The safety of human-collaborative operations with robots depends on monitoring the external torque of the robot, in which there are toque sensor-based and torque sensor-free methods. Economically, the classic method for estimating joint external torque is the first-order momentum observer (MOB) based on a physic model without torque sensors. However, uncertainties in the dynamic model, which encompasses parameters identification error and joint friction, affect the torque estimation accuracy. To address this issue, this paper proposes using the backpropagation neural network (BPNN) method to estimate joint external torque without the delicate physical model by utilizing the powerful machine learning ability to handle the uncertainties of the MOB method and improve the accuracy of torque estimation. Using data obtained from the torque sensor to train the BPNN to build up a digital torque model, the trained BPNN can perceive force in practical applications without relying on the torque sensor. In the end, by contrast to the classic first-order MOB, the result demonstrates that BPNN achieves higher estimation accuracy compared to the MOB.

Scabies is a neglected tropical disease caused by the ectoparasitic mite, Sarcoptes scabiei var. hominis (S. scabiei). Common scabies, the most prevalent clinical subtype of scabies, is characterized by pruritus, multiple skin lesions and low mite burden. In contrast, crusted scabies, an extremely contagious variant, is characterized by hyperkeratosis and high mite burden, with or without pruritus. Scabies can be diagnosed based on clinical manifestations, with confirmation obtained through microscopic identification of diagnostic features of S. scabiei. However, owing to the diversity and non-specific nature of its clinical manifestations and insufficient knowledge regarding early-stage clinical manifestations, the diagnosis of crusted scabies continues to be delayed. Herein, we present three cases of scabies with varying degrees of crusting and mite burden. Three patients with physical and microscopic results suggesting scabies were selected for this study. Case 1 had mild crusting and low mite burden, case 2 had severe crusting and high mite burden and case 3 had mild crusting and high mite burden. In this case report, ‘the initial stage of crusted scabies’ refers to the progression from common to crusted scabies. The discussion regarding the diagnostic characteristics of the initial stage of crusted scabies is expected to aid the early diagnosis of crusted scabies.

The Northwest Tibet region is defined by several terranes, magmatic belts, basins and sutures, which were primarily shaped by the tectonic activities associated with Proto-, Palaeo- and Neo-Tethys Oceans. However, the basement nature and Precambrian tectonic evolution of the Northwest Tibet region, particularly within the Tashikuergan-Tianshuihai terrane, remain largely unknown. The Hongliutan area, located in the northeastern part of the Tashikuergan-Tianshuihai terrane, contains a critical sequence of Precambrian metamorphic rock strata. Detailed petrological, geochronological, and geochemical analyses of these metamorphic rocks – including plagioclase schist, quartz schist, amphibolite and nearby leucogranite – reveal the intricate processes of tectonic evolution within the Tianshuihai unit. Combining these findings with previous geochronological results is crucial for re-evaluating the nature of the Tashikuergan-Tianshuihai basement and its Precambrian tectonic evolution of the Tashikuergan-Tianshuihai basement. Our results reveal the following: (1) the leucogranite and amphibolite, identified as Cambrian igneous rocks, display distinct geochemical signatures indicative of a continental arc origin. These include calc-alkaline characteristics, enrichment in Th, U, Pb, Zr and Hf and depletion in Ba, Nb, Sr and Ti. Their εNd(t) values, close to zero, further support this tectonic setting, with the leucogranite and amphibolite formed at 506 and 522 Ma, respectively. (2) The plagioclase schist and quartz schist are interpreted to be Neoproterozoic volcaniclastic rocks that formed in a rifted (passive) continental margin setting. The quartz schist is particularly rich in detrital zircons, displaying a broad spectrum of 207Pb/206Pb ages, ranging from 901 to 3364 Ma. (3) A significant subset of detrital zircons within the quartz schist exhibits oscillatory zoning, high Th/U ratios and sharp-edged, anhedral-to-subhedral crystal forms, suggesting a derivation from proximal or deep-seated terranes. The concordant U–Pb zircon ages of 2468 and 974 Ma from the quartz schist, along with the 978 Ma age from the inherited zircons in the amphibolite, and the 1.2–2.1 Ga T2DM(Nd) from leucogranite and metamorphic rocks, collectively suggest that the Tianshuihai unit is likely underpinned by a Palaeoproterozoic basement that indicates Neoproterozoic reworking.

