treatment of industrial sewage is an important research topic. Montmorillonite (Mnt) is a promising material in this regard. The purpose of the present study was to improve the Pb2+ adsorption ability of Na-containing Mnt (Na-Mnt) by pillaring titania (anatase) into its interlayer spaces using a sol-gel method. The samples were characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), and transmission electron microscopy (TEM). The ratio of Ti to Mnt affected the crystal phase of titania-pillared Na-Mnt (Ti-Mnt), and changed the interlayer spacing of the (001) plane of Ti-Mnt and the growth of anatase. The Pb2+-adsorption capabilities of Ti-Mnt were tested using an aqueous solution of lead nitrate as a wastewater model. The Ti-Mnt prepared adsorbed >99.99% of the Pb2+; leached and activated Ti-Mnt adsorbed >95.7% of the Pb2+, indicating that Ti-Mnt could be recycled effectively. Furthermore, the Pb2+-adsorption capability of Ti- Mnt was related to the interlayer spacing of Mnt, the distribution of anatase particles pillared in Mnt, and the specific surface area, especially with respect to the relationship between the anatase particles and the interlayer spacing of the (001) plane.

The Tian Shan mountain range, known as the water towers of Central Asia, plays a key role in local water supply, yet large uncertainties remain about the amount of water that is stored in its glaciers. In this study, we assess the impact of the boundary conditions on ice thickness estimates using two inversion models: a mass conservation (MC) model and a basal shear stress (BS) model. We compare the widely used Randolph Glacier Inventory version 6 with the updated Glacier Area Mapping for Discharge from the Asian Mountains glacier inventory, as well as two digital elevation models (SRTM DEM and Copernicus DEM). The results show that the ice volume (in ~2000 CE) in the Tian Shan range is 661.0 ± 163.5 km3 for the MC model and 552.8 ± 85.3 km3 for the BS model. There are strong regional differences due to inventory, especially for glaciers in China (17–25%). However, the effect of different DEM sources on ice volume estimation is limited. By the end of the 21st century, the projected mass loss differences between inventories are higher than between adjacent emission scenarios, illustrating the vital importance of high-quality inventories. These differences should be carefully considered during water resource planning.

OBJECTIVES/GOALS: Early clinical case reports have described incidental epileptiform changes during electrophysiological monitoring. The objective of this study was to perform a systematic review of all existing investigations of epileptiform activity during sevoflurane use in pediatric anesthesia. The heterogenous EEG data will be analyzed in a meta analysis METHODS/STUDY POPULATION: A targeted, PICO-based clinical question was crafted and registered a priori on PROSPERO on 3/19/21. Under the guidance of a librarian from the Albert Einstein College of Medicine, a boolean search string was generated to search articles and gray literature for terms such as pediatric, sevoflurane and electroencephalogram in PubMed, OVID, Cochrane, Google Scholar, etc. We utilized the software platform tool COVIDENCE to manage our review. 495 references were imported for initial screening. 56 English-language, full-text studies were included for further review. The final 13 references were included in data extraction and Newcastle-Ottawa bias assessment. The characteristics of the studies and their primary outcomes were collected in tabular form. Strategies for data synthesis were discussed weekly. RESULTS/ANTICIPATED RESULTS: Epileptiform changes reported in the literature during pediatric sevoflurane anesthesia ranged from 0 - 95%. EEG data were acquired using a variety of recording systems with variable number of leads and heterogeneous outcomes reported. The periods of anesthesia monitoring were also heterogeneous. Characteristics of the studies are presented in Table 1. 495 references were imported for screening with 13 final references for data extraction. EEG abnormalities were reported in 204/649 (31.4%) subjects ranging in age from neonate to 18 years; the majority of studies utilized less than 16 channels of (10/13, 76.9%) (Table 1). There was variability in sevoflurane dosing, premedication (e.g., midzolam, hydroxyzine), and periods of anesthesia monitored. DISCUSSION/SIGNIFICANCE: There was heterogeneity noted across reviewed literature including study design, phases of anesthesia, ventilation methods, number of EEG leads recorded and adjuvant anesthetics administered. Nevertheless, this review rigorously classified epileptiform activity during Sevoflurane thereby influencing modern anesthesia.

