The study presents a novel approach to address challenges posed by singularities in robotic arm motion, focusing on Cartesian path planning and geometric path adherence. Recognizing limitations in traditional singularity avoidance methods, the research proposes a comprehensive strategy: reconstructing motion patterns in singular regions through singularity-consistent representations, applying arc-length reparameterization to Cartesian geometric paths, and incorporating path curvature as a dynamic weighting factor for sampling interval adjustment. This method achieves a balance between joint velocity smoothness and geometric tracking accuracy in Cartesian space, significantly enhancing the robot’s ability to adhere to prescribed geometric paths, particularly near singularities. Experimental results demonstrate the efficacy of the proposed approach in facilitating smooth singularity transitions, improving joint velocity continuity, and enhancing geometric path adherence. The study contributes to robotic arm path planning by offering a practical solution for applications requiring precise trajectory following and effective singularity handling.

Biomechanical intervention on lower limb joints using exoskeletons to reduce joint loads and provide walking assistance has become a research hotspot in the fields of rehabilitation and elderly care. To address the challenges of human-exoskeleton (H-E) kinematic compatibility and knee joint unloading demands, this study proposes a novel rhombus linkage exoskeleton mechanism capable of adaptive knee motion without requiring precise alignment with the human knee axis. The exoskeleton is driven by a Bowden cable system to provide thigh support, thereby achieving effective knee joint unloading. Based on the screw theory, the degrees of freedom (DOF) of the exoskeleton mechanism (DOF = 3) and the H-E closed-loop mechanism (DOF = 1) were analyzed, and the kinematic model of the exoskeleton and the H-E closed-loop kinematic model were established, respectively. A mechanical model of the driving system was developed, and a simulation was conducted to validate the accuracy of the model. The output characteristics of the cable-driven system were investigated under varying bending angles and bending times. A prototype was fabricated and tested in wearable scenarios. The experimental results demonstrate that the exoskeleton system exhibits excellent biocompatibility and weight-bearing support capability. Compatibility tests confirm that the exoskeleton does not interfere with human motion. Through human-in-the-loop optimization, the optimal Bowden cable output force profile was obtained, which minimizes gait impact while achieving a peak support force of 195.8 N. Further validation from wear trials with five subjects confirms the system’s low interference with natural human motion (maximum lower-limb joint angle deviation of only $8^\circ$).

Research on the association between the Chinese visceral adiposity index (CVAI) and hyperuricaemia (HUA) is scarce, and whether the association differs by sex is unclear. This research aimed to explore sex-specific associations between CVAI and HUA and to compare CVAI’s predictive performance with other adiposity indices using data from 22 171 adults (30–79 years) in the China Multi-Ethnic Cohort study (Chongqing region). The prevalence of HUA was 20·9 % in men and 9·7 % in women. Multivariable logistic regression analyses were utilised to assess the adjusted OR and 95 % CI. After multivariable adjustment, CVAI was associated with HUA in men (OR Q4 v. Q1 = 3·31, 95 % CI 2·73, 4·03) and women (OR Q4 v. Q1 = 7·20, 95 % CI 5·12, 10·12). Moreover, significant interactions were observed between BMI and CVAI on HUA in both sexes (all Pinteraction < 0·001), with the strongest associations in those with BMI < 24·0 kg/m2. The OR (95 % CI) across different BMI groups (< 24·0, 24·0–27·9, ≥ 28·0 kg/m²) were 1·87 (1·63, 2·13), 1·65 (1·48, 1·85) and 1·30 (1·14, 1·49) for men and 2·76 (2·18, 3·51), 2·46 (1·98, 3·07) and 1·87 (1·47, 2·39) for women, respectively. Additionally, CVAI showed satisfactory predictive performance for HUA in women, with the largest area under the receiver operating characteristic curve of 0·735, but not in men (0·660). These findings suggest a close association between CVAI and HUA, particularly pronounced in those with BMI < 24·0 kg/m², and a stronger association in women than in men.

In this study, we use a novel design to test for directional behavioral spillover and cognitive load effects in a set of multiple repeated games. Specifically, in our experiment, each subject plays a common historical game with two different matches for 100 rounds. After 100 rounds, the subject switches to a new game with one match and continues playing the historical game with the other match. This design allows us to identify the direction of any behavioral spillover. Our results show that participants exhibit both behavioral spillover and cognitive load effects. First, for pairs of Prisoners’ Dilemma and Alternation games, we find that subjects apply strategies from the historical game when playing the new game. Second, we find that those who participate in a Self Interest game as either their historical or new game achieve Pareto efficient outcomes more often in the Prisoners’ Dilemma and Alternation games compared to their control counterparts. Overall, our results show that, when faced with a new game, participants use strategies that reflect both behavioral spillover and cognitive load effects.

