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Precise and efficient grasping detection is vital for robotic arms to execute stable grasping tasks in industrial and household applications. However, existing methods fail to consider refining different scale features and detecting critical regions, resulting in coarse grasping rectangles. To address these issues, we propose a real-time coarse and fine granularity residual attention (CFRA) grasping detection network. First, to enable the network to detect different sizes of objects, we extract and fuse the coarse and fine granularity features. Then, we refine these fused features by introducing a feature refinement module, which enables the network to distinguish between object and background features effectively. Finally, we introduce a residual attention module that handles different shapes of objects adaptively, achieving refined grasping detection. We complete training and testing on both Cornell and Jacquard datasets, achieving detection accuracy of 98.7% and 94.2%, respectively. Moreover, the grasping success rate on the real-world UR3e robot achieves 98%. These results demonstrate the effectiveness and superiority of CFRA.
This study aimed to estimate the nationwide prevalence of cardiometabolic diseases (CMD) among adults with underweight in the US general population. Using data from the National Health and Nutrition Examination Survey (1999–2020), we estimated the age-standardised prevalence of dyslipidemia, hypertension, diabetes, chronic kidney disease, CVD and the presence of zero or at least two CMD. Multivariable Poisson regressions were used to compare CMD prevalence between subgroups, adjusting for age, sex and race/ethnicity. Among the 855 adults with underweight included, the weighted mean age was 40·8 years, with 68·1 % being women and 70·4 % non-Hispanic White. The estimated prevalence rates were 23·4 % for dyslipidemia (95 % CI 19·4 %, 27·5 %), 15·6 % for hypertension (95 % CI 13·3 %, 17·8 %), 2·5 % for diabetes (95 % CI 1·5 %, 3·5 %), 7·9 % for chronic kidney disease (95 % CI 6·9 %, 8·8 %) and 6·1 % for CVD (95 % CI 4·3 %, 7·9 %). The prevalence of having zero and at least two CMD was 50·6 % (95 % CI 44·1 %, 57·0 %) and 12·3 % (95 % CI 8·1 %, 16·4 %), respectively. Non-Hispanic Black adults had significantly higher prevalence of diabetes (adjusted prevalence ratio, 3·35; 95 % CI 1·35, 8·30) compared with non-Hispanic White adults. In conclusion, approximately half of the underweight adults had at least one CMD, and 12·3 % had at least two CMD. Prevention and management of CMD in underweight adults are critical yet neglected public health challenges.
Oncomelania hupensis (O. hupensis), the sole intermediate host of Schistosoma japonicum, greatly influence the prevalence and distribution of schistosomiasis japonica. The distribution area of O. hupensis has remained extensive for numerous years. This study aimed to establish a valid agent-based model of snail density and further explore the environmental conditions suitable for snail breeding. A marshland with O. hupensis was selected as a study site in Dongting Lake Region, and snail surveys were monthly conducted from 2007 to 2016. Combined with the data from historical literature, an agent-based model of snail density was constructed in NetLogo 6.2.0 and validated with the collected survey data. BehaviorSpace was used to identify the optimal ranges of soil temperature, pH, soil water content, and vegetation coverage for snail growth, development and reproduction. An agent-based model of snail density was constructed and showed a strong agreement with the monthly average snail density from the field surveys. As soil temperature increased, the snail density initially rose before declining, reaching its peak at around 21°C. There were similar variation patterns for other environmental factors. The findings from the model suggested that the optimum ranges of soil temperature, pH, soil water content and vegetation coverage were 19°C to 23 °C, 6.4 to 7.6, 42% to 75%, and 70% to 93%, respectively. A valid agent-based model of snail density was constructed, providing more objective information about the optimum ranges of environmental factors for snail growth, development and reproduction.
Whether material deprivation-related childhood socio-economic disadvantages (CSD) and care-related adverse childhood experiences (ACE) have different impacts on depressive symptoms in middle-aged and older people is unclear.
