Aiming at the problems of poor coordination effect and low positioning accuracy of unmanned aerial vehicle (UAV) formation cooperative navigation in complex environments, an adaptive time-varying factor graph framework UAV formation cooperative navigation algorithm is proposed. The proposed algorithm uses the factor graph to describe the relationship between the navigation state of the UAV fleet and its own measurement information as well as the relative navigation information, and detects the relative navigation information at each moment by the double-threshold detection method to update the factor graph model at the current moment. And the robust estimation is combined with the factor graph, and the weight function measurements are used in the construction of the factor nodes for adaptive adjustment to make the system highly robust. The simulation results show that the proposed method realises the effective fusion of airborne multi-source sensing information and relative navigation information, which effectively improves the UAV formation cooperative navigation accuracy.

Multinomial processing tree models assume that an observed behavior category can arise from one or more processing sequences represented as branches in a tree. These models form a subclass of parametric, multinomial models, and they provide a substantively motivated alternative to loglinear models. We consider the usual case where branch probabilities are products of nonnegative integer powers in the parameters, 0≤θs≤1, and their complements, 1 - θs. A version of the EM algorithm is constructed that has very strong properties. First, the E-step and the M-step are both analytic and computationally easy; therefore, a fast PC program can be constructed for obtaining MLEs for large numbers of parameters. Second, a closed form expression for the observed Fisher information matrix is obtained for the entire class. Third, it is proved that the algorithm necessarily converges to a local maximum, and this is a stronger result than for the exponential family as a whole. Fourth, we show how the algorithm can handle quite general hypothesis tests concerning restrictions on the model parameters. Fifth, we extend the algorithm to handle the Read and Cressie power divergence family of goodness-of-fit statistics. The paper includes an example to illustrate some of these results.

While active back-support exoskeletons can reduce mechanical loading of the spine, current designs include only one pair of actuated hip joints combined with a rigid structure between the pelvis and trunk attachments, restricting lumbar flexion and consequently intended lifting behavior. This study presents a novel active exoskeleton including actuated lumbar and hip joints as well as subject-specific exoskeleton control based on a real-time active low-back moment estimation. We evaluated the effect of exoskeleton support with different lumbar-to-hip (L/H) support ratios on spine loading, lumbar kinematics, and back muscle electromyography (EMG). Eight healthy males lifted 15 kg loads using three techniques without exoskeleton (NOEXO) and with exoskeleton: minimal impedance mode (MINIMP), L/H support ratio in line with a typical L/H net moment ratio (R0.8), lower (R0.5) and higher (R2.0) L/H support ratio than R0.8, and a mechanically fixed lumbar joint (LF; simulating hip joint-only exoskeleton designs).

EMG-driven musculoskeletal model results indicated that R0.8 and R0.5 yielded significant reductions in spinal loading (4–11%, p < .004) across techniques when compared to MINIMP, through reducing active moments (14–30%) while not affecting lumbar flexion and passive moments. R2.0 and LF significantly reduced spinal loading (8–17%, p < .001; 22–26%, p < .001, respectively), however significantly restricted lumbar flexion (3–18%, 24–27%, respectively) and the associated passive moments.

An L/H support ratio in line with a typical L/H net moment ratio reduces spinal loading, while allowing normal lifting behavior. High L/H support ratios (e.g., in hip joint-only exoskeleton designs) yield reductions in spinal loading, however, restrict lifting behavior, typically perceived as hindrance.

