The recently discovered social place cells and grid cells in hippocampal formation are believed to be the neural basis underlying relative navigation of conspecifics. In this paper, we propose a new brain-inspired relative navigation model in a large-scale 3D environment for collective UAVs that translates the neurodynamics of the social place cell–grid cell circuit to robotic relative navigation algorithm for the first time. Our approach comprises three key parts: (1) a 3D isotropic Gaussian function-based cube social place cell network (cube-SPCNet), (2) a 3D continuous attractor neural network-based cube grid cell network (cube-GCNet), and (3) a population vector-based neural decoding module. The resulting brain-inspired relative navigation model incorporates the good relative information abstraction capabilities of the cube-SPCNet with the powerful temporal filtering capabilities of the cube-GCNet, yielding robustness and accuracy performance improvement for relative navigation. Experimental results show the new method can provide more robust and precise relative navigation results than its conventional counterpart, displaying a possible brain-inspired solution for relative navigation enhancement for collective UAVs.

This paper introduces an equivalent series mechanism model to improve ankle rehabilitation robots’ ability to recurrence the complex movements of the anthropo-ankle and enhance human-machine locomotion compatibility. The model emulates the true anatomical architecture of the ankle joint and is integrated with a parallel rehabilitative mechanism. The rehabilitative robot includes dual virtual motion centers to mimic the ankle joint’s intricate motion, accommodate individual patient variations, and address the rehabilitation requirements of both right and left feet. Firstly, a serial equivalence model of anthropo-ankle is developed based on the kinematic and anatomical characteristics of the human ankle. The type design for the 4-degree of freedom (4-DOF) parallel ankle rehabilitative robot is then conducted on the basis of the kinematical and restrictive properties of the anthropo-ankle equivalence kinematic model. Secondly, the mechanism’s motion properties allow it to be equivalent to a series branch chain, enabling the establishment of an inverse kinematics model. The kinematical performance of the mechanisms is analyzed using the transmissibility and constrainability indices, followed by workspace analysis and dimensional optimization of the rehabilitative mechanism. Finally, a human-machine coupled rehabilitative simulation model is developed using OpenSim biomechanics software to evaluate the recovery effect.

A multifunctional optical diagnostic system, which includes an interferometer, a refractometer and a multi-frame shadowgraph, has been developed at the Shenguang-II upgrade laser facility to characterize underdense plasmas in experiments of the double-cone ignition scheme of inertial confinement fusion. The system employs a 266 nm laser as the probe to minimize the refraction effect and allows for flexible switching among three modes of the interferometer, refractometer and multi-frame shadowgraph. The multifunctional module comprises a pair of beam splitters that attenuate the laser, shield stray light and configure the multi-frame and interferometric modules. By adjusting the distance and angle between the beam splitters, the system can be easily adjusted and switched between the modes. Diagnostic results demonstrate that the interferometer can reconstruct electron density below 1019 cm–3, while the refractometer can diagnose density approximately up to 1020 cm–3. The multi-frame shadowgraph is used to qualitatively characterize the temporal evolution of plasmas in the cases in which the interferometer and refractometer become ineffective.

A high-energy pulsed vacuum ultraviolet (VUV) solid-state laser at 177 nm with high peak power by the sixth harmonic of a neodymium-doped yttrium aluminum garnet (Nd:YAG) amplifier in a KBe2BO3F2 prism-coupled device was demonstrated. The ultraviolet (UV) pump laser is a 352 ps pulsed, spatial top-hat super-Gaussian beam at 355 nm. A high energy of a 7.12 mJ VUV laser at 177 nm is obtained with a pulse width of 255 ps, indicating a peak power of 28 MW, and the conversion efficiency is 9.42% from 355 to 177 nm. The measured results fitted well with the theoretical prediction. It is the highest pulse energy and highest peak power ever reported in the VUV range for any solid-state lasers. The high-energy, high-peak-power, and high-spatial-uniformity VUV laser is of great interest for ultra-fine machining and particle-size measurements using UV in-line Fraunhofer holography diagnostics.

