In this paper, a cellular robot for space trusses is structured so that it can perform tasks such as moving the truss and assembling the truss. There may be some spatial operating mechanisms on the space truss that cause obstacles to the robot’s movement, especially other mobile mechanical devices that are working, which are dynamic obstacles, so a suitable path planning for the robot is needed. In path planning, A-star algorithm has the advantages of efficient searching speed and good optimization effect, but it can’t deal with the path planning problem with dynamic obstacles, so this paper improves Lifelong Planning A-star (LPA-star) algorithm so that the improved algorithm satisfies the dynamic path planning task. Then a three-dimensional truss mathematical model is established, a dynamic obstacle environment is set up, the improved LPA-star algorithm is used for path planning, and the unimproved LPA-star algorithm and the improved A-star algorithm are used to compare with it. The simulation results show that in the environment set up in this paper, the optimal path length of the improved LPA-star algorithm is shortened by about 25% and the algorithm search time is shortened by about 55% compared with the improved A-star algorithm; while the unimproved LPA-star algorithm is unable to accomplish the dynamic path planning task. Therefore, the improved LPA-star algorithm can reduce the robot’s moving distance and time consumption.

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.

Prehistoric humans seem to have preferred inhabiting small river basins, which were closer in distance to most settlements compared to larger rivers. The Holocene landscape evolution is considered to have played a pivotal role in shaping the spatiotemporal patterns of these settlements. In this study, we conducted comprehensive research on the relationship between landscape evolution and settlement distribution within the Huangshui River basin, which is a representative small river in Central China with numerous early settlements, including a prehistoric city known as the Wangjinglou site (WJL). Using geoarchaeological investigations, optically stimulated luminescence dating, pollen analysis, and grain-size analysis, we analyzed the characteristics of the Holocene environment. The results indicate the presence of two distinct geomorphic systems, namely the red clay hills and the river valley. The red clay hills, formed in the Neogene, represent remnants of the Songshan piedmont alluvial fan that was eroded by rivers. There are three grades of terraces within the river valley. T3 is a strath terrace and formed around 8.0 ka. Both T2 and T1 are fill terraces, which were developed around 4.0 ka and during the historical period, respectively. The sedimentary features and pollen analysis indicate the existence of an ancient lake-swamp on the platform during 11.0–9.0 ka. This waterbody gradually shrank during 9.0–8.0 ka, and ultimately disappeared after 8.0 ka. Since then, the development of large-scale areas of water ceased on the higher geomorphic units. River floods also cannot reach the top of these high geomorphic units, where numerous prehistoric settlements are located, including the Xia–Shang cities of the WJL site. Our research demonstrates that landscape stability supported the long-term and sustainable development of ancient cultures and facilitated the establishment of the WJL ancient cities in the region.

Rapid advancements in high-energy ultrafast lasers and free electron lasers have made it possible to obtain extreme physical conditions in the laboratory, which lays the foundation for investigating the interaction between light and matter and probing ultrafast dynamic processes. High temporal resolution is a prerequisite for realizing the value of these large-scale facilities. Here, we propose a new method that has the potential to enable the various subsystems of large scientific facilities to work together well, and the measurement accuracy and synchronization precision of timing jitter are greatly improved by combining a balanced optical cross-correlator (BOC) with near-field interferometry technology. Initially, we compressed a 0.8 ps laser pulse to 95 fs, which not only improved the measurement accuracy by 3.6 times but also increased the BOC synchronization precision from 8.3 fs root-mean-square (RMS) to 1.12 fs RMS. Subsequently, we successfully compensated the phase drift between the laser pulses to 189 as RMS by using the BOC for pre-correction and near-field interferometry technology for fine compensation. This method realizes the measurement and correction of the timing jitter of ps-level lasers with as-level accuracy, and has the potential to promote ultrafast dynamics detection and pump–probe experiments.

