The knowledge of the critical periods of crop-weed competition is crucial for designing weed management strategies in cropping systems. In the Lower Yangtze Valley, China, field experiments were conducted in 2011 and 2012 to study the effect of interference from mixed natural weed populations on cotton growth and yield and determine the critical period for weed control (CPWC) in direct-seeded cotton. Two treatments were applied: allowing weeds to infest the crop or keeping plots weed-free for increasing periods (0, 1, 2, 4, 6, 8, 10, 12, 14, and 20 weeks) after crop emergence. The results showed that mixed natural weed infestations led to 35 to 55 cm shorter cotton plants with stem diameters 10 to 13 mm smaller throughout the season, fitting well with modified Gompertz and logistic models, respectively. Season-long competition with weeds reduced the number of fruit branches per plant by 65% to 82%, decreasing boll number per plant by 86% to 96% and single boll weight by approximately 24%. Weed-free seed cotton yields ranged from 2,900 to 3,130 kg ha-1, while yield loss increased with the duration of weed infestation, reaching up to 83% to 96% compared with permanent weed-free plots. Modified Gompertz and logistic models were used to analyze the impact of increasing weed control duration and weed interference on relative seed cotton yield (percentage of season-long weed-free cotton), respectively. Based on a 5% yield-loss threshold, the CPWC was found to be from 145 growing degree days (GDD) to 994 GDD, corresponding to 14 days after emergence (DAE) to 85 DAE. These findings emphasize the importance of implementing effective weed control measures from 14 DAE to 85 DAE in the Lower Yangtze Valley, China, to prevent crop losses exceeding a 5% yield-loss threshold.

This study aimed to investigate the intake of dairy products during pregnancy in women with gestational diabetes mellitus (GDM), and its impacts on neonatal birth weight and pregnancy outcomes. A total of 386 women with GDM during the second trimester pregnancy participated in this prospective cohort study. We evaluated dairy products intake through Food Frequency Questionnaire. Pregnancy outcomes were obtained from the delivery data. Participants were divided into insufficient and sufficient intake of milk and dairy products group (<300 g/day and ≥300 g/day, respectively). The average intake of dairy products during the second trimester pregnancy in women with GDM was 317.8±179.5 g/day, and the total energy intake was 1635.4±708.7 kcal/day. However, 76.68% of them did not meet the recommended total energy intake of women with GDM. After adjusting for confounding factors, women with GDM who consumed ≥300 g/day of dairy products had an average reduction in birth weight of 93.1 g compared to women who consumed <300 g/day of dairy products (95% CI: -171.343, -14.927). Women with GDM in sufficient intake group was also associated with lower risk of macrosomia (95% CI: 0.043, 0.695) and cesarean section (95% CI: 0.387, 0.933), and not related to low birth weight infant (95% CI: 0.617, 14.502) and preterm birth (95% CI: 0.186, 1.510) when compared with participants in insufficient intake group. Under the premise of insufficient total energy intake, the intake of dairy products during the second trimester pregnancy in women with GDM might be related to the decrease of neonatal birth weight.

In this paper, we study the rapid transition in Richtmyer–Meshkov instability (RMI) with reshock through three-dimensional double-layer swirling vortex rings. The rapid transition in RMI with reshock has an essential influence on the evolution of supernovas and the ignition of inertial confinement fusion, which has been confirmed in numerical simulations and experiments in shock-tube and high-energy-density facilities over the past few years. Vortex evolution has been confirmed to dominate the late-time nonlinear development of the perturbed interface. However, few studies have investigated the three-dimensional characteristics and nonlinear interactions among vortex structures during the transition to turbulent flows. The coexistence of co-rotating and counter-rotating vortices is hypothesized to induce successive large-scale strain fields, which are the main driving sources for rapid development. The three-dimensional effect is reflected in the presence of local swirling motion in the azimuthal direction, and it decreases the translation velocity of a vortex ring. Large-, middle- and small-scale strain fields are employed to describe the development process of RMI with reshock, e.g. vorticity deposited by the reshock, formation of the coexistence of the co-rotating and counter-rotating vortices, iterative cascade under the amplification of the strain fields and viscous dissipation to internal energy. This provides theoretical suggestions for designing practical applications, such as the estimation of the hydrodynamic instability and mixing during the late-time acceleration phase of the inertial confinement fusion.

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.

The seminal Bolgiano–Obukhov (BO) theory established the fundamental framework for turbulent mixing and energy transfer in stably stratified fluids. However, the presence of BO scalings remains debatable despite their being observed in stably stratified atmospheric layers and convective turbulence. In this study, we performed precise temperature measurements with 51 high-resolution loggers above the seafloor for 46 h on the continental shelf of the northern South China Sea. The temperature observation exhibits three layers with increasing distance from the seafloor: the bottom mixed layer (BML), the mixing zone and the internal wave zone. A BO-like scaling $\alpha =-1.34\pm 0.10$ is observed in the temperature spectrum when the BML is in a weakly stable stratified ($N\sim 0.0018$ rad s$^{-1}$) and strongly sheared ($Ri\sim 0.0027$) condition, whereas in the unstably stratified convective turbulence of the BML, the scaling $\alpha =-1.76\pm 0.10$ clearly deviated from the BO theory but approached the classical $-$5/3 scaling in isotropic turbulence. This suggests that the convective turbulence is not the promise of BO scaling. In the mixing zone, where internal waves alternately interact with the BML, the scaling follows the Kolmogorov scaling. In the internal wave zone, the scaling $\alpha =-2.12 \pm 0.15$ is observed in the turbulence range and possible mechanisms are provided.