This study aimed to investigate the environmental contamination of nucleic acid at 2019 novel coronavirus (2019-nCOV) vaccination site and to evaluate the effect of improvement to the vaccination process. Nucleic acid samples were collected from the surface of the objects in 2019-nCOV vaccination point A (used between 15 November 2020 and 25 December 2020) and point B (used after 27 December 2020) in a comprehensive tertiary hospital. Samples were collected from point A before improvement to the vaccination process, and from point B (B1 and B2) after improvement to the vaccination process. The real-time fluorescence polymerase chain reaction method was used for detection. The positive rate of vaccination room was 47.06% (24/51) at point A. No positive result was found in point B1 both at working hours (0/27) and after terminal disinfection (0/27). In point B2, the positive results were found in vaccine's outer packaging and staff gloves at working hours, with a positive rate of 7.41% (2/27). The positive rate was 0 (0/27) after terminal disinfection in point B2. The nucleic acid contamination in the vaccination room of 2019-nCOV vaccine nucleic acid sampling point is serious, which can be avoided through the improvement and intervention (such as personal protection, vaccination operation and disinfection methods).

Temperature is one of the main factors affecting insect growth, development and reproduction. The effects of temperatures (10, 15, 20, 25 and 30°C) on the development and reproduction of Cinara cedri Mimeur (Hemiptera: Aphidoidea: Lachnidae) fed on Cedrus deodara (Roxb.) G. Don were evaluated in this study. With the increase of temperature from 10 to 30°C, the development duration at different development stages gradually shortened. There was a significant positive correlation between the developmental rates and temperature, following a quadratic regression model. The lower developmental threshold temperature (C) and effective accumulated temperatures (K) for completing a generation were 4.13°C and 263.4 degree-days, respectively. The highest fecundity was observed at 20°C with 25.74 first-instar nymphs/female. Both the highest intrinsic rate of increase (r, 0.11 ± 0.03) and net reproduction rate (R0, 19.06 ± 2.05) were observed at 20°C, whereas the lowest values of r (0.05 ± 0.01) at 10°C and R0 (5.78 ± 0.88) at 30°C were observed. The results suggest that temperature significantly affects the biology of C. cedri and the optimal temperature for its development is 20°C.

The study aimed to investigate behavioural intentions to receive free and self-paid COVID-19 vaccinations (BICV-F and BICV-SP) among Chinese university students if the vaccine was 80% effective with rare mild side effects, to examine their associations with social media exposures and peer discussions regarding COVID-19 vaccination, and to explore the mediational role of perceived information sufficiency about COVID-19 vaccination. An online anonymous survey (N = 6922) was conducted in November 2020 in five Chinese provinces. Logistic regression and path analysis were adopted. The prevalence of BICV-F and BICV-SP were 78.1% and 57.7%. BICV-F was positively associated with the frequencies of passive social media exposure (adjusted odds ratio (AOR) = 1.32, P < 0.001), active social media interaction (AOR = 1.13, P < 0.001) and peer discussions (AOR = 1.17, P < 0.001). Indirect effects of the three factors on BICV-F via perceived information sufficiency were all significant (P < 0.001). The direct effect of active social media interaction on BICV-F was significantly negative (P < 0.001). Similar associations/mediations were observed for BICV-SP. The COVID-19 vaccination intention of Chinese university students needs improvement. Boosting social media exposures and peer discussions may raise students' perceived information sufficiency and subsequently increase their vaccination intention. Considering the potential negative effect of active social media interaction, caution is needed when using social media to promote COVID-19 vaccination.