The Asian corn borer, Ostrinia furnacalis (Guenée), emerges as a significant threat to maize cultivation, inflicting substantial damage upon the crops. Particularly, its larval stage represents a critical point characterised by significant economic consequences on maize yield. To manage the infestation of this pest effectively, timely and precise identification of its larval stages is required. Currently, the absence of techniques capable of addressing this urgent need poses a formidable challenge to agricultural practitioners. To mitigate this issue, the current study aims to establish models conducive to the identification of larval stages. Furthermore, this study aims to devise predictive models for estimating larval weights, thereby enhancing the precision and efficacy of pest management strategies. For this, 9 classification and 11 regression models were established using four feature datasets based on the following features geometry, colour, and texture. Effectiveness of the models was determined by comparing metrics such as accuracy, precision, recall, F1-score, coefficient of determination, root mean squared error, mean absolute error, and mean absolute percentage error. Furthermore, Shapley Additive exPlanations analysis was employed to analyse the importance of features. Our results revealed that for instar identification, the DecisionTreeClassifier model exhibited the best performance with an accuracy of 84%. For larval weight, the SupportVectorRegressor model performed best with R2 of 0.9742. Overall, these findings present a novel and accurate approach to identify instar and predict the weight of O. furnacalis larvae, offering valuable insights for the implementation of management strategies against this key pest.

The large number of patients with ankle injuries and the high incidence make ankle rehabilitation an urgent health problem. However, there is a certain degree of difference between the motion of most ankle rehabilitation robots and the actual axis of the human ankle. To achieve more precise ankle joint rehabilitation training, this paper proposes a novel 3-PUU/R parallel ankle rehabilitation mechanism that integrates with the human ankle joint axis. Moreover, it provides comprehensive ankle joint motion necessary for effective rehabilitation. The mechanism has four degrees of freedom (DOFs), enabling plantarflexion/dorsiflexion, eversion/inversion, internal rotation/external rotation, and dorsal extension of the ankle joint. First, based on the DOFs of the human ankle joint and the variation pattern of the joint axes, a 3-PUU/R parallel ankle joint rehabilitation mechanism is designed. Based on the screw theory, the inverse kinematics inverse, complete Jacobian matrix, singular characteristics, and workspace analysis of the mechanism are conducted. Subsequently, the motion performance of the mechanism is analyzed based on the motion/force transmission indices and the constraint indices. Then, the performance of the mechanism is optimized according to human physiological characteristics, with the motion/force transmission ratio and workspace range as optimization objectives. Finally, a physical prototype of the proposed robot was developed, and experimental tests were performed to evaluate the above performance of the proposed robot. This study provides a good prospect for improving the comfort and safety of ankle joint rehabilitation from the perspective of human-machine axis matching.

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.

Purple nutsedge (Cyperus rotundus L.) is one of the world’s resilient upland weeds, primarily spreading through its tubers. Its emergence in rice (Oryza sativa L.) fields has been increasing, likely due to changing paddy-farming practices. This study aimed to investigate how C. rotundus, an upland weed, can withstand soil flooding and become a problematic weed in rice fields. The first comparative analysis focused on the survival and recovery characteristics of growing and mature tubers of C. rotundus exposed to soil-flooding conditions. Notably, mature tubers exhibited significant survival and recovery abilities in these environments. Based on this observation, further investigation was carried out to explore the morphological structure, nonstructural carbohydrates, and respiratory mechanisms of mature tubers in response to prolonged soil flooding. Over time, the mature tubers did not form aerenchyma but instead gradually accumulated lignified sclerenchymal fibers, with lignin content also increasing. After 90 d, the lignified sclerenchymal fibers and lignin contents were 4.0 and 1.1 times higher than those in the no soil-flooding treatment. Concurrently, soluble sugar content decreased while starch content increased, providing energy storage, and alcohol dehydrogenase activity rose to support anaerobic respiration via alcohol fermentation. These results indicated that mature tubers survived in soil-flooding conditions by adopting a low-oxygen quiescence strategy, which involves morphological adaptations through the development of lignified sclerenchymal fibers, increased starch reserves for energy storage, and enhanced anaerobic respiration. This mechanism likely underpins the flooding tolerance of mature C. rotundus tubers, allowing them to endure unfavorable conditions and subsequently germinate and grow once flooding subsides. This study provides a preliminary explanation of the mechanism by which mature tubers of C. rotundus from the upland areas confer flooding tolerance, shedding light on the reasons behind this weed’s increasing presence in rice fields.