This scoping review aimed to evaluate the effect of exercise combined with vitamin D supplementation on skeletal muscle health in older individuals. We implemented a systematic search of electronic databases, including PubMed, the Cochrane Library, Web of Science and Embase, which was conducted from the time of library construction to January 2024. Eligible studies were randomised controlled trials including men and women aged ≥ 65 years or mean age ≥ 65 years; exercise training and vitamin D supplementation; outcomes of muscular strength, function, muscular power, body composition and quality of life; and results compared with those of exercise intervention alone. The results showed thirteen studies including 1483 participants were identified. The proportions of male and female sex were 22·05 and 77·95 %, respectively. Exercise intervention methods included resistance exercises and multimodal exercise training. All vitamin D interventions involved supplementation with vitamin D3. A significant increase was identified in short physical performance battery and stair climbing but not in skeletal muscle mass, skeletal strength, the timed up and go test and gait speed in older adults after exercise combined with vitamin D supplementation. In conclusion, exercise combined with vitamin D supplementation has additive health effects on short physical performance battery and stair climbing. Furthermore, when vitamin D was deficient at baseline, the combined effect of exercise and vitamin D intervention significantly increased the timed up and go test and gait speed in older adults. In future randomised controlled trials on this topic, baseline vitamin D nutritional status, health condition and sex should be considered.

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.

Numerous flying and swimming creatures use the ground effect to boost their propulsive performance, with the ‘ground’ referring to either a solid boundary or a free surface. While our knowledge of how a solid boundary affects biolocomotion is relatively comprehensive, the ground effect of a free surface is not fully understood. To address this limitation, we conduct a numerical investigation on the propulsion performance of a flapping plate under a free surface, subject to a range of control parameters. When the Froude number ($Fr$) is very low (i.e. little surface deformation), the effects of a free surface are similar to those of a solid boundary, with enhanced thrust and input power but little change in efficiency. However, as $Fr$ increases (i.e. more surface deformation), our results reveal an optimal $Fr$ of approximately 0.6, where the free surface induces a more streamlined flow around the flapping plate, effectively reducing the added mass. This results in a significant decrease in input power and greatly enhanced efficiency.

Intracytoplasmic sperm injection (ICSI) is a technique that directly injects a single sperm into the cytoplasm of mature oocytes. Here, we explored the safety of single-sperm cryopreservation applied in ICSI. This retrospective study enrolled 186 couples undergoing ICSI-assisted pregnancy. Subjects were allocated to the fresh sperm (group A)/single-sperm cryopreservation (group B) groups based on sperm type, with their clinical baseline/pathological data documented. We used ICSI-compliant sperm for subsequent in vitro fertilization and followed up on all subjects. The recovery rate/cryosurvival rate/sperm motility of both groups, the pregnancy/outcome of women receiving embryo transfer, and the delivery mode/neonatal-related information of women with successful deliveries were recorded. The clinical pregnancy rate, cumulative clinical pregnancy rate, abortion rate, ectopic pregnancy rate, premature delivery rate, live birth delivery rate, neonatal birth defect rate, and average birth weight were analyzed. The two groups showed no significant differences in age, body mass index, ovulation induction regimen, sex hormone [anti-Müllerian hormone (AMH)/follicle-stimulating hormone (FSH)/luteinizing hormone (LH)] levels, or oocyte retrieval cycles. The sperm recovery rate (51.72%-100.00%) and resuscitation rate (62.09% ± 16.67%) in group B were higher; the sperm motility in the two groups demonstrated no significant difference and met the ICSI requirements. Group B exhibited an increased fertilization rate, decreased abortion rate, and increased safety versus group A. Compared with fresh sperm, the application of single-sperm cryopreservation in ICSI sensibly improved the fertilization rate and reduced the abortion rate, showing higher safety.

In this paper, we consider the problem of contact parameters (slippage and sinkage) estimation for multi-modal robot locomotion on granular terrains. To describe the contact events in the same framework for robots operated at different modes (e.g., wheel, leg), we propose a unified description of contact parameters for multi-modal robots. We also provide a parameter estimation method for multi-modal robots based on CNN and DWT (discrete wavelet transformation) techniques and verify its effectiveness over different types of granular terrains. Besides motion modes, this paper also considers the influence of slope angles and the robot’s handing angles over contact parameters. Through comparison and analysis of the prediction results, our method can not only effectively predict the contact parameters of multi-modal robot locomotion on a granular medium (better than $96\%$ accuracy) but also achieves the same or better performance when compared to other (direct) contact measurement methods designed for individual motion modes, that is, single-modal robots such as quadruped robots and mars rovers. Our proposed unified contact parameter estimation method can be useful for studying the interaction mechanics between multi-modal robots and granular terrains as well as terrain classification tasks due to its superior sensitivity which is analyzed in the experiments.

