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Aiming at the problems of many path inflection points, unsmooth paths, and poor local obstacle avoidance in path planning of inspection robots in static-dynamic scenes under complex geological conditions in coal mine roadways, a hybrid path planning method based on the improved A* algorithm and dynamic window approach (DWA) algorithm is proposed. First, the inspection robot platform and system model are constructed. An improved heuristic function that incorporates target weight information is proposed based on the A* global path planning algorithm. Additionally, redundant nodes are eliminated, and the path is smoothed using the Floyd algorithm and B-spline curves. Second, the global path planning A* algorithm and the local path planning DWA algorithm are fused. The dynamic path planning is carried out by setting the key node information of the global path extracted from the improved A* algorithm as the local target point of the DWA algorithm. On this basis, a grid map is established to simulate and analyze the proposed path planning algorithm. Finally, the autonomous path planning and walking experiment of inspection robot in simulated roadway environment are carried out. The results show that the hybrid path planning method based on improved A* algorithm and DWA algorithm proposed in this paper is more efficient and safer, which can meet the motion requirements of inspection robot in coal mine roadway.
This paper presents a compact broad dual-band rectifier based on a transmission line matching network. This method improves the overall impedance matching performance over two bands, and improves bandwidth of the rectifier’s efficiency. A π-type direct current filter with excellent harmonic suppression performance is proposed. The multi-section transmission line used as the dual-band input impedance matching network is analyzed to achieve an arbitrary frequency ratio. A rectifier is designed and implemented using a three-stage transmission-line matching network. Simulation and experimental results show that a dual-band rectifier is successfully performed with the measured power conversion efficiency (PCE) of 75.7% and 76.3% at 0.915 and 2.45 GHz, respectively. Additionally, the rectifier exhibits bandwidths of 0.48 and 0.25 GHz when the PCE exceeds 70%. Significant enhancement of bandwidth over conventional rectifiers is demonstrated.
This paper presents a compact and ultra-wideband high-efficiency microwave rectifier for wireless power transmission (WPT) applications. The input-matching-network utilizes a compact asymmetric coupled transmission line structure, contributing to wideband performance. The rectifier adopts a voltage-doubler topology, resulting in a smooth input impedance across a wide bandwidth. The working principle of the asymmetric coupled transmission line matching network is analyzed. Simulation and measurement are conducted on the proposed rectifier. The fabricated prototype demonstrates a wide bandwidth of 162.5% (0.3–2.9 GHz with the power conversion efficiency (PCE) exceeding 60% at an input power of 18 dBm. Even at an input power of 10 dBm, the measured PCE remains above 50% over the working band. The proposed ultra-wideband rectifier shows promising potential for WPT applications including wireless powering of low-power electronic devices and sensors.
The maser instability associated with the loss-cone distribution has been widely invoked to explain the radio bursts observed in the astrophysical plasma environment, such as aurora and corona. In the laboratory plasma of a tokamak, events reminiscent of these radio bursts have also been frequently observed as an electron cyclotron emission (ECE) burst in the microwave range ($\mathrm{\sim }2{f_{\textrm{ce}}}$ near the last closed flux surface) during transient magnetohydrodynamic events. These bursts have a short duration of ~10 μs and display a radiation spectrum corresponding to a radiation temperature ${T_{e,\textrm{rad}}}$ of over $30\ \textrm{keV}$ while the edge thermal electron temperature ${T_e}$ is only in the range of $1\ \textrm{keV}$. Suprathermal electrons can be generated through magnetic reconnection, and a loss-cone distribution can be generated through open stochastic field lines in the magnetic mirror of the near-edge region of a tokamak plasma. Radiation modelling shows that a sharp distribution gradient $\partial f/\partial {v_ \bot } > 0$ at the loss-cone boundary can cause a negative absorption of ECE radiation through the maser instability. The negative absorption then amplifies the radiation so that the microwave intensity is significantly stronger than the thermal value. The significant ${T_{e,\textrm{rad}}}$ from the simulations suggests the potential role of the loss-cone maser instability in generating the ECE burst in a tokamak.
