Image stitching is important for the perception and manipulation of undersea robots. In spite of a well-developed technique, it is still challenging for undersea images because of their inevitable appearance ambiguity caused by the limited light in the undersea environment, and local disturbance caused by moving objects, ocean current, etc. To get a clean and stable background panorama in the undersea environment, this paper proposes an undersea image-stitching method by introducing graph-based registration and blending procedures. Specifically, in the registration procedure, matching the features in each undersea image pair is formulated and solved by graph matching, to incorporate the structural information between features. In the blending procedure, an energy function on the indirect graph Markov random field is proposed, which takes both image consistency and neighboring consistency into consideration. Coincidentally, both graph matching and energy minimization can be mathematically formulated by integer quadratic programming problems with different constraints; the recently proposed graduated nonconvexity and concavity procedure is used to optimize both problems. Experiments on both synthetic images and real-world undersea images witness the effectiveness of the proposed method.

Familial monozygotic (MZ) twinning reports are rare around the world, and we report a four-generation pedigree with seven recorded pairs of female MZ twins. Whole-genome sequencing of seven family members was performed to explore the featured genetic factors in MZ twins. For variations specific to MZ twins, five novel variants were observed in the X chromosome. These candidates were used to explain the seemingly X-linked dominant inheritance pattern, and only one variant was exonic, located at the 5′UTR region of ZCCHC12 (chrX: 117958597, G > A). Besides, consistent mitochondrial DNA composition in the maternal linage precluded roles of mitochondria for this trait. In this pedigree, autosomes also contain diverse variations specific to MZ twins. Pathway analysis revealed a significant enrichment of genes carrying novel SNVs in the epithelial adherens junction-signaling pathway (p = .011), contributed by FGFR1, TUBB6, and MYH7B. Meanwhile, TBC1D22A, TRIOBP, and TUBB6, also carrying similar SNVs, were involved in the GTPase family-mediated signal pathway. Furthermore, gene-set enrichment analysis for 533 genes covered by copy number variations specific to MZ twins illustrated that the tight junction-signaling pathway was significantly enriched (p < .001). Therefore, the novel changes in the X chromosome and the provided candidate variants across autosomes may be responsible for MZ twinning, giving clues to increase our understanding about the underlying mechanism.

A carbohydrate-rich diet results in hyperglycaemia and hyperinsulinaemia; it may further induce the carcinogenesis of colorectal cancer. However, epidemiological evidence among Chinese population is quite limited. The aim of this study was to investigate total carbohydrate, non-fibre carbohydrate, total fibre, starch, dietary glycaemic index (GI) and glycaemic load (GL) in relation to colorectal cancer risk in Chinese population. A case–control study was conducted from July 2010 to April 2017, recruiting 1944 eligible colorectal cancer cases and 2027 age (5-year interval) and sex frequency-matched controls. Dietary information was collected by using a validated FFQ. The OR and 95 % CI of colorectal cancer risk were assessed by multivariable logistic regression models. There was no clear association between total carbohydrate intake and colorectal cancer risk. The adjusted OR was 0·85 (95 % CI 0·70, 1·03, P trend=0·08) comparing the highest with the lowest quartile. Total fibre was related to a 53 % reduction in colorectal cancer risk (adjusted ORquartile 4 v. 1 0·47; 95 % CI 0·39, 0·58). However, dietary GI was positively associated with colorectal cancer risk, with an adjusted ORquartile 4 v. 1 of 3·10 (95 % CI 2·51, 3·85). No significant association was found between the intakes of non-fibre carbohydrate, starch and dietary GL and colorectal cancer risk. This study indicated that dietary GI was positively associated with colorectal cancer risk, but no evidence supported that total carbohydrate, non-fibre carbohydrate, starch or high dietary GL intake were related to an increased risk of colorectal cancer in a Chinese population.

To produce pulses with good flat-top quality, pulse-forming lines (PFLs) have been widely used in the field of Tesla-type pulse generators. To shorten the physical length of the PFL, a double-width PFL (DWPFL) is proposed that doubles the output pulse width while maintaining flat-top quality. A repetitively 10 GW Tesla-type long-pulse generator producing pulses with flat-top width of about 110 ns was developed with a coaxial DWPFL to produce high-current electron beams. Electron beams of about 10 GW with flat-top widths of about 110 ns were obtained on a planar vacuum diode load. With this pulse generator and a C-band high-power microwave system, microwaves of ~2.2 GW power and full-width at half-maximum of 101 ns were generated. The experiment demonstrates the feasibility and ideal output waveform quality of the DWPFL.

