Xiangranggounan is an intensively occupied settlement associated with the Kayue culture on the north-eastern Qinghai-Tibet Plateau. Excavations in 2022 and 2023 revealed five house types with clear stratigraphic relationships that help to expand current understanding of the evolution of prehistoric settlement patterns in harsh plateau environments.

In this article, we delve into the optimal scheduling challenge for many-to-many on-orbit services, taking into account variations in target accessibility. The scenario assumes that each servicing satellite is equipped with singular or multiple service capabilities, tasked with providing on-orbit services to multiple targets, each characterised by distinct service requirements. The mission’s primary objective is to determine the optimal service sequence, orbital transfer duration and on-orbit service time for each servicing satellite, with the ultimate goal of minimising the overall cost. We frame the optimal scheduling dilemma as a time-related colored travelling salesman problem (TRCTSP) and propose an enhanced firefly algorithm (EFA) to address it. Finally, experimental results across various scenarios validate the effectiveness and superiority of the proposed algorithm. The principal contribution of this work lies in the modeling and resolution of the many-to-many on-orbit service challenge, considering accessibility variations — a domain that has, until now, remained unexplored.

In certain scenarios, the large footprint of a robot is not conducive to multi-robot cooperative operations. This paper presents a generalized single-loop parallel manipulator with remote center of motion (GSLPM-RCM), which addresses this issue by incorporating a reconfigurable base. The footprint of this RCM manipulator can be adjusted by varying the parameters of the reconfigurable base. First, utilizing configuration evolution, a reconfigurable base is constructed based on the principle of forming RCM motion. Then, according to the modular analysis method, the inverse kinematics of this parallel RCM manipulator is analyzed, and the workspace is also analyzed. Subsequently, the motion/force transmissibility of this RCM manipulator is analyzed by considering its single-loop and multi-degree of freedom characteristics. Leveraging the workspace index and transmissibility indices, dimension optimization of the manipulator is implemented. Finally, the influence of the reconfigurable base on the workspace and the transmissibility performance of the optimized manipulator is studied.

Traditional bulky and complex control devices such as remote control and ground station cannot meet the requirement of fast and flexible control of unmanned aerial vehicles (UAVs) in complex environments. Therefore, a data glove based on multi-sensor fusion is designed in this paper. In order to achieve the goal of gesture control of UAVs, the method can accurately recognize various gestures and convert them into corresponding UAV control commands. First, the wireless data glove fuses flexible fiber optic sensors and inertial sensors to construct a gesture dataset. Then, the trained neural network model is deployed to the STM32 microcontroller-based data glove for real-time gesture recognition, in which the convolutional neural network-Attention mechanism (CNN-Attention) network is used for static gesture recognition, and the convolutional neural network-bidirectional long and short-term memory (CNN-Bi-LSTM) network is used for dynamic gesture recognition. Finally, the gestures are converted into control commands and sent to the vehicle terminal to control the UAV. Through the UAV simulation test on the simulation platform, the average recognition accuracy of 32 static gestures reaches 99.7%, and the average recognition accuracy of 13 dynamic gestures reaches 99.9%, which indicates that the system’s gesture recognition effect is perfect. The task test in the scene constructed in the real environment shows that the UAV can respond to the gestures quickly, and the method proposed in this paper can realize the real-time stable control of the UAV on the terminal side.

Soft robots show an advantage when conducting tasks in complex environments due to their enormous flexibility and adaptability. However, soft robots suffer interactions and nonlinear deformation when interacting with soft and fluid materials. The reason behind is the free boundary interactions, which refers to undetermined contact between soft materials, specifically containing nonlinear deformation in air and nonlinear interactions in fluid for soft robot simulation. Therefore, we propose a new approach using material point method (MPM), which can solve the free boundary interactions problem, to simulate soft robots under such environments. The proposed approach can autonomously predict the flexible and versatile behaviors of soft robots. Our approach entails incorporating automatic differentiation into the algorithm of MPM to simplify the computation and implement an efficient implicit time integration algorithm. We perform two groups of experiments with an ordinary pneumatic soft finger in different free boundary interactions. The results indicate that it is possible to simulate soft robots with nonlinear interactions and deformation, and such environmental effects on soft robots can be restored.