To investigate the flame acceleration to detonation in 2.0 and 0.5 mm planar glass combustion chambers, the experiments have been conducted utilising ethylene/oxygen mixtures at atmospheric pressure and temperature. The high-speed camera has been used to record the revolution of flame front and pressure inside the combustion chamber. Different equivalence ratios and ignition locations have been considered in the experiments. The results show that the detonation pressure in the 2 mm thick chamber is nearly three times of Chapman-Jouguet pressure, while detonation pressure in the 0.5 mm thick chamber is only 45.7% of the Chapman-Jouguet value at the stoichiometric mixture. This phenomenon is attributed to the larger pressure loss in the thinner chamber during the detonation propagation. As the value of equivalence ratio is 2.2, the detonation cannot be produced in the 2 mm thick chamber, while the detonation can be generated successfully in the 0.5 mm thick chamber. This phenomenon indicates that the deflagration is easily to be accelerated and transformed into the detonation, due to a larger wall friction and reflection. Besides, the micro-obstacle has been added into the combustor can shorten the detonation transition time and reduces the distance of the detonation transition.

The axisymmetric nozzle mechanism is the core part for thrust vectoring of aero engine, which contains complex rigid-flexible coupled multibody system with joints clearance and significantly reduces the efficiency in modeling and calculation, therefore the kinematics and dynamics analysis of axisymmetric vectoring nozzle mechanism based on deep neural network is proposed. The deep neural network model of the axisymmetric vector nozzle is established according to the limited training data from the physical dynamic model and then used to predict the kinematics and dynamics response of the axisymmetric vector nozzle. This study analyses the effects of joint clearance on the kinematics and dynamics of the axisymmetric vector nozzle mechanism by a data-driven model. It is found that the angular acceleration of the expanding blade and the driving force are mostly affected by joint clearance followed by the angle, angular velocity and position of the expanding blade. Larger joint clearance results in more pronounced fluctuations of the dynamic response of the mechanism, which is due to the greater relative velocity and contact force between the bushing and the pin. Since axisymmetric vector nozzles are highly complex nonlinear systems, traditional numerical methods of dynamics are extremely time-consuming. Our work indicates that the data-driven approach greatly reduces the computational cost while maintaining accuracy, and can be used for rapid evaluation and iterative computation of complex multibody dynamics of engine nozzle mechanism.

Enhanced dietary Ca intake linearly increases intestinal Ca absorption in pigs, but not in broilers, suggesting potential differences in whole body Ca homeostasis. To determine the role of kidney in Ca homeostasis in these species, we varied in growing pigs in experiment (Exp) 1, the dietary Ca content 2·0 v. 9·6 g/kg and phytase 0 v. 500 FTU/kg, in broilers, in Exp 2 the dietary Ca/retainable P from 1·3 to 2·8 and phytase 0 v. 1000 FTU/kg, and in Exp 3 dietary Ca/P from 0·50 to 1·75. Increasing dietary Ca reduced renal mRNA expression of Ca-related transporters (TRPV5, TRPV6, CaBP-D28k and NCX1) and tight junctions (CLDN-12 and −16) in pigs, indicating Ca reabsorption was reduced to maintain Ca homeostasis. In broilers (Exp 2), high dietary Ca increased renal TRPV6, CaBP-D28k and CLDN-2 mRNA, indicating an increased capacity for Ca reabsorption. Moreover, the effect of dietary Ca was enhanced by inclusion of dietary phytase in pigs but reduced in broilers. Furthermore, increasing dietary Ca upregulated inorganic phosphate transporter 1 (PiT-1), while phytase downregulated xenotropic and polytropic retrovirus receptor 1 (XPR1) mRNA expression in pigs; in broilers, dietary Ca downregulated renal mRNA expression of Na-dependent phosphate transporter IIa (NaPi-IIa), PiT-1, PiT-2 and XPR1, while phytase downregulated NaPi-IIa but upregulated PiT-2 and XPR1 mRNA expression. In Exp 3, Ca/P effect on transporter mRNA expression was largely consistent with Exp 2. In conclusion of this study, together with previously measured data about Ca and P homeostasis, in pigs the kidneys play a more regulatory role in Ca homeostasis than in broilers where the intestine is more important for regulation.