In north-central China, subsistence practices transitioned from hunting and gathering to millet-based agriculture between the early and middle Holocene. To better understand how ancient environmental changes influenced this shift in subsistence strategies and human activities at regional to local levels, we conducted palynological and lithologic analyses on radiocarbon-dated sediment cores from the Luoyang Basin, western Henan Province. Our palynological results suggest that vegetation shifted from broad-leaved deciduous forest (9230–8850 cal yr BP) to steppe-meadow vegetation (8850–7550 cal yr BP), and then to steppe with sparse trees (7550–6920 cal yr BP). Lithologic analyses also indicate that the stabilization of the Luoyang Basin’s floodplain after ~8370 cal yr BP might have attracted people to move into the basin, promoting the emergence of millet-based agriculture during the Peiligang culture period (8500–7000 cal yr BP). Once agricultural practices emerged, the climatic optimum after ~7550 cal yr BP likely facilitated the expansion of the Yangshao culture (7000–5000 cal yr BP) in north-central China. As agriculture intensified, pollen taxa related to human disturbance, such as Urtica, increased in abundance.

The purpose of this study was to investigate the joint associations of dietary pattern and television viewing with risk factors of CVD among urban adults in China. A community-based cross-sectional study was conducted among urban adults in Nanjing, China. Five dietary patterns were identified based on a FFQ. Television time was obtained from a standard questionnaire and further classified into two categories (≤7, >7 h/week). Multiple logistic regression was used to calculate the OR and 95 % CI for the separate and joint associations of dietary patterns and television viewing with CVD risk factors. Compared with other dietary patterns, participants who followed the healthy traditional pattern had a lower likelihood of abdominal obesity (AO) (OR 0·52; 95 % CI 0·41, 0·67). Participants watching television no more than 7 h/week presented a 19 and 21 % lower likelihood for hypertension (HT) and elevated total cholesterol (ETC) than those with television time >7 h/week. Individuals who had less television time and a healthy dietary pattern had a lower OR for the presence of AO (OR 0·48; 95 % CI 0·36, 0·65), HT (OR 0·71; 95 % CI 0·66, 0·77), ETC (OR 0·72; 95 % CI 0·57, 0·91) and elevated TAG (OR 0·76; 95 % CI 0·61, 0·95), compared with those who followed other dietary patterns and television time >7 h/week. In conclusion, both healthy traditional pattern and less television time are jointly associated with reduced levels of CVD risk factors. It has important public health implications regarding the precision prevention of CVD at population level.

Pre-Quaternary terrestrial climate variability is less well understood than that during the Quaternary. The continuous eolian Red Clay sequence underlying the well-known Quaternary loess-paleosol sequence on the Chinese Loess Plateau (CLP) provides an opportunity to study pre-Quaternary terrestrial climate variability in East Asia. Here, we present new mineral magnetic records for a recently found Red Clay succession from Shilou area on the eastern CLP, and demonstrate a marked East Asian climate shift across the Miocene-Pliocene boundary (MPB). Pedogenic fine-grained magnetite populations, ranging from superparamagnetic (SP)/single domain (SD) up to small pseudo-single domain (PSD) sizes (i.e., from <30 nm up to ~1000 nm), dominate the magnetic properties. Importantly, our mineral magnetic results indicate that both pedogenic formation of SP grains and transformation of SP grains to SD and small PSD grains accelerated across the MPB in the Shilou Red Clay, which are indicative of enhanced pedogenesis. We relate this enhanced pedogenesis to increased soil moisture availability on the CLP, associated with stronger Asian Summer Monsoon precipitation during an overall period of global cooling. Our study thus provides new insights into the Miocene-Pliocene climate transition in East Asia.

The Figure 4 in the original version has a stylistic error.

It ought to use the figure as follows: The authors apologise for this error.

In this work, the reduction mechanism of potassium chromate (K2CrO4) was investigated via in situ high-temperature X-ray diffraction coupled with Fourier transform infrared spectroscopy. During the hydrogen reduction of K2CrO4, the formation of K3CrO4, KCrO2, and K x CrO2 were detected for the first time. The study discovered that K2CrO4 was firstly reduced to K3CrO4 and an amorphous Cr(III) intermediate product at low temperature (400–500 °C). Moreover, the K3CrO4 was the only crystalline material at this stage. As the temperature increased, a stabilized amorphous CrOOH was formed. At a high temperature (550–700 °C), KCrO2 was generated. Interestingly, a portion of KCrO2 was spontaneously decomposed during the hydrogen reduction, accompanying by the formation of K0.7CrO2. Finally, the results clearly illustrated the reduction mechanism of K2CrO4: K2CrO4 → K3CrO4 → amorphous intermediate → KCrO2.

