Target tracking technology is a key research area in the field of mobile robots, with wide applications in logistics, security, autonomous driving, and more. It generally involves two main components: target recognition and target following. However, the limited computational power of the mobile robot’s controller makes achieving high precision and fast target recognition and tracking a challenge. To address the challenges posed by limited computing power, this paper proposes a target-tracking control algorithm based on lightweight neural networks. First, a depthwise separable convolution-based backbone is introduced for feature extraction. Then, an efficient channel attention module is incorporated into the target recognition algorithm to minimize the impact of redundant features and emphasize important channels, thereby reducing model complexity and enhancing network efficiency. Finally, based on the data collected from visual and ultrasonic sensors, a model predictive control strategy is used to achieve target tracking. Validation of the proposed algorithm is conducted using a mobile robot equipped with Raspberry Pi 4B. Experimental results demonstrate that the proposed algorithm achieves rapid target tracking.

Eotetranychus kankitus is an important pest on several agricultural crops, and its resistance to pesticides has promoted the exploration of biological control strategies. Beauveria bassiana and Neoseiulus barkeri have been identified as potential agents for suppressing spider mites. This study aimed to investigate the pathogenicity of B. bassiana on E. kankitus and its compatibility with N. barkeri. Results showed that among the five tested strains of B. bassiana, Bb025 exhibited the highest level of pathogenicity on E. kankitus. Higher application rates (1 × 108 conidia/mL) of Bb025 led to a higher mortality rate of E. kankitus (90.402%), but also resulted in a 15.036% mortality of N. barkeri. Furthermore, preference response tests indicated that both E. kankitus and N. barkeri actively avoided plants sprayed with Bb025 compared to the control group that was sprayed with Tween-80. In a no-choice test, we observed that N. barkeri actively attacked Bb025-treated E. kankitus with no adverse effect on its predatory capacities. Furthermore, N. barkeri laid more eggs when fed on Bb025-treated E. kankitus compared to Tween-80-treated E. kankitus, but the subsequent generation of surviving individuals fed on Bb025-treated E. kankitus was reduced. These findings demonstrate that the Bb025 strain of B. bassiana is highly virulent against E. kankitus while causing less harm to N. barkeri. Consequently, a promising strategy for controlling E. kankitus could involve the sequential utilisation of Bb025 and N. barkeri at appropriate intervals.

This study aimed to investigate the intake of dairy products during pregnancy in women with gestational diabetes mellitus (GDM), and its impacts on neonatal birth weight and pregnancy outcomes. A total of 386 women with GDM during the second trimester pregnancy participated in this prospective cohort study. We evaluated dairy products intake through Food Frequency Questionnaire. Pregnancy outcomes were obtained from the delivery data. Participants were divided into insufficient and sufficient intake of milk and dairy products group (<300 g/day and ≥300 g/day, respectively). The average intake of dairy products during the second trimester pregnancy in women with GDM was 317.8±179.5 g/day, and the total energy intake was 1635.4±708.7 kcal/day. However, 76.68% of them did not meet the recommended total energy intake of women with GDM. After adjusting for confounding factors, women with GDM who consumed ≥300 g/day of dairy products had an average reduction in birth weight of 93.1 g compared to women who consumed <300 g/day of dairy products (95% CI: -171.343, -14.927). Women with GDM in sufficient intake group was also associated with lower risk of macrosomia (95% CI: 0.043, 0.695) and cesarean section (95% CI: 0.387, 0.933), and not related to low birth weight infant (95% CI: 0.617, 14.502) and preterm birth (95% CI: 0.186, 1.510) when compared with participants in insufficient intake group. Under the premise of insufficient total energy intake, the intake of dairy products during the second trimester pregnancy in women with GDM might be related to the decrease of neonatal birth weight.

Mamyshev oscillators (MOs) exhibit the potential for generating high average power and ultrashort pulses. Herein, we construct an MO using flexible double-cladding ytterbium-fiber with a fusion-spliced-combiner pumped scheme. Consistent with the most reported research results, the offset filter separation significantly affects the pulse characteristics (spectrum, pulse duration, etc.). Notably, in comparison with red-shifting, blue-shifting the peak spectral emission of the grating filter relative to a constant central wavelength of the bandpass filter substantially enhances the laser output characteristics. This phenomenon, which has not been previously reported, results in an average power up to 2.23 W and a pulse duration as short as 49 fs. To our knowledge, this is the highest average power achieved in sub-50 fs pulse duration in the nonlinear polarization rotation-assisted mode-locked MO laser architecture. The presented technique offers unique scientific proof for developing ultrafast laser sources with higher average power and shorter pulse duration.

