Understanding settling motion of coral grains is important in terms of protection of coral reef systems and resotoration of the associated ecosystems. In this paper, a series of laboratory experiments was conducted to investigate the settling motion, using optical microscopy to measure shape parameters of coral grains and the particle-filtering-based object tracking to reconstruct the three-dimensional trajectory. Three characteristic descent regimes, namely, tumbling, chaotic and fluttering, are classified based on the three-dimensional trajectory, the spiral radius variation and the velocity spectrum. It is demonstrated that if one randomly picks up one coral grain, then the probabilities of occurrence of the three regimes are approximately $26\,\%$, $42\,\%$ and $32\,\%$, respectively. We have shown that first, the dimensionless settling velocity generally increases with the non-dimensional diameter and Corey shape factor and second, the drag coefficient generally decreases with the Reynolds number and Corey shape factor. Based on this, the applicability of existing models on predicting settling velocity and drag coefficient for coral grains is demonstrated further. Finally, we have proposed extended models for predicting the settling velocity. This study contributes to better understanding of settling motion and improves our predictive capacity of settling velocity for coral grains with complex geometry.

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.

The integration of camera and LiDAR technologies has the potential to significantly enhance construction robots’ perception capabilities by providing complementary construction information. Structured light cameras (SLCs) are a desirable alternative as they provide comprehensive information on construction defects. However, fusing these two types of information depends largely on the sensors’ relative positions, which can only be established through extrinsic calibration. This paper introduces a novel calibration algorithm considering a customized board for SLCs and repetitive LiDARs, which are designed to facilitate the automation of construction robots. The calibration board is equipped with four symmetrically distributed hemispheres, whose centers are obtained by fitting the spheres and adoption with the geometric constraints. Subsequently, the spherical centers serve as reference features to estimate the relationship between the sensors. These distinctive features enable our proposed method to only require one calibration board pose and minimize human intervention. We conducted both simulation and real-world experiments to assess the performance of our algorithm. And the results demonstrate that our method exhibits enhanced accuracy and robustness.

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.

Background. Advanced glycation end products’ receptor (AGER) is a multiligand receptor that interacts with a wide range of ligands. Previous studies have shown that abnormal AGER expression is closely related to immune infiltration and tumorigenesis. However, the AGER DNA methylation relationship between prognosis and infiltrating immune cells in LUAD and LUSC is still unclear. Methods. AGER expression in pan-cancer was obtained by using the UALCAN databases. Kaplan–Meier plotter showed the correlation of AGER mRNA expression levels and clinicopathological parameters. The protein expression levels for AGER were derived from Human Protein Atlas Database Analysis. The copy number, somatic mutation, and DNA methylation of AGER were presented with UCSC Xena database. TIMER platform and TISIDB website were used to show the correlation between AGER expression and tumor immune cell infiltration level. Results. The expression level of AGER was significantly reduced in lung adenocarcinoma (LUAD) and lung squamous cell carcinoma (LUSC). Low expression of AGER was significantly correlated with histology, stage, lymph node metastasis, and tumor protein 53 (TP53) mutation and could be used as a potential indicator of poor prognosis of LUAD and LUSC. Moreover, AGER expression was positively correlated with the infiltrating immune cells. Further analysis showed that copy number variation (CNV), mutation, and DNA methylation were involved in AGER downregulation. In addition, we also found that hypermethylated AGER was significantly correlated with tumor-infiltrating lymphocytes. Conclusion. AGER may be a candidate for the prognostic biomarker of LUAD and LUSC related to tumor immune microenvironment.

