The selection of random sampling points is crucial for the path quality generated by probabilistic roadmap (PRM) algorithm. Increasing the number of sampling points can enhance path quality. However, it may also lead to extended convergence time and reduced computational efficiency. Therefore, an improved probabilistic roadmap algorithm (TL-PRM) is proposed based on topological discrimination and lazy collision. TL-PRM algorithm first generates a circular grid area among start and goal points. Then, it constructs topological nodes. Subsequently, elliptical sampling areas are created between each pair of adjacent topological nodes. Random sampling points are generated within these areas. These sampling points are interconnected using a layer connection strategy. An initial path is generated using a delayed collision strategy. The path is then adjusted by modifying the nodes on the convex outer edges to avoid obstacles. Finally, a reconnection strategy is employed to optimize the path. This reduces the number of path waypoints. In dynamic environments, TL-PRM algorithm employs pose adjustment strategies for semi-static and dynamic obstacles. It can use either the same or opposite pose adjustments to avoid dynamic obstacles. Experimental results indicate that TL-PRM algorithm reduces the average number of generated sampling points by 70.9% and average computation time by 62.1% compared with PRM* and PRM-Astar algorithms. In winding and narrow passage maps, TL-PRM algorithm significantly decreases the number of sampling points and shortens convergence time. In dynamic environments, the algorithm can adjust its pose orientation in real time. This allows it to safely reach the goal point. TL-PRM algorithm provides an effective solution for reducing the generation of sampling points in PRM algorithm.

This study presents a novel investigation into the vortex dynamics of flow around a near-wall rectangular cylinder based on direct numerical simulation at $Re=1000$, marking the first in-depth exploration of these phenomena. By varying aspect ratios ($L/D = 5$, $10$, $15$) and gap ratios ($G/D = 0.1$, $0.3$, $0.9$), the study reveals the vortex dynamics influenced by the near-wall effect, considering the incoming laminar boundary layer flow. Both $L/D$ and $G/D$ significantly influence vortex dynamics, leading to behaviours not observed in previous bluff body flows. As $G/D$ increases, the streamwise scale of the upper leading edge (ULE) recirculation grows, delaying flow reattachment. At smaller $G/D$, lower leading edge (LLE) recirculation is suppressed, with upper Kelvin–Helmholtz vortices merging to form the ULE vortex, followed by instability, differing from conventional flow dynamics. Larger $G/D$ promotes the formation of an LLE shear layer. An intriguing finding at $L/D = 5$ and $G/D = 0.1$ is the backward flow of fluid from the downstream region to the upper side of the cylinder. At $G/D = 0.3$, double-trailing-edge vortices emerge for larger $L/D$, with two distinct flow behaviours associated with two interactions between gap flow and wall recirculation. These interactions lead to different multiple flow separations. For $G/D = 0.9$, the secondary vortex (SV) from the plate wall induces the formation of a tertiary vortex from the lower side of the cylinder. Double-SVs are observed at $L/D = 5$. Frequency locking is observed in most cases, but is suppressed at $L/D = 10$ and $G/D = 0.9$, where competing shedding modes lead to two distinct evolutions of the SV.

Although active flow control based on deep reinforcement learning (DRL) has been demonstrated extensively in numerical environments, practical implementation of real-time DRL control in experiments remains challenging, largely because of the critical time requirement imposed on data acquisition and neural-network computation. In this study, a high-speed field-programmable gate array (FPGA) -based experimental DRL (FeDRL) control framework is developed, capable of achieving a control frequency of 1–10 kHz, two orders higher than that of the existing CPU-based framework (10 Hz). The feasibility of the FeDRL framework is tested in a rather challenging case of supersonic backward-facing step flow at Mach 2, with an array of plasma synthetic jets and a hot-wire acting as the actuator and sensor, respectively. The closed-loop control law is represented by a radial basis function network and optimised by a classical value-based algorithm (i.e. deep Q-network). Results show that, with only ten seconds of training, the agent is able to find a satisfying control law that increases the mixing in the shear layer by 21.2 %. Such a high training efficiency has never been reported in previous experiments (typical time cost: hours).

