Recently, there has been a Renaissance for multi-level selection models to explain the persistence of unselfish behavior in social dilemmas, in which assortative/correlated matching plays an important role. In the current study of a multi-round prisoners’ dilemma experiment, we introduce two correlated matching procedures that match subjects with similar action histories together. We discover significant treatment effects, compared to the control procedure of random matching. Particularly with the weighted history matching procedure we find bifurcations regarding group outcomes. Some groups converge to the all-defection equilibrium even more pronouncedly than the control groups do, while other groups generate much higher rate of cooperation, which is also associated with higher relative reward for a typical cooperative action. All in all, the data show that cooperation does have a much better chance to persist in a correlated/assortative-matching environment, as predicted in the literature.

The effect of the polarizations of two counter-propagating relativistic laser pulses interacting with subwavelength thin solid-density foil is investigated. Three-dimensional particle-in-cell simulations and analytical modelling show that the interaction and resulting transverse instability depend strongly on the polarization directions as well as the intensity distribution of the resultant light field in the foil. The left- and right-handed circularly polarized laser pair with the same phase at the common focal spot in the ultrathin foil leads to the strongest distortion of the foil. The fastest growing mode and maximum growth rate depend mainly on the laser intensity. For all polarization and phase-difference combinations, the instability is weakest when the two laser pulses are exactly out of phase at the common focusing point in the foil.

In the contemporary maritime industry, characterised by intense competition, reduced visibility due to heavy fog is a primary cause of accidents, significantly impairing maritime operational efficiency. Consequently, investigating foggy weather navigation safety holds crucial practical significance. This paper, through an analysis and synthesis of various aspects of foggy navigation technology, including foggy navigation regulations at different ports, fog warnings, foggy vessel environmental perception and foggy auxiliary navigation systems, explores the key issues concerning vessel navigation during foggy conditions from a scientific perspective. This discussion encompasses the aspects of regulatory frameworks, standardisation, and the development of intelligent and responsive onboard equipment. Finally, the paper offers a glimpse into potential strategies for fog navigation.

Rhopalosiphum padi is an important grain pest, causing severe losses during crop production. As a systemic insecticide, flonicamid can control piercing-sucking pests efficiently. In our study, the lethal effects of flonicamid on the biological traits of R. padi were investigated via a life table approach. Flonicamid is highly efficiently toxic to R. padi, with an LC50 of 9.068 mg L−1. The adult longevity and fecundity of the R. padi F0 generation were markedly reduced under the LC25 and LC50 concentrations of flonicamid exposure. In addition, negative transgenerational effects on R. padi were observed under exposure to lethal concentrations of flonicamid, with noticeable decreases in the reproductive period, adult longevity, total longevity, and total fecundity of the F1 generation under the LC25 concentration of flonicamid. Furthermore, the third nymph stage (N3), preadult stage, duration of the adult pre-reproductive period, duration of the total pre-reproductive period, reproductive period, adult longevity, total longevity, and total fecundity of the F1 generation were significantly lower under treatment with the LC50 concentration of flonicamid. The life table parameters were subsequently analysed, revealing that the intrinsic rate of increase (rm) and the net reproductive rate (R0) were significantly lower but that the finite rate of increase (λ) and the mean generation time (T) were not significantly different under the LC25 and LC50 concentrations of flonicamid. These data are beneficial for grain aphid control and are critical for exploring the role of flonicamid in the integrated management of this key pest.

We have developed an interactive system comprising a soft wearable robot hand and a wireless task board, facilitating the interaction between the hand and regular daily objects for task-oriented training in stroke rehabilitation. A ring-reinforced soft actuator (RSA) to accommodate different hand sizes and enable flexion and extension movements was introduced in this paper. Individually controlled finger actuators assist stroke patients during various grasping tasks. A wireless task board was developed to support the training, allowing for the placement of training objects and seamless interaction with the soft robotic hand. Evaluation with seven stroke subjects shows significant improvements in upper limb functions (FMA), hand-motor abilities (ARAT, BBT), and maximum grip strengths after 20 sessions of this task-oriented training. These improvements were observed to persist for at least 3 months post-training. The results demonstrate its potential to enhance stroke rehabilitation and promote hand-motor recovery. This lightweight, user-friendly interactive system facilitates frequent hand practice and easily integrates into regular rehabilitation therapy routines.

