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.

Syphilis remains a serious public health problem in mainland China that requires attention, modelling to describe and predict its prevalence patterns can help the government to develop more scientific interventions. The seasonal autoregressive integrated moving average (SARIMA) model, long short-term memory network (LSTM) model, hybrid SARIMA-LSTM model, and hybrid SARIMA-nonlinear auto-regressive models with exogenous inputs (SARIMA-NARX) model were used to simulate the time series data of the syphilis incidence from January 2004 to November 2023 respectively. Compared to the SARIMA, LSTM, and SARIMA-LSTM models, the median absolute deviation (MAD) value of the SARIMA-NARX model decreases by 352.69%, 4.98%, and 3.73%, respectively. The mean absolute percentage error (MAPE) value decreases by 73.7%, 23.46%, and 13.06%, respectively. The root mean square error (RMSE) value decreases by 68.02%, 26.68%, and 23.78%, respectively. The mean absolute error (MAE) value decreases by 70.90%, 23.00%, and 21.80%, respectively. The hybrid SARIMA-NARX and SARIMA-LSTM methods predict syphilis cases more accurately than the basic SARIMA and LSTM methods, so that can be used for governments to develop long-term syphilis prevention and control programs. In addition, the predicted cases still maintain a fairly high level of incidence, so there is an urgent need to develop more comprehensive prevention strategies.

Adsorption studies of aromatic hydrocarbons of various molecular sizes on organo-clays in aqueous solution were carried out for characterizing the surface heterogeneity of organo-clays. Benzene, toluene, p-xylene, ethylbenzene and n-propylbenzene adsorption by a smectite with 5 different exchange degrees of trimethylphenylammonium (TMPA) cations for Ca2+ was measured. The Langmuir isotherm equation did not adequately describe the experimental data, especially for small molecules, whereas the Dubinin-Radushkevich (DR) equation combined with a gamma-type adsorption energy distribution function described all experimental data well, suggesting the surface and structural heterogeneity of TMPA-smectites. The calculated adsorption energy distributions indicated that the apparent heterogeneity depends on the molecular size of adsorbates. Small adsorbate molecules such as benzene explore a highly heterogeneous surface of TMPA-smectites while large molecules such as n-propylbenzene detect a relatively homogeneous surface. The surface fractal dimension was dependent on the extent of TMPA exchange for Ca2+. When TMPA content is less than 75% of the cation exchange capacity (CEC) of the smectite, the heterogeneity decreases as TMPA content increases; it increases with TMPA content thereafter. These results are related to the size distribution of micropores in TMPA-smectites, which are defined by the 2 semi-infinite aluminosilicate sheets and the interlayer cations. The micropore size distributions and, hence, heterogeneity are created in part by the inhomogeneity of the charge density of clay surfaces and the tendency for cation segregation in these systems.

This article designs a robotic Chinese character writing system that can resist random human interference. Firstly, an innovative stroke extraction method of Chinese characters was devised. A basic Chinese character stroke extraction method based on cumulative direction vectors is used to extract the components that make up the strokes of Chinese characters. The components are then stitched together into strokes based on the sequential base stroke joining method. To enable the robot to imitate handwriting Chinese character skills, we utilised stroke information as the demonstration and modelled the skills using dynamic movement primitives (DMPs). To suppress random human interference, this article combines improved DMPs and conductance control to adjust robot trajectories based on real-time visual measurements. The experimental results show that the proposed method can accurately extract the strokes of most Chinese characters. The designed trajectory adjustment method offers better smoothness and robustness than direct rotating and translating curves. The robot is able to adjust its posture and trajectory in real time to eliminate the negative impacts of human interference.

Simultaneous localization and mapping systems based on rigid scene assumptions cannot achieve reliable positioning and mapping in a complex environment with many moving objects. To solve this problem, this paper proposes a novel dynamic multi-object lidar odometry (MLO) system based on semantic object recognition technology. The proposed system enables the reliable localization of robots and semantic objects and the generation of long-term static maps in complex dynamic scenes. For ego-motion estimation, the proposed system extracts environmental features that take into account both semantic and geometric consistency constraints. Then, the filtered features can be robust to the semantic movable and unknown dynamic objects. In addition, we propose a new least-squares estimator that uses geometric object points and semantic box planes to realize the multi-object tracking (SGF-MOT) task robustly and precisely. In the mapping module, we implement dynamic semantic object detection using the absolute trajectory tracking list. By using static semantic objects and environmental features, the system eliminates accumulated localization errors and produces a purely static map. Experiments on the public KITTI dataset show that the proposed MLO system provides more accurate and robust object tracking performance and better real-time localization accuracy in complex scenes compared to existing technologies.