Soil moisture is a key factor affecting vegetation growth and survival in arid and semi-arid regions. Knowledge of deep soil moisture dynamics is very important for guiding vegetation restoration and for improving land management practices on the water-limited Loess Plateau. Temporal changes and vertical variations in deep soil moisture (at soil depths of 0–600cm) combined with soil moisture availability were monitored in situ under Caragana korshinskii shrubs of different ages (named CK-10a, CK-20a and CK-35a) in the Loess hilly region during the growing season of 2013. The soil moisture content (SMC) under C. korshinskii shrubs of different ages was highly consistent with the seasonal precipitation variations and generally decreased as follows: CK-10a>CK-20a>abandoned land>CK-35a. The SMC varied greatly over time during the growing season (P<0.01), decreasing from April to May and then slowly increasing with some fluctuation from June to October. The SMC drastically decreased with depth from 0–300cm and then gradually increased with some fluctuation from 300–600cm. A critical turning point and transition zone connecting the shallow and deep soil moisture occurred at 200–300cm. Therefore, the soil profile was divided into active, secondary active and relatively steady soil layers in terms of soil moisture. The SMC fluctuated at depths of 0–100cm and 300–400cm and was relatively stable in the deeper soil layers. The amount of available soil moisture gradually decreased as the forest stand age increased, especially at CK-35a, where most of the soil moisture was unavailable for plant use. In addition, our study indicates that a large-scale restoration strategy with pure shrubland or woodland may not be suitable for soil moisture recovery in arid environments.

In this work, corrosion-resistant fluoridated Ca–Mg–P composite coatings were prepared on magnesium alloys via a hydrothermal assisted sol–gel process. All these coatings derived from Coating Sols with different F− concentrations are composed of fluoridated hydroxyapatite, magnesium hydroxide, and dittmarite. When F− concentration of Coating Sol is 0.03 M, the coating exhibited uniform and dense surface, and its thickness reached 32 μm, thus possessing a high charge transfer resistance of 312 ± 12.69 kΩ cm2 in simulated body fluid (SBF). Immersion test in SBF showed that this coating could quickly induce the formation of the mineralized layer, implying relatively high bioactivity. After 49 days of immersion, the original composite coating and newly formed mineralized layer reached 60 μm in thickness, providing effective long-term protection for magnesium alloys. These attractive results indicate that this fluoridated Ca–Mg–P composite coating is a promising protective coating on biodegradable magnesium and magnesium alloy implants for orthopaedic applications.

This Research Communication describes the polymorphisms in the coding region of DGAT1 gene in Riverine buffalo, Swamp buffalo and crossbred buffalo, and associations between polymorphisms and milk production performance in Riverine buffalo. Two polymorphisms of DGAT1were identified, located in exon 13 and exon 17, respectively. The distribution of the genotypes of the two SNP loci in different buffalo population varied, especially the polymorphism located in exon 13 which was not found in the Swamp buffalo. Moreover, SNP located in exon 17 was a nonsynonymous switch resulting in the animo acid sequence changed from an arginine (Arg) to a histidine (His) at position 484. Both SNPs were in Hardy–Weinberg equilibrium, and the polymorphism of g.8330T>C in the exon 13 was significantly associated with peak milk yield, total milk yield and protein percentage. The C variant was associated with an increase in milk yield and peak yield but less in protein percentage compared with the T variant. The polymorphisms of g.9046T>C in exon 17 were significantly associated with fat percentage, in that the buffaloes with TT genotype had a significantly higher fat percentage than those with CC genotype. These findings reveal the difference in the genetic evolution of the DGAT1 between Riverine buffalo and Swamp buffalo, and provide evidence that the DGAT1 gene has potential effects for Riverine buffalo milk production traits, which can be used as a candidate gene for marker-assisted selection in buffalo breeding.