We first sequenced and characterised the complete mitochondrial genome of Toxocara apodeme, then studied the evolutionary relationship of the species within Toxocaridae. The complete mitochondrial genome was amplified using PCR with 14 specific primers. The mitogenome length was 14303 bp in size, including 12 PCGs (encoding 3,423 amino acids), 22 tRNAs, 2 rRNAs, and 2 NCRs, with 68.38% A+T contents. The mt genomes of T. apodemi had relatively compact structures with 11 intergenic spacers and 5 overlaps. Comparative analyses of the nucleotide sequences of complete mt genomes showed that T. apodemi had higher identities with T. canis than other congeners. A sliding window analysis of 12 PCGs among 5 Toxocara species indicated that nad4 had the highest sequence divergence, and cox1 was the least variable gene. Relative synonymous codon usage showed that UUG, ACU, CCU, CGU, and UCU most frequently occurred in the complete genomes of T. apodemi. The Ka/Ks ratio showed that all Toxocara mt genes were subject to purification selection. The largest genetic distance between T. apodemi and the other 4 congeneric species was found in nad2, and the smallest was found in cox2. Phylogenetic analyses based on the concatenated amino acid sequences of 12 PCGs demonstrated that T. apodemi formed a distinct branch and was always a sister taxon to other congeneric species. The present study determined the complete mt genome sequences of T. apodemi, which provide novel genetic markers for further studies of the taxonomy, population genetics, and systematics of the Toxocaridae nematodes.

Echinococcosis poses a significant threat to public health. The Chinese government has implemented prevention and control measures to mitigate the impact of the disease. By analyzing data from the Chinese Center for Disease Control and Prevention and the State Council of the People’s Republic of China, we found that implementation of these measures has reduced the infection rate by nearly 50% between 2004 to 2022 (from 0.3975 to 0.1944 per 100,000 person-years). Nonetheless, some regions still bear a significant disease burden, and lack of detailed information limites further evaluation of the effects on both alveolar and cystic echinococcosis. Our analysis supports the continuing implementation of these measures and suggests that enhanced wildlife management, case-based strategies, and surveillance systems will facilitate disease control.

The laboratory generation and diagnosis of uniform near-critical-density (NCD) plasmas play critical roles in various studies and applications, such as fusion science, high energy density physics, astrophysics as well as relativistic electron beam generation. Here we successfully generated the quasistatic NCD plasma sample by heating a low-density tri-cellulose acetate (TCA) foam with the high-power-laser-driven hohlraum radiation. The temperature of the hohlraum is determined to be 20 eV by analyzing the spectra obtained with the transmission grating spectrometer. The single-order diffraction grating was employed to eliminate the high-order disturbance. The temperature of the heated foam is determined to be T = 16.8 ± 1.1 eV by analyzing the high-resolution spectra obtained with a flat-field grating spectrometer. The electron density of the heated foam is about $N_e=4.0\pm 0.3\times {10}^{20}{\text{cm}}^{-3}$ under the reasonable assumption of constant mass density.

In preparation for an experiment with a laser-generated intense proton beam at the Laser Fusion Research Center at Mianyang to investigate the 11B(p,α)2α reaction, we performed a measurement at very low proton energy between 140 keV and 172 keV using the high-voltage platform at the Institute of Modern Physics, Lanzhou. The aim of the experiment was to test the ability to use CR-39 track detectors for cross-section measurements and to remeasure the cross-section of this reaction close to the first resonance using the thick target approach. We obtained the cross-section σ = 45.6 ± 12.5 mb near 156 keV. Our result confirms the feasibility of CR-39 type track detector for nuclear reaction measurement also in low-energy regions.