Therefore, our findings suggest the presence of a continuous, northwest-southeast trending Palaeoproterozoic basement underlying the entire Tashikuergan-Tianshuihai terrane. An alternative scenario posits that the ancient basement, currently beneath the Tashikuergan terrane, could extend into the Tianshuihai region, potentially indicating a Cambrian continental margin arc interspersed with remnants of older terranes.

Our study aimed to develop and validate a nomogram to assess talaromycosis risk in hospitalized HIV-positive patients. Prediction models were built using data from a multicentre retrospective cohort study in China. On the basis of the inclusion and exclusion criteria, we collected data from 1564 hospitalized HIV-positive patients in four hospitals from 2010 to 2019. Inpatients were randomly assigned to the training or validation group at a 7:3 ratio. To identify the potential risk factors for talaromycosis in HIV-infected patients, univariate and multivariate logistic regression analyses were conducted. Through multivariate logistic regression, we determined ten variables that were independent risk factors for talaromycosis in HIV-infected individuals. A nomogram was developed following the findings of the multivariate logistic regression analysis. For user convenience, a web-based nomogram calculator was also created. The nomogram demonstrated excellent discrimination in both the training and validation groups [area under the ROC curve (AUC) = 0.883 vs. 0.889] and good calibration. The results of the clinical impact curve (CIC) analysis and decision curve analysis (DCA) confirmed the clinical utility of the model. Clinicians will benefit from this simple, practical, and quantitative strategy to predict talaromycosis risk in HIV-infected patients and can implement appropriate interventions accordingly.

Precise pose estimation is crucial to various robots. In this paper, we present a localization method using correlative scan matching (CSM) technique for indoor mobile robots equipped with 2D-LiDAR to provide precise and fast pose estimation based on the common occupancy map. A pose tracking module and a global localization module are included in our method. On the one hand, the pose tracking module corrects accumulated odometry errors by CSM in the classical Bayesian filtering framework. A low-pass filter associating the predictive pose from odometer with the corrected pose by CSM is applied to improve precision and smoothness of the pose tracking module. On the other hand, our localization method can autonomously detect localization failures with several designed trigger criteria. Once a localization failure occurs, the global localization module can recover correct robot pose quickly by leveraging branch-and-bound method that can minimize the volume of CSM-evaluated candidates. Our localization method has been validated extensively in simulated, public dataset-based, and real environments. The experimental results reveal that the proposed method achieves high-precision, real-time pose estimation, and quick pose retrieve and outperforms other compared methods.

Panonychus citri is one of the most destructive pests in citrus orchards, exhibiting varying degrees of tolerance to numerous insecticides, such as spirodiclofen. To effectively manage pests, this study explores the response of P. citri to spirodiclofen stress from the perspectives of life history, enzymatic parameters, and reproduction. The effects of two concentrations (LC30 and LC50) of spirodiclofen on the biological parameters of P. citri were evaluated by the life table method. The results showed that the development duration, fecundity, oviposition days, and lifespan were shortened, though the pre-oviposition period of two treatments was prolonged in comparison with the control. A significant decrease was recorded in the net reproductive rate (R0) and the mean generation time (T) for the two treatments. Nevertheless, the intrinsic rate of increase (r) and the rate of increase (λ) were not significantly affected in the LC30 treatment, whereas they declined in the LC50 treatment. The enzyme activity assay resulted in higher activities of catalase (CAT), superoxide dismutase (SOD), peroxidase (POD), and carboxylesterase (CarE), among the treatments than the control. In contrast, the treatments recorded lower cytochromeP450 (CYP450) and Glutathione S-transferase (GST) activities than the control. Furthermore, the study detected that relative mRNA expression of Vitellogenin (Vg) and Vitellogenin receptor (VgR) for two treatments were lower than the control. In summary, two concentrations of spirodiclofen inhibited progeny growth and fecundity of P. citri. Additionally, the results of this study may support further research on tolerance of P. citri in response to spirodiclofen stress.