Recent developments have indicated a potential association between tinnitus and COVID-19. The study aimed to understand tinnitus following COVID-19 by examining its severity, recovery prospects, and connection to other lasting COVID-19 effects. Involving 1331 former COVID-19 patients, the online survey assessed tinnitus severity, cognitive issues, and medical background. Of the participants, 27.9% reported tinnitus after infection. Findings showed that as tinnitus severity increased, the chances of natural recovery fell, with more individuals experiencing ongoing symptoms (p < 0.001). Those with the Grade II mild tinnitus (OR = 3.68; CI = 1.89–7.32; p = 0.002), Grade III tinnitus (OR = 3.70; CI = 1.94–7.22; p < 0.001), Grade IV (OR = 6.83; CI = 3.73–12.91; p < 0.001), and a history of tinnitus (OR = 1.96; CI = 1.08–3.64; p = 0.03) had poorer recovery outcomes. Grade IV cases were most common (33.2%), and severe tinnitus was strongly associated with the risk of developing long-term hearing loss, anxiety, and emotional disorders (p < 0.001). The study concludes that severe post-COVID tinnitus correlates with a worse prognosis and potential hearing loss, suggesting the need for attentive treatment and management of severe cases.
Characterised by the extensive use of obsidian, a blade-based tool inventory and microblade technology, the late Upper Palaeolithic lithic assemblages of the Changbaishan Mountains are associated with the increasingly cold climatic conditions of Marine Isotope Stage 2, yet most remain poorly dated. Here, the authors present new radiocarbon dates associated with evolving blade and microblade toolkits at Helong Dadong, north-east China. At 27 300–24 100 BP, the lower cultural layers contain some of the earliest microblade technology in north-east Asia and highlight the importance of the Changbaishan Mountains in understanding changing hunter-gatherer lifeways in this region during MIS 2.
Solving the three-dimensional boundary layer equations carries theoretical significance and practical applications, which also poses substantial challenges due to its inherent complexity. In this paper, the laminar boundary layer equations for the symmetry plane of three-dimensional bodies are derived in an orthogonal curvilinear coordinate system associated with the principal curvatures. The derivation of the boundary layer equations is based not only on the common symmetric properties of the flow, as given by Hirschel et al. (Three-Dimensional Attached Viscous Flow, 2014, Academic Press, pp. 183–187), but also incorporates the geometric symmetry properties of the body. The derived equations are more representative and simplified. Notably, these equations can degenerate to a form consistent with or equivalent to the commonly used boundary layer equations for special bodies such as flat plates, cones and spheres. Furthermore, for hypersonic flows, the crossflow velocity gradient at the boundary layer edge on the symmetry plane is derived based on Newtonian theory. Subsequently, this parameter can provide the necessary boundary condition needed for solving the boundary layer equations using existing methods. Finally, as examples, the equations developed in this paper are solved using the difference-differential method for several typical three-dimensional blunt shapes that appeared on hypersonic vehicles. They prove to be useful in the analysis and interpretation of boundary layer flow characteristics in the symmetry plane of blunt bodies.
Repulsive guidance molecule b (RGMb), a glycosylphosphatidylinositol-anchored member of the RGM family, is initially identified as a co-receptor of bone morphogenetic protein (BMP) in the nervous system. The expression of RGMb is transcriptionally regulated by dorsal root ganglion 11 (DRG11), which is a transcription factor expressed in embryonic DRG and dorsal horn neurons and plays an important role in the development of sensory circuits. RGMb is involved in important physiological processes such as embryonic development, immune response, intercellular adhesion and tumorigenesis. Furthermore, RGMb is mainly involved in the regulation of RGMb–neogenin–Rho and BMP signalling pathways. The recent discovery of programmed death-ligand 2 (PD-L2)–RGMb binding reveals that the cell signalling network and functional regulation centred on RGMb are extremely complex. The latest report suggests that down-regulation of the PD-L2–RGMb pathway in the gut microbiota promotes an anti-tumour immune response, which defines a potentially effective immune strategy. However, the biological function of RGMb in a variety of human diseases has not been fully determined, and will remain an active research field. This article reviews the properties and functions of RGMb, focusing on its role under various physiological and pathological conditions.
