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.

On the Greenland Ice Sheet, hydrofracture connects the supraglacial and subglacial hydrologic systems, coupling surface runoff dynamics and ice velocity. In recent decades, the growth of low-permeability ice slabs in the wet snow zone has expanded Greenland's runoff zone, but observations suggest that surface-to-bed connections are rare, because meltwater drains through crevasses into the porous firn beneath ice slabs. However, there is little quantitative evidence confirming the absence of surface-to-bed fracture propagation. Here, we use poromechanics to investigate whether water-filled crevasses in ice slabs can propagate vertically through an underlying porous firn layer. Based on numerical simulations, we develop an analytical estimate of the water injection-induced effective stress in the firn given the water level in the crevasse, ice slab thickness, and firn properties. We find that the firn layer substantially reduces the system's vulnerability to hydrofracture because much of the hydrostatic stress is accommodated by a change in pore pressure, rather than being transmitted to the solid skeleton. This result suggests that surface-to-bed hydrofracture will not occur in ice slab regions until all pore space proximal to the initial flaw has been filled with solid ice.

We derive the spin Euler equation for ideal flows by applying the spherical Clebsch mapping. This equation is based on the spin vector, a unit vector field encoding vortex lines, instead of the velocity. The spin Euler equation enables a feasible Lagrangian study of fluid dynamics, as the isosurface of a spin-vector component is a vortex surface and material surface in ideal flows. We establish a non-blowup criterion for the spin Euler equation, suggesting that the Laplacian of the spin vector must diverge if the solution forms a singularity at some finite time. The direct numerical simulations (DNS) of three ideal flows – the vortex knot, the vortex link and the modified Taylor–Green flow – are conducted by solving the spin Euler equation. The evolution of the Lagrangian vortex surface illustrates that the regions with large vorticity are rapidly stretched into spiral sheets. The DNS result exhibits a pronounced double-exponential growth of the maximum norm of Laplacian of the spin vector, showing no evidence of the finite-time singularity formation if the double-exponential growth holds at later times. Moreover, the present criterion with Lagrangian nature appears to be more sensitive than the Beale–Kato–Majda criterion in detecting the flows that are incapable of producing finite-time singularities.

To apply hydrotalcites more effectively to the problem of dye wastewater, the effects of divalent metal ions on the structure and stability of hydrotalcites, especially on their photocatalytic activity, were compared. In the present study, M/Cr hydrotalcites (M3Cr-CO3-LDHs) (in which M = Mg, Co, Ni, Cu, Zn), where the M/Cr molar ratio was 3, were prepared by the co-precipitation method. The structures and properties were characterized using powder X-ray diffraction (XRD), Fourier-transform infrared spectroscopy (FTIR), thermogravimetric-differential thermal analysis (TG-DTA), and UV-Visible diffuse reflectance spectroscopy (UV-Vis DRS). The results showed that five kinds of M3Cr-CO3-LDHs were synthesized successfully, and the layered structure of the samples obtained was regular and the crystal phase was single. When methylene blue (MB) solution was exposed to ZnCr-CO3-LDHs, H2O2, and visible light irradiation, more than 90.67% of the methylene blue (MB) was removed after 140 min. The photocatalytic activity of the samples was in the order: Co3Cr-CO3-LDHs > Mg3Cr-CO3-LDHs > Cu3Cr-CO3-LDHs > Zn3Cr-CO3-LDHs > Ni3Cr-CO3-LDHs. The results of a catalytic mechanism study showed that photocatalytic degradation of MB involved a demethylation reaction, with the reactive species containing •O2-, •OH, and h+.

We propose the helicity-conserved Navier–Stokes (HCNS) equation by modifying the non-ideal force term in the Navier–Stokes (NS) equation. The corresponding HCNS flow has strict helicity conservation, and retains major NS dynamics with finite dissipation. Using the helical wave decomposition, we show that the pentadic interaction of Fourier helical modes in the HCNS dynamics is more complex than the triadic interaction in the NS dynamics, and enhanced variations for left- and right-handed helicity components cancel each other in the HCNS flow to keep the invariant helicity. A comparative study of HCNS and NS flow evolutions with direct numerical simulation elucidates the influence of the helicity conservation on flow structures and statistics in the vortex reconnection and isotropic turbulence. First, the HCNS flow evolves towards a Beltrami state with a $-4$ scaling law of the energy spectrum at high wavenumbers at long times. Second, large-scale flow structures are almost identical during the viscous reconnection of vortex tubes in the two flows, whereas many more small-scale helical structures are generated via the pentadic mode interaction in the HCNS flow than in the NS flow. Moreover, we demonstrate that parity breaking at small scales can trigger a notable helicity variation in the NS flow. These findings hint that the helicity may not be conserved in the inviscid limit of the NS flow.

Telocyte (TC)—a new type of interstitial cell with long telopodes, can form cellular junctions with various tissues or cells to participate in the regulation of multitudes of physiological activities and diseases. This study aimed to characterize the morphology, molecular features, and potential functions of hormone regulation in Chinese soft-shelled turtle (Pelodiscus sinensis) testis TCs at different reproductive stages by histological evaluation, immunohistochemistry (IHC), immunofluorescence (IF), and transmission electron microscopy. During hibernation, TCs were widely distributed in the interstitial tissue. In contrast, during reproductive activity, TCs were noted to be in close proximity with peritubular myoid cells surrounding the seminiferous tubule. Moreover, formed cell–cell junctions were observed between TCs and PTMs. The results of IHC and IF showed that the immunophenotype of testicular TCs in hibernating Chinese soft-shelled turtles is CD34+Vimentin−, while the reproductive telopodes (Tps) show low expression of vimentin. The androgen receptor is expressed in Tps of TCs of testis during hibernation. Our results showed also that TCs in seasonal breeding animals regulate the activity of neighboring cells by releasing extracellular microvesicles (EXMVs), thus influencing the activity of spermatogenesis and steroidogenesis. Consideration of our novel and interesting results indicate that the whole area warrants further research.

