Path planning is a key research issue in the field of unmanned aerial vehicle (UAV) applications. In practical applications, multi-objective path planning is usually required for multi-UAVs, so this paper proposes the improved balanced artificial bee colony (IB-ABC) algorithm to optimize multi-objective path planning. The algorithm adopts the ABC algorithm that emphasizes the global search capability, which is based on iterative feedback information. It uses single-element points, multi-element points, and iteration constraints to optimize the strategies of employed bees, follower bees, and scout bees, respectively. In terms of time and priority, simulation experiments prove that the IB-ABC algorithm can balance local and global search capabilities, accelerate the speed of convergence, and realize multi-UAV path planning in complex mountain environments.

Liriomyza trifolii is a significant pest of vegetable and ornamental crops across the globe. Microwave radiation has been used for controlling pests in stored products; however, there are few reports on the use of microwaves for eradicating agricultural pests such as L. trifolii, and its effects on pests at the molecular level is unclear. In this study, we show that microwave radiation inhibited the emergence of L. trifolii pupae. Transcriptomic studies of L. trifolii indicated significant enrichment of differentially expressed genes (DEGs) in ‘post-translational modification, protein turnover, chaperones’, ‘sensory perception of pain/transcription repressor complex/zinc ion binding’ and ‘insulin signaling pathway’ when analyzed with the Clusters of Orthologous Groups, Gene Ontology and the Kyoto Encyclopedia of Genes and Genomes databases, respectively. The top DEGs were related to reproduction, immunity and development and were significantly expressed after microwave radiation. Interestingly, there was no significant difference in the expression of genes encoding heat shock proteins or antioxidant enzymes in L. trifolii treated with microwave radiation as compared to the untreated control. The expression of DEGs encoding cuticular protein and protein takeout were silenced by RNA interference, and the results showed that knockdown of these two DEGs reduced the survival of L. trifolii exposed to microwave radiation. The results of this study help elucidate the molecular response of L. trifolii exposed to microwave radiation and provide novel ideas for control.

Phytoestrogens may have potential effects on hormone-related cancers (HRC) and cancer biomarkers, but the findings have been inconsistent so far. Participants from the National Health and Nutrition Examination Survey 1999–2010 with information on the levels of urinary phytoestrogens, serum cancer biomarkers and cancer history were included. Sampling-weighted logistic regression models examined the association between urinary phytoestrogens concentrations (creatinine-standardised and log-transformed) and HRC, followed by stratified analyses by race/ethnicity, age and menopausal status for different gender. Correlation analyses between phytoestrogens and cancer biomarkers were performed. Of the total 8844 participants, there were 373 with HRC. We observed total isoflavone and enterodiol excretion were positively associated with HRC, especially in non-Hispanic white female subpopulations (P trend < 0·05). Similar association also existed in the total isoflavones and enterodiol levels with breast cancer. Whereas the highest concentration of total isoflavones was significantly linked to a reduced prevalence of HRC (OR = 0·40, 95 % CI: 0·19, 0·84) in white males and of prostate cancer (OR = 0·40, 95 % CI: 0·18, 0·86). Among twenty-four participants with HRC, urinary equol concentration was positively correlated with CA15.3. Also, an inverse correlation of total prostate-specific antigens (PSA) and positive correlation of the PSA ratio with urinary enterolactone were detected in thirteen prostate cancer patients. Our findings indicated that higher concentrations of total isoflavones and enterodiol were positively associated with HRC. Urinary certain phytoestrogen excretion may affect serum cancer biomarker levels in cancer patients. But further prospective studies are needed to provide stronger evidence.

Hormone-sensitive lipase (HSL) is one of the rate-determining enzymes in the hydrolysis of TAG, playing a crucial role in lipid metabolism. However, the role of HSL-mediated lipolysis in systemic nutrient homoeostasis has not been intensively understood. Therefore, we used CRISPR/Cas9 technique and Hsl inhibitor (HSL-IN-1) to establish hsla-deficient (hsla -/-) and Hsl-inhibited zebrafish models, respectively. As a result, the hsla -/- zebrafish showed retarded growth and reduced oxygen consumption rate, accompanied with higher mRNA expression of the genes related to inflammation and apoptosis in liver and muscle. Furthermore, hsla -/- and HSL-IN-1-treated zebrafish both exhibited severe fat deposition, whereas their expressions of the genes related to lipolysis and fatty acid oxidation were markedly reduced. The TLC results also showed that the dysfunction of Hsl changed the whole-body lipid profile, including increasing the content of TG and decreasing the proportion of phospholipids. In addition, the systemic metabolic pattern was remodelled in hsla -/- and HSL-IN-1-treated zebrafish. The dysfunction of Hsl lowered the glycogen content in liver and muscle and enhanced the utilisation of glucose plus the expressions of glucose transporter and glycolysis genes. Besides, the whole-body protein content had significantly decreased in the hsla -/- and HSL-IN-1-treated zebrafish, accompanied with the lower activation of the mTOR pathway and enhanced protein and amino acid catabolism. Taken together, Hsl plays an essential role in energy homoeostasis, and its dysfunction would cause the disturbance of lipid catabolism but enhanced breakdown of glycogen and protein for energy compensation.