Objective. This study aimed at investigating the effects of wrist-ankle acupuncture-moxibustion and hot compression with Chinese herbal medicine on pain symptoms, endothelin-1 (ET-1), and calcitonin gene-related peptide (CGRP) concentrations of patients with cervical radiculopathy (CR). Methods. A total of 82 patients with CR were randomly divided into the study group and control group, with 41 cases in each group. The control group was treated with standard treatment. In addition to standard treatment, the study group was additionally treated with wrist-ankle acupuncture-moxibustion and hot compression with Chinese herbal medicine. The ET-1 and CGRP concentrations in the plasma were measured by the radioimmunoassay method. Results. The total response rate in the study group and the control group was 97.55% and 82.93%, respectively. The study group showed lower scores of the visual analogue scale (VAS), Northwick Park Neck Pain Questionnaire (NPQ), McGill Pain Questionnaire (MPQ), numbness intensity assessment, and neck disability index (NDI) but higher scores of the Short Form-36 (SF-36) health survey questionnaire than the control group after treatment. Besides, the study group exhibited reduced ET-1 and substance P (SP) concentrations concomitant with increased CGRP and β-endorphin (β-EP) concentrations compared with the control group. Conclusion. Wrist-ankle acupuncture-moxibustion and hot compression with Chinese herbal medicine could effectively alleviate the pain of CR patients, affect ET-1 and CGRP concentrations, promote the recovery of cervical function, and improve the quality of life.

Supercritical carbon dioxide (scCO2) processing has been proven as a method for preparing polymer/montmorillonite (MMT) nanocomposites with improved platelet dispersion. The influence of scCO2 processing on the shape and size of the MMT tactoid/platelet, which is of great importance to the final platelet dispersion in the polymer matrix, is scarcely reported in the literature. In the present study, the pristine MMT was first surface modified with 3-glycidoxypropyltrimethoxysilane (the grafted MMT is labeled as GMMT), and then intercalated using three kinds of intercalating agents, myristyltrimethyl-ammonium bromide (MTAB), tetradecyltrihexylphosphonium chloride (TDTHP), and ethoxyltriphenyl-phosphonium chloride (ETPC), in water or scCO2, to study the effect of intercalating agent type and intercalation method on the morphology and thermal properties of GMMT, as a part of a program devoted to the synthesis of polymer/MMT nanocomposites. The structure of intercalated GMMT was characterized by thermogravimetric analysis, X-ray powder diffraction, and scanning electron microscopy (SEM). The optimum intercalation conditions in scCO2 were established by trying a range of reaction times and pressures. The structures of intercalated GMMT obtained under optimum scCO2 conditions and water were compared. The basal spacing of GMMT intercalated in scCO2 was almost the same as that in water, and both were obviously larger than that of GMMT. The GMMT exhibited a compact spherical morphology (examined using SEM), and the surface structures (including surface morphology, surface roughness, and surface compactness) of samples intercalated in water became ‘less compact’ and the degree of the ‘compactness’ of samples intercalated in scCO2 decreased further. Whether in water or scCO2, samples intercalated with TDTHP exhibited a larger basal spacing and the extent of disorder increased compared to that for samples intercalated with MTAB. The pristine MMT was also intercalated for comparison and silane grafting was proven to contribute to the increased basal spacing and ‘less compact’ surface structure.

Fast neutron absorption spectroscopy is widely used in the study of nuclear structure and element analysis. However, due to the traditional neutron source pulse duration being of the order of nanoseconds, it is difficult to obtain a high-resolution absorption spectrum. Thus, we present a method of ultrahigh energy-resolution absorption spectroscopy via a high repetition rate, picosecond duration pulsed neutron source driven by a terawatt laser. The technology of single neutron count is used, which results in easily distinguishing the width of approximately 20 keV at 2 MeV and an asymmetric shape of the neutron absorption peak. The absorption spectroscopy based on a laser neutron source has one order of magnitude higher energy-resolution power than the state-of-the-art traditional neutron sources, which could be of benefit for precisely measuring nuclear structure data.