Spermatogenesis is a developmental process driven by interactions between germ cells and Sertoli cells. This process depends on appropriate gene expression, which might be regulated by transcription factors. This study focused on Rreb1, a zinc finger transcription factor, and explored its function and molecular mechanisms in spermatogenesis in a mouse model. Our results showed that RREB1 was predominantly expressed in the Sertoli cells of the testis. The decreased expression of RREB1 following injection of siRNA caused impaired Sertoli cell development, which was characterized using a defective blood–testis barrier structure and decreased expression of Sertoli cell functional maturity markers; its essential trigger might be SMAD3 destabilization. The decreased expression of RREB1 in mature Sertoli cells influenced the cell structure and function, which resulted in abnormal spermatogenesis, manifested as oligoasthenoteratozoospermia, and we believe RREB1 plays this role by regulating the transcription of Fshr and Wt1. RREB1 has been reported to activate Fshr transcription, and we demonstrated that the knockdown of Rreb1 caused a reduction in follicle-stimulating hormone receptor (FSHR) in the testis, which could be the cause of the increased sperm malformation. Furthermore, we confirmed that RREB1 directly activates Wt1 promoter activity, and RREB1 downregulation induced the decreased expression of Wt1 and its downstream polarity-associated genes Par6b and E-cadherin, which caused increased germ-cell death and reduced sperm number and motility. In conclusion, RREB1 is a key transcription factor essential for Sertoli cell development and function and is required for normal spermatogenesis.

The coffee berry borer, Hypothenemus hampei (Ferrari) (Coleoptera: Curculionidae), is a major destructive insect pest of coffee, which impacts the coffee crops negatively. As a draft genome has been completed for this insect, most molecular studies on gene transcriptional levels under different experimental conditions will be conducted using real-time reverse-transcription quantitative polymerase chain reactions (RT-qPCR). However, the lack of suitable internal reference genes will affect the accuracy of RT-qPCR results. In this study, the expression stability of nine candidate reference genes was evaluated under different developmental stages, temperature stress, and Beauveria bassiana infection. Data analyses were completed by four commonly used programs, BestKeeper, NormFinder, geNorm, and RefFinder. The result showed that RPL3 and EF1α combination were recommended as the most stable reference genes for developmental stages. EF1α and RPS3a combination were the top two stable reference genes for B. bassiana infection. RPS3a and RPL3 combination performed as the optimal reference genes both in temperature stress and all samples. Our results should provide a good foundation for the expression profile analyses of target genes in the future, especially for molecular studies on insect genetic development, temperature adaptability, and immune mechanism to entomogenous fungi in H. hampei.

This study compared the concentrations, types and distributions of sialic acid (SA) in human milk at different stages of the postnatal period with those in a range of infant formulas. Breast milk from mothers of healthy, full-term and exclusively breastfed infants was collected on the 2nd (n 246), 7th (n 135), 30th (n 85) and 90th (n 48) day after birth. The SA profiles of human milk, including their distribution, were analysed and compared with twenty-four different infant formulas. Outcome of this observational study was the result of natural exposure. Only SA of type Neu5Ac was detected in human milk. Total SA concentrations were highest in colostrum and reduced significantly over the next 3 months. Approximately 68·7–76·1 % of all SA in human milk were bound to oligosaccharides. Two types of SA, Neu5Ac and Neu5Gc, have been detected in infant formulas. Most SA was present in infant formulas combined with protein. Breastfed infants could receive more SA than formula-fed infants with the same energy intake. Overall, human milk is a preferable source of SA than infant formulas in terms of total SA content, dynamics, distribution and type. These SA profiles in the natural state are worth to be considered by the production of formulas because they may have a great effect on infant nutrition and development.

Unmanned aerial vehicles (UAVs) possess fast-moving abilities and have been used in various tasks in the past decades. However, their performances are still restricted by insufficient endurance and confined environments. Intuitively, combining other locomotion modes with UAVs, such as diving and driving, would be an appropriate idea to improve the robot’s adaptability and solve the endurance problem. Recently, the terrestrial/aerial hybrid robots have drawn the researchers’ eyes for their outstanding performances, which can deploy flight mode to traverse insurmountable terrains and ground mode to increase endurance and realize detailed searches. Therefore, this paper developed the autonomous quadrotor tilting hybrid robot (AQT-HR) to achieve terrestrial/aerial dual-modal mobility and verified that the robot delivers high energy efficiency. The AQT-HR can achieve flying and driving through a quadrotor tilting mechanism, which can alter one single driving force into different directions. Furthermore, the dynamic models of the hybrid robot’s aerial and ground locomotion are derived and introduced into the model-feedforward PID control algorithm for improving the robot’s flying stability. Finally, we conducted some mobility tests and experiments about traversing obstacles to demonstrate that the proposed hybrid robot can realize autonomous mode switching and perform a low energy consumption in ground movement mode.