One novel trend in reducing aero-engine noise is to utilize the silent flight mechanism of owls by applying perforations on fan stator vanes. Consequently, the establishment of relevant theoretical models is of particular interest. The current efforts made in this regard are just targeting the features based on two-dimensional models without including the three-dimensionality. In this paper, we present a three-dimensional solution for acoustic scattering by annular perforated cascades, and the dipole source corresponding to the unsteady pressure loading on the vanes is identified as the dominant sound source. By the singularity method, the acoustic response is obtained with the soft boundary condition applied on the vane surfaces. It is found that considerable noise reduction can be achieved for rotor–stator interaction with a modest uniform porosity, and accordingly two mechanisms are proposed to understand the effect of porosity on propagating sound. The first is that the perforations allowing a normal velocity across the vane reduce the unsteady loading induced by the incident disturbances. The second is that the three-dimensional interactions among the dipole sources at different positions are also dampened by the soft boundaries, thus the distribution of the unsteady pressure loading on the vanes will also change significantly compared to hard-vane cases. Non-uniform distributions of porosity are investigated further, indicating that perforations in the vane upstream area are more effective in reducing propagating noise. Our method is fully three-dimensional and capable of investigating non-uniform porosity, and thus is able to provide useful guidance for future soft vane designs.

Biped robots with dynamic motion control have shown strong robustness in complex environments. However, many motion planning methods rely on models, which have difficulty dynamically modifying the walking cycle, height, and other gait parameters to cope with environmental changes. In this study, a heuristic model-free gait template planning method with dynamic motion control is proposed. The gait trajectory can be generated by inputting the desired speed, walking cycle, and support height without a model. Then, the stable walking of the biped robot can be realized by foothold adjustment and whole-body dynamics model control. The gait template can be changed in real time to achieve gait flexibility of the biped robot. Finally, the effectiveness of the method is verified by simulations and experiments of the biped robot BHR-B2. The research presented here helps improve the gait transition ability of biped robots in dynamic locomotion.

Whether starchy and nonstarchy vegetables have distinct impacts on health remains unknown. We prospectively investigated the intake of starchy and nonstarchy vegetables in relation to mortality risk in a nationwide cohort. Diet was assessed using 24-h dietary recalls. Deaths were identified via the record linkage to the National Death Index. Hazard ratios (HRs) and 95% confidence intervals (CIs) were calculated using Cox regression. During a median follow-up of 7.8 years, 4,904 deaths were documented among 40,074 participants aged 18 years or older. Compared to those with no consumption, participants with daily consumption of ≥ 1 serving of nonstarchy vegetables had a lower risk of mortality (HR = 0.76, 95% CI: 0.66-0.88, ptrend = 0.001). Dark-green and deep-yellow vegetables (HR = 0.79, 95% CI: 0.63-0.99, ptrend = 0.023) and other nonstarchy vegetables (HR = 0.80, 95% CI: 0.70-0.92, ptrend = 0.004) showed similar results. Total starchy vegetable intake exhibited a marginally weak inverse association with mortality risk (HR = 0.89, 95% CI: 0.80-1.00, ptrend = 0.048), while potatoes showed a null association (HR = 0.93, 95% CI: 0.82-1.06, ptrend = 0.186). Restricted cubic spline analysis suggested a linear dose‒response relationship between vegetable intake and death risk, with a plateau at over 300 and 200 grams/day for total and nonstarchy vegetables, respectively. Compared to starchy vegetables, nonstarchy vegetables might be more beneficial to health, although both showed a protective association with mortality risk. The risk reduction in mortality plateaued at approximately 200 grams/day for nonstarchy vegetables and 300 grams/day for total vegetables.

This paper presents a novel method to improve the working bandwidth and radiation intensity of piezoelectric antenna by using external circuit. This method makes the piezoelectric antenna combined with roles of high radiation intensity and multiple resonant frequencies without changing the structural size of the piezoelectric antenna. The experimental results show that, compared with the original piezoelectric antenna, the tuning range of the resonant frequency of the piezoelectric antenna caused by the series capacitance and inductance is +13.6 and −24%, respectively. The series inductance will produce new resonance frequency, which provides a new method for the multi-band operation of the piezoelectric antenna. The LLC (series and parallel circuit) composite circuit can increase the number of resonant frequencies of the piezoelectric antenna from 1 to 3, and the S11 at the resonant frequencies are all lower than −10 dB, and the radiated magnetic field of the piezoelectric antenna is increased by 42.3% at least. This method makes the piezoelectric antenna have the dual functions of high radiation intensity and multi-band, which has great significance for broadening the application field of piezoelectric antenna.