The Wuhan Pre/Post-Natal Twin Birth Registry (WPTBR) is one of the largest twin birth registries with comprehensive medical information in China. It recruits women from the first trimester of pregnancy and their twins from birth. From January 2006 to May 2016, the total number of twins enrolled in WPTBR is 13,869 twin pairs (27,553 individuals). The WPTBR initiated the Wuhan Twin Birth Cohort (WTBC). The WTBC is a prospective cohort study carried out through incorporation of three samples. The first one comprises 6,920 twin pairs, and the second one, 6,949 twin pairs. Both are population-based samples linked to the WPTBR and include pre- and post-natal information from WPTBR. The second sample includes neonatal blood spots as well. Using a hospital-based approach, we recently developed a third sample with a target enrolment of 1,000 twin pairs and their mothers. These twins are invited, via their parents, to participate in a periodic health examination from the first trimester of pregnancy to 18 years. Biological samples are collected initially from the mother, including blood, urine, cord blood, cord, amniotic fluid, placenta, breast milk and meconium, and vaginal secretions, and later from the twins, including meconium, stool, urine, and blood. This article describes the design, recruitment, follow-up, data collection, and measures, as well as ongoing and planned analyses at the WTBC. The WTBC offers a unique opportunity to follow women from prenatal to postnatal, as well as follow-up of their twins. This cohort study will expand the understanding of genetic and environmental influences on pregnancy and twins’ development in China.

A necessary and sufficient condition for a continuous function $g$ to be almost periodic on time scales is the existence of an almost periodic function $f$ on $\mathbb{R}$ such that $f$ is an extension of $g$ . Our aim is to study this question for pseudo almost periodic functions. We prove the necessity of the condition for pseudo almost periodic functions. An example is given to show that the sufficiency of the condition does not hold for pseudo almost periodic functions. Nevertheless, the sufficiency is valid for uniformly continuous pseudo almost periodic functions. As applications, we give some results on the connection between the pseudo almost periodic (or almost periodic) solutions of dynamic equations on time scales and of the corresponding differential equations.

In this paper we consider new perturbation bounds analysis of a kind of generalized saddle point systems. We provide perturbation upper bounds for the solutions of generalized saddle point systems, which extend the corresponding results in [W.-W. Xu, W. Li, New perturbation analysis for generalized saddle point systems, Calcolo., 46(2009), pp. 25-36] to more general cases.

In this paper, we introduce the Hamiltonian boundary value method (HBVM) to solve nonlinear Hamiltonian PDEs. We use the idea of Fourier pseudospectral method in spatial direction, which leads to the finite-dimensional Hamiltonian system. The HBVM, which can preserve the Hamiltonian effectively, is applied in time direction. Then the nonlinear Schrödinger (NLS) equation and the Korteweg-de Vries (KdV) equation are taken as examples to show the validity of the proposed method. Numerical results confirm that the proposed method can simulate the propagation and collision of different solitons well. Meanwhile the corresponding errors in Hamiltonian and other intrinsic invariants are presented to show the good preservation property of the proposed method during long-time numerical calculation.

We study the construction of symplectic Runge-Kutta methods for stochastic Hamiltonian systems (SHS). Three types of systems, SHS with multiplicative noise, special separable Hamiltonians and multiple additive noise, respectively, are considered in this paper. Stochastic Runge-Kutta (SRK) methods for these systems are investigated, and the corresponding conditions for SRK methods to preserve the symplectic property are given. Based on the weak/strong order and symplectic conditions, some effective schemes are derived. In particular, using the algebraic computation, we obtained two classes of high weak order symplectic Runge-Kutta methods for SHS with a single multiplicative noise, and two classes of high strong order symplectic Runge-Kutta methods for SHS with multiple multiplicative and additive noise, respectively. The numerical case studies confirm that the symplectic methods are efficient computational tools for long-term simulations.

TiO2 nanofibers (TNFs) with different anatase/rutile phase ratios were fabricated using electrospinning technique followed by the annealing at different temperatures. The effect of annealing temperatures on their morphology, structural, and optical properties and photocatalytic activity was investigated. The photocatalytic performance of TNFs was evaluated by degradation of methyl orange (MO) in aqueous solution under the irradiation of simulated solar light. Annealing temperature significantly influenced photocatalytic degradation of MO due to the incorporation of rutile phase which suppresses recombination of photoactivated electron and hole pairs. Turnover frequency (TOF) of MO degradation was introduced to describe the intrinsic activity of TNFs. TNFs acquired best anatase/rutile phase ratio (A/R = 83/17) when annealed at 650 °C, resulting in highest TOF value 2394 h−1, two times higher as compared to P25 with similar anatase/rutile phase ratio (A/R = 85/15). Appropriate crystalline structure could be the reason for good photocatalytic activity as well as intrinsic activity of TNFs.

It is a challenging task for a human operator to manipulate a robot from a remote distance, especially in an unknown environment. Excellent teleoperation provides the human operator with a sense of telepresence, mainly including real-world vision, haptic perception, etc. This paper presents a novel virtual environment building method using the red–green–blue (RGB) colour information, the surface normal feature-based 3D-point-cloud registration method and the weighted sliding-average least-square-method-based real-world dynamic modelling for teleoperation. The experiments prove the method to be an accurate and effective means of teleoperation.