Although dietary factors have been examined as potential risk factors for liver cancer, the evidence is still inconclusive. Using a diet-wide association analysis, our research evaluated the associations of 126 foods and nutrients on the risk of liver cancer in a Chinese population. We obtained the diet consumption of 72,680 women in the Shanghai Women’s Health Study using baseline dietary questionnaires. The association between each food and nutrient and liver cancer risk was quantified by Cox regression model. A false discovery rate of 0.05 was used to determine the foods and nutrients which need to be verified. Totally 256 incident liver cancer cases were identified in 1,267,391 person-years during the follow-up duration. At the statistical significance level (P ≤ 0.05), higher intakes of cooked wheaten foods, pear, grape and copper were inversely associated with liver cancer risk, while spinach, leafy vegetables, eggplant and carrots showed the positive associations. After considering multiple comparisons, no dietary variable was associated with liver cancer risk. Similar findings were seen in the stratification, secondary and sensitivity analyses. Our findings observed no significant association between dietary factors and liver cancer risk after considering multiple comparisons in Chinese women. More evidence is needed to explore the associations between diet and female liver cancer occurrence.

The gas dynamics of shock-induced gas filtration through densely packed granular columns with vastly varying shock intensity and the structural parameters are numerically investigated using a coupled Eulerian–Lagrangian approach. The results shed fundamental light on the thermal effects of the shock-induced gas filtration manifested by a distinctive self-heating hot gas layer traversing the medium. The characteristics of the thermal effects in terms of the thermal intensity and uniformity are found to vary with the shock Mach number, Ms, and the filtration coefficient of the granular media, Π. As the incident shock transitions from weak to strong, and (or) the filtration coefficient increases from O(10−5) to O(104), the heating mechanisms transition between three distinct heating modes. A phase diagram of heating modes is established on the parameter space (Ms, Π), which enables us to predict the characteristics of the thermal effect in different shock-induced gas filtrations. The thermal effects markedly accelerate the pressure diffusion due to the additional heat influx when the time scale of the former is smaller than or comparable to the latter. Based on the contour map displaying the coupling degree of the thermal effects and the pressure diffusion, we identify a decoupling criterion whereby the isothermal assumption holds if only the pressure diffusion is concerned. The thermal effects may well bring about considerable thermal shocks which pose a great threat to the integrity of the solid skeleton and further reduce the overall shock resistance performance of the porous media.

Isolated multi-MeV $\gamma$-rays with attosecond duration, high collimation and beam angular momentum (BAM) may find many interesting applications in nuclear physics, astrophysics, etc. Here, we propose a scheme to generate such $\gamma$-rays via nonlinear Thomson scattering of a rotating relativistic electron sheet driven by a few-cycle twisted laser pulse interacting with a micro-droplet target. Our model clarifies the laser intensity threshold and carrier-envelope phase effect on the generation of the isolated electron sheet. Three-dimensional numerical simulations demonstrate the $\gamma$-ray emission with 320 attoseconds duration and peak brilliance of $9.3\times 10^{24}$ photons s${}^{-1}$ mrad${}^{-2}$ mm${}^{-2}$ per 0.1$\%$ bandwidth at 4.3 MeV. The $\gamma$-ray beam carries a large BAM of $2.8 \times 10^{16}\mathrm{\hslash}$, which arises from the efficient BAM transfer from the rotating electron sheet, subsequently leading to a unique angular distribution. This work should promote the experimental investigation of nonlinear Thomson scattering of rotating electron sheets in large laser facilities.

With the over-use of tetracycline (TC) and its ultimate accumulation in aquatic systems, the demand for TC removal from contaminated water is increasing due to its severe threat to public health. Clay minerals have attracted great attention as low-cost adsorbents for controlling water pollution. The objective of the present study was to measure the adsorption behavior and mechanisms of TC on allophane, a nanosized clay mineral with a hollow spherical structure; to highlight the advantage of the allophane nanostructure, a further objective was to compare allophane with halloysite and montmorillonite, which have nanostructures that differ from allophane. Structural features and surface physicochemical properties were characterized by transmission electron microscopy (TEM), Fourier-transform infrared spectroscopy (FTIR), X-ray diffraction (XRD), zeta potential, N2-physisorption, and acid–base titration. The adsorption data showed that TC adsorption followed the pseudo-second order and Langmuir models. The adsorption was pH dependent, as all three clay minerals performed better under neutral to weakly alkaline conditions and maintained high adsorption performance in the presence of co-existing Na+/K+/Ca2+/Mg2+ cations. Regeneration of the adsorbent was excellent, with efficiencies exceeding 75% after five recycles. By comparison, allophane always exhibited the greatest adsorption capacity, up to 796 mg g–1 at ~pH 9. The TC adsorption on allophane and halloysite was dominated by inner-sphere complexation, together with a small amount of electrostatic adsorption, while that on montmorillonite involved mainly interlayer cation exchange. The findings provide insights into the effects of nanostructures of clay minerals on their TC adsorption performance and highlight the huge potential of allophane as an efficient and inexpensive adsorbent for TC removal.