Trauma is a significant health issue that not only leads to immediate death in many cases but also causes severe complications, such as sepsis, thrombosis, haemorrhage, acute respiratory distress syndrome and traumatic brain injury, among trauma patients. Target protein identification technology is a vital technique in the field of biomedical research, enabling the study of biomolecular interactions, drug discovery and disease treatment. It plays a crucial role in identifying key protein targets associated with specific diseases or biological processes, facilitating further research, drug design and the development of treatment strategies. The application of target protein technology in biomarker detection enables the timely identification of newly emerging infections and complications in trauma patients, facilitating expeditious medical interventions and leading to reduced post-trauma mortality rates and improved patient prognoses. This review provides an overview of the current applications of target protein identification technology in trauma-related complications and provides a brief overview of the current target protein identification technology, with the aim of reducing post-trauma mortality, improving diagnostic efficiency and prognostic outcomes for patients.

Adsorption desulfurization is a potential new method for deep desulfurization of fuel oil. The development of adsorbents with high adsorption capacity and selectivity is the core of deep adsorption desulfurization. The adsorption behavior of thiophene in MCM-41 mesoporous materials modified by various metal ions was studied in order to understand the adsorption desulfurization process of molecular sieves. The Fe-, Co-, and Zn-modified MCM-41 materials were prepared using a one-step in situ hydrothermal synthesis method. The modified MCM-41 molecular sieves maintained the mesoporous structure, and the metal ions had specific dispersion on the surface of the molecular sieves. Adsorption of thiophene on the surfaces of molecular sieves had both physical and chemical characteristics. The adsorption desulfurization performance of the modified molecular sieve was superior to that of the pure silica molecular sieve. In the simulated gasoline with sulfur content of 220 μg/g, when the amount of adsorbent used was 100 mg, the adsorptive desulfurization performance tended to be in equilibrium, and the optimum adsorption temperature was 30°C. Fe-MCM-41 and MCM-41 molecular sieves reached adsorption equilibrium after ~60 min, but the desulfurization rate of Co-MCM-41 and Zn-MCM-41 still increased slightly. The kinetic simulation results indicated that the pseudo-second-order kinetics adsorption model described well the adsorption process of thiophene on molecular sieves. The molecular sieve Fe-MCM-41 had the best desulfurization performance with an equilibrium adsorption capacity of 14.02 mg/g and the desulfurization rate was ~90%.

To apply hydrotalcites more effectively to the problem of dye wastewater, the effects of divalent metal ions on the structure and stability of hydrotalcites, especially on their photocatalytic activity, were compared. In the present study, M/Cr hydrotalcites (M3Cr-CO3-LDHs) (in which M = Mg, Co, Ni, Cu, Zn), where the M/Cr molar ratio was 3, were prepared by the co-precipitation method. The structures and properties were characterized using powder X-ray diffraction (XRD), Fourier-transform infrared spectroscopy (FTIR), thermogravimetric-differential thermal analysis (TG-DTA), and UV-Visible diffuse reflectance spectroscopy (UV-Vis DRS). The results showed that five kinds of M3Cr-CO3-LDHs were synthesized successfully, and the layered structure of the samples obtained was regular and the crystal phase was single. When methylene blue (MB) solution was exposed to ZnCr-CO3-LDHs, H2O2, and visible light irradiation, more than 90.67% of the methylene blue (MB) was removed after 140 min. The photocatalytic activity of the samples was in the order: Co3Cr-CO3-LDHs > Mg3Cr-CO3-LDHs > Cu3Cr-CO3-LDHs > Zn3Cr-CO3-LDHs > Ni3Cr-CO3-LDHs. The results of a catalytic mechanism study showed that photocatalytic degradation of MB involved a demethylation reaction, with the reactive species containing •O2-, •OH, and h+.