Using National Healthcare Safety Network data, an interrupted time series of intravenous antimicrobial starts (IVAS) among hemodialysis patients was performed. Annual adjusted rates decreased by 6.64% (January 2012–March 2020) and then further decreased by 8.91% until December 2021. IVAS incidence trends have decreased since 2012, including during the early COVID-19 pandemic.

This paper provides an overview of the current status of ultrafast and ultra-intense lasers with peak powers exceeding 100 TW and examines the research activities in high-energy-density physics within China. Currently, 10 high-intensity lasers with powers over 100 TW are operational, and about 10 additional lasers are being constructed at various institutes and universities. These facilities operate either independently or are combined with one another, thereby offering substantial support for both Chinese and international research and development efforts in high-energy-density physics.

Target tracking technology is a key research area in the field of mobile robots, with wide applications in logistics, security, autonomous driving, and more. It generally involves two main components: target recognition and target following. However, the limited computational power of the mobile robot’s controller makes achieving high precision and fast target recognition and tracking a challenge. To address the challenges posed by limited computing power, this paper proposes a target-tracking control algorithm based on lightweight neural networks. First, a depthwise separable convolution-based backbone is introduced for feature extraction. Then, an efficient channel attention module is incorporated into the target recognition algorithm to minimize the impact of redundant features and emphasize important channels, thereby reducing model complexity and enhancing network efficiency. Finally, based on the data collected from visual and ultrasonic sensors, a model predictive control strategy is used to achieve target tracking. Validation of the proposed algorithm is conducted using a mobile robot equipped with Raspberry Pi 4B. Experimental results demonstrate that the proposed algorithm achieves rapid target tracking.

River terraces serve as excellent indicators of the landform evolution of the Guizhou Plateau. This paper presents the results of terrace investigation and optically stimulated luminescence (OSL) dating focused on five sections along the Liujiang River of the southeastern Guizhou Plateau. The OSL ages of the terraces range from 0.21 ± 0.02 to 16.0 ± 1.4 ka for the first terraces (T1) and from 3.5 ± 0.3 to 26.5 ± 3.3 ka for the second terraces (T2), which are much younger than those of other basins on the Guizhou Plateau. These ages, considered in tandem with the results of previous investigations, enhance our understanding of the fluvial landform evolution of the Guizhou Plateau since the Late Pleistocene. On the Guizhou Plateau platform, terraces are considered to be the response of river evolution to tectonic uplift, indicating a relatively slow geomorphic process. In the slope zone, climate change has had a significant impact on the fluvial landform processes, driving the formation of the younger terraces along the Liujiang River. In the platform–slope transition zone, the evolution of terraces was driven by both tectonic uplift and climate change, where the landform processes were dominated by strong headward erosion.

This study aims to assess the therapeutic effects of probiotic oral therapy in paediatric patients with anorexia nervosa (AN) and to investigate its impact on intestinal flora composition, brain–gut peptide levels and overall clinical outcomes. A retrospective study was conducted involving 100 children diagnosed with AN at Xingtang County People’s Hospital between January 2023 and June 2024. Patients were divided into two groups: a control group (n 50) receiving zinc gluconate oral solution alone and an observation group (n 50) receiving zinc gluconate plus probiotics. Outcome measures included intestinal flora analysis, brain–gut peptide levels (somatostatin (SS) and nitric oxide (NO)), clinical efficacy, serum trace element levels (Ca, Zn and Fe) and prognosis, including recurrence rates 6 months post-treatment. Baseline characteristics were similar between the two groups (P > 0·05). After treatment, the observation group showed significantly higher levels of Bifidobacterium and Lactobacillus and lower levels of Enterobacter compared with the control group (P < 0·05). Additionally, the observation group had lower levels of SS and NO (P < 0·05), indicating improved brain–gut communication. Clinical efficacy was significantly higher in the observation group (P < 0·05), with improved serum trace element levels (P < 0·05 for Ca, Zn and Fe). Furthermore, the recurrence rate 6 months post-treatment was significantly lower in the observation group compared with the control group (P < 0·05). Probiotic supplementation in children with AN effectively modulates intestinal flora, improves brain–gut peptide levels and enhances clinical outcomes.