Methods
In the Guangzhou Biobank Cohort Study, CSD and ACE were assessed by 7 and 5 culturally sensitive questions, respectively, on 8,716 participants aged 50+. Depressive symptoms were measured by 15-item Geriatric Depression Scale (GDS). Multivariable linear regression, stratification analyses, and mediation analyses were done.
Results
Higher CSD and ACE scores were associated with higher GDS score in dose-response manner (P for trend <0.001). Participants with one point increment in CSD and ACE had higher GDS score by 0.11 (95% confidence interval [CI], 0.09–0.14) and 0.41 (95% CI, 0.35–0.47), respectively. The association of CSD with GDS score was significant in women only (P for sex interaction <0.001; women: β (95% CI)=0.14 (0.11–0.17), men: 0.04 (−0.01 to 0.08)). The association between ACE and GDS score was stronger in participants with high social deprivation index (SDI) (P for interaction = 0.01; low SDI: β (95% CI)=0.36 (0.29–0.43), high SDI: 0.64 (0.48–0.80)). The proportion of association of CSD and ACE scores with GDS score mediated via education was 20.11% and 2.28%.
Conclusions
CSD and ACE were associated with late-life depressive symptoms with dose-response patterns, especially in women and those with low adulthood socio-economic status. Education was a major mediator for CSD but not ACE. Eliminating ACE should be a top priority.
Cowl-induced incident shock wave/boundary layer interactions (ISWBLIs) under the influence of shoulder expansion represent one of the dominant phenomena in supersonic inlets. To provide a more comprehensive understanding of how an expansion corner affects the ISWBLI, a detailed experimental and analytical study is performed in a Mach 2.73 flow in this work. Pressure measurement, schlieren photography and surface oil-flow visualisation are used to record flow features, including the pressure distribution, separation extent and surface-flow topological structures. Our results reveal three types of ISWBLIs influenced by the expansion corner. When the shock intensity is weak, the separation is small scale with the expansion waves emanating from the expansion corner. This is the first type of expansion-corner-affected ISWBLI (EC-ISWBLI). When the incident shock wave is strong, large-scale separation occurs, accompanied by the disappearance of expansion waves, forming the second type of EC-SWBLI. The expansion corner induces a ‘lock-in’ effect in which the separation onset is consistently locked near the expansion corner regardless of the incident shock intensity and impingement position. The third type of EC-ISWBLI occurs when the shock is sufficiently strong and the impingement point is close to the expansion corner. In this interaction, the ‘lock-in’ effect ceases to manifest. Moreover, a shock polar-incorporating inviscid model is employed to elucidate the shock patterns. Two criteria are established by combining free interaction theory with this model. The first criterion provides valuable insights into the evolution of separations with a minimal overall pressure rise and the second criterion determines the threshold for the occurrence of the ‘lock-in’ effect.
To evaluate one-stage thyroid cartilage laryngotracheal reconstruction in children less than one year of age with congenital subglottic stenosis.
Methods
Congenital subglottic stenosis children less than one year old who underwent one-stage thyroid cartilage laryngotracheal reconstruction between 2016 and 2020 in our department were retrospectively reviewed. Their clinical characteristics, treatments and prognoses were assessed.
Results
Eleven congenital subglottic stenosis children (6–11 months) were included: seven with Myer–Cotton grade II, and four with Myer–Cotton grade III. Their tracheal diameters were corrected to normal size using thyroid cartilage, and they were intubated under sedation for two weeks after surgery. Moreover, all of them received anti-infection and anti-reflux therapies during hospitalisation. No breathing difficulty, aspiration, hoarseness or laryngitis was observed during the follow-up period (10–30 months), and their growth and development were age appropriate.
Conclusion
The one-stage thyroid cartilage laryngotracheal reconstruction is a good treatment option for congenital subglottic stenosis children less than one year old with Myer–Cotton grade II–III.