Early-season rice often faces limited market competition due to its lower quality, which diminishes farmers' incentives to cultivate it. Developing specific early-season rice varieties tailored for rice noodle production represents a practical solution to this challenge. However, limited information exists on the varietal differences regarding the yield and quality of noodles produced from early-season rice and their determinants. To address this gap, this study conducted field experiments with 15 early-season rice varieties during 2022 and 2023. The results revealed significant varietal differences in rice noodle yield per unit of land area and cooking and eating (texture) qualities of the noodles, with the variety Zhuliangyou 4024 standing out for its ability to produce rice noodles that are both high yielding and of superior cooking and eating qualities. Correlation analysis showed the yield of rice noodles per unit of land area was significantly related to grain yield per unit of land, which in turn was linked to grain weight. Additionally, the analysis showed the cooking loss rate of rice noodles and their chewiness were significantly correlated with both amylose and amylopectin content, whereas the hardness, springiness, and resilience of cooked rice noodles were significantly correlated only with amylose content. However, partial correlation analysis indicated that all these quality traits were significantly correlated solely with amylose content when controlling the influence of other chemical properties. These findings indicate that selecting early-season rice varieties with high grain weight and high amylose content can lead to the production of high-yield and high-quality rice noodles.

Understanding the yield attributes of rice crops grown at super high-yielding sites is useful for identifying how to achieve super high yield in rice. In this study, field experiments were conducted in 2021 and 2022 to compare grain yield and yield attributes of ten high-yielding hybrid rice varieties between Xingyi (a super high-yielding site) and Hengyang (a site with typical yields). Results showed that Xingyi produced an average grain yield of 13.4 t ha−1 in 2021 and 14.0 t ha−1 in 2022, which were, respectively, 20% and 44% higher than those at Hengyang. Higher panicles per m2 and higher grain weight were responsible for the higher grain yield at Xingyi compared to Hengyang. The higher values of panicles per m2 and grain weight at Xingyi compared to Hengyang were due to greater source capacity resulting from improved pre-heading biomass production. This study suggests that simultaneously increasing panicle number and grain weight through improving pre-heading biomass production is a potential way to achieve super high yield in rice.

Previous studies have revealed an association between dietary factors and atopic dermatitis (AD). To explore whether there was a causal relationship between diet and AD, we performed Mendelian randomisation (MR) analysis. The dataset of twenty-one dietary factors was obtained from UK Biobank. The dataset for AD was obtained from the publicly available FinnGen consortium. The main research method was the inverse-variance weighting method, which was supplemented by MR‒Egger, weighted median and weighted mode. In addition, sensitivity analysis was performed to ensure the accuracy of the results. The study revealed that beef intake (OR = 0·351; 95 % CI 0·145, 0·847; P = 0·020) and white bread intake (OR = 0·141; 95 % CI 0·030, 0·656; P = 0·012) may be protective factors against AD. There were no causal relationships between AD and any other dietary intake factors. Sensitivity analysis showed that our results were reliable, and no heterogeneity or pleiotropy was found. Therefore, we believe that beef intake may be associated with a reduced risk of AD. Although white bread was significant in the IVW analysis, there was large uncertainty in the results given the wide 95 % CI. Other factors were not associated with AD in this study.

Purple nutsedge (Cyperus rotundus L.) is a globally distributed noxious weed that poses a significant challenge for control due to its fast and efficient propagation through the tuber, which is the primary reproductive organ. Gibberellic acid (GA3) has proven to be crucial for tuberization in tuberous plants. Therefore, understanding the relationship between GA3 and tuber development and propagation of C. rotundus will provide valuable information for controlling this weed. This study shows that the GA3 content decreases with tuber development, which corresponds to lower expression of bioactive GA3 synthesis genes (CrGA20ox, two CrGA3ox genes) and two upregulated GA3 catabolism genes (CrGA2ox genes), indicating that GA3 is involved in tuber development. Simultaneously, the expression of two CrDELLA genes and CrGID1 declines with tuber growth and decreased GA3, and yeast two-hybrid assays confirm that the GA3 signaling is DELLA-dependent. Furthermore, exogenous application of GA3 markedly reduces the number and the width of tubers and represses the growth of the tuber chain, further confirming the negative impact that GA3 has on tuber development and propagation. Taken together, these results demonstrate that GA3 is involved in tuber development and regulated by the DELLA-dependent pathway in C. rotundus and plays a negative role in tuber development and propagation.