In the double-cone ignition scheme of inertial confinement fusion, the head-on collision of two compressed fuel jets from the cone-tips forms an isochoric plasma, which is then heated suddenly by a MeV relativistic electron beam produced by ultra-intense picosecond laser pulses. This fast-heating process was studied experimentally at the Shenguang II upgrade laser facility. By observing temporal-resolved X-ray emission and the spatial-resolved X-ray spectrum, the colliding process and heating process are carefully studied. The colliding plasma was imaged to have dimensions of approximately 86 μm in the implosion direction and approximately 120 μm in the heating direction. By comparing the simulated plasma X-ray spectrum with experimental data, the electron temperature of the heated plasma was found to rapidly increase to 600 ± 50 eV, almost doubling the temperature achieved before the heating laser incidence.
Visual simultaneous localisation and mapping (vSLAM) has shown considerable promise in positioning and navigating across a variety of indoor and outdoor settings, significantly enhancing the mobility of robots employed in industrial and everyday services. Nonetheless, the prevalent reliance of vSLAM technology on the assumption of static environments has led to suboptimal performance in practical implementations, particularly in unstructured and dynamically noisy environments such as substations. Despite advancements in mitigating the influence of dynamic objects through the integration of geometric and semantic information, existing approaches have struggled to strike an equilibrium between performance and real-time responsiveness. This study introduces a lightweight, multi-modal semantic framework predicated on vSLAM, designed to enable intelligent robots to adeptly navigate the dynamic environments characteristic of substations. The framework notably enhances vSLAM performance by mitigating the impact of dynamic objects through a synergistic combination of object detection and instance segmentation techniques. Initially, an enhanced lightweight instance segmentation network is deployed to ensure both the real-time responsiveness and accuracy of the algorithm. Subsequently, the algorithm’s performance is further refined by amalgamating the outcomes of detection and segmentation processes. With a commitment to maximising performance, the framework also ensures the algorithm’s real-time capability. Assessments conducted on public datasets and through empirical experiments have demonstrated that the proposed method markedly improves both the accuracy and real-time performance of vSLAM in dynamic environments.
Soft drink consumption has become a highly controversial public health issue. Given the pattern of consumption in China, sugar-sweetened beverage is the main type of soft drink consumed. Due to containing high levels of fructose, a soft drink may have a deleterious effect on handgrip strength (HGS) due to oxidative stress, inflammation and insulin resistance. However, few studies show an association between soft drink consumption and HGS in adults. We aimed to investigate the association between soft drink consumption and longitudinal changes in HGS among a Chinese adult population. A longitudinal population-based cohort study (5-year follow-up, median: 3·66 years) was conducted in Tianjin, China. A total of 11 125 participants (56·7 % men) were enrolled. HGS was measured using a handheld digital dynamometer. Soft drink consumption (mainly sugar-containing carbonated beverages) was measured at baseline using a validated FFQ. ANCOVA was used to evaluate the association between soft drink consumption and annual change in HGS or weight-adjusted HGS. After adjusting for multiple confounding factors, the least square means (95 % CI) of annual change in HGS across soft drink consumption frequencies were −0·70 (–2·49, 1·09) for rarely drinks, −0·82 (–2·62, 0·97) for < 1 cup/week and −0·86 (–2·66, 0·93) for ≥ 1 cup/week (Pfor trend < 0·05). Likewise, a similar association was observed between soft drink consumption and annual change in weight-adjusted HGS. The results indicate that higher soft drink consumption was associated with faster HGS decline in Chinese adults.