(S)-α-Ethyl-2-oxo-1-pyrrolidineacetamide (trade name levetiracetam), a derivative of piracetam, is used clinically as an add-on treatment for partial-onset seizures. In this study, we report the solid-state structure of a new drug co-crystal produced from levetiracetam and 3,5-dinitrosalicylic acid through cooling crystallization. This compound was further characterized by infrared spectroscopy, powder X-ray diffraction, and single-crystal X-ray diffraction. The new co-crystals show a 1:1 stoichiometry and crystallize in the monoclinic system, space group P21, with cell parameters: a = 9.7709(3) Å, b = 6.2202(2) Å, c = 14.7280(4) Å, α = 90°, β = 96.0340(10)°, γ = 90°, V = 890.16(5) Å3, and Z = 2. It is identified that hydrogen bonds are the main interactions between levetiracetam and 3,5-dinitrosalicylic acid, and the contribution of each hydrogen bond in maintaining the stability of the crystal structure was also quantified using Hirshfeld surface analysis.

We investigate when a Legendrian knot in the standard contact ${{\mathbb{R}}}^3$ has a non-orientable exact Lagrangian filling. We prove analogs of several results in the orientable setting, develop new combinatorial obstructions to fillability, and determine when several families of knots have such fillings. In particular, we completely determine when an alternating knot (and more generally a plus-adequate knot) is decomposably non-orientably fillable and classify the fillability of most torus and 3-strand pretzel knots. We also describe rigidity phenomena of decomposable non-orientable fillings, including finiteness of the possible normal Euler numbers of fillings and the minimisation of crosscap numbers of fillings, obtaining results which contrast in interesting ways with the smooth setting.

A target benefit plan (TBP) is a collective defined contribution (DC) plan that is growing in popularity in Canada. Similar to DC plans, TBPs have fixed contribution rates, but they also implement pooling of longevity and investment risk. In this paper, we formulate a multi-period model that incorporates two sources of risk – asset risk and labor income risk for active members. We present an optimal investment and retirement benefits schedule for TBP members with a fixed contribution rate. Using Australian data from 1965 to 2018, we evaluate the performance of the optimal TBP scheme and compare it to the optimal DC scheme. By adopting the benefit–investment strategy derived in this paper, we demonstrate the stability of benefit distribution over time for a TBP scheme in this stochastic formulation. To outperform the DC scheme’s benefit payment, careful consideration shall be given to the benefit target in the TBP scheme. A high target may not be achievable, while a low target can impede the accumulation momentum of the fund’s wealth in its early stages. Moreover, a TBP fund’s investment strategy is primarily influenced by the wealth target, with more aggressive investments in risky assets as the wealth target increases. This analysis may shed light on the possible improvements to retirement planning in Australia. Although the results are sensitive to the choice of model parameters, overall, the proposed TBP promotes system stability in various scenarios.

Air route networks can no longer meet operational efficiency requirements because of the rapid growth of complex traffic flows. Machine learning is employed to investigate the evolutionary mechanism of congestion in such networks in view of their high complexity and high density, and a reasonable network optimisation scheme is presented. First, deviations between nominal and actual routes are investigated with reference to radar track data, and a network reflecting actual route operations is constructed using adversarial neural networks. Second, flight time is used to characterise congestion in route networks. Actual network operations are considered, and congestion is defined from the perspective of road traffic engineering. The effects of the operational properties of traffic flows on flight times are analysed to establish various congestion indicators. A gradient boosting model is used to select indicator characteristics and analyse patterns in the variations of indicator values for each flight segment in distinct periods. The indicator–time relationship is leveraged to explore the evolutionary mechanism of congestion in the route network. Third, on the basis of this mechanism, a multiobjective optimisation model of congestion is formulated, and a particle swarm optimisation algorithm is executed to adjust the route passage structure, thereby solving the optimisation model. Finally, calculation validation is conducted using radar track data from the control sector of the Yunnan region. The average flight time in a route segment is 10% shorter in the optimised route network than in the nonoptimised route network, which confirms that the optimisation solution is practicable.