With the escalating laser peak power, modulating and detecting the intensity, duration, phase and polarization of ultra-intense laser pulses progressively becomes increasingly arduous due to the limited damage thresholds of conventional optical components. In particular, the generation and detection of ultra-intense vortex lasers pose great challenges for current laser technologies, which has limited the widely potential applications of relativistic vortex lasers in various domains. In this study, we propose to reconstruct the vortex phase and generate and amplify the relativistic vortex lasers via surface plasma holograms (SPHs). By interfering with the object laser and reference laser, SPHs are formed on the target and the phase of the interfering laser is imprinted through the modulation of surface plasma density. In particular, using the quadrature phase-shift interference, the vortex phase of the object laser can be well reconstructed. The generated vortex lasers can be focused and enhanced further by one order of magnitude, up to $1.7\times {10}^{21}$ W/cm${}^2$, which has been demonstrated by full three-dimensional particle-in-cell simulations. For the first time, we provide a practical way to detect the phase of relativistic vortex lasers, which can be applied in large 1–10 PW laser facilities. This will promote future experimental research of vortex-laser–plasma interaction and open a new avenue of plasma optics in the ultra-relativistic regime.

This study employs direct numerical simulations to examine the effects of varying backpressure conditions on the turbulent atomisation of impinging liquid jets. Using the incompressible Navier–Stokes equations, and a volume-of-fluid approach enhanced by adaptive mesh refinement and an isoface-based interface reconstruction algorithm, we analyse spray characteristics in the environments with ambient gas densities ranging from 1 to 40 times the atmospheric pressure under five different backpressure scenarios. We investigate the behaviour of turbulent jets, incorporate realistic orifice geometries and identify significant variations in the atomisation patterns depending on backpressure. Two distinct atomisation types emerge, namely jet-sheet-ligament-droplet at lower backpressures and jet-sheet-fragment-droplet at higher ones, alongside a transition from dilute to dense spray patterns. This variation affects the droplet size distribution and spray dynamics, with increased backpressure reducing the spray's spreading angle and breakup length, while increasing the droplet size variation. Furthermore, these conditions promote distributions that induce rapid, nonlinear wavy motion in liquid sheets. Topological analysis of the atomisation field using velocity-gradient tensor invariants reveals significant variations in topology volume fractions across different regions. Downstream, the droplet Sauter mean diameter increases and then stabilises, reflecting the continuous breakup and coalescence processes, notably under higher backpressures. This research underscores the substantial impact of backpressure on impinging-jet atomisation and provides essential insights for nozzle design to optimise droplet distributions.

The development of Maritime Autonomous Surface Ship (MASS) is progressing rapidly within the maritime industry. Degree Two of MASS (MASS-DoA2), balancing human oversight and autonomous efficiency, will likely gain regulatory approval and industry acceptance. MASS-DoA2 possesses different control modes to adapt to various scenarios. However, the control-switching mechanisms among operators at shore control centres, autonomous navigation systems and number of seafarers onboard remain ambiguous, which poses a new risk that may significantly influence navigation safety. This study focuses on MASS-DoA2 and carries out a systematic review of autonomous ship guidelines. A questionnaire was designed based on the review findings, and a survey was carried out among captains and researchers in related fields. The review identified 11 control-switching scenarios with suggested takeover agents and the switching process and outlined the priority relationship between various takeover agents. Finally, a control-switching framework for MASS – DoA2 is proposed. It can serve as a theoretical framework for research on MASS's dynamic degree of autonomy and provide a reference for maritime regulatory authorities in establishing MASS – DoA2 control-switching mechanisms.

