Robotic manipulation inherently involves contact with objects for task accomplishment. Traditional motion planning techniques, while having shown their success in collision-free scenarios, may not handle manipulation tasks effectively because they typically avoid contact. Although geometric constraints have been introduced into classical motion planners for tasks that involve interactions, they still lack the capability to fully incorporate contact. In addition, these planning methods generally do not operate on objects that cannot be directly controlled. In this work, building on a recently proposed framework for energy-based quasi-static manipulation, we propose an approach to manipulation planning by adapting a numerical continuation algorithm to compute the equilibrium manifold (EM), which is implicitly derived from physical laws. By defining a manipulation potential energy function that captures interaction and natural potentials, the numerical continuation approach is integrated with adaptive ordinary differential equations that converge to the EM. This allows discretizing the implicit manifold as a graph with a finite set of equilibria as nodes interconnected by weighted edges defined via a haptic metric. The proposed framework is evaluated with an inverted pendulum task, where the explored branch of the manifold demonstrates effectiveness.

Based on a 4f system, a 0° reflector and a single laser diode side-pump amplifier, a new amplifier is designed to compensate the spherical aberration of the amplified laser generated by a single laser diode side-pump amplifier and enhance the power of the amplified laser. Furthermore, the role of the 4f system in the passive spherical aberration compensation and its effect on the amplified laser are discussed in detail. The results indicate that the amplification efficiency is enhanced by incorporating a 4f system in a double-pass amplifier and placing a 0° reflector only at the focal point of the single-pass amplified laser. This method also effectively uses the heat from the gain medium (neodymium-doped yttrium aluminium garnet) of the amplifier to compensate the spherical aberration of the amplified laser.

Previous research has found that metaphor comprehension is often more challenging in L2 than in L1 because of the prioritization of literal meanings, but the effect of cross-cultural conceptual differences and the role of inhibitory control during L2 metaphor processing remain uninvestigated. We explored these through a metaphor-induced lexical forgetting paradigm (Experiment 1), a metaphor interpretation task (Experiment 2), and an eye-tracking reading task (Experiment 3) to evaluate competing theories. Inhibitory control did not play a significant role during reading culturally congruent metaphors as it did for culturally incongruent ones. However, interpreting both kinds of L2 metaphors involved more inhibitory control than literals, even after explicit explanatory contexts. Although literal meanings (and culturally incongruent L1 metaphorical meanings) of L2 metaphors may always be activated, inhibition involvement depends on both task requirements and metaphor properties. These can be explained by the extended graded salience view and the predictive processing framework.

Predicting epidemic trends of coronavirus disease 2019 (COVID-19) remains a key public health concern globally today. However, the severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) reinfection rate in previous studies of the transmission dynamics model was mostly a fixed value. Therefore, we proposed a meta-Susceptible-Exposed-Infectious-Recovered-Susceptible (SEIRS) model by adding a time-varying SARS-CoV-2 reinfection rate to the transmission dynamics model to more accurately characterize the changes in the number of infected persons. The time-varying reinfection rate was estimated using random-effect multivariate meta-regression based on published literature reports of SARS-CoV-2 reinfection rates. The meta-SEIRS model was constructed to predict the epidemic trend of COVID-19 from February to December 2023 in Sichuan province. Finally, according to the online questionnaire survey, the SARS-CoV-2 infection rate at the end of December 2022 in Sichuan province was 82.45%. The time-varying effective reproduction number in Sichuan province had two peaks from July to December 2022, with a maximum peak value of about 15. The prediction results based on the meta-SEIRS model showed that the highest peak of the second wave of COVID-19 in Sichuan province would be in late May 2023. The number of new infections per day at the peak would be up to 2.6 million. We constructed a meta-SEIRS model to predict the epidemic trend of COVID-19 in Sichuan province, which was consistent with the trend of SARS-CoV-2 positivity in China. Therefore, a meta-SEIRS model parameterized based on evidence-based data can be more relevant to the actual situation and thus more accurately predict future trends in the number of infections.

Previous research has suggested a potential link between folic acid (FA) supplementary therapy and gastric ulcers (GU). To investigate this relationship further, we conducted a Mendelian randomisation (MR) analysis using data from the UK Biobank. Our analysis primarily employed inverse-variance weighted (IVW) methods, including both fixed-effect and random-effect models. To ensure the robustness of our findings, additional methods such as the simple median, the weighted median and the penalised weighted median were also applied. The MR analysis aimed to explore the causal effect of FA supplementary therapy on GU. Seven SNP at genetic loci associated with FA supplementary therapy were identified. Both the random-effect and fixed-effect IVW models indicated that genetically predicted FA supplementary therapy significantly reduced the risk of GU (OR, 0·870; 95 % CI 0·826, 0·917, P < 0·001). This result was consistent across other methods, with similar outcomes observed using the simple median (OR, 0·835; 95 % CI 0·773, 0·901, P < 0·001), the weighted median (OR, 0·854; 95 % CI 0·794, 0·919, P < 0·001) and the penalised weighted median (OR, 0·849; 95 % CI 0·789, 0·914, P < 0·001). Leave-one-out sensitivity analysis confirmed that no individual SNP significantly drove the association between FA supplementary therapy and GU. This MR study provides genetic evidence that FA supplementary therapy may decrease the risk of GU.