The multi-colour complete light curves and low-resolution spectra of two short period eclipsing Am binaries V404 Aur and GW Gem are presented. The stellar atmospheric parameters of the primary stars were derived through the spectra fitting. The observed and TESS-based light curves of them were analysed by using the Wilson-Devinney code. The photometric solutions suggest that both V404 Aur and GW Gem are semi-detached systems with the secondary component filling its critical Roche Lobe, while the former should be a marginal contact binary. The $O-C$ analysis found that the period of V404 Aur is decreasing at a rate of $dP/dt=-1.06(\pm0.01)\times 10^{-7}\,\mathrm{d}\,\mathrm{ yr}^{-1}$, while the period of GW Gem is increasing at $dP/dt=+2.41(\pm0.01)\times 10^{-8} \mathrm{d}\,\mathrm{yr}^{-1}$. The period decrease of V404 Aur may mainly be caused by the combined effects of the angular momentum loss (AML) via an enhanced stellar wind of the more evolved secondary star and mass transfer between two components. The period increase of GW Gem supports the mass transfer from the secondary to the primary. Both targets may be in the broken contact stage predicted by the thermal relaxation oscillations theory and will eventually evolve to the contact stage. We have collected about 54 well-known eclipsing Am binaries with absolute parameters from the literature. The relations of these parameters are summarised. There are some components that have a higher degree of evolution. The majority of their hydrogen shell may have been stripped away and the stellar internal layer exposed. The accretion processes from such evolved components may be very important for the formation of Am peculiarity in binaries.

We consider linear-fractional branching processes (one-type and two-type) with immigration in varying environments. For $n\ge0$, let $Z_n$ count the number of individuals of the nth generation, which excludes the immigrant who enters the system at time n. We call n a regeneration time if $Z_n=0$. For both the one-type and two-type cases, we give criteria for the finiteness or infiniteness of the number of regeneration times. We then construct some concrete examples to exhibit the strange phenomena caused by the so-called varying environments. For example, it may happen that the process is extinct, but there are only finitely many regeneration times. We also study the asymptotics of the number of regeneration times of the model in the example.

Double-cone ignition [Zhang et al., Phil. Trans. R. Soc. A 378, 20200015 (2020)] was proposed recently as a novel path for direct-drive inertial confinement fusion using high-power lasers. In this scheme, plasma jets with both high density and high velocity are required for collisions. Here we report preliminary experimental results obtained at the Shenguang-II upgrade laser facility, employing a CHCl shell in a gold cone irradiated with a two-ramp laser pulse. The CHCl shell was pre-compressed by the first laser ramp to a density of 3.75 g/cm3 along the isentropic path. Subsequently, the target was further compressed and accelerated by the second laser ramp in the cone. According to the simulations, the plasma jet reached a density of up to 15 g/cm3, while measurements indicated a velocity of 126.8 ± 17.1 km/s. The good agreements between experimental data and simulations are documented.

Broomcorn millet and foxtail millet were first cultivated in Neolithic China then the process spread west across Asia during the Bronze Age. But the distinctive ceramic, and later bronze, vessels utilised in East Asian cuisines for boiling and steaming grains did not move west alongside these crops. Here, the authors use measurements of 3876 charred millet grains to evaluate regional variations and implications for food preparation. In contrast to wheat grains, which became smaller as their cultivation moved east, millet grains became larger as they spread from northern China into Inner Asia and Tibet. This indicates the decoupling of millets from associated cooking techniques as they reached geographical and cultural areas.