In this study, nine isonitrogenous experimental diets containing graded levels of carbohydrates (40 g/kg, 80 g/kg and 120 g/kg) and crude lipids (80 g/kg, 120 g/kg and 160 g/kg) were formulated in a two-factor (3 × 3) orthogonal design. A total of 945 mandarin fish with similar body weights were randomly assigned to twenty-seven tanks, and the experiment diets were fed to triplicate tanks twice daily for 10 weeks. Results showed that different dietary treatments did not significantly affect the survival rate and growth performance of mandarin fish. However, high dietary lipid and carbohydrate levels significantly decreased the protein content of the whole body and muscle of cultured fish. The lipid content of the whole body, liver and muscle all significantly increased with increasing levels of dietary lipid, while only liver lipid level was significantly affected by dietary carbohydrate level. Hepatic glycogen content increased significantly with increasing dietary carbohydrate levels. As to liver antioxidant capacity, malondialdehyde content increased significantly with increasing dietary lipid or carbohydrate content, and catalase activity showed an opposite trend. Superoxide dismutase activity increased significantly with increasing levels of dietary lipid but decreased first and then increased with increasing dietary carbohydrate levels. Additionally, the increase in both dietary lipid and carbohydrate levels resulted in a significant reduction in muscle hardness. Muscle chewiness, gumminess and shear force were only affected by dietary lipid levels and decreased significantly with increasing dietary lipid levels. In conclusion, considering all the results, the appropriate dietary lipids and carbohydrate levels for mandarin fish were 120 g/kg and 80 g/kg, respectively.

Most research on intertemporal choice has examined choices between smaller, sooner gains and larger, later gains. A much smaller number of papers have examined intertemporal choices for losses. In this article, we explore whether mixed-sign choices with both gains and losses may better correlate with real-world behaviors. In two high-powered studies (pilot: N = 3,200; main study: N = 7,000), participants completed one of four normatively equivalent measures consisting of pure gain, pure loss, or mixed sign (Gain-Now-Loss-Later or Loss-Now-Gain-Later) intertemporal choices. Participants also self-reported a large number of demographic measures and real-world choice behaviors thought to be linked to intertemporal choice. The results indicate that (1) mixed-sign intertemporal choices yield more patient time preferences than pure-gain choices but less patient than pure-loss choices and (2) pure-gain intertemporal choices yield equivalent or superior predictive power across a range of real-world intertemporal choice behaviors.

We present the generation of high-repetition-rate strong-field terahertz (THz) pulses from a thin 4-N,N-dimethylamino-4’-N’-methyl-stilbazolium 2,4,6-trimethylbenzenesulfonate (DSTMS) organic crystal pumped by an ytterbium-doped yttrium aluminum garnet laser. The generated THz pulse energy reaches 932.8 nJ at 1 kHz repetition rate, with a conversion efficiency of 0.19% and a peak electric field of 819 kV/cm. At a repetition rate of 10 kHz, it is able to maintain a peak electric field of 236 kV/cm and an average THz power of 0.77 mW. The high-repetition-rate, strong-field THz source provides a convenient tool for the study of THz matter manipulation and THz spectroscopy.

Supersonic internal flows often exhibit multiple reflected shocks within a limited distance. These shocks can interact with each other in a complex manner due to the characteristics of the shock wave–turbulent boundary layer interaction (STBLI), including flow distortion and the relaxing boundary layer. This study aims to characterise this type of interaction and to clarify its fluid physics. A separated STBLI zone was established either upstream or downstream, and another weaker STBLI was established in the opposing position to serve as a perturbation. Time-resolved measurements were employed to characterise the mean separation and unsteadiness as the two regions approached each other, as well as their relationship. The experimental results indicated that the STBLI could affect the separation and reattachment of the other STBLI through either the decelerated or relaxing boundary layer. Despite a small deflection angle, the incident shock can amplify the low-frequency oscillations in the downstream STBLI region. Additionally, the interaction in the downstream region can be influenced by both low- and high-frequency oscillations associated with the upstream STBLI through a relaxing boundary layer. Despite the limited correlation observed between the low-frequency fluctuations in the downstream region and the boundary layer flow not far upstream, there still exists some degree of correlation between the low-frequency shock motions even when they are widely separated. Both the ‘upstream mechanism’ and ‘downstream mechanism’ have been observed, and the significance of low-frequency dynamics in the separated flow, relative to that of the upstream flow, is closely associated with interaction intensity.