For straw incorporation, three crucial factors affect the soil microbial community and various enzyme activities: straw length, amount and burial depth. To analyse the individual and interactive effects of these three factors on the soil microbial community and various enzyme activities, 23 treatments with five levels of the three variables (straw length, amount and burial depth) were applied in a quadratic orthogonal rotation combination design. A comprehensive indicator was constructed that could represent soil microbial functional diversity and enzyme activity by determining the weights of measured indicators and using Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS). The results indicated that the soil microbiological indicators have a higher criteria weight than soil enzyme activity indicators. The final weight orders of indicators were as follows: Shannon–Weaver > invertase > Shannon evenness > urease > catalase > McIntosh index > Simpson diversity > phosphatase. The soil comprehensive values constructed by the TOPSIS method are reliable. The optimal combination for the improvement of soil microbial functional diversity and enzyme activity was a straw length of 13–24 cm, burial depth of 10–17 cm and straw amount of 370–650 g/m2.

A comparison of microstructure, mechanical properties and fracture behavior of Mg–9Gd–3Y–xZn–0.5Zr (x = 0, 0.2, 0.5, 1.0, and 1.5) (wt%) alloys under different thermal treatment conditions was investigated in this study. The results showed that the as-cast alloys were comprised of Mg matrix, eutectic compounds and cuboid-shaped phases. The eutectics were Mg24(Gd, Y)5 in the alloys of Zn content ≤0.2 wt%, while (Mg, Zn)3RE in the other three alloys. Fine lamellar long period stacking ordered structure formed inside of matrix of the as-cast Zn-containing alloys and its quantity increases with raising Zn content. Mg12(Gd, Y)Zn was observed at grain boundary of Mg matrix after solution treatment in the alloys of Zn content ≥0.5 wt%. Peak-aged Mg–9Gd–3Y–0.5Zn–0.5Zr alloy exhibited a desirable combination of strength and elongation with 244 MPa in yield strength, 371 MPa in ultimate tensile strength and 3.8% in EL. Meanwhile, the fracture behavior of the studied alloys was also investigated.

This Research Communication describes the association between genetic variation within the prolactin (PRL) gene and the milk production traits of Italian Mediterranean river buffalo (Bufala mediterranea Italiana). High resolution melting (HRM) techniques were developed for genotyping 465 buffaloes. The association of genetic polymorphism with milk production traits was performed and subsequently the effects of parity and calving season were evaluated. Single nucleotide polymorphisms (SNPs) were identified at exons 2 and 5 and at introns 1 and 2. All the SNPs were in Hardy–Weinberg equilibrium, and statistical analysis showed that the polymorphism of intron1 was significantly (P < 0·05) associated with milk yield, milk protein content and peak milk yield. The average contribution of the intron1 genotype (r2intron1) to total phenotypic variance in milk production traits was 0·09, and the TT genotype showed lower values than CC and CT genotypes. A nonsynonymous SNP was identified in exon 2, which resulted in an amino acid change from arginine to cysteine. Moreover, the polymorphism of exon 2 was associated significantly with milk fat content (P < 0·05), and the buffaloes with TT genotype showed higher total fat content than the buffaloes with CT genotype. These findings provide evidence that polymorphisms of the buffalo PRL gene are associated with milk production traits and PRL can be used as a candidate gene for marker-assisted selection in Italian Mediterranean river buffalo breeding.

The novel Three-dimensional rambutan-like NiCo2O4 microspheres have been successfully coated onto surface of carbon nanofibers (CNFs) to form NiCo2O4–CNFs hybrids. The composition and microstructure of NiCo2O4–CNFs were characterized by the field-emission scanning electronmicroscopy, x-ray photoelectron spectroscopy, transmission electron microscopy, and x-ray diffractometer. The obtained NiCo2O4–CNFs exhibited a specific capacity of 160 mAh/g at 1 mA/cm2 in 2 M potassium hydroxide aqueous solution. The specific capacity gradually increases with the increasing of cycles; and after 3000 cycles, the specific capacity still can be remained over 90%.