This study aimed to demonstrate the utilization value of 1PN embryos. The 1PN zygotes collected from December 2021 to September 2022 were included in this study. The embryo development, the pronuclear characteristics, and the genetic constitutions were investigated. The overall blastocyst formation and good-quality blastocyst rates in 1PN zygotes were 22.94 and 16.24%, significantly lower than those of 2PN zygotes (63.25 and 50.23%, respectively, P = 0.000). The pronuclear characteristics were found to be correlated with the developmental potential. When comparing 1PN zygotes that developed into blastocysts to those that arrested, the former exhibited a significantly larger area (749.49 ± 142.77 vs. 634.00 ± 119.05, P = 0.000), a longer diameter of pronuclear (29.81 ± 3.08 vs. 27.30 ± 3.00, P = 0.000), and a greater number of nucleolar precursor body (NPB) (11.56 ± 3.84 vs. 7.19 ± 2.73, P = 0.000). Among the tested embryos, the diploidy euploidy rate was significantly higher in blastocysts in comparison with the arrested embryos (66.67 vs. 11.76%, P = 0.000), which was also significantly higher in IVF-1PN blastocysts than in ICSI-1PN blastocysts (75.44 vs. 25.00%, P = 0.001). However, the pronuclear characteristics were not found to be linked to the chromosomal ploidy once they formed blastocysts.

In summary, while the developmental potential of 1PN zygotes is reduced, our study shows that, in addition to the reported pronuclear area and diameter, the number of NPB is also associated with their developmental potential. The 1PN blastocysts exhibit a high diploidy euploidy rate, are recommend to be clinically used post genetic testing, especially for patients who do not have other 2PN embryos available.

Pro-environmental behavior, including waste sorting and recycling, involves a combination of future-oriented (futureness) and other-oriented (otherness) attributes. Inspired by the perspective of intergenerational choice, this work explores whether eliciting concerns for future others could increase public support for recycling policy and recycling behavior. Study 1 consisted of an online random controlled trial and a laboratory experiment. In Study 1A (N = 400), future other-concern was primed using a static text manipulation, whereas in Study 1B (N = 192), a dynamic virtual manipulation was employed. The results showed that people in the conditions that elicited future other-concern reported greater household recycling intentions and more actual recycling behavior than those in the control conditions. Study 2A (N = 467) and Study 2B (N = 600) generalized this effect on the acceptance of the ‘Certain Time Certain Place’ waste sorting policy in China. Consistent with the intergenerational choice model, envisioning the future of subsequent generations is more impactful in gaining policy approval than merely envisioning a future time. These findings provide a new method for promoting public policy approval and recycling behavior, suggesting that people could become environmentally friendly when they are guided to consider future others.

Paranosema locustae is an environmentally friendly parasitic predator with promising applications in locust control. In this study, transcriptome sequencing was conducted on gonadal tissues of Locusta migratoria males and females infected and uninfected with P. locustae at different developmental stages. A total of 18,635 differentially expressed genes (DEGs) were identified in female ovary tissue transcriptomes, with the highest number of DEGs observed at 1 day post-eclosion (7141). In male testis tissue transcriptomes, a total of 32,954 DEGs were identified, with the highest number observed at 9 days post-eclosion (11,245). Venn analysis revealed 25 common DEGs among female groups and 205 common DEGs among male groups. Gene ontology and Kyoto Encyclopaedia of Genes and Genome analyses indicated that DEGs were mainly enriched in basic metabolism such as amino acid metabolism, carbohydrate metabolism, lipid metabolism, and immune response processes. Protein–protein interaction analysis results indicated that L. migratoria regulates the expression of immune- and reproductive-related genes to meet the body's demands in different developmental stages after P. locustae infection. Immune- and reproductive-related genes in L. migratoria gonadal tissue were screened based on database annotation information and relevant literature. Genes such as Tsf, Hex1, Apolp-III, Serpin, Defense, Hsp70, Hsp90, JHBP, JHE, JHEH1, JHAMT, and VgR play important roles in the balance between immune response and reproduction in gonadal tissues. For transcriptome validation, Tsf, Hex1, and ApoLp-III were selected and verified by quantitative real-time polymerase chain reaction (qRT-PCR). Correlation analysis revealed that the qRT-PCR expression patterns were consistent with the RNA-Seq results. These findings contribute to further understanding the interaction mechanisms between locusts and P. locustae.