Parasitoid wasps, notably egg parasitoids of the family Eupelmidae (Hymenoptera: Chalcidoidea), a key natural enemy of insect pests, offer a sustainable approach to pest management in agriculture. This study investigated the venom apparatus's developmental dynamics across 4 species of eupelmid egg parasitoids: Anastatus. japonicus, Anastatus fulloi, Mesocomys trabalae and Mesocomys albitarsis. A comprehensive anatomical investigation revealed differences in the dimensions of the venom apparatus across different developmental stages in adult females. We found that the venom apparatus of these 4 studied species consists of a venom gland and a reservoir with an associated Dufour's gland. As the length of post-emergence increases, a significant enlargement in the venom apparatus is evident across all the studied parasitoid species. Notably, M. albitarsis consistently exhibites the shortest venom gland length, whereas that of A. fulloi is the longest among the observed species. At the high day age, the width of venom glands of the 2 Mesocomys species surpasses those of the Anastatus species; for the volume of the venom reservoir, there is a steady increase in all 4 species before the age of 6–7 days, with a decline on 8th day, especially for A. japonicus. This research provided new insights into the developmental trajectories of venom apparatus in eupelmid egg parasitoids and the potential impact of venom potency on their success.

Due to the curvature of the droplet surface, the propagation of transmitted waves is complex inside a droplet impacted by an incident shock wave. The wave converging phenomena inside a two-dimensional water column impacted by different curved shock waves are explored in this paper by means of theoretical ray analysis and high-resolution numerical simulations. An analytical method describing the wave structure evolution characteristics inside the shocked water column is established. Hence, the morphological pattern and focus locations of these waves are theoretically obtained. The analysis shows that both the first and the second reflected waves focus inside the water column regardless of the convergent, planar or divergent nature of the incident shock wave shape. The dimensionless distances from focusing points to the column centre are derived as ${\kappa }/{( 3\kappa -{{M}_{0}}{{f}_{s}} )}$ for the former and ${\kappa }/{( 5\kappa -{{M}_{0}}{{f}_{s}})}$ for the latter, respectively. Here, $\kappa$, $M_0$ and $f_s$ represent the sound-speed ratio of the two phases, the incident shock wave strength and a function characterising the shock wave shape effect, respectively. Moreover, highly negative pressures due to the first reflected wave focusing and significant pressure oscillations due to the second reflected wave focusing are numerically tracked for three shapes of the incident shock. The effects of the incident shock wave intensity on the pressure variations at focus points are further studied. As the incident shock wave intensity increases, stronger negative pressure and higher pressure oscillation are induced. The converged incident shock wave can enhance the above phenomena, but the diverged one can weaken them.

The aging population is now a global challenge, and impaired walking ability is a common feature in the elderly. In addition, some occupations such as military and relief workers require extra physical help to perform tasks efficiently. Robotic hip exoskeletons can support ambulatory functions in the elderly and augment human performance in healthy people during normal walking and loaded walking by providing assistive torque. In this review, the current development of robotic hip exoskeletons is presented. In addition, the framework of actuation joints and the high-level control strategy (including the sensors and data collection, the way to recognize gait phase, the algorithms to generate the assist torque) are described. The exoskeleton prototypes proposed by researchers in recent years are organized to benefit the related fields realizing the limitations of the available robotic hip exoskeletons, therefore, this work tends to be an influential factor with a better understanding of the development and state-of-the-art technology.

In this paper, effects of discharge parameters and modulation frequency on the signal of laser-induced fluorescence measurements of ion velocity distribution functions are investigated in the LIF Test Source. A maximum modulation frequency is found for each given set of parameters, beyond which the signal gradually declines. Meanwhile, this maximum modulation frequency occurred consistently at ~1/10 of the theoretical frequency limit and photon counts received by a photomultiplier tube, which indicates that as modulation frequency and the associated per-pulse-excitation-event count decrease, the transition from the macroscopic statistical signal to the microscopic probabilistic signal is a gradual process.

