There are few studies on the intelligent guidance of unmanned sailboats, which should coordinate pluralistic tasks at sea in the nature of its maneuvring intractability. To ensure the algorithmic practicability, this paper proposes a path-following and collision-avoidance guidance approach of unmanned sailboats with total formulaic description. The risk-detecting mechanism is fabricated by setting a circular detecting zone and using the time to the closest point of approach. Then, the risk of collision, the path deviation, the speed loss, and the course loss can be judged by constructing the cost functions and applying the distance to closest point of approach. The optimized heading angle is deemed as the one minimizing the aggregate cost functions, which is sought by applying and improving the beetle antennae search (BAS) algorithm. In the proposed modified BAS, the searching step is redesigned to enhance the searching efficiency. To ensure the convergence of the real heading angle to the reference, the backstepping-based control law is fabricated for the high-order sailboat model and in the linear form. The control parameters are offline optimized through the modified BAS. Compared with the adaptive control, this controller can guarantee more computation simplicity and the optimized control performance. Finally, simulation corroborates that the sailboat can successfully complete path following and collision avoidance while encountering multiple static and moving obstacles under the proposed schemes.

Suppose you need to complete a task of 5 steps, each of which has equal difficulty and pass rate. You somehow have a privilege that can ensure you pass one of the steps, but you need to decide which step to be privileged before you start the task. Which step do you want to privilege? Mathematically speaking, the effect of each step on the final outcome is identical, and so there seems to be no prima facie reason for a preference. Five studies were conducted to explore this issue. In Study 1, participants could place the privilege on any of steps 1–5. Participants were most inclined to privilege step 5. In Study 2, participants needed to pay some money to purchase the privilege for steps 1–5, respectively. Participants would pay most money for step 5. Study 3 directly reminded participants that the probability of success of the whole task is mathematically the same, no matter on which step the privilege is placed, but most of the participants still prefer to privilege the final step. Study 4 supposed that the outcomes of all steps were not announced until all steps were finished, and asked how painful participants would feel if they passed all steps but one. People thought they would feel most painful when they failed at the final step. In Study 5, an implicit association test showed that people associated the first step with easy and the final step with hard. These results demonstrated the phenomenon of the final step effect and suggested that both anticipated painfulness and stereotype may play a role in this phenomenon.

In this paper, the reflection of curved shock waves over a symmetry plane in planar supersonic flow is studied. This includes stable Mach reflection (MR) and the regular reflection (RR) to MR transition process. Curved shock theory (CST) is applied to derive the high-order parameters in front of and behind the shock wave. The method of curved shock characteristics is used to establish an analytical model to predict the wave configurations. The shock structures provided by the proposed model agree well with the numerical results. Flow structures, such as the height of the Mach stem and the shape of the shock wave and slip line, are studied by applying the analytical model. Isentropic waves generated from a curved wall are found to significantly influence the flow patterns. It appears that the compression waves obstruct the formation of the sonic throat and increase the Mach-stem height. The expansion waves have the opposite effect. The evolution mechanism of the Mach stem is found in conjunction with the RR-to-MR transition process. The CST is extended to a moving frame and used to model the transition. The time history of the moving triple point illustrates the effects of the incident shock angle and isentropic waves on the transition process.

High-speed water entry is a transient hydrodynamic process that is accompanied by strongly compressible flow, free surface splash, cavity evolution and other nonlinear hydrodynamic phenomena. To address these problems, a novel fluid–structure interaction (FSI) scheme based on the immersed boundary method is proposed which is suitable for strongly compressible multiphase flows. In this scheme, considering the multiphase interfaces at the immersed boundary, an improved immersed boundary method for effectively suppressing the non-physical force oscillation is proposed. Additionally, a quaternion-based six degrees of freedom motion system is used to describe rigid body motion, and the multiphase flow Eulerian finite element method is applied as the fluid solver. Using analytical solutions, experimental data and literature data, the accuracy and robustness of the FSI scheme are validated. Finally, the high-speed water entry of the slender body with different noses is investigated, and the hydrodynamic loads including the axial and normal drag forces and the bending moment are extensively discussed. The hydrodynamic load and motion trajectory are determined by the nose configuration. The tail slamming phenomenon is the primary focus, and it is revealed that its formation is primarily related to the pitch moment formed at the stage of crossing the free surface. Tail slamming also causes violent impact loads, especially bending moments, which may cause slender projectiles to break off. Finally, to combine the features of the flat and hemispherical noses, the water entry of the projectile with a truncated hemispherical nose is simulated and discussed.