Photocatalytic degradation of polluted water by means of minerals, such as clays and oxides, which have surfaces that exhibit catalytic properties, has been suggested to be a useful new strategy to promote both organic and inorganic pollutant degradation. Nevertheless, much still remains to be studied about the capability of mixed metal oxides derived from lanthanum-containing layered double hydroxides to promote pollutant removal by means of photocatalytic degradation with the mineral surfaces. The objective of the present study was to investigate the synthesis of ternary MgAlLa mixed-metal oxides (MgAlLa-M) with various Mg/Al/La molar ratios through a hydrotalcite-like precursor route by co-precipitation of appropriate amounts of metal salts from homogeneous solution, followed by calcination at 600°C. The crystal structure, surface morphology, and optical properties of the samples were characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), Fourier-transform infrared spectroscopy (FTIR), and UV-Vis diffuse reflectance spectroscopy (DRS). Analysis by XRD showed that MgO, La2O3, MgAl2O4, and La10Al4O21 phases coexisted in calcined samples as MgAlLa-M. The samples showed a small band gap of 3.11–3.35 eV according to DRS. The photocatalytic activities of the samples were evaluated by degradation of methylene blue (MB) under visible light irradiation. MgAlLa-M had better photocatalytic properties than hydrotalcite precursors, and the MgAlLa-0.5-M possessed the best photocatalytic activity. The photocatalytic degradation efficiency of MB dye with MgAlLa-0.5-M under visible light irradiation for 1 h was 99.89% in the presence of H2O2, which exceeded the binary MgAl-M (84.06%) under the same conditions. The high photocatalytic activity of the sample was attributed to the addition of La(III). In addition, the possible mechanism of photocatalytic degradation of MB by MgAlLa-M was discussed. The results showed that •O2– plays a major role in the MgAlLa-0.5-M/H2O2 system.

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.

Magnetic fields are important physics in stellar evolutionary theory, which seriously affects the stellar structure and evolutionary statues. The small-scale magnetic fields in the photosphere are ubiquitous, and float on the stellar surface, which usually couple with the acoustic waves, affecting the propagation of the acoustic waves. Considering the effect of the magnetic fields in the stellar photosphere on the oscillation frequencies, we calculate the asteroseismology for solar-like star KIC 11295426 and KIC 10963065. We obtain the stellar fundamental parameters, especially the strength of small-scale magnetic fields in the stellar photosphere. We find that the small-scale magnetic fields in the stellar photosphere may obviously improve the agreement between the observations and the theoretical models for two stars. The magnetic strength for KIC 11295426 and KIC 10963065 from asteroseismology are in agreement with the stellar period-activity relation.

Numerous Late Carboniferous – Early Permian dykes are found in West Junggar and represent an important part of the Central Asian Orogenic Belt. In this contribution, we use these dykes to assess the tectonic regime and stress state in the Late Carboniferous – Early Permian. The West Junggar dykes are mainly diorite/dioritic porphyrite with minor diabase and were formed in 324–310 Ma. They have been divided into two groups based on their orientation, petrology and geochronology. Group 1 dykes mostly comprise WNW-striking dioritic porphyrite and NE-striking diorite with minor diabase and resemble the Karamay-Baogutu sanukitoid. They were probably formed from depleted mantle at a relatively high temperature and pressure with the addition of 1–2% sediment/sedimental partial melt and 0–5% trapped oceanic crust-derived melts. Group 2 dykes are ENE-striking and are similar to sanukite in the Setouchi Volcanic Belt. These dykes were also derived from depleted mantle at a shallow depth but high temperature with the addition of 2–3.5% sediment/sedimental partial melt. Magma banding and injection folds in dykes and host granitoids indicate magma flow. Paleostress analysis reveals that both groups of dykes were formed in a tensile stress field. Their emplacement is favoured by presence of pre-existing joints or fractures in the host granitoids and strata. We conclude that large-scale asthenosphere mantle upwelling induced by trapped oceanic slab-off can explain the magmatism and significant continental crustal growth of West Junggar during Late Carboniferous to Early Permian.