Path planning for the unmanned aerial vehicle (UAV) is to assist in finding the proper path, serving as a critical role in the intelligence of a UAV. In this paper, a path planning for UAV in three-dimensional environment (3D) based on enhanced gravitational search algorithm (EGSA) is put forward, taking the path length, yaw angle, pitch angle, and flight altitude as considerations of the path. Considering EGSA is easy to fall into local optimum and convergence insufficiency, two factors that are the memory of current optimal and random disturbance with chaotic levy flight are adopted during the update of particle velocity, improving the balance between exploration and exploitation for EGSA through different time-varying characteristics. With the identical cost function, EGSA is compared with seven peer algorithms, such as moth flame optimization algorithm, gravitational search algorithm, and five variants of gravitational search algorithm. The experimental results demonstrate that EGSA is superior to the seven comparison algorithms on CEC 2020 benchmark functions and the path planning method based on EGSA is more valuable than the other seven methods in diverse environments.

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.

Based on Voronoi analysis, the properties related to the near-wall motion of particles in a turbulent boundary layer were experimentally investigated via different release modes, with a friction Reynolds number $Re_\tau =3530$. For high-inertia sand particles with Stokes number $St^+ \sim O(10^2\unicode{x2013}10^3)$ and a volume fraction $\varPhi _v \sim O(10^{-4})$, particle image tracking velocimetry was used to determine the particle position and near-wall distribution properties. We established three particle release modes, including top-released, bottom overall-released and bottom partially released sand particles, under the same flow field conditions and calculated the differences in particle near-wall clustering and void properties. It was confirmed that wall effects (including collision and strike-splash) have a great influence on particle clustering and void behaviour near the wall. In the top-released sand particle and locally laid sand particle cases, particles bounced off the smooth walls and re-entered the carrier flow, causing significant clustering and sparsing of particles near the walls. In contrast, in the overall sand-laying case where the bottom wall was completely covered with sand particles, there is no apparent cluster or void phenomenon near the wall $(z/\delta <0.12)$ and the particles are randomly distributed, due to the combined effect of particle impact and splashing. In addition, the clustering and voids of particles become more pronounced with increasing wall-normal distance in the three release modes, and the particle distribution shows some self-similarity at each flow layer. The probability density function of the concentration of cluster particles decreases following a ‘$-5/3$’ power law. However, due to the particle–wall interaction, the probability density function gradually deviates from the ‘$-5/3$’ power law.

Data on epidemiology trends of paediatric tuberculosis (TB) are limited in China. So, we investigated the clinical and epidemiological profiles in diagnosed TB disease and TB infection patients at Beijing Children’s Hospital. Of 3 193 patients, 51.05% had pulmonary TB (PTB) and 15.16% had extrapulmonary TB (EPTB). The most frequent forms of EPTB were TB meningitis (39.05%), pleural TB (29.75%), and disseminated TB (10.33%). PTB patients were significantly younger and associated with higher hospitalization frequency. Children aged 1–4 years exhibited higher risk of PTB and TB meningitis, and children aged 5–12 years had higher risk of EPTB. The proportion of PTB patients increased slightly from 40.9% in 2012 to 65% in 2019, and then decreased to 17.8% in 2021. The percentage of EPTB cases decreased from 18.3% in 2012 to 15.2% in 2019, but increased to 16.4% in 2021. Among EPTB cases, the largest increase was seen in TB meningitis. In conclusion, female and young children had higher risk of PTB in children. TB meningitis was the most frequent forms of EPTB among children, and young children were at high risk of TB meningitis. The distribution of different types of EPTB differed by age.

We construct an autoregressive moving average (ARMA) model consisting of the history and random effects for the streamwise velocity fluctuation in boundary-layer turbulence. The distance to the wall and the boundary-layer thickness determine the time step and the order of the ARMA model, respectively. Based on the autocorrelation's analytical expression of the ARMA model, we obtain a global analytical expression for the second-order structure function, which asymptotically captures the inertial, dynamic and large-scale ranges. Specifically, the exponential autocorrelation of the ARMA model arises from the autoregressive coefficients and is modified to logarithmic behaviour by the moving-average coefficients. The asymptotic expressions enable us to determine model coefficients by existing parameters, such as the Kolmogorov and the Townsend–Perry constants. A consequent double-log expression for the characteristic length scale is derived and is justified by direct numerical simulation data with $Re_\tau \approx 5200$ and field-measured neutral atmospheric surface layer data with $Re_\tau \sim O(10^6)$ from the Qingtu Lake Observation Array site. This relation is robust because it applies to $Re_\tau$ from $O(10^4)$ to $O(10^6)$, and even when the statistics of natural ASL deviate from those of canonical boundary-layer turbulence, e.g. in the case of imbalance in energy production and dissipation, and when the Townsend–Perry constant deviates from traditional values.

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.

Creating an environmentally friendly precursor to form a kaolinite intercalation compound is important for promoting the applications of nanohybrid kaolinite in electrochemical sensors, low- or zero-toxicity drug carriers, and clay-polymer nanocompounds. In the present study, a stable hydrated kaolinite pre-cursor with d001= 0.84 nm was prepared successfully by heating the transition phase, the as-prepared kaolinite-hydrazine intercalate, at temperatures between 40 and 70ºC. The structure of the hydrated kaolinite was characterized by X-ray diffraction and infrared spectroscopy. The morphology was examined using scanning electron microscopy. The results showed that the hydrated hydrazine of the transition phase was easy to decompose to hydrazines and water molecules in the interlayer at 40-70ºC. Hydrazine molecules de-intercalated gradually, and water molecules remained in the ditrigonal holes of the silicate layer with sufficient stability, finally forming the stable 0.84 nm hydrated kaolinite in the system with a success rate of 80–90%. The 0.84 nm hydrated kaolinite may become an excellent precursor for the preparation of other kaolinite intercalates. A degree of intercalation of ~100% was obtained for the kaolinite-ethylene glycol intercalate, and a degree of intercalation of ~80% was obtained for the kaolinite-glycine intercalate from the 0.84 nm hydrated kaolinite precursor.