This study aims to evaluate the impact of low-carbohydrate diet, balanced dietary guidance and pharmacotherapy on weight loss among individuals with overweight or obesity over a period of 3 months. The study involves 339 individuals with overweight or obesity and received weight loss treatment at the Department of Clinical Nutrition at the Second Affiliated Hospital of Zhejiang University, School of Medicine, between 1 January 2020 and 31 December 2023. The primary outcome is the percentage weight loss. Among the studied patients, the majority chose low-carbohydrate diet as their primary treatment (168 (49·56 %)), followed by balanced dietary guidance (139 (41·00 %)) and pharmacotherapy (32 (9·44 %)). The total percentage weight loss for patients who were followed up for 1 month, 2 months and 3 months was 4·98 (3·04, 6·29) %, 7·93 (5·42, 7·93) % and 10·71 (7·74, 13·83) %, respectively. Multivariable logistic regression analysis identified low-carbohydrate diet as an independent factor associated with percentage weight loss of ≥ 3 % and ≥ 5 % at 1 month (OR = 0·461, P < 0·05; OR = 0·349, P < 0·001). The results showed that a low-carbohydrate diet was an effective weight loss strategy in the short term. However, its long-term effects were comparable to those observed with balanced dietary guidance and pharmacotherapy.

Text readability assessment aims to automatically evaluate the degree of reading difficulty of a given text for a specific group of readers. Most of the previous studies considered it as a classification task and explored a wide range of linguistic features to express the readability of a text from different aspects, such as semantic-based and syntactic-based features. Intuitively, when the external form of a text becomes more complex, individuals will experience more reading difficulties. Based on this motivation, our research attempts to separate the textual external form from the text and investigate its efficiency in determining readability. Specifically, in this paper, we introduce a new concept, namely textual form complexity, to provide a novel insight into text readability. The main idea is that the readability of a text can be measured by the degree to which it is challenging for readers to overcome the distractions of external textual form and obtain the text’s core semantics. To this end, we propose a set of textual form features to express the complexity of the outer form of a text and characterize its readability. Findings show that the proposed external textual form features can be used as effective evaluation indexes to indicate the readability of text. It brings a new perspective to the existing research and provides a new complement to the existing rich features.

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.

In the application of rotorcraft atmospheric environment detection, to reflect the distribution of atmospheric pollutants more realistically and completely, the sampling points must be spread throughout the entire three-dimensional space, and the cooperation of multiple unmanned aerial vehicles (multi-UAVs) can ensure real-time performance and increase operational efficiency. In view of the problem of coordinated detection by multi-UAVs, the region division and global coverage path planning of the stereo space to be detected are studied. A whale optimization algorithm based on the simulated annealing-whale optimization algorithm (SA-WOA) is proposed, which introduces adaptive weights with the Levy flight mechanism, improves the metropolis criterion, and introduces an adaptive tempering mechanism in the SA stage. Path smoothing is subsequently performed with the help of nonuniform rational B-spline (NURBS) curves. The comparison of algorithms using the eil76 dataset shows that the path length planned by the SA-WOA algorithm in this paper is 10.15% shorter than that of the WOA algorithm, 13.25% shorter than the SA planning result, and only 0.95% difference from the optimal path length in the dataset. From the perspective of planning time, its speed is similar to WOA, with a relative speed increase of 27.15% compared to SA, proving that the algorithm proposed in this paper has good planning performance. A hardware system platform is designed and built, and environmental gas measurement experiments were conducted. The experimental results indicate that the multi-UAV collaborative environment detection task planning method proposed in this paper has certain practical value in the field of atmospheric environment detection.

The absorption and distribution of radiocarbon-labeled urea at the ultratrace level were investigated with a 14C-AMS biotracer method. The radiopharmaceutical concentrations in the plasma, heart, liver, spleen, lung, kidney, stomach, brain, bladder, muscle, testis, and fat of rats after oral administration of 14C urea at ultratrace doses were determined by AMS, and the concentration-time curves in plasma and tissues and pharmacokinetic distribution data were obtained. This study provides an analytical method for the pharmacokinetic parameters and tissue distribution of exogenous urea in rats at ultratrace doses and explores the feasibility of evaluation and long-term tracking of ultratrace doses of drugs with AMS.