Although federal judges are the ultimate arbiters of insider trading enforcement, the role of their political ideology in insider trading is unclear. Using the partisanship of judges’ nominating presidents to measure judge ideology, we first document that liberal judges are associated with heavier penalties in insider trading lawsuits than conservative judges. Next, we find that firms located in circuits with more liberal judges have fewer opportunistic insider sales. Cross-sectional analyses show that this deterrent effect is stronger when managers face a higher risk of insider trading lawsuits. Finally, we find that the Securities and Exchange Commission considers judges’ ideology when selecting litigation forums.
Exploiting the fact that hypertension is diagnosed when a person’s blood pressure reading exceeds a medically specified threshold (90 mmHg for diastolic blood pressure or 140 mmHg for systolic blood pressure), this study estimates the effect of a first-ever hypertension diagnosis on Chinese adults’ alcohol consumption using a two-dimensional regression discontinuity design. Analyzing data on 10,787 adults from the China Health and Nutrition Survey, our estimation reveals that hypertension diagnoses based on diastolic blood pressure readings exert a number of desirable effects. Hypertensive adults’ drinking frequency and the incidence of excessive drinking among them were reduced by 1.2 times/week and 17.9 percentage points, respectively, about three years after the diagnosis. Meanwhile, their beer and Chinese spirits (Baijiu) intakes were reduced by 518.6 ml/week and 194.8 ml/week, respectively. Interestingly, we also found modest evidence that hypertension diagnoses based on diastolic blood pressure readings increase Chinese adults’ wine intake, suggesting a substitution pattern upon hypertension diagnoses. In contrast, based on systolic blood pressure readings, no significant effects of hypertension diagnoses on alcohol consumption were found.
A local COVID-19 outbreak with two community clusters occurred in a large industrial city, Shaoxing, China, in December 2021 after serial interventions were imposed. We aimed to understand the reason by analysing the characteristics of the outbreak and evaluating the effects of phase-adjusted interventions. Publicly available data from 7 December 2021 to 25 January 2022 were collected to analyse the epidemiological characteristics of this outbreak. The incubation period was estimated using Hamiltonian Monte Carlo method. A well-fitted extended susceptible-exposed-infectious-recovered model was used to simulate the impact of different interventions under various combination of scenarios. There were 387 SARS-CoV-2-infected cases identified, and 8.3% of them were initially diagnosed as asymptomatic cases. The estimated incubation period was 5.4 (95% CI 5.2–5.7) days for all patients. Strengthened measures of comprehensive quarantine based on tracing led to less infections and a shorter duration of epidemic. With a same period of incubation, comprehensive quarantine was more effective in containing the transmission than other interventions. Our findings reveal an important role of tracing and comprehensive quarantine in blocking community spread when a cluster occurred. Regions with tense resources can adopt home quarantine as a relatively affordable and low-impact intervention measure compared with centralized quarantine.
The development of the tourism industry has led to an increasing number of tourists, demanding better service quality from scenic spots. The improvement of service quality in tourist attractions can provide tourists with a safer and more reliable travel environment, reducing their anxiety about risks and uncertainties.
Subjects and Methods
Based on the principle of random sampling, the population aged between 18 and 60 in a certain scenic area were selected and distributed a service quality demand questionnaire. It includes four criteria: safety services, navigation services, employee attitudes, and service processes. The score was filled out on a scale of 1 to 10. The higher the score, the more valued the content is by tourists. A total of 1000 demand forms were distributed, and 985 were actually collected, with a recovery rate of 98.5%. Statistical analysis was conducted on the table data using SPSS23.0 software.
Results
According to the statistical results, there is a negative correlation between the four aspects of scenic area safety services, scenic area navigation services, employee attitudes, and service processes and tourists’ psychological anxiety, with a P-value less than 0.05, indicating statistical significance.
Conclusions
By providing a sense of safety and security, accurate and complete scenic area information, friendly and enthusiastic service attitude, and convenient and efficient service processes, scenic area managers can reduce tourists’ anxiety, and improve their satisfaction and experience.
Acknowledgement
In 2019, the Youth Fund for Humanities and Social Sciences Research of the Ministry of Education (No. 19YJC790043).