The proton-boron (p 11 B) reaction is regarded as the holy grail of advanced fusion fuels, where the primary reaction produces 3 energetic α particles. However, due to the high nuclear bounding energy and bremsstrahlung energy losses, energy gain from the p 11 B fusion is hard to achieve in thermal fusion conditions. Owing to advances in intense laser technology, the p11 B fusion has drawn renewed attention by using an intense laser-accelerated proton beam to impact a boron-11 target. As one of the most influential works in this field, Labaune et al. first experimentally found that states of boron (solid or plasma) play an important role in the yield of α particles. This exciting experimental finding rouses an attempt to measure the nuclear fusion cross section in a plasma environment. However, up to now, there is still no quantitative explanation. Based on large-scale, fully kinetic computer simulations, the inner physical mechanism of yield increment is uncovered, and a quantitative explanation is given. Our results indicate the yield increment is attributed to the reduced energy loss of the protons under the synergetic influences of degeneracy effects and collective electromagnetic effects. Our work may serve as a reference for not only analyzing or improving further experiments of the p 11 B fusion but also investigating other beam-plasma systems, such as ion-driven inertial confinement fusions.

The control of a wing-in-ground craft (WIG) usually allows for many needs, like cruising, speed, survival and stealth. Various degrees of emphasis on these requirements result in different trajectories, but there has not been a way of integrating and quantifying them yet. Moreover, most previous studies on other vehicles’ multi-objective trajectory is planned globally, lacking for local planning. For the multi-objective trajectory planning of WIGs, this paper proposes a multi-objective function in a polynomial form, in which each item represents an independent requirement and is adjusted by a linear or exponential weight. It uses the magnitude of weights to demonstrate how much attention is paid relatively to the corresponding demand. Trajectories of a virtual WIG model above the wave trough terrain are planned using reward shaping based on the introduced multi-objective function and deep reinforcement learning (DRL). Two conditions are considered globally and locally: a single scheme of weights is assigned to the whole environment, and two different schemes of weights are assigned to the two parts of the environment. Effectiveness of the multi-object reward function is analysed from the local and global perspectives. The reward function provides WIGs with a universal framework for adjusting the magnitude of weights, to meet different degrees of requirements on cruising, speed, stealth and survival, and helps WIGs guide an expected trajectory in engineering.

In the present study, we investigated the influence of different mid-stage N compensation timings on agronomic and physiological traits associated with grain yield and quality in field experiments. Two japonica rice cultivars with a good tasting quality (Nangeng 9108 and Nangeng 5055) were examined under eight N compensation timings (N1–N6: one-time N compensation at 7-2 weeks before heading; N7: split N compensation at 5 and 3 weeks before heading; N8: split N compensation at 4 and 2 weeks before heading) and a control with no N compensation. The highest yield was obtained with N7, followed by N3. The yield advantage is mainly attributable to the improved population structure (higher productive tiller rate with a stable number of effective panicles), higher total number of spikelets per unit area (large panicles with more grains per panicle), larger leaf area index in the late period and higher photosynthetic production capacity (more dry matter accumulation and transportation in the middle and late periods). Delaying N compensation timing improved the processing and nutritional quality of rice, but decreased the quality of appearance and cooking/eating traits. Our results suggest that, from the perspective of achieving relative coordination between high yield and high quality of japonica rice, the optimal N compensation should be divided equally at 5 and 3 weeks before heading. However, if simplifying the number of operations and the pursuit of eating quality were considered, one-time N compensation should be conducted at 5 weeks before heading.

Planting patterns have significant effects on rice growth. Nonetheless, little is known about differences in annual crop yield and resource utilization among mechanized rice planting patterns in a rice–wheat cropping system. Field experiments were conducted from 2014 to 2017 using three treatments: pot seedling transplanting for rice and row sowing for wheat (PST-RS), carpet seedling transplanting for rice and row sowing for wheat (CST-RS) and row sowing for both crops (RS-RS). The results showed that, compared with RS-RS, PST-RS and CST-RS prolonged annual crop growth duration by 25–26 and 13–15 days, increased effective accumulated temperature by 399 and 212°C days and increased cumulative solar radiation by 454 and 228 MJ/m2 because of the earlier sowing of rice by 28 and 16 days in PST-RS and CST-RS, respectively. Compared with RS-RS, the annual crop yield of PST-RS and CST-RS increased by 3.1–3.8 and 2.0–2.6 t/ha, respectively, because of the increase in the number of spikelets/kernels per hectare, aboveground biomass, mean leaf area index and grain–leaf ratio. In addition, temperature production efficiency, solar radiation production efficiency and solar radiation use efficiency were higher in PST-RS, followed by CST-RS and RS-RS. These results suggest that mechanized rice planting patterns such as PST-RS increase annual crop production in rice–wheat cropping systems by increasing yield and solar energy utilization.