Depression is highly prevalent in haemodialysis patients, and diet might play an important role. Therefore, we conducted this cross-sectional study to determine the association between dietary fatty acids (FA) consumption and the prevalence of depression in maintenance haemodialysis (MHD) patients. Dietary intake was assessed using a validated FFQ between December 2021 and January 2022. The daily intake of dietary FA was categorised into three groups, and the lowest tertile was used as the reference category. Depression was assessed using the Patient Health Questionnaire-9. Logistic regression and restricted cubic spline (RCS) models were applied to assess the relationship between dietary FA intake and the prevalence of depression. As a result, after adjustment for potential confounders, a higher intake of total FA [odds ratio (OR)T3 vs. T1 = 1·59, 95 % confidence interval (CI) = 1·04, 2·46] and saturated fatty acids (SFA) (ORT3 vs. T1 = 1·83, 95 % CI = 1·19, 2·84) was associated with a higher prevalence of depressive symptoms. Significant positive linear trends were also observed (P < 0·05) except for SFA intake. Similarly, the prevalence of depression in MHD patients increased by 20% (OR = 1.20, 95% CI = 1.01–1.43) for each standard deviation increment in SFA intake. RCS analysis indicated an inverse U-shaped correlation between SFA and depression (Pnonlinear > 0·05). Additionally, the sensitivity analysis produced similar results. Furthermore, no statistically significant association was observed in the subgroup analysis with significant interaction. In conclusion, higher total dietary FA and SFA were positively associated with depressive symptoms among MHD patients. These findings inform future research exploring potential mechanism underlying the association between dietary FA and depressive symptoms in MHD patients.

The widely used model predictive control of discrete-time control barrier functions (MPC-CBF) has difficulties in obstacle avoidance for unmanned ground vehicles (UGVs) in complex terrain. To address this problem, we propose adaptive dynamic control barrier functions (AD-CBF). AD-CBF is able to adaptively select an extended class of functions of CBF to optimize the feasibility and flexibility of obstacle avoidance behaviors based on the relative positions of the UGV and the obstacle, which in turn improves the obstacle avoidance speed and safety of the MPC algorithm when integrated with MPC. The algorithmic constraints of the CBF employ hierarchical density-based spatial clustering of applications with noise (HDBSCAN) for parameterization of dynamic obstacle information and unscaled Kalman filter (UKF) for trajectory prediction. Through simulations and practical experiments, we demonstrate the effectiveness of the AD-CBF-MPC algorithm in planning optimal obstacle avoidance paths in dynamic environments, overcoming the limitations of the point-by-point feasibility of MPC-CBF.

The efficacy of steady large-amplitude blowing/suction on instability and transition control for a hypersonic flat plate boundary layer with Mach number 5.86 is investigated systematically. The influence of the blowing/suction flux and amplitude on instability is examined through direct numerical simulation and resolvent analysis. When a relatively small flux is used, the two-dimensional instability critical frequency that distinguishes the promotion/suppression mode effect closely aligns with the synchronisation frequency. For the oblique wave, as the spanwise wavenumber increases, the suppression effects would become weaker and the mode suppression bandwidth diminishes/increases in general in the blowing/suction control. Increasing the blowing/suction flux can effectively broaden the frequency bandwidth of disturbance suppression. The influence of amplitude on disturbance suppression is weak in a scenario of constant flux. To gain a deeper insight into disturbance suppression mechanism, momentum potential theory (MPT) and kinetic energy budget analysis are further employed in analysing disturbance evolution with and without control. When the disturbance is suppressed, the blowing induces the transport of certain acoustic components along the compression wave out of the boundary layer, whereas the suction does not. The velocity fluctuations are derived from the momentum fluctuations of the MPT. Compared with the momentum fluctuations, the evolutions indicated by each component's velocity fluctuations greatly facilitate the investigations of the acoustic nature of the second mode. The rapid variation of disturbance amplitude near the blowing is caused by the oscillations of the acoustic component and phase speed differences between vortical and thermal components. Kinetic energy budget analysis is performed to address the non-parallel effect of the boundary layer introduced by blowing/suction, which tends to suppress disturbances near the blowing. Moreover, viscous effects leading to energy dissipation are identified to be stronger in regions where the boundary layer is rapidly thickening. Finally, it is demonstrated that a flat plate boundary layer transition triggered by a random disturbance can be delayed by a blowing/suction combination control. The resolvent analysis further demonstrates that disturbances with frequencies that dominate the early transition stage are dampened in the controlled base flow.