The egg parasitoid Anastatus japonicus is a key natural enemy in the biological control of various agricultural and forestry pests. It is particularly used against the brown marmorated stink bug Halyomorpha halys and the emerging defoliator pest Caligula japonica in East Asia. It has been proved that the eggs of Antheraea pernyi can be used as a factitious host for the mass production of A. japonicus. This study systematically documented the parasitic behaviour and developmental morphology exhibited by A. japonicus on the eggs of A. pernyi. The parasitic behaviour of A. japonicus encompassed ten steps including searching, antennation, locating, digging, probing, detecting, oviposition, host-feeding, grooming, and resting. Oviposition, in particular, was observed to occur in three stages, with the parasitoids releasing eggs during the second stage when the body remained relatively static. Among all the steps of parasitic behaviour, probing accounted for the longest time, constituting 33.1% of the whole time. It was followed by digging (19.3%), oviposition (18.5%), antennation (9.6%), detecting (7.4%), and the remaining steps, each occupying less than 5.0% of the total event time. The pre-emergence of adult A. japonicus involves four stages: egg (0 to 2nd day), larva (3rd to 9th day), pre-pupa (10th to 13th day), pupa (14th to 22nd day), and subsequent development into an adult. Typically, it takes 25.60 ± 0.30 days to develop from an egg to an adult at 25℃. This information increases the understanding of the biology of A. japonicus and may provide a reference for optimising reproductive devices.

Supported silver nanoparticles (Ag NPs) have been used extensively as antibacterial agents in biomedicine, biotechnology, and environmental remediation. However, a facile and scalable method for preparing Ag NPs dispersed homogeneously on supports remains a challenge. In this study, a novel molten salt method was developed successfully to synthesize the supported, homogeneously dispersed Ag NPs on palygorskite. Abundant pores and ample surface hydroxyl groups of palygorskite served as anchoring sites, preventing the rapid growth, aggregation, and sintering of Ag NPs. Typically, palygorskite was mixed with AgNO3 (as a precursor) and NaNO3 (as a dispersant), and then the mixture was heated slowly. During the heating process, the AgNO3 decomposed gradually into Ag NPs and the molten NaNO3 with a high concentration of ions dispersed the newly formed Ag NPs. The Ag NPs were dispersed homogeneously on the palygorskite and had very small particle sizes (~5.8 nm) even for a significant loading amount (~9 wt.%). As antibacterial agents, the Ag/palygorskite nanocomposites showed enhanced antibacterial activity, compared with those synthesized without the introduction of molten NaNO3. In addition, the key effect of the surface hydroxyl groups of palygorskite on the characteristics of the loaded Ag and the corresponding antibacterial activity were also elucidated. As such, the present work provided a novel and facile strategy for the synthesis, without a chemical reductant or surfactant, of supported, highly dispersed Ag NPs on clay minerals and this could have potential in the scalable production and practical application of Ag-based antibacterial materials.

Suppose that G is a finite solvable group. Let $t=n_c(G)$ denote the number of orders of nonnormal subgroups of G. We bound the derived length $dl(G)$ in terms of $n_c(G)$. If G is a finite p-group, we show that $|G'|\leq p^{2t+1}$ and $dl(G)\leq \lceil \log _2(2t+3)\rceil $. If G is a finite solvable nonnilpotent group, we prove that the sum of the powers of the prime divisors of $|G'|$ is less than t and that $dl(G)\leq \lfloor 2(t+1)/3\rfloor +1$.

Mineral–organic matter (OM) associations play an important role in determining the long-term retention of OM in soils. However, the retention mechanisms of OM in cation–mineral–OM systems remain unclear. Taking into account the dominance of montmorillonite (Mnt) in the soil of the temperate zone, we investigated the stability of humic substances (HSs) in the Fe(III)–Mnt–HS system using thermal analysis. The HS degradation started at ~387°C in the Fe(III)–Mnt–HS system, which was higher than that of the Fe(III)–HS system (290°C). The formed ferrihydrite (Fhy) mainly contributed to the enhanced labile OM retention through adsorption and/or co-precipitation, whereas Mnt inhibited the initial formation and subsequent transformation of Fhy, thus improving the stability of OM. These results suggest that the HS stability in Fe(III)–clay–HS systems depends on the Fe speciation affected by clay minerals, and this finding provides insights into OM–mineral interactions in temperate-zone soils.

In this paper, we study the optimal VIX-linked target benefit (TB) pension design. By applying the dynamic programming approach, we show the optimal risk-sharing structure for the benefit payment exhibits a linear form that consists of three components: (1) a model-robust performance adjustment, (2) a counter-cyclical volatility adjustment that depends on the VIX index, and (3) a TB level that is partially indexed to the cost-of-living adjustment. Differences between our results and the previous literature are highlighted via both theoretical derivations and numerical illustrations.