To investigate the associations between dietary patterns and biological ageing, identify the most recommended dietary pattern for ageing and explore the potential mediating role of gut microbiota in less-developed ethnic minority regions (LEMRs). This prospective cohort study included 8288 participants aged 30–79 years from the China Multi-Ethnic Cohort study. Anthropometric measurements and clinical biomarkers were utilised to construct biological age based on Klemera and Doubal’s method (KDM-BA) and KDM-BA acceleration (KDM-AA). Dietary information was obtained through the baseline FFQ. Six dietary patterns were constructed: plant-based diet index, healthful plant-based diet index, unhealthful plant-based diet index, healthy diet score, Dietary Approaches to Stop Hypertension (DASH), and alternative Mediterranean diets. Follow-up adjusted for baseline analysis assessed the associations between dietary patterns and KDM-AA. Additionally, quantile G-computation identified significant beneficial and harmful food groups. In the subsample of 764 participants, we used causal mediation model to explore the mediating role of gut microbiota in these associations. The results showed that all dietary patterns were associated with KDM-AA, with DASH exhibiting the strongest negative association (β = −0·91, 95 % CI (–1·19, −0·63)). The component analyses revealed that beneficial food groups primarily included tea and soy products, whereas harmful groups mainly comprised salt and processed vegetables. In mediation analysis, the Synergistetes and Pyramidobacter possibly mediated the negative associations between plant-based diets and KDM-AA (5·61–9·19 %). Overall, healthy dietary patterns, especially DASH, are negatively associated with biological ageing in LEMRs, indicating that Synergistetes and Pyramidobacter may be potential mediators. Developing appropriate strategies may promote healthy ageing in LEMRs.

The numerical investigation focuses on the flow patterns around a rectangular cylinder with three aspect ratios ($L/D=5$, $10$, $15$) at a Reynolds number of $1000$. The study delves into the dynamics of vortices, their associated frequencies, the evolution of the boundary layer and the decay of the wake. Kelvin–Helmholtz (KH) vortices originate from the leading edge (LE) shear layer and transform into hairpin vortices. Specifically, at $L/D=5$, three KH vortices merge into a single LE vortex. However, at $L/D=10$ and $15$, two KH vortices combine to form a LE vortex, with the rapid formation of hairpin vortex packets. A fractional harmonic arises due to feedback from the split LE shear layer moving upstream, triggering interaction with the reverse flow. Trailing edge (TE) vortices shed, creating a Kármán-like street in the wake. The intensity of wake oscillation at $L/D=5$ surpasses that in the other two cases. Boundary layer transition occurs after the saturation of disturbance energy for $L/D=10$ and $15$, but not for $L/D=5$. The low-frequency disturbances are selected to generate streaks inside the boundary layer. The TE vortex shedding induces the formation of a favourable pressure gradient, accelerating the flow and fostering boundary layer relaminarization. The self-similarity of the velocity defect is observed in all three wakes, accompanied by the decay of disturbance energy. Importantly, the decrease in the shedding frequency of LE (TE) vortices significantly contributes to the overall decay of disturbance energy. This comprehensive exploration provides insights into complex flow phenomena and their underlying dynamics.

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.

Direct numerical simulations are conducted for temporally evolving stratified wake flows at Reynolds numbers from $10\,000$ to $50\,000$ and Froude numbers from $2$ to 50. Unlike previous studies that obtained statistics from a single realization, we take ensemble averages among 80–100 realizations. Our analysis shows that data from one realization incur large convergence errors. These errors reduce quickly as the number of statistical samples increases, with the benefit of ensemble average diminishing beyond 40–60 realizations. The data with ensemble average allow us to test the previously established scalings and arrive at new scaling estimates. Specifically, the data do not support power-law scaling in the centreline velocity deficit $U_0$ beyond the near wake. Its decay rate increases continuously from 0.1 at the onset of the non-equilibrium regime until the end of our calculations without reaching any asymptote. Additionally, while no power-law scalings could be found in the wake width ($L_H$) and wake height ($L_V$) in the late wake, $L_H\sim (Nt)^{1/3}$ is a good working approximation of the wake's horizontal size, where $N$ is buoyancy frequency and $t$ is time. Besides the low-order statistics, we also report the transverse integrated terms and the vertically integrated terms in the turbulent kinetic energy budget equation as a function of the vertical and transverse coordinates. The data indicate that there are two peaks in the vertically integrated production and transport terms, and one peak when the two terms are integrated horizontally.