Expression levels of genes (RT-qPCR) related to Ca and P homeostasis (transporters and claudins (CLDN)) were determined in porcine jejunal and colonic mucosa. Forty growing pigs (BW 30·4 (sem 1·3) kg) received a low and high Ca content (2·0 and 9·6 g/kg, respectively) diet with or without microbial phytase (500 FTU/kg) for 21 d. Dietary Ca intake enhanced serum Ca and alkaline phosphatase concentration and reduced P, 1,25(OH)2D3, and parathyroid hormone concentration. Jejunal transient receptor potential vanilloid 5 (TRPV5) mRNA expression was decreased (32%) with phytase inclusion only, while colonic TRPV5 mRNA was reduced by dietary Ca (34%) and phytase (44%). Both jejunal and colonic TRPV6 mRNA expression was reduced (30%) with microbial phytase. Calbindin-D9k mRNA expression was lower in colonic but not jejunal mucosa with high dietary Ca (59%) and microbial phytase (37%). None of the mRNAs encoding the Na–P cotransporters (NaPi-IIc, PiT-1, PiT-2) were affected. Jejunal, but not colonic expression of the phosphate transporter XPR1, was slightly downregulated with dietary Ca. Dietary Ca downregulated colonic CLDN-4 (20%) and CLDN-10 (40%) expression while CLDN-7 was reduced by phytase inclusion in pigs fed low dietary Ca. Expression of colonic CLDN-12 tended to be increased by phytase. In jejunal mucosa, dietary Ca increased CLDN-2 expression (48%) and decreased CLDN-10 (49%) expression, while phytase slightly upregulated CLDN-12 expression. In conclusion, compared with a Ca-deficient phytase-free diet, high dietary Ca and phytase intake in pigs downregulate jejunal and colonic genes related to transcellular Ca absorption and upregulate Ca pore-forming claudins.

In centrifugal compressors, the identification of flow instability signals from experiments is a difficult problem owing to the nonlinear and non-stationary characteristics. Otherwise, the complicated asymmetric structure of the volute brings a huge challenge to the evolution and circumferential nonuniformity characteristics of the flow instabilities. This paper presents experimental and numerical investigations on internal flow field to understand the flow instability characteristics in a centrifugal compressor. Considering nonlinear and non-stationary signals, a method based on Fourier-transform and variational mode decomposition was introduced to analyse the flow instability characteristics. The Fourier spectrum results show that at 0.21kg/s of 80krpm, the pressure signal has a noticeable high-frequency fluctuation, which indicates that the compressor enters the flow instability state. The variational mode decomposition results show that before a surge, the compressor experiences different flow instability stages: the RI stage, the coexistence stage of RI and stall, and the stall stage. Moreover, obvious circumferential nonuniformity characteristics of flow instabilities were observed during the throttling process. RI first occurred at the 180° circumferential position and then the stall first appeared in the circumferential range of 60° to 240°. The simulation results that it is because that the asymmetric volute causes the adverse pressure gradient inside the impeller passage and a high-pressure region (120°–240°) at the upstream of the impeller inlet. Under this combined action of the two, the effect region of tip leakage vortex expands the upstream of the impeller inlet. Meanwhile, the tip leakage vortex core migrates to a lower span of blades. This study demonstrates the ability to analyse nonlinear and non-stationary signals from a centrifugal compressor via variational mode decomposition, and provides a useful guidance for the identification of flow instability signals.