In this paper, the generation of relativistic electron mirrors (REMs) and the reflection of an ultra-short laser off this mirrors are discussed, applying two-dimensional particle-in-cell (2D-PIC) simulations. REMs with ultra-high acceleration and expanding velocity can be produced from a solid nanofoil illuminated normally by an ultra-intense femtosecond laser pulse with a sharp rising edge. Chirped attosecond pulse can be produced through the reflection of a counter-propagating probe laser off the accelerating REM. In the electron moving frame, the plasma frequency of the REM keeps decreasing due to its rapidly expanding. The laser frequency, on the contrary, keeps increasing due to the acceleration of REM and the relativistic Doppler shift from the lab frame to the electron moving frame. Within an ultra-short time interval, the two frequencies will be equal in the electron moving frame, which leads the resonance between laser and REM. The reflected radiation near this interval and the corresponding spectra will be amplified due to the resonance. Through adjusting the arriving time of the probe laser, certain part of the reflected field could be selectively amplified or depressed, leading to the selectively adjusting of the corresponding spectra.

In the laser plasma interaction of quantum electrodynamics (QED)-dominated regime, γ-rays are generated due to synchrotron radiation from high-energy electrons traveling in a strong background electromagnetic field. With the aid of 2D particle-in-cell code including QED physics, we investigate the preplasma effect on the γ-ray generation during the interaction between an ultraintense laser pulse and solid targets. We found that with the increasing preplasma scale length, the γ-ray emission is enhanced significantly and finally reaches a steady state. Meanwhile, the γ-ray beam becomes collimated. This shows that, in some cases, the preplasmas will be piled up acting as a plasma mirror in the underdense preplasma region, where the γ-rays are produced by the collision between the forward electrons and the reflected laser fields from the piled plasma. The piled plasma plays the same role as the usual reflection mirror made from a solid target. Thus, a single solid target with proper scale length preplasma can serve as a manufactural and robust γ-ray source.

A recently developed symmetry-based theory is extended to derive an algebraic model for compressible turbulent boundary layers (CTBL) – predicting mean profiles of velocity, temperature and density – valid from incompressible to hypersonic flow regimes, thus achieving a Mach number ($Ma$) invariant description. The theory leads to a multi-layer analytic form of a stress length function which yields a closure of the mean momentum equation. A generalized Reynolds analogy is then employed to predict the turbulent heat transfer. The mean profiles and the friction coefficient are compared with direct numerical simulations of CTBL for a range of $Ma$ from 0 (e.g. incompressible) to 6.0 (e.g. hypersonic), with an accuracy notably superior to popular current models such as Baldwin–Lomax and Spalart–Allmaras models. Further analysis shows that the modification is due to an improved eddy viscosity function compared to competing models. The results confirm the validity of our $Ma$-invariant stress length function and suggest the path for developing turbulent boundary layer models which incorporate the multi-layer structure.

Two phases of diabase-sill-forming magmatism are recorded within the Badu anticline where magmas were emplaced into upper Palaeozoic carbonates and clastic rocks of the Youjiang fold-and-thrust belt in the SW South China Block, China. Zircons from these diabase units yield weighted mean U–Pb ages of 249.2±2.0 Ma and 187.1±3.3 Ma, and magmatic oxygen fugacity values from ‒20 to ‒6 (average of ‒12, equating to FMQ +5) and ‒20 to ‒10 (average of ‒15, equating to FMQ +2), respectively. These data indicate that the sills were emplaced during Early Triassic and Early Jurassic times. The discovery of c. 250 Ma mafic magmatism in this area was probably related to post-flood-basalt extension associated with the Emeishan mantle plume or rollback of the subducting Palaeo-Tethys slab. The c. 190 Ma diabase sills indicate that the southwestern South China Block records Early Jurassic mafic magmatism and lithospheric extension that was likely associated with a transition from post-collisional to within-plate tectonic regimes. The emplacement of diabase intrusions at depth may have driven hydrothermal systems, enabling the mobilization of elements from sedimentary rocks and causing the formation of a giant epigenetic metallogenic domain. The results indicate that high-oxygen-fugacity materials within basement rocks caused crustal contamination of the magmas, contributing to the wide range of oxygen fugacity conditions recorded by the Au-bearing Badu diabase. In addition, data from inherited xenocrystic zircons within the Badu diabase and detrital zircons from basement rocks suggest that the Neoproterozoic Jiangshao suture extends to the south of the Badu anticline.

We describe the synthesis of nitrides of iridium and palladium using the laser-heated diamond anvil cell. We have used the in situ techniques of x-ray powder diffraction and Raman scattering to characterize these compounds and have compared our experimental findings where possible to the results of first-principles theoretical calculations. We suggest that palladium nitride is isostructural with pyrite, while iridium nitride has a monoclinic symmetry and is isostructural with baddeleyite.

Transient laser-induced anomalous photovoltaic effect hasbeen studied in La0.8Sr0.2MnO3 films grown on theSrTiO3 (001) substrates by laser molecular beam epitaxy. It isdemonstrated that the signal polarity is reversed when the films areirradiated through the substrate rather than at the air/filminterface. The microstructures in these films are clarified in termsof the oriented microdomains with their (101) plane parallel to thesubstrate surface, suggesting off-diagonal Seebeck effect plays animportant role for our observation. From the results, we obtain theanisotropy of the thermoelectric power $\Delta S=S_{ab}-S_{c}=0.3~\mu$ V/K, where S ab and S c are the ab-plane and c-axis Seebeck coefficients.