Microporous structure in zeolite leads to diffusion limitation, which causes coke formation and is harmful to catalytic reactions. Hierarchical zeolite containing primary microporosity and secondary porosity at the meso- and macroscales has received much attention due to its enhanced mass transport. Hierarchical Y zeolites were obtained by treating NH4-Y zeolite with high-temperature calcining and acid-base leaching. The results demonstrated that the calcined zeolite showed great crystallinity after acid-base leaching. The mechanism of introduction of mesopores was demonstrated in detail. The calcination transformed framework Al to extra-framework Al and enlarged the defect by acid and alkali. The mesopores increased with the calcining temperature and holding time. The relationship between the heating rate and the removal of Al species was non-linear; a heating rate of 100°C/h exhibited good protection for the zeolite structure.

LongYan kaolin has a large Fe content which affects the coloring. Bioleaching treatments to remove Fe impurities were conducted here using indigenous dissimilatory Fe(III)-reducing bacteria. The factors that affect bioleaching efficiency include bioleaching time, carbon source, pH, temperature, pulp density, and inoculum density and these were examined. Environmental scanning electron microscopy and X-ray diffraction were used to examine any textural or mineralogical changes at the surface of the kaolin that may have occurred during the bioleaching. Iron impurities in the kaolin were reduced from 0.88% to 0.48% with an increase in the natural whiteness index from 60.8% to 81.5% after 7 days of bioleaching treatment. A granulometric analysis of dispersed kaolin demonstrated that the bioleaching resulted in a decrease in particle size. The results demonstrated that the bioleaching was very effective at improving the quality of the kaolin, where insoluble Fe(III), either adsorbed to the kaolin surfaces or admixed as amorphous forms, was leached out by micro-organisms as water-soluble Fe(II).

The clay mineral content of the Oligocene sediments in the Linxia Basin has been investigated using X-ray diffraction, scanning electron microscopy, and high-resolution transmission electron microscopy. The clay mineral assemblages are mainly mixed-layer illite-smectite (I-S), illite, kaolinite and minor palygorskite in the early-Middle Oligocene deposits, mixed-layer I-S, illite and kaolinite in the Middle Oligocene deposits, mainly illite and chlorite (usually >50–70 vol.%), mixed-layer I-S, and trace to minor palygorskite in the late Oligocene sediments, respectively. The mineral assemblage indicates a warm and seasonally humid climate in the Middle Oligocene, with an episode of warm and dry conditions in the early stage of the Middle Oligocene, and a trend of temperature decrease and more arid conditions in the late Oligocene. Climate evolution in the Oligocene corresponds with the significant elevation change in central Tibet since late Oligocene, and therefore, suggests that tectonic-forced cooling of climate took place in Linxia in the northeast margin of the Tibetan Plateau. The ubiquitous mixed-layer I-S and carbonates throughout the Oligocene sediments reflect relatively small fluctuations in climate conditions during the epoch. The changes in clay mineral components and feldspars in the late Oligocene suggest a variation in the source of clastic materials, which probably reflects an increase in erosion of soils and poorly weathered parent rock in more elevated or high-relief source areas during this period of tectonic uplift.

With the development of high-power microwave technology, the output power of the pulse generator is required more and more higher. In this paper, it is realized by increasing the output power of the module while the output impedance of the module changes little. The module of the generator is based on pulse forming network (PFN) and linear transformer (LT). Four Blumlein PFNs with arc-type configuration and 24 Ω characteristic impedance were connected symmetrically to the primary coil of the LTD and driven by two identical laser triggered spark switches to ensure four Blumlein PFNs synchronizing operation. On this basis, a two-stage high-power pulse generator based on PFN-LT is developed. The following technical parameters of the generator were achieved on a 12 Ω high-power solid resistor: output voltage amplitude of ∼250 kV and output power of ∼5.2 GW at a repetition rate of 5 Hz.