Infection mechanism plays a significant role in epidemic models. To investigate the influence of saturation effect, a nonlocal (convolution) dispersal susceptible-infected-susceptible epidemic model with saturated incidence is considered. We first study the impact of dispersal rates and total population size on the basic reproduction number. Yang, Li and Ruan (J. Differ. Equ. 267 (2019) 2011–2051) obtained the limit of basic reproduction number as the dispersal rate tends to zero or infinity under the condition that a corresponding weighted eigenvalue problem has a unique positive principal eigenvalue. We remove this additional condition by a different method, which enables us to reduce the problem on the limiting profile of the basic reproduction number into that of the spectral bound of the corresponding operator. Then we establish the existence and uniqueness of endemic steady states by a equivalent equation and finally investigate the asymptotic profiles of the endemic steady states for small and large diffusion rates to provide reference for disease prevention and control, in which the lack of regularity of the endemic steady state and Harnack inequality makes the limit function of the sequence of the endemic steady state hard to get. Finally, we find whether lowing the movements of susceptible individuals can eradicate the disease or not depends on not only the sign of the difference between the transmission rate and the recovery rate but also the total population size, which is different from that of the model with standard or bilinear incidence.

The Permian–Triassic climate crisis can provide key insights into the potential impact of horizon threats to modern-day biodiversity. This crisis coincides with the same extensive environmental changes that threaten modern marine ecosystems (i.e., thermal stress, deoxygenation and ocean acidification), but the primary drivers of extinction are currently unknown. To understand which factors caused extinctions, we conducted a data analysis to quantify the relationship (anomalies, state-shifts and trends) between geochemical proxies and the fossil record at the most intensively studied locality for this event, the Meishan section, China. We found that δ18Oapatite (paleotemperature proxy) and δ114/110Cd (primary productivity proxy) best explain changes in species diversity and species composition in Meishan’s paleoequatorial setting. These findings suggest that the physiological stresses induced by ocean warming and nutrient availability played a predominant role in driving equatorial marine extinctions during the Permian–Triassic event. This research enhances our understanding of the interplay between environmental changes and extinction dynamics during a past climate crisis, presenting an outlook for extinction threats in the worst-case “Shared Socioeconomic Pathways (SSP5–8.5)” scenario.

Digitaria ciliaris var. chrysoblephara (Fig. & De Not.) R.R. Stewart is an annual xeromorphic weed that severely infests direct-seeded rice fields in China. Herbicide resistance is emerging in D. ciliaris var. chrysoblephara owing to extensive and recurrent use of the acetyl-CoA carboxylase (ACCase)-inhibiting herbicide metamifop. In this study, a total of 53 D. ciliaris var. chrysoblephara populations randomly sampled from direct-seeded rice fields across Jiangsu Province were investigated for metamifop resistance and potential resistance-endowing mutations. Single-dose assays revealed that 17 (32.1%) populations evolved resistance to metamifop and 5 (9.4%) populations were in the process of developing resistance. The resistance index (RI) of metamifop-resistant populations ranged from 2.7 to 32.1. Amino acid substitutions (Ile-1781-Leu, Trp-2027-Cys/Ser, and Ile-2041-Asn) in ACCase genes were detected in resistant D. ciliaris var. chrysoblephara plants and caused various cross-resistance patterns to ACCase-inhibiting herbicides. All of four resistant populations (YC07, YZ09, SQ03, and HA06), with different ACCase mutations, exhibited cross-resistance to the aryloxyphenoxypropionate (APP) herbicides cyhalofop-butyl (RI values: 10.0 to 19.9), fenoxaprop-P-ethyl (RI values: 53.7 to 132.8), and haloxyfop-P-methyl (RI values: 6.2 to 62.6), and the phenylpyrazoline (DEN) pinoxaden (RI values: 2.3 to 5.4), but responded differently to the cyclohexanedione (CHD) herbicides clethodim and sethoxydim. It is noteworthy that four postemergence herbicides used for rice cropping, including bispyribac-sodium, pyraclonil, quinclorac, and anilofos, showed poor control effect against D. ciliaris var. chrysoblephara, suggesting few alternations for managing this weed in rice fields except ACCase inhibitors. In conclusion, this work demonstrated that the D. ciliaris var. chrysoblephara had developed resistance to ACCase-inhibiting herbicides in rice cultivation of China, and target-site amino acid substitutions in ACCase were primarily responsible for metamifop resistance.

A new species of Moniliformis, M. tupaia n. sp. is described using integrated morphological methods (light and scanning electron microscopy) and molecular techniques (sequencing and analysing the nuclear 18S, ITS, 28S regions and mitochondrial cox1 and cox2 genes), based on specimens collected from the intestine of the northern tree shrew Tupaia belangeri chinensis Anderson (Scandentia: Tupaiidae) in China. Phylogenetic analyses show that M. tupaia n. sp. is a sister to M. moniliformis in the genus Moniliformis, and also challenge the systematic status of Nephridiacanthus major. Moniliformis tupaia n. sp. represents the third Moniliformis species reported from China.