In this present study, the influence of different casting processes on high cycle fatigue behavior of Mg–10Gd–3Y–0.5Zr magnesium alloy was investigated by using porosity-free low-pressure sand-casting (LPS) bars and gravity permanent mold casting (GPM) ingots. The results show that the fatigue properties of both LPS and GPM Mg–10Gd–3Y–0.5Zr alloy in as-cast condition are determined by Mg matrix and eutectic phase. However, the fatigue property improvement for LPS alloy by T6 heat treatment is significantly superior to that of GPM alloy. The different degree of enhancement of fatigue properties for two conditions of the alloy is related to different crack initiation mechanism. The fatigue crack of the LPS alloy initiates from the free surface of the sample, while the crack of the GPM alloy initiates from porosities or inclusions near the surface of the sample. Meanwhile, the crack of slip band has a crucial effect on the fatigue crack initiation of both as-cast and T6 conditions for LPS alloy.

In this paper, hierarchical nanostructures of BiOBr/AgBr on electrospun carbon nanofibers (CNFs) were prepared by combination of electrospinning and carbonization. Compared with the smooth surface of CNFs, the rough surface with hierarchical nanostructures of BiOBr/AgBr can be obtained by adding the certain amount of BiOBr/AgBr precursors into the spinning solution. The as-prepared composite CNFs exhibited highly photocatalytic activities for degradation of rhodamine-B and reduction of p-nitrophenol under the visible-light irradiation and at room temperature. Furthermore, the as-prepared composite CNFs showed the favor separation, recovery, and cyclic utilization properties.

The effect of 0.5 wt% Mn addition on the microstructure and mechanical properties of cast Al–2Li–2Cu–0.8Mg–0.4Zn–0.2Zr (wt%) alloy was investigated. Results showed that the grain size of Mn-containing alloy was smaller than that of Mn-free alloy in both the as-cast and solution treated state. Al20Mn3Cu2 dispersoids were formed during solution treatment in the Mn-containing alloy. After aging at 175 °C for 32 h, a large volume fraction of coherent Al3Li/Al3(Li, Zr) particles were precipitated in both Mn-free and Mn-containing alloys, while more Guinier–Preston–Bagaratsky zones were observed in the Mn-free alloy. Mn addition improved the elongation significantly, which was 1.7% for Mn-free alloy and 3.3% for the alloy with 0.5 wt% Mn addition.

In this work, we developed a convenient way to immobilize silver nanoparticles on the aminated polyacrylonitrile (PAN) nanofibrous mats by combing the electrospinning technology from complex-containing polymer solution, amination of PAN nanofibrous and electroless plating technique. The resultant composite nanaofibrous mats had been characterized by scanning electron microscopy, energy-dispersive spectrometer, transmission electron microscopy, X-ray diffraction, and Fourier transform infrared spectra analysis. The catalytic activity and stability of these resultant composite nanofibrous mats for the catalytic reactions, including reduction of 4-nitrophenol to form 4-aminophenol, and selective oxidation of benzyl alcohol, were investigated. The resultant nanofibrous mats exhibited high-efficiency, convenient separation, recovery, and cyclic utilization properties.

The microstructures, high-temperature mechanical properties, and fracture behavior of Mg–Gd–Y–Zr alloy components produced by low-pressure sand casting with different Gd and Zr contents, have been investigated. The ultimate tensile strength (UTS), tensile yield strength, and total elongation (EL) were measured within the 25–300 °C range. At the same temperatures, the UTS and yield strength (YS) of the T6 treated Mg–xGd–3Y–0.5Zr alloys increased with Gd content increasing from 9 to 11%, which was attributed to the improvement of precipitation strengthening. Increasing the Zr content from 0.3 to 0.5% leads to dramatic decrease in grain size and improved tensile properties of T6 treated Mg–10Gd–3Y–yZr alloys which is considered to be due to grain-boundary strengthening. With the increase of tensile temperature, both UTS and YS of the T6 treated Mg–xGd–3Y–yZr alloys initially increase and then decrease. The β′ precipitates provide important strengthening sources in experimental alloys, especially at elevated temperatures. The Mg–10Gd–3Y–0.5Zr alloy shows good combination of strength and EL within the 25–300 °C range.