To examine the effectiveness of Self-Help Plus (SH+) as an intervention for alleviating stress levels and mental health problems among healthcare workers.
Methods
This was a prospective, two-arm, unblinded, parallel-designed randomised controlled trial. Participants were recruited at all levels of medical facilities within all municipal districts of Guangzhou. Eligible participants were adult healthcare workers experiencing psychological stress (10-item Perceived Stress Scale scores of ≥15) but without serious mental health problems or active suicidal ideation. A self-help psychological intervention developed by the World Health Organization in alleviating psychological stress and preventing the development of mental health problems. The primary outcome was psychological stress, assessed at the 3-month follow-up. Secondary outcomes were depression symptoms, anxiety symptoms, insomnia, positive affect (PA) and self-kindness assessed at the 3-month follow-up.
Results
Between November 2021 and April 2022, 270 participants were enrolled and randomly assigned to either SH+ (n = 135) or the control group (n = 135). The SH+ group had significantly lower stress at the 3-month follow-up (b = −1.23, 95% CI = −2.36, −0.10, p = 0.033) compared to the control group. The interaction effect indicated that the intervention effect in reducing stress differed over time (b = −0.89, 95% CI = −1.50, −0.27, p = 0.005). Analysis of the secondary outcomes suggested that SH+ led to statistically significant improvements in most of the secondary outcomes, including depression, insomnia, PA and self-kindness.
Conclusions
This is the first known randomised controlled trial ever conducted to improve stress and mental health problems among healthcare workers experiencing psychological stress in a low-resource setting. SH+ was found to be an effective strategy for alleviating psychological stress and reducing symptoms of common mental problems. SH+ has the potential to be scaled-up as a public health strategy to reduce the burden of mental health problems in healthcare workers exposed to high levels of stress.
Polarized electron beam production via laser wakefield acceleration in pre-polarized plasma is investigated by particle-in-cell simulations. The evolution of the electron beam polarization is studied based on the Thomas–Bargmann–Michel–Telegdi equation for the transverse and longitudinal self-injection, and the depolarization process is found to be influenced by the injection schemes. In the case of transverse self-injection, as found typically in the bubble regime, the spin precession of the accelerated electrons is mainly influenced by the wakefield. However, in the case of longitudinal injection in the quasi-1D regime (for example, F. Y. Li et al., Phys. Rev. Lett. 110, 135002 (2013)), the direction of electron spin oscillates in the laser field. Since the electrons move around the laser axis, the net influence of the laser field is nearly zero and the contribution of the wakefield can be ignored. Finally, an ultra-short electron beam with polarization of $99\%$ can be obtained using longitudinal self-injection.
The mid-infrared optical frequency comb is a powerful tool for gas sensing. In this study, we demonstrate a simple mid-infrared dual-comb spectrometer covering 3–4 μm in LiNbO3 waveguides. Based on a low-power fiber laser system, the mid-infrared comb is achieved via intra-pulse difference frequency generation in the LiNbO3 waveguide. We construct pre-chirp management before supercontinuum generation to control spatiotemporal alignment for pump and signal pulses. The supercontinuum is directly coupled into a chirped periodically poled LiNbO3 waveguide for the 3–4 μm idler generation. A mid-infrared dual-comb spectrometer based on this approach provides a 100 MHz resolution over 25 THz coverage. To evaluate the applicability for spectroscopy, we measure the methane spectrum using the dual-comb spectrometer. The measured results are consistent with the HITRAN database, in which the root mean square of the residual is 3.2%. This proposed method is expected to develop integrated and robust mid-infrared dual-comb spectrometers on chip for sensing.