Recurrent pregnancy loss (RPL) is both mental and physical health problem affecting about 1–5% of women of childbearing age. The etiology of RPL is complex, involving chromosomal abnormalities, autoimmune diseases, metabolic disorders, and endometrial dysfunction. The causes of abortion are still unknown in more than 50% of these cases. With the development of science and technology, an increasing number of scholars focus on this field and find that genetic factors may play an essential role in unexplained RPL, such as embolism-related genes, immune factor-related genes, and chromosomal numeric, and structural variation. This review summarizes the genetic factors associated with RPL, including genetic mutations and genetic polymorphisms, chromosomal variants, and chromosomal polymorphisms. Many related genetic factors have been found to be demographically and geographically relevant, some of which can be used for risk prediction or screening for the etiology of RPL. However, it is difficult to predict and prevent RPL due to uncertain pathogenesis and highly variable clinical presentation. Therefore, the genetic factors of RPL still need plentiful research to obtain a more accurate understanding of its pathogenesis and to provide more detection means for the screening and prevention of RPL.

This study aimed to screen miRNA biomarkers for melanoma progression. Raw melanoma data were downloaded from the Gene Expression Omnibus (GSE34460, GSE35579, GSE18509, and GSE24996) and the Cancer Genome Atlas (TCGA). Then, all differentially expressed miRNAs (DEmiRNAs) between benign vs. primary, metastatic vs. benign, and metastatic vs. primary groups were obtained in the GSE34460 and GSE35579 datasets, and the miRNAs related to disease progression were further screened. Then, the miRNA-gene network was constructed, followed by enrichment, survival, and cluster analyses. Differentially expressed genes (DEGs), tumor-infiltrating immune cells, and tumor mutation burden (TMB) between subtypes were analyzed. miRNAs were verified in the GSE18509 and GSE24996 datasets. A total of 132 and 209 DEmiRNAs were obtained in the GSE34460 and GSE35579 datasets, respectively, and 27 DEmiRNAs related to disease progression were screened. hsa-miR-106b-5p, hsa-miR-27b-3p, and hsa-miR-141-3p had a higher degree and were regulated by numerous genes in the miRNA-gene network. Moreover, four miRNAs were associated with prognosis: hsa-let-7c-5p, hsa-miR-130b-3p, hsa-miR-142-3p, and hsa-miR-509-3p. Furthermore, the bidirectional hierarchical clustering of 27 miRNAs was classified into three subtypes, and TMB and four types of immune cells, including activated dendritic cells, naïve CD4 T cells, M1 macrophages, and plasma cells, showed significant differences among the three subtypes. The expression levels of most miRNAs in the GSE18509 and GSE24996 datasets were consistent with those in the training dataset. These miRNAs, including hsa-let-7c-5p, hsa-miR-130b-3p, and hsa-miR-142-3p, and activated dendritic cells, naïve CD4 T cells, M1 macrophages, and plasma cells may play vital roles in the pathogenesis of melanoma.

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.

Background. Heart failure (HF) is defined as the inability of the heart’s systolic and diastolic function to properly discharge blood flow from the veins to the heart. The goal of our research is to look into the possible mechanism that causes HF. Methods. The GSE5406 database was used for screening the differentially expressed genes (DEGs). Gene ontology (GO), Kyoto Encyclopedia of Genes and Genomes (KEGG), and Protein-Protein Interaction (PPI) network were applied to analyze DEGs. Besides, cell counting Kit-8 (CCK-8) was conducted to observe the knockdown effect of hub genes on cell proliferation. Results. Finally, 377 upregulated and 461 downregulated DEGs came out, enriched in the extracellular matrix organization and gap junction. According to GSEA results, Hoft cd4 positive alpha beta memory t cell bcg vaccine age 18–45 yo id 7 dy top 100 deg ex vivo up, Sobolev t cell pandemrix age 18–64 yo 7 dy dn, and so on were significantly related to gene set GSE5406. 7 hub genes, such as COL1A1, UBB, COL3A1, HSP90AA1, MYC, STAT3 and MAPK1, were selected from PPI networks. CCK-8 indicated silencing of STAT3 promoted the proliferation of H9C2 cells and silencing of UBB inhibited the proliferation of H9C2 cells. Conclusion. Our analysis reveals that COL1A1, UBB, COL3A1, HSP90AA1, MYC, STAT3, and MAPK1 might promote the progression of HF and become the biomarkers for diagnosis and treatment of HF.

Objectives. The occurrence and development of nonalcoholic fatty liver disease (NAFLD) is related to lipid peroxidation, imbalance of inflammatory response factors, and immune function disorder. This study was conducted with the purpose of investigating the expression levels of inflammatory cytokines and adipocytokines and Th17/Treg balance in NAFLD patients treated with Dahuang Zhechong pills (DHZCPs). Methods. The study recruited 100 NAFLD patients who were then arranged into the test group and control group. Patients in the test group were treated with DHZCPs, while patients in the control group were untreated. Peripheral TH17 and Treg cells were detected by