This study compared survival outcomes between intensive care unit (ICU) patients receiving enteral nutrition (EN) and parenteral nutrition (PN) with vasopressor support, explored risk factors affecting clinical outcomes and established an evaluation model. Data from 1046 ICU patients receiving vasopressor therapy within 24 h from 2008 to 2019 were collected. Patients receiving nutritional therapy within 3 d of ICU admission were divided into EN or PN (including PN+EN) groups. Cox analysis and regression were used to determine relevant factors and establish a nomogram for predicting survival. The 28-d survival rate was significantly better in the EN group compared with the PN/PN+EN group. Risk factors included age, peripheral capillary oxygen saturation, red cell distribution width, international normalised ratio, potassium level, mean corpuscular Hg, myocardial infarction, liver disease, cancer status and nutritional status. The nomogram showed good predictive performance. In ICU patients receiving vasopressor drugs, patients receiving EN had a better survival rate than PN. Our nomogram had favourable predictive value for 28-d survival in patients. However, it needs further validation in prospective trials.

Double-cone ignition [Zhang et al., Phil. Trans. R. Soc. A 378, 20200015 (2020)] was proposed recently as a novel path for direct-drive inertial confinement fusion using high-power lasers. In this scheme, plasma jets with both high density and high velocity are required for collisions. Here we report preliminary experimental results obtained at the Shenguang-II upgrade laser facility, employing a CHCl shell in a gold cone irradiated with a two-ramp laser pulse. The CHCl shell was pre-compressed by the first laser ramp to a density of 3.75 g/cm3 along the isentropic path. Subsequently, the target was further compressed and accelerated by the second laser ramp in the cone. According to the simulations, the plasma jet reached a density of up to 15 g/cm3, while measurements indicated a velocity of 126.8 ± 17.1 km/s. The good agreements between experimental data and simulations are documented.

This paper retrospectively analysed the prevalence of macrolide-resistant Mycoplasma pneumoniae (MRMP) in some parts of China. Between January 2013 and December 2019, we collected 4,145 respiratory samples, including pharyngeal swabs and alveolar lavage fluid. The highest PCR-positive rate of M. pneumoniae was 74.5% in Beijing, the highest resistance rate was 100% in Shanghai, and Gansu was the lowest with 20%. The highest PCR-positive rate of M. pneumoniae was 74.5% in 2013, and the highest MRMP was 97.4% in 2019; the PCR-positive rate of M. pneumoniae for adults in Beijing was 17.9% and the MRMP was 10.48%. Among the children diagnosed with community-acquired pneumonia (CAP), the PCR-positive and macrolide-resistant rates of M. pneumoniae were both higher in the severe ones. A2063G in domain V of 23S rRNA was the major macrolide-resistant mutation, accounting for more than 90%. The MIC values of all MRMP to erythromycin and azithromycin were ≥ 64 μg/ml, and the MICs of tetracycline and levofloxacin were ≤ 0.5 μg/ml and ≤ 1 μg/ml, respectively. The macrolide resistance varied in different regions and years. Among inpatients, the macrolide-resistant rate was higher in severe pneumonia. A2063G was the common mutation, and we found no resistance to tetracycline and levofloxacin.

The diversity of human mortuary practices and treatments in prehistory is widely recognised, but our understanding of the purpose and manner of corpse manipulation in many regions is limited. This article reports on unusual aspects of funerary archaeology at the Neolithic site of Dingsishan, southern China. Anatomical consideration of cutmarks on human bones and the positioning of bodies and body parts within burials suggests that mortuary treatments at this site included strategic and systematic disarticulation, evisceration and excarnation. Rather than signalling social differences, these practices may have resulted from the very practical need to save space.