The emerging era of big data in radio astronomy demands more efficient and higher-quality processing of observational data. While deep learning methods have been applied to tasks such as automatic radio frequency interference (RFI) detection, these methods often face limitations, including dependence on training data and poor generalisation, which are also common issues in other deep learning applications within astronomy. In this study, we investigate the use of the open-source image recognition and segmentation model, Segment Anything Model (SAM), and its optimised version, HQ-SAM, due to their impressive generalisation capabilities. We evaluate these models across various tasks, including RFI detection and solar radio burst (SRB) identification. For RFI detection, HQ-SAM (SAM) shows performance that is comparable to or even superior to the SumThreshold method, especially with large-area broadband RFI data. In the search for SRBs, HQ-SAM demonstrates strong recognition abilities for Type II and Type III bursts. Overall, with its impressive generalisation capability, SAM (HQ-SAM) can be a promising candidate for further optimisation and application in RFI and event detection tasks in radio astronomy.

External seeded free-electron lasers (FELs) have exhibited substantial progress in diverse applications over the last decade. However, the frequency up-conversion efficiency in single-stage seeded FELs, particularly in high-gain harmonic generation (HGHG), remains constrained to a modest level. This limitation restricts its capability to conduct experiments within the ‘water window’. This paper presents a novel method for generating coherent X-ray FEL pulses in the water window region based on the HGHG scheme with multi-stage harmonic cascade. Without any additional modifications to the HGHG configuration, simulation results demonstrate the generation of intense 3 nm coherent FEL radiation using an external ultraviolet seed laser. This indicates an increase of the harmonic conversion number to approximately 90. A preliminary experiment is performed to evaluate the feasibility of this method. The proposed approach could potentially serve as an efficient method to broaden the wavelength coverage accessible to both existing and planned seeded X-ray FEL facilities.

This paper proposes an online robust self-learning terminal sliding mode control (RS-TSMC) with stability guarantee for balancing control of reaction wheel bicycle robots (RWBR) under model uncertainties and disturbances, which improves the balancing control performance of RWBR by optimising the constrained output of TSMC. The TSMC is designed for a second-order mathematical model of RWBR. Then robust adaptive dynamic programming based on an actor-critic algorithm is used to optimise the TSMC only by data sampled online. The system closed-loop stability and convergence of the neural network weights are guaranteed based on the Lyapunov analysis. The effectiveness of the proposed algorithm is demonstrated through simulations and experiments.

Expert drivers possess the ability to execute high sideslip angle maneuvers, commonly known as drifting, during racing to navigate sharp corners and execute rapid turns. However, existing model-based controllers encounter challenges in handling the highly nonlinear dynamics associated with drifting along general paths. While reinforcement learning-based methods alleviate the reliance on explicit vehicle models, training a policy directly for autonomous drifting remains difficult due to multiple objectives. In this paper, we propose a control framework for autonomous drifting in the general case, based on curriculum reinforcement learning. The framework empowers the vehicle to follow paths with varying curvature at high speeds, while executing drifting maneuvers during sharp corners. Specifically, we consider the vehicle’s dynamics to decompose the overall task and employ curriculum learning to break down the training process into three stages of increasing complexity. Additionally, to enhance the generalization ability of the learned policies, we introduce randomization into sensor observation noise, actuator action noise, and physical parameters. The proposed framework is validated using the CARLA simulator, encompassing various vehicle types and parameters. Experimental results demonstrate the effectiveness and efficiency of our framework in achieving autonomous drifting along general paths. The code is available at https://github.com/BIT-KaiYu/drifting.