Light has a substantial effect on the behaviour and physiology of nocturnal moths. Ectropis grisescens is a major nocturnal tea pest in China, and light traps are commonly used to control geometrid moths because of their positive phototaxis. However, some moths gather around light traps and enter the light adaptation state, which decreases the efficacy of light traps in controlling this pest. We identified opsin genes and the spectral sensitivities of the photoreceptors of E. grisescens moths. We also determined the effects of several monochromatic lights on opsin gene expression and light adaptation. We detected three types of opsin genes and six spectral sensitive peaks (at 370, 390, 480, 530, 550, and 580 nm). We also observed significant changes in the diurnal rhythm of opsin gene expression under different light conditions. When active males were suddenly exposed to different monochromatic lights, they quickly entered the light adaptation state, and the adaptation time was negatively correlated with the light intensity. Males were most sensitive to 390 nm wavelengths, followed by 544 nm, 457 nm, and 593 nm. Red light (627 nm) did not affect the activity of E. grisescens males but had detectable physiological effects.

Early detection and correction of defects are critical in additive manufacturing (AM) to avoid build failures. In this paper, we present a multisensor fusion-based digital twin for in-situ quality monitoring and defect correction in a robotic laser-directed energy deposition process. Multisensor fusion sources consist of an acoustic sensor, an infrared thermal camera, a coaxial vision camera, and a laser line scanner. The key novelty and contribution of this work are to develop a spatiotemporal data fusion method that synchronizes and registers the multisensor features within the part's 3D volume. The fused dataset can be used to predict location-specific quality using machine learning. On-the-fly identification of regions requiring material addition or removal is feasible. Robot toolpath and auto-tuned process parameters are generated for defect correction. In contrast to traditional single-sensor-based monitoring, multisensor fusion allows for a more in-depth understanding of underlying process physics, such as pore formation and laser-material interactions. The proposed methods pave the way for self-adaptation AM with higher efficiency, less waste, and cleaner production.

Menaquinone-7 (MK-7), a multipotent vitamin K2, possesses a wide range of biological activities, a precise curative effect and excellent safety. A simple and rapid LC-APCI-MS/MS method for the determination of MK-7 in human plasma with single liquid–liquid extraction (LLE) extraction and 4·5-min analysis time has been developed and validated. Four per cent bovine serum albumin (BSA) was used as surrogate matrix for standard curves and endogenous baseline subtraction. This method was reproducible and reliable and was used to analyse of MK-7 in human plasma. The endogenous circadian rhythm and bioavailability of MK-7 were investigated in two randomised single-dose, open, one-way clinical trials (Study I and Study II). A total of five healthy male subjects were enrolled in Study I and 12 healthy male subjects in Study II. Single-dose (1 mg) of MK-7 was given to each subject under fasting condition, and all eligible subjects were given a restricting VK2 diet for 4 d prior to drug administration and during the trial. The experiment results of Study I demonstrated that endogenous MK-7 has no circadian rhythm in individuals. Both studies showed MK-7 are absorbed with peak plasma concentrations at about 6 h after intake and has a very long half-life time.

In this paper, flexible substrate integrated waveguide (SIW) resonators have been designed and fabricated on polyimide substrates for humidity sensing applications. The proposed SIW resonant cavity allows the resonator to obtain the maximum humidity sensitivity and meet the demand for flexible microwave sensing detection. Meanwhile, the humidity response performance can be further significantly enhanced by introducing nanodiamond (ND) sensing material. Three prototypes of ND-coated SIW sensors with different bending radii are measured to analyze their humidity sensing performance. The experimental results demonstrate that the proposed ND-coated SIW sensor with the minimum bending radius can achieve a maximum humidity sensitivity of 1.09 MHz/% relative humidity (RH) in the high RH region (>75.3% RH) and a low humidity hysteresis of 1.8% in the range of 11.3–97.3% RH. This study provides a promising candidate to realize flexible microwave sensors with excellent sensing performance.