The formation and evolution process of the outer vortex ring (denoted as OV0) in annular starting jets has been studied numerically at stroke ratio $3\leqslant L_m/D\leqslant 8$, $\beta \leqslant 0.8$ and Reynolds number $400\leqslant Re_{\triangle R}\leqslant 1400$, where $D$ is the outer diameter of orifice, $L_m$ is the length of the fluid column, $\beta$ and $\triangle R$ are the ratio and difference between inner and outer radii of the annular orifice, respectively. The initial formation process of OV0 is found to be similar to that of the leading vortex ring in a circular starting jet, but the circulation strength is relatively lower and decreases gradually with increasing $\beta$. The pinch-off process will also appear after OV0 grows to a certain size but is different from that of the circular starting jet. On one hand, OV0 is stretched and deformed by the strain field generated by the trailing jet's instability, and vorticity would be shed. On the other hand, OV0 accelerates the irrotational fluids around it under viscous action so as to form the induced velocity field, which would consume energy causing it to shed vorticity further under the limit of the Kelvin–Benjamin variational principle. Furthermore, OV0 would eventually become a stable vortex ring whose non-dimensional circulation ($\varGamma /(U_{0max}D$)) is found to be between 0.59–0.62 and it would not change with different $L_m/D$ at $\beta =0.5$, which is much less than the 2–2.5 of circular starting jets.

Previous studies have reported inconsistent associations between low-carbohydrate diets (LCD) and plasma lipid profile. Also, there is little evidence on the role of the quality and food sources of macronutrients in LCD in cardiometabolic health. We investigated the cross-sectional associations between LCD and plasma cardiometabolic risk markers in a nationwide representative sample of the US population. Diet was measured through two 24-h recalls. Overall, healthy (emphasising unsaturated fat, plant protein and less low-quality carbohydrates) and unhealthy (emphasising saturated fat, animal protein and less high-quality carbohydrate) LCD scores were developed according to the percentage of energy as total and subtypes of carbohydrate, protein and fat. Linear regression was used to estimate the percentage difference of plasma marker concentrations by LCD scores. A total of 34 785 participants aged 18–85 years were included. After adjusting for covariates including BMI, healthy LCD was associated with lower levels of insulin, homoeostatic model assessment for insulin resistance (HOMA-IR), C-reactive protein (CRP) and TAG, and higher levels of HDL-cholesterol, with the percentage differences (comparing extreme quartile of LCD score) of −5·91, −6·16, −9·13, −9·71 and 7·60 (all P trend < 0·001), respectively. Conversely, unhealthy LCD was associated with higher levels of insulin, HOMA-IR, CRP and LDL-cholesterol (all P trend < 0·001). Our results suggest that healthy LCD may have positive, whereas unhealthy LCD may have negative impacts on CRP and metabolic and lipid profiles. These findings underscore the need to carefully consider the quality and subtypes of macronutrients in future LCD studies.

Inkjet printing, originally invented for text and pattern printing, is now central to many industrial applications, such as printed electronics, flexible electronics, 3-D printing of mechanical and even biological devices. However, constrained by the droplets’ ejection mechanism, the accuracy of traditional inkjet printing is limited by the size of its orifice, and it is difficult to achieve a volume of droplets at the femtolitre scale, which hinders its further application in the above fields. To this end, we propose the confined interface vibration inkjet printing (CIVIJP) technique, which is capable of printing patterns in a liquid environment with droplet size much smaller than the orifice from which they are dispensed. Here, further systematic study of the mechanism of printing in a liquid environment was carried out with the assistance of a high-speed imaging technique. It is found for the first time that a single pulse stimulation applied on the piezo-ceramic of the inkjet nozzle can trigger damping oscillations of the oil/water interface confined by the orifice, which can last more than 500 $\mathrm {\mu }$s. By adjusting the intensity of single pulse stimulation, the size and quantity of the dispensed droplets can be controlled in a wide range, which is obviously different from traditional droplet ejection in a gaseous environment. This work reveals the underlying physics between the pulse stimulation and the interface behaviours, as well as the physics between the interface behaviours and the size and number of dispensed droplets, enriching the fundamental theory of the inkjet printing in liquid phase.

While schizophrenia (SCZ) is a devastating psychiatric disorder that detrimentally affects a significant portion of the worldwide population, its diagnosis is traditionally based on a relatively subjective assessment of current symptoms and medical history, devoid of an objective diagnostic modality. Antipsychotic medications are commonly used in the treatment of SCZ; however, some patients have low remission rates or forsake treatment due to the associated multiple side effects, resulting in recurrent episodes of the disease and poor prognosis. These situations imply that the diagnosis, treatment, and prognosis of SCZ need to be improved to increase the odds of a better outcome. Mounting studies have found that extracellular vesicles (EVs) play essential roles in the central nervous system. They are implicated in several mechanisms closely associated with SCZ such as cellular communication and synaptic plasticity. They can additionally exhibit neuroprotective and therapeutic effects. Since they possess distinct constituents, are readily available, easily detectable, and dependent on the internal environment, they can potentially serve as reliable biomarkers for disease diagnosis. Moreover, their biological configuration along with their ability to increase the bioavailability of their constituents and modulate intricate intracellular reactions in target cells, propel EVs as new targets for treatment. This review paper summarizes relevant research pertaining to the roles of EVs in SCZ, with the aim of improving insights into SCZ pathogenesis and evaluating EVs as potential biomarkers in the diagnosis and treatment of SCZ.