Reconstructing the history of elite communication in ancient China benefits from additional archaeological evidence. We combine textual analysis with new human stable carbon and nitrogen isotope data from two Chu burials in the Jingzhou area to reveal significant dietary differences among Chu nobles of the middle Warring States period (c. 350 BC). This research provides important new information on the close interaction between the aristocratic families of the Qin and Chu.

Nutritional Risk Screening index is a standard tool to assess nutritional risk, but epidemiological data are scarce on controlling nutritional status (CONUT) as a prognostic marker in acute haemorrhagic stroke (AHS). We aimed to explore whether the CONUT may predict a 3-month functional outcome in AHS. In total, 349 Chinese patients with incident AHS were consecutively recruited, and their malnutrition risks were determined using a high CONUT score of ≥ 2. The cohort patients were divided into high-CONUT (≥ 2) and low-CONUT (< 2) groups, and primary outcomes were a poor functional prognosis defined as the modified Rankin Scale (mRS) score of ≥ 3 at post-discharge for 3 months. Odds ratios (OR) with 95 % confidence intervals (CI) for the poor functional prognosis at post-discharge were estimated by using a logistic analysis with additional adjustments for unbalanced variables between the high-CONUT and low-CONUT groups. A total of 328 patients (60·38 ± 12·83 years; 66·77 % male) completed the mRS assessment at post-discharge for 3 months, with 172 patients at malnutrition risk at admission and 104 patients with a poor prognosis. The levels of total cholesterol and total lymphocyte counts were significantly lower in high-CONUT patients than low-CONUT patients (P = 0·012 and < 0·001, respectively). At 3-month post discharge, there was a greater risk for the poor outcome in the high-CONUT compared with the low-CONUT patients at admission (OR: 2·32, 95 % CI: 1·28, 4·17). High-CONUT scores independently predict a 3-month poor prognosis in AHS, which helps to identify those who need additional nutritional managements.

Visual tracking is an essential building block for target tracking and capture of the underwater vehicles. On the basis of remotely autonomous control architecture, this paper has proposed an improved kernelized correlation filter (KCF) tracker and a novel fuzzy controller. The model is trained to learn an online correlation filter from a plenty of positive and negative training samples. In order to overcome the influence from occlusion, the improved KCF tracker has been designed with an added self-discrimination mechanism based on system confidence uncertainty. The novel fuzzy logic tracking controller can automatically generate and optimize fuzzy rules. Through Q-learning algorithm, the fuzzy rules are acquired through the estimating value of each state action pairs. An S surface based fitness function has been designed for the improvement of learning based particle swarm optimization. Tank and channel experiments have been carried out to verify the proposed tracker and controller through pipe tracking and target grasp on the basis of designed open frame underwater vehicle.

Previous studies have revealed associations of meteorological factors with tuberculosis (TB) cases. However, few studies have examined their lag effects on TB cases. This study was aimed to analyse nonlinear lag effects of meteorological factors on the number of TB notifications in Hong Kong. Using a 22-year consecutive surveillance data in Hong Kong, we examined the association of monthly average temperature and relative humidity with temporal dynamics of the monthly number of TB notifications using a distributed lag nonlinear models combined with a Poisson regression. The relative risks (RRs) of TB notifications were >1.15 as monthly average temperatures were between 16.3 and 17.3 °C at lagged 13–15 months, reaching the peak risk of 1.18 (95% confidence interval (CI) 1.02–1.35) when it was 16.8 °C at lagged 14 months. The RRs of TB notifications were >1.05 as relative humidities of 60.0–63.6% at lagged 9–11 months expanded to 68.0–71.0% at lagged 12–17 months, reaching the highest risk of 1.06 (95% CI 1.01–1.11) when it was 69.0% at lagged 13 months. The nonlinear and delayed effects of average temperature and relative humidity on TB epidemic were identified, which may provide a practical reference for improving the TB warning system.