Using the idea of local entropy theory, we characterize the sequence entropy tuple via mean forms of the sensitive tuple in both topological and measure-theoretical senses. For the measure-theoretical sense, we show that for an ergodic measure-preserving system, the $\mu $ -sequence entropy tuple, the $\mu $ -mean sensitive tuple, and the $\mu $ -sensitive in the mean tuple coincide, and give an example to show that the ergodicity condition is necessary. For the topological sense, we show that for a certain class of minimal systems, the mean sensitive tuple is the sequence entropy tuple.

Given a family $\mathcal{F}$ of bipartite graphs, the Zarankiewicz number $z(m,n,\mathcal{F})$ is the maximum number of edges in an $m$ by $n$ bipartite graph $G$ that does not contain any member of $\mathcal{F}$ as a subgraph (such $G$ is called $\mathcal{F}$ -free). For $1\leq \beta \lt \alpha \lt 2$ , a family $\mathcal{F}$ of bipartite graphs is $(\alpha,\beta )$ -smooth if for some $\rho \gt 0$ and every $m\leq n$ , $z(m,n,\mathcal{F})=\rho m n^{\alpha -1}+O(n^\beta )$ . Motivated by their work on a conjecture of Erdős and Simonovits on compactness and a classic result of Andrásfai, Erdős and Sós, Allen, Keevash, Sudakov and Verstraëte proved that for any $(\alpha,\beta )$ -smooth family $\mathcal{F}$ , there exists $k_0$ such that for all odd $k\geq k_0$ and sufficiently large $n$ , any $n$ -vertex $\mathcal{F}\cup \{C_k\}$ -free graph with minimum degree at least $\rho (\frac{2n}{5}+o(n))^{\alpha -1}$ is bipartite. In this paper, we strengthen their result by showing that for every real $\delta \gt 0$ , there exists $k_0$ such that for all odd $k\geq k_0$ and sufficiently large $n$ , any $n$ -vertex $\mathcal{F}\cup \{C_k\}$ -free graph with minimum degree at least $\delta n^{\alpha -1}$ is bipartite. Furthermore, our result holds under a more relaxed notion of smoothness, which include the families $\mathcal{F}$ consisting of the single graph $K_{s,t}$ when $t\gg s$ . We also prove an analogous result for $C_{2\ell }$ -free graphs for every $\ell \geq 2$ , which complements a result of Keevash, Sudakov and Verstraëte.

Ovarian cancer is the most lethal female reproductive system tumour. Despite the great advances in surgery and systemic chemotherapy over the past two decades, almost all patients in stages III and IV relapse and develop resistance to chemotherapy after first-line treatment. Ovarian cancer has an extraordinarily complex immunosuppressive tumour microenvironment in which immune checkpoints negatively regulate T cells activation and weaken antitumour immune responses by delivering immunosuppressive signals. Therefore, inhibition of immune checkpoints can break down the state of immunosuppression. Indeed, Immune checkpoint inhibitors (ICIs) have revolutionised the therapeutic landscape of many solid tumours. However, ICIs have yielded modest benefits in ovarian cancer. Therefore, a more comprehensive understanding of the mechanistic basis of the immune checkpoints is needed to improve the efficacy of ICIs in ovarian cancer. In this review, we systematically introduce the mechanisms and expression of immune checkpoints in ovarian cancer. Moreover, this review summarises recent updates regarding ICI monotherapy or combined with other small-molecule-targeted agents in ovarian cancer.