The domestication of rice increases the divergence between cultivated rice and its wild progenitor because of artificial selection. However, it remains unknown whether highly diverged loci in rice can be explained by neutral demographic scenarios alone. In this study, we genotyped 45 InDels (insertion/deletion) in two subspecies of Asian cultivated rice (Oryza sativa ssp. japonica and Oryza sativa ssp. indica) and their wild progenitor (O. rufipogon/O. nivara). Among them, 17 loci are highly diverged (FST > 0.4) between rice cultivars and their ancestor. We performed coalescent-based simulations on neutral demographic scenarios and found that neutral demography alone could explain the polymorphic profiles on those highly diverged loci between cultivated and wild rice. Therefore, more signatures of selection should be considered when detecting artificial selection in rice.
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.
We report how artificial nests can be utilised at scale in nest site-limited areas of Mongolia to create a managed population of Saker Falcons (Falco cherrug), an “Endangered” species that is harvested for international trade. The provision of 5,000 artificial nests created an average annual saker population of 602 (SE ± 59) breeding pairs, producing an estimated 1,735 (SE ± 272) fledglings per annum over the period 2013–2015. Our regular monitoring enabled us to identify the effects of climate and vegetation on breeding performance. A warm and dry climate prior to breeding was associated with earlier egg-laying dates, while warmer conditions during the breeding season increased fledging success. Greater vegetation biomass in the previous growth season was positively related to breeding density and earlier clutch initiation, which was associated with larger clutch size and larger fledged brood size. Furthermore, using small mammal remains from saker pellets collected at artificial nest sites, we found that higher breeding density, earlier egg laying, larger clutch size, and increased nest survival were associated with areas with a higher proportion of small mammal prey in the diet. Our results provided evidence of the role of temporal and spatial variation in climate and prey availability on breeding performance, demonstrating the requirement for dynamic modelling of variable demographic parameters to be incorporated within an adaptive management framework for the sustainable management of the Saker Falcon.
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 under the reasonable assumption of constant mass density.
Tumor theranostics (a portmanteau of therapeutics and diagnostics) is now achieved in various ways with complex nanoparticle systems. Layered double hydroxide (LDH) nanoparticles are effective at drug/gene delivery and as imaging agents in potential tumor theranostics. This mini-review paper summarizes recent progress in developing LDH nanoparticles as a pH-sensitive magnetic resonance imaging (MRI) contrast agent, as a positron emission tomography (PET) imaging agent, and as a co-delivery platform for two therapeutic agents for tumor diagnosis and therapy. These results have indicated clearly the potential application of LDH nanoparticles for simultaneous diagnosis and treatment of cancers.
Polycarboxylate superplasticizer (PCE) is a widely used water-reducing agent that can reduce significantly the water demand of concrete, which reduces the porosity and enhances the strength and durability of the concrete. (The PCE consists of a single backbone with many long PEO side chains.) Generally, aggregate occupies >70 wt.% of concrete; clay minerals are ubiquitous in nature and are difficult to avoid in mined aggregates. Clay minerals in aggregate often render the PCE ineffective and give rise to rapid loss of the fluidity of the concrete; this phenomenon is referred to as ‘poor clay tolerance of PCE.’ Though the poor clay tolerance of PCE is known widely, the relationship between the clay tolerance and the molecular structure of the PCE, in particular the effect of the side-chain structures, on clay tolerance is not understood completely. The objective of the present study was to determine the effect of different grafting densities of polyethylene oxide (PEO) side chains on the clay tolerance of PCE. The raw materials included mainly PCE, which was synthesized using acrylic acid and isopentenol polyoxyethylene ether, and a natural montmorillonite (Mnt), one of the most common clay minerals. The loss of fluidity of the cement paste was tested to assess the clay tolerance; total organic carbon was used to measure the amount of PCE adsorbed; X-ray diffraction, transmission electron microscopy, Fourier-transform infrared spectroscopy, and thermogravimetric analysis were used to investigate the microstructure of the intercalated Mnt. The results showed that preventing the superficially adsorbed PCE from being intercalated into Mnt was of great importance in terms of the improvement in clay tolerance of PCE, which increased with greater grafting density of PEO in the side chain of the PCE. The results also suggested the possibility that polymers which intercalate preferentially into the Mnt could improve significantly the clay tolerance of the PCE system.