Femtosecond oscillators with gigahertz (GHz) repetition rate are appealing sources for spectroscopic applications benefiting from the individually accessible and high-power comb line. The mode mismatch between the potent pump laser diode (LD) and the incredibly small laser cavity, however, limits the average output power of existing GHz Kerr-lens mode-locked (KLM) oscillators to tens of milliwatts. Here, we present a novel method that solves the difficulty and permits high average power LD-pumped KLM oscillators at GHz repetition rate. We propose a numerical simulation method to guide the realization of Kerr-lens mode-locking and comprehend the dynamics of the Kerr-lens mode-locking process. As a proof-of-principle demonstration, an LD-pumped Yb:KGW oscillator with up to 6.17-W average power and 184-fs pulse duration at 1.6-GHz repetition rate is conducted. The simulation had a good agreement with the experimental results. The cost-effective, compact and powerful laser source opens up new possibilities for research and industrial applications.

The liver has multiple functions such as detoxification, metabolism, synthesis and storage. Folate is a water-soluble vitamin B9, which participates in one-carbon transfer reactions, maintains methylation capacity and improves oxidative stress. Folic acid is a synthetic form commonly used as a dietary supplement. The liver is the main organ for storing and metabolising folate/folic acid, and the role of folate/folic acid in liver diseases has been widely studied. Deficiency of folate results in methylation capacity dysfunction and can induce liver disorders. However, adverse effects of excessive use of folic acid on the liver have also been reported. This review aims to explore the mechanism of folate/folic acid in different liver diseases, promote further research on folate/folic acid and contribute to its rational clinical application.

We aimed to evaluate the association of coffee consumption with different additives, including milk and/or sweetener (sugar and/or artificial sweetener), and different coffee types, with new-onset acute kidney injury (AKI), and examine the modifying effects of genetic variation in caffeine metabolism. 194 324 participants without AKI at baseline in the UK Biobank were included. The study outcome was new-onset AKI. During a median follow-up of 11·6 years, 5864 participants developed new-onset AKI. Compared with coffee non-consumers, a significantly lower risk of new-onset AKI was found in coffee consumers adding neither milk nor sugar to coffee (hazard ratio (HR), 0·86; 95 % CI, 0·78, 0·94) and adding only milk to coffee (HR,0·83; 95 % CI, 0·78, 0·89), but not in coffee consumers adding only sweetener (HR,1·14; 95 % CI, 0·99, 1·31) and both milk and sweetener to coffee (HR,0·96; 95 % CI, 0·89, 1·03). Moreover, there was a U-shaped association of coffee consumption with new-onset AKI, with the lowest risk at 2–3 drinks/d, in unsweetened coffee (no additives or milk only to coffee), but no association was found in sweetened coffee (sweetener only or both milk and sweetener to coffee). Genetic variation in caffeine metabolism did not significantly modify the association. A similar U-shaped association was found for instant, ground and decaffeinated coffee consumption in unsweetened coffee consumers, but not in sweetened coffee consumers. In conclusion, moderate consumption (2–3 drinks/d) of unsweetened coffee with or without milk was associated with a lower risk of new-onset AKI, irrespective of coffee type and genetic variation in caffeine metabolism.

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.

Escherichia albertii is an emerging foodborne enteropathogen associated with infectious diarrhoea in humans. In February 2023, an outbreak of acute gastroenteric cases was reported in a junior high school located in Hangzhou, Zhejiang province, China. Twenty-two investigated patients presented diarrhoea (22/22, 100%), abdominal pain (21/22, 95.5%), nausea (6/22, 27.3%), and vomiting (3/22, 13.6%). E. albertii strains were successfully isolated from anal swabs collected from six patients. Each isolate was classified as sequence type ST2686, harboured eae-β gene, and carried both cdtB-I and cdtB-II subtypes, being serotyped as EAOg32:EAHg4 serotype. A comprehensive whole-genome phylogenetic analysis revealed that the six isolates formed a distinct cluster, separate from other strains. These isolates exhibited minimal genetic variation, differing from one another by 0 to 1 single nucleotide polymorphism, suggesting a common origin from a single clone. To the best of our knowledge, this represented the first reported outbreak of gastroenteritis attributed to E. albertii outside of Japan on a global scale.