It is crucial to understand the genetic mechanisms and biological pathways underlying the relationship between obesity and serum lipid levels. Structural equation models (SEMs) were constructed to calculate heritability for body mass index (BMI), total cholesterol (TC), triglyceride (TG), high-density lipoprotein cholesterol (HDL-C), low-density lipoprotein cholesterol (LDL-C), and the genetic connections between BMI and the four classes of lipids using 1197 pairs of twins from the Chinese National Twin Registry (CNTR). Bivariate genomewide association studies (GWAS) were performed to identify genetic variants associated with BMI and lipids using the records of 457 individuals, and the results were further validated in 289 individuals. The genetic background affecting BMI may differ by gender, and the heritability of males and females was 71% (95% CI [.66, .75]) and 39% (95% CI [.15, .71]) respectively. BMI was positively correlated with TC, TG and LDL-C in phenotypic and genetic correlation, while negatively correlated with HDL-C. There were gender differences in the correlation between BMI and lipids. Bivariate GWAS analysis and validation stage found 7 genes (LOC105378740, LINC02506, CSMD1, MELK, FAM81A, ERAL1 and MIR144) that were possibly related to BMI and lipid levels. The significant biological pathways were the regulation of cholesterol reverse transport and the regulation of high-density lipoprotein particle clearance (p < .001). BMI and blood lipid levels were affected by genetic factors, and they were genetically correlated. There might be gender differences in their genetic correlation. Bivariate GWAS analysis found MIR144 gene and its related biological pathways may influence obesity and lipid levels.

Long QT syndrome (LQTS) is a detrimental arrhythmia syndrome mainly caused by dysregulated expression or aberrant function of ion channels. The major clinical symptoms of ventricular arrhythmia, palpitations and syncope vary among LQTS subtypes. Susceptibility to malignant arrhythmia is a result of delayed repolarisation of the cardiomyocyte action potential (AP). There are 17 distinct subtypes of LQTS linked to 15 autosomal dominant genes with monogenic mutations. However, due to the presence of modifier genes, the identical mutation may result in completely different clinical manifestations in different carriers. In this review, we describe the roles of various ion channels in orchestrating APs and discuss molecular aetiologies of various types of LQTS. We highlight the usage of patient-specific induced pluripotent stem cell (iPSC) models in characterising fundamental mechanisms associated with LQTS. To mitigate the outcomes of LQTS, treatment strategies are initially focused on small molecules targeting ion channel activities. Next-generation treatments will reap the benefits from development of LQTS patient-specific iPSC platform, which is bolstered by the state-of-the-art technologies including whole-genome sequencing, CRISPR genome editing and machine learning. Deep phenotyping and high-throughput drug testing using LQTS patient-specific cardiomyocytes herald the upcoming precision medicine in LQTS.

According to the positive time-discounting assumption of intertemporal decision-making, people prefer to undergo negative events in the future rather than in the present. However, negative discounting has been identified in the intertemporal choice and loss domains, which refers to people’s preference to experience negative events earlier rather than later. Studies have validated and supported the "anticipated dread" as an explanation for negative discounting. This study again explored the effect of anticipated dread on intertemporal choice using content analysis; that is, having participants identify anticipated dread among reasons for negative discounting. This study also validated the effect of anticipated dread on negative discounting by manipulating anticipated dread. This study adds empirical and direct evidence for the role of anticipated dread in negative discounting.

We study a stochastic model for a target benefit pension plan suffering from rising longevity and falling fertility. Policies for postponing retirement are carried out to hedge the payment difficulties caused by the aging population. The plan members’ contributions are set in advance while the pension payments reflect intergenerational equity by a target payment level and intergenerational risk sharing by an adjustment. The pension fund is invested in both a risk-free asset and a risky asset. Applying the stochastic optimal control methods, we derive analytic solutions for optimal investment and benefit payment strategies which minimize the benefit risk. Besides, an optimal delayed retirement age which can hedge against the aging phenomenon under certain parameters is given. Therefore, it can provide a basis for quantifying the delay of retirement time.