The lack of excellent wheat germplasm resources on the Qinghai-Tibet Plateau has led to a gradual decrease in genetic diversity and an increasingly narrow genetic background in wheat grown in this region. Rational use of excellent genes from wheat relatives is important to increase genetic diversity, broaden the genetic base and achieve high yield and quality in common wheat. The objective of this study was to use principal component and cluster analyses of 13 important agronomic traits of 44 Polish wheat varieties over 3 years and comprehensively evaluate them to screen for excellent germplasm resources, thus providing the basic material for broadening the genetic base of Qinghai-Tibet Plateau wheat germplasm resources.

The aim was to explore the implications of follicular output rate (FORT), ovarian sensitivity index (OSI), ovarian response prediction index (ORPI), and follicle-to-oocyte index (FOI) in low-prognosis patients defined by POSEIDON criteria. In total, 4030 fresh in vitro fertilization (IVF) cycles from January 2013 to October 2021 were included in this retrospective cohort analysis and were categorized into four groups based on the POSEIDON criteria. The FORT between Groups 1 and 2 (0.61 ± 0.34 vs. 0.65 ± 0.35, P = 0.081) and Groups 3 and 4 (1.08 ± 0.82 vs. 1.09 ± 0.94, P = 0.899) were similar. The OSI in the order from the highest to the lowest were 3.01 ± 1.46 in Group 1, 2.28 ± 1.09 in Group 2, 1.54 ± 1.04 in Group 3, and 1.34 ± 0.96 in Group 4 (P < 0.001). The trend in the ORPI values was consistent with that in the OSI. FORT, OSI, ORPI, and FOI complemented each other and offered excellent effectiveness in reflecting ovarian reserve and response, but they were not good predictors of clinical pregnancy rate (CPR) from IVF.

The deformable wing structure can change its aerodynamic shape according to the change of flight mission and flight environment, so as to obtain better lift-drag, stability and control characteristics, which is considered as one of the future research directions of aviation technology. Considering the current technology maturity and reliability, a gradient corrugated fin is designed to realise the bending deformation of the wing. The structure of the skin is optimised to keep the skin smooth during deformation. In addition, a progressive push and pull rod is proposed to drive the wing deformation, and the fluid-structure interaction simulation is carried out for the wing deformation. At the same time, the changes of wing aerodynamic characteristics under different angles of leading and trailing edges and different push rod action schemes are analysed. Finally, a dry wind tunnel simulation test of the designed progressive flexible variable bending wing is carried out. The results of fluid-structure interaction simulation and dry wind tunnel test show that the progressive flexible variable bending wing proposed in this paper has a simple and reliable structure and remarkable deformation effect. It has advantages in increasing lift and reducing drag, ensuring high lift-drag ratio and providing wing trim moment. The deformable wing dry wind tunnel test platform designed by this method is structurally reliable, easy to operate, and can accurately reflect the influence of wing deformation on its aerodynamic force, which provides a verification means for the development of the design method and the design of practical aircraft in the future.

Breast cancer is a high-risk disease with a high mortality rate among women. Chemotherapy plays an important role in the treatment of breast cancer. However, chemotherapy eventually results in tumours that are resistant to drugs. In recent years, many studies have revealed that the activation of Wnt/β-catenin signalling is crucial for the emergence and growth of breast tumours as well as the development of drug resistance. Additionally, drugs that target this pathway can reverse drug resistance in breast cancer therapy. Traditional Chinese medicine has the properties of multi-target and tenderness. Therefore, integrating traditional Chinese medicine and modern medicine into chemotherapy provides a new strategy for reversing the drug resistance of breast tumours. This paper mainly reviews the possible mechanism of Wnt/β-catenin in promoting the process of breast tumour drug resistance, and the progress of alkaloids extracted from traditional Chinese medicine in the targeting of this pathway in order to reverse the drug resistance of breast cancer.

The mean velocity follows a logarithmic scaling in the surface layer when normalized by the friction velocity, i.e. a velocity scale derived from the wall-shear stress. The same logarithmic scaling exists for the mean temperature when one normalizes the temperature with the friction temperature, i.e. a scale derived from the wall heat flux. This temperature normalization poses challenges to adiabatic walls, for which the wall heat flux is zero, and the logarithmic temperature scaling becomes singular. This paper aims to establish a temperature transformation that applies to both isothermal walls and adiabatic walls. We show that by accounting for the diffusive flux, both the Van Driest transformation and the semi-local transformation (and other transformations alike) apply to adiabatic walls. We also show that the classic Walz equation works well for adiabatic walls because it models the diffusive flux, albeit in a rather crude way. For validation/testing, we conduct direct numerical simulations of supersonic Couette flows at Mach numbers $M=1$, 3 and 6, and various Reynolds numbers. The two walls are adiabatic, and a source term is included to cancel the aerodynamic heating in the domain. We show that the adiabatic wall data collapse onto the same incompressible logarithmic law of the wall like the isothermal wall data.