Southern China is affected by multi-stage tectonic activities, with strong fold deformation, complex fault systems and poor shale gas preservation conditions. Here, we used shale samples from the lower Silurian Longmaxi shale in the complex tectonic area of Southern China, to study the relationship between differential structural deformation, and pore structure and adsorption capacity. According to the deformation mechanism of the shale, it is further divided into brittle-slip rheological deformation (BD) and ductile-slip rheological deformation (DD). The results show that all micro-fractures can be observed under scanning electron microscopy in deformed shale samples, but in shale samples with different types of rheological deformation, the micro-fractures have large differences in scale, fracture length and lateral connectivity. The micro-fractures developed in DD shales are small in scale and short in fracture length, but have strong local connectivity. In contrast, brittle minerals are more developed in BD shales, and interlayer shearing has formed micro-fractures with large fracture length and good lateral connectivity, which is beneficial for later fracturing. In these two types of deformed shales, pores in organic matter are rare, and sporadic organic pores have small pore size and poor connectivity. The total pore volume (1.8–2.4 × 10−2 cm3 g–1) of BD shale samples is higher than that of DD shale samples (0.8–1.6 × 10−2 cm3 g–1). There is a positive correlation between total pore volume and quartz content. In addition, the specific surface area (12–18 m2 g–1) of DD shale samples is larger than that of BD shale samples (6–12 m2 g–1).

Radiofrequency ablation (RFA) is a non-invasive image-guided procedure where tumors are heated in the body with electrical current. RFA procedures are commonly indicated for patients with limited local disease or who are not surgical candidates. Current methods of RFA use multiple cords and wires that ergonomically complicate the procedure and present the risk of cutting or shorting the circuit if they are damaged. A wireless RFA technique based on electromagnetic induction is presented in this paper. The transmitting and receiving coils were coupled to resonate at the same frequency to ensure the highest power output. The receiving coil was connected to two insulated electrodes on a catheter, which allowed the current to flow to the targeted tissue. The prototype system was tested with ex-vivo bovine tissue, which has similar thermal and electrical properties to human tissue. The setup can monitor the received power, efficiency, temperature, and ablation zone during ablation procedures. The maximum received power was 15 W, and the average maximum efficiency was 63.27%. The novel system was also able to ablate up to a 2 cm ablation zone in non-perfused tissue. This proof of concept for performing RFA wirelessly with electromagnetic induction may merit further optimization.

We evaluate the timing and environmental controls on past rock-glacier activity at Øyberget, upper Ottadalen, southern Norway, using in situ 10Be surface-exposure dating on (1) boulders belonging to relict rock-glacier lobes at c. 530 m asl, (2) bedrock and boulder surfaces at the Øyberget summit (c. 1200 m asl), and (3) bedrock at an up-valley site (c. 615 m asl). We find that the rock-glacier lobes became inactive around 11.1 ± 1.2 ka, coeval with the timing of summit deglaciation (11.2 ± 0.7 ka). This is slightly older than previously published Schmidt-hammer surface-exposure ages. The timing does not match known climatic conditions promoting rock-glacier formation in the early Holocene; hence we infer that lobe formation resulted from enhanced debris supply and burial of residual ice during and soon after deglaciation. The results demonstrate that rock glaciers may form over a relatively short period of time (hundreds rather than thousands of years) under non-permafrost conditions and possibly indicate a paraglacial type of process.

Early maturity allows weedy rice (Oryza sativa L. f. spontanea) to persist by escaping harvest in paddy fields. A shorter grain-filling period contributes to the early maturity of weedy rice. However, the differences in morphology and endosperm development in the caryopsis between weedy and cultivated rice are largely unexplored. Here, we selected four biotypes of weedy rice and associated cultivated rice (ACR; Oryza sativa) from different latitudes to conduct a common garden experiment. The endosperm development process of the caryopsis was observed by optical microscopy and electron microscopy. Endosperm cell division and starch accumulation rate during grain filling were also measured. The grain development progress in weedy rice was more rapid and earlier than that in ACR. The endosperm development progress of weedy rice was 6 to 8 d earlier than that of ACR. The endosperm cells of weedy rice cellularized earlier and more rapidly than those of ACR, and the starch grains of weedy rice were more sharply polygonal and compactly arranged than those of ACR. The active endosperm cell division period in weedy rice was 4 to 7 d shorter than that in ACR, while the active starch accumulation period of weedy rice was 2 to 8 d shorter than that of ACR. The rapid development of endosperm cells and starch grains leads to the shorter grain-filling period of weedy rice. weedy rice.