Few studies have evaluated the joint effect of trace elements on spontaneous preterm birth (SPTB). This study aimed to examine the relationships between the individual or mixed maternal serum concentrations of Fe, Cu, Zn, Se, Sr and Mo during pregnancy, and risk of SPTB. Inductively coupled plasma MS was employed to determine maternal serum concentrations of the six trace elements in 192 cases with SPTB and 282 controls with full-term delivery. Multivariate logistic regression, weighted quantile sum regression (WQSR) and Bayesian kernel machine regression (BKMR) were used to evaluate the individual and joint effects of trace elements on SPTB. The median concentrations of Sr and Mo were significantly higher in controls than in SPTB group (P < 0·05). In multivariate logistic regression analysis, compared with the lowest quartile levels of individual trace elements, the third- and fourth-quartile Sr or Mo concentrations were significantly associated with reduced risk of SPTB with adjusted OR (aOR) of 0·432 (95 CI < 0·05). In multivariate logistic regression analysis, compared with the lowest quartile levels of individual trace elements, the third- and fourth-quartile Sr or Mo concentrations were significantly associated with reduced risk of SPTB with adjusted aOR of 0·432 (95 % CI 0·247, 0·756), 0·386 (95 % CI 0·213, 0·701), 0·512 (95 % CI 0·297, 0·883) and 0·559 (95 % CI 0·321, 0·972), respectively. WQSR revealed the inverse combined effect of the trace elements mixture on SPTB (aOR = 0·368, 95 % CI 0·228, 0·593). BKMR analysis confirmed the overall mixture of the trace elements was inversely associated with the risk of SPTB, and the independent effect of Sr and Mo was significant. Our findings suggest that the risk of SPTB decreased with concentrations of the six trace elements, with Sr and Mo being the major contributors.

Chlorite is one of the most common Fe-bearing minerals and is susceptible to weathering in loess and soils. The conventional method for analyzing chlorite, based on XRD with the Rietveld technique, is quantitative, but very time consuming and expensive. In this paper we develop a new methodology based on diffuse reflectance spectroscopy (DRS) and selective chemical extractions to identify chlorite qualitatively in the Chinese loess sequence and present evidence suggesting that DRS may be used to quantify chlorite content. The spectral signature of chlorite in loess is obscured by Fe oxides, but becomes obvious when they are removed. Changes in the ferrous absorption band near 1140 nm vary consistently with changing chlorite content. Using this spectral feature, DRS can distinguish chlorite contents as small as 1 wt.% in loess sediments. Future possibilities for this method in other soil and sediment types need to be explored.

Halloysite nanotubes (HNTs) have attracted much attention as delivery carriers for various drugs, but the loading of one such drug, quercetin, on HNTs has been investigated only rarely and usually involved cyclic vacuum pumping. The main objective of the present study was to develop a novel carrier system based on HNTs for quercetin delivery without a vacuum process and to investigate the effect of chemical modification of HNTs on the loading and release of quercetin. For this purpose, comparative studies of five chemical modification reagents (sodium lauroamphoacetate, cocoamidopropyl betaine, 1-hydroxyethyl 2-nonyl imidazoline betaine, triethanolamine, and dipicolinic acid) functionalized on HNTs were investigated for quercetin loading and in vitro release. Characterization of raw halloysite, modified halloysite, and quercetin-loaded halloysite were done by X-ray diffraction (XRD), Fourier-transform infrared spectrometry (FTIR), thermogravimetric analysis (TGA), and transmission electron microscopy (TEM). The results indicated that chemical modification could improve the interactions between HNTs and quercetin. After chemical modification, quercetin was anchored to both the inner and outer surfaces of HNTs by electrostatic attraction, hydrogen bonding, and van der Waals forces. Sodium lauroamphoacetate-modified HNTs were given the highest loading of 1.96 wt.% among the five reagents. Cocamidopropyl betaine-modified HNTs exhibited the best sustained-release profile with only 29.07% for initial burst release and 480 h of consecutive release. Carboxyl groups of the modification reagent improved the loading capacity of quercetin. Amide groups prolonged drug release due to the strong affinity between amine and phenolic hydroxyl groups of quercetin. The release of quercetin from the cocamidopropyl betaine-modified HNTs fitted a first-order kinetics model well. The present study suggested that cocamidopropyl betaine-modified HNTs offer promise as vehicles for delivery of quercetin and for extending the application of quercetin.