Horses and chariots played a crucial social, cultural and military role in the emergence and development of early states in China. Little research, however, has explored the life histories of individual chariot horses or assessed their role as working animals. Here, the authors present a detailed zooarchaeological and palaeopathological study of eight adult male horses, used for pulling chariots, recovered from a single chariot-horse pit at the burial site of Shijia in north-western China. The characterisation of key osteological differences between chariot horses and ridden horses is offered as a contribution to the toolkit available for the archaeological investigation of human-horse interactions around the globe.
Legal scholars have psychological problems because they have been in an “abnormal environment” for a long time. Music therapy is a psychological intervention method based on musicology, medicine and psychology. Therefore, the study used music therapy to intervene and treat the psychological diseases of legal scholars.
Subjects and Methods
In the study, 84 patients with psychological diseases in a hospital in a western city were randomly divided into group A (41) and group B (43) by using SPSS21.0 statistical software. Group A was the control group without intervention; Group B was the music group, which was intervened by music therapy. In the experiment, Pittsburgh Sleep Quality Index (PSQI) was used to quantitatively evaluate the sleep quality of patients. The experimental results are shown in Table 1.Table 1.
Sleep quality of patients in the two groups before and after the intervention
Sleep quality
Sleep time
Sleep duration
Sleep efficiency
Sleep disorders
Sodium amytal
Daytime function
Total score
Before intervention
A
2.51±0.50
2.86±0.32
2.44±0.68
2.46±0.68
1.91±0.71
1.19±1.03
2.19±0.59
15.64±3.22
B
2.62±0.57
2.84±0.34
2.50±0.70
2.52±0.49
1.86±0.73
1.30±0.95
2.25±0.53
15.99±3.26
After intervention
A
1.55±0.49
1.69±0.50
1.28±0.50
1.55±0.49
1.47±0.50
1.20±0.84
1.45±0.49
10.28±2.14
B
1.14±0.47
1.19±0.39
1.14±0.47
1.26±0.59
1.44±0.49
1.06±0.91
1.14±0.42
8.44±2.01
Results
Before the intervention, the sleep quality score of group B was significantly higher than that of group A, 2.62 ± 0.57 points; After the intervention, the indexes of group B were lower than those of group A, with a total score of 8.44 ± 2.01, much lower than 10.28 ± 2.14 in group A. The experimental results show that music therapy can significantly improve the psychological diseases of legal scholars.
Conclusions
Legal scholars often suffer from psychological diseases due to long-term “abnormal environment”. The study used music therapy as an adjunctive treatment, and the results showed that music therapy could effectively alleviate mental and psychological diseases.
Computer-aided design (CAD) plays an essential role in creative idea generation on 2D screens during the design process. In most CAD scenarios, virtual object translation is an essential operation, and it is commonly used when designers simulate their innovative solutions. The degrees of freedom (DoF) of virtual object translation modes have been found to directly impact users’ task performance and psychological aspects in simulated environments. Little is known in the existing literature about the sense of agency (SoA), which is a critical psychological aspect emphasizing the feeling of control, in translation modes on 2D screens during the design process. Hence, this study aims to assess users’ SoA in virtual object translation modes on mouse-based, touch-based, and handheld augmented reality (AR) interfaces through subjective and objective measures, such as self-report, task performance, and electroencephalogram (EEG) data. Based on our findings in this study, users perceived a greater feeling of control in 1DoF translation mode, which may help them come up with more creative ideas, than in 3DoF translation mode in the design process; additionally, the handheld AR interface offers less control feel, which may have a negative impact on design quality and creativity, as compared with mouse- and touch-based interfaces. This research contributes to the current literature by analyzing the association between virtual object translation modes and SoA, as well as the relationship between different 2D interfaces and SoA in CAD. As a result of these findings, we propose several design considerations for virtual object translation on 2D screens, which may enable designers to perceive a desirable feeling of control during the design process.
This study is designed to explore the association between dietary betaine intake and risk of all-cause and cardiovascular death in patients with coronary artery diseases (CAD). In this cohort study, 1292 patients with CAD were followed up for a median of 9·2 years. Baseline dietary betaine intake was collected using a paper-based semi-quantitative FFQ and assessed according to the US Department of Agriculture (USDA) database and the data of betaine in common foods. Cox proportional hazards regression models were used to analyse the association between dietary betaine intake and risks of all-cause and cardiovascular mortality. During the follow-up periods, 259 deaths recorded in 1292 participants, of which 167 died of CVD. Patients in the highest tertile of dietary betaine intake had a lower risk of all-cause (P = 0·007) and cardiovascular death (P < 0·001) than those in the lowest tertile after adjusting for age and sex, traditional cardiovascular risk factors and other potential confounders. After further adjusting for plasma methionine metabolites and vitamins, hazard ratio across tertiles of dietary betaine intake were 1·00, 0·84 and 0·72 for all-cause mortality (Pfor trend = 0·124), and 1·00, 0·77 and 0·55 for cardiovascular mortality (Pfor trend = 0·021). Higher dietary betaine intake was associated with a decreased risk of cardiovascular death after fully adjustment for cardiovascular risk factors, other potential confounders and plasma methionine metabolites and vitamins. However, the association between dietary betaine intake and risk of all-cause mortality was not statistically significant after further adjusting for plasma methionine metabolites and vitamins.
COVID-19 has long-term impacts on public mental health, while few research studies incorporate multidimensional methods to thoroughly characterise the psychological profile of general population and little detailed guidance exists for mental health management during the pandemic. This research aims to capture long-term psychological profile of general population following COVID-19 by integrating trajectory modelling approaches, latent trajectory pattern identification and network analyses.
Methods
Longitudinal data were collected from a nationwide sample of 18 804 adults in 12 months after COVID-19 outbreak in China. Patient Health Questionnaire-9, Generalised Anxiety Disorder-7 and Insomnia Severity Index were used to measure depression, anxiety and insomnia, respectively. The unconditional and conditional latent growth curve models were fitted to investigate trajectories and long-term predictors for psychological symptoms. We employed latent growth mixture model to identify the major psychological symptom trajectory patterns, and ran sparse Gaussian graphical models with graphical lasso to explore the evolution of psychopathological network.
Results
At 12 months after COVID-19 outbreak, psychological symptoms generally alleviated, and five psychological symptom trajectories with different demographics were identified: normal stable (63.4%), mild stable (15.3%), mild-increase to decrease (11.7%), mild-decrease to increase (4.0%) and moderate/severe stable (5.5%). The finding indicated that there were still about 5% individuals showing consistently severe distress and approximately 16% following fluctuating psychological trajectories, who should be continuously monitored. For individuals with persistently severe trajectories and those with fluctuating trajectories, central or bridge symptoms in the network were mainly ‘motor abnormality’ and ‘sad mood’, respectively. Compared with initial peak and late COVID-19 phase, aftermath of initial peak might be a psychologically vulnerable period with highest network connectivity. The central and bridge symptoms for aftermath of initial peak (‘appetite change’ and ‘trouble of relaxing’) were totally different from those at other pandemic phases (‘sad mood’).
Conclusions
This research identified the overall growing trend, long-term predictors, trajectory classes and evolutionary pattern of psychopathological network of psychological symptoms in 12 months after COVID-19 outbreak. It provides a multidimensional long-term psychological profile of the general population after COVID-19 outbreak, and accentuates the essentiality of continuous psychological monitoring, as well as population- and time-specific psychological management after COVID-19. We believe our findings can offer reference for long-term psychological management after pandemics.
The horse played a crucial role in China through the first millennium BC, used both for military advantage and, through incorporation into elite burials, to express social status. Details of how horses were integrated into mortuary contexts during the Qin Empire, however, are poorly understood. Here, the authors present new zooarchaeological data for 24 horses from an accessory pit in Qin Shihuang's mausoleum, indicating that the horses chosen were tall, adult males. These findings provide insights into the selection criteria for animals to be included in the emperor's tomb and invite consideration of questions concerning horse breeds, husbandry practices, and the military and symbolic importance of horses in early imperial China.