Organo-montmorillonite (OMnt) has wide applications in paints, clay-polymer nanocomposites, biomaterials, etc. In most cases, the dispersibility and swellability of OMnt dictate the performance of OMnt in the target products. Previous studies have revealed that the properties can be improved when multiple organic species are co-introduced into the interlayer space of montmorillonite (Mnt). In the present study, single surfactant erucylamide (EA), dual-surfactants cetyltrimethyl ammonium bromide (CTAB) and octadecyltrimethyl ammonium chloride (OTAC), and ternary-surfactants EA, CTAB, and OTAC were co-introduced into Mnt by solution intercalation. The resulting OMnts were characterized by powder X-ray diffraction (XRD), Fourier-transform infrared (FTIR) spectroscopy, thermogravimetry-differential thermogravimetry (TG-DTG), water contact-angle tests, scanning electronic microscopy (SEM), laser particle-size analysis, and swelling indices. Mnt co-modified by ternary CTAB, OTAC, and EA led to a large d001 value (4.20 nm), surface hydrophobicity with a contact angle of 95.6°, swellability (50 mL/g) with small average particle sizes (2.1−2.8 μm) in xylene, and >99% of the OMnt particles were kept as <5 μm in deionized water. The formation of EA-modified-Mnt was proposed according to hydrophobic affinity, hydrogen bonding, and van der Waals forces. The nanoplatelets of the CTA+, OTA+, and EA co-modified OMnts in xylene were assembled into a house-of-cards structure by face-to-edge and edge-to-edge associations. The electrostatic attractions, electrostatic and steric repulsions, and hydrophobic interactions were responsible for the good dispersibility of OMnt in xylene. The ternary surfactant co-modified OMnt with high dispersion and swellability will make OMnt better suited for real-world applications.

The long, continuous deposition of dust in the Chinese loess plateau offers a unique opportunity to study the nature of Fe oxide formation in a wide range of climatic conditions. A technique to obtain quantitative estimates of the concentration of hematite and goethite in loess and paleosol samples is reported. Experiments using diffuse reflectance spectroscopy on sets of laboratory mixed and natural loess and paleosol samples show that it is possible to obtain rapid and quantitative estimates of the absolute concentration of hematite and goethite in the Chinese loess sediments. Typical loess and paleosol samples were deferrated using the CBD procedure to produce a natural matrix material to which hematite and goethite in known weight percentages were added to produce a set of calibration standards. Spectral violet, blue, green, yellow, orange, red and brightness of standards were calculated from the reflectance data and served as independent variables for a multiple linear regression analysis. The effect of changing matrix from loess to paleosol was overcome by including a variety of different loess and paleosol samples in the regression equations. The resulting calibration equations provide estimates of wt.% hematite and goethite and have correlation coefficients >0.93. The total measured hematite and goethite concentrations exhibited consistent variations with CBD extractable iron. Tests of the equations for buffering changes in matrix composition were run with samples of varying mineralogical composition (calcite, illite, etc.) and demonstrated that the equations are well buffered for changes in matrix composition from loess to paleosol.

Soil aggregates consist of sand, silt, and clay size particles. Many of the clay size particles in soils are clay minerals, which actively influence soil behavior. The properties of clay minerals may change significantly as soil particle size decreases to the nanoscale; however, little information is available about these properties for the Ultisols in China. In the present study, the clay mineral components and structural characteristics of four particle-size fractions (i.e., <2000, 450–2000, 100–450, and 25–100 nm) of two Ultisol samples (Ult-1 and Ult-2) were investigated using elemental analysis, X-ray diffraction, Fouriertransform infrared spectroscopy, and thermal analysis. The molar SiO2 to Al2O3 ratios were lower in the nanoscale particle-size fraction (25–100 nm) than in the 450–2000 and <2000 nm fractions. This indicates greater desilicification and allitization of the smaller Ultisol particles. Furthermore, the Fe oxide and Al oxide contents increased and reached a maximum level in the 25–100 nm fraction of the two Ultisols. Goethite was mainly found in the 100–450 nm and 25–100 nm fractions. The dominant clay minerals in the Ultisol 25–100 nm fraction were kaolinite and illite with a small amount of a hydroxy-interlayered mineral in Ult-1 and gibbsite in Ult-2. The kaolinite crystallinity decreased as particle size decreased. The low crystallinity of the kaolinite in the A horizon 25–100 nm fraction was attributed to a reduction in the thickness of coherent scattering domains, as well as to decreases in OH groups and the dimensions of octahedral AlO6 sheets. A determination of the chemical and mineralogic properties of the different size fractions of the Ultisols is important to understand the desilicification and Al and Fe oxide enrichment mechanisms during soil formation. The significance of these results can help to reveal the nanoscale transformations of clay minerals. Analysis of clay mineral compositions in nanoparticles can provide the additional data needed to understand the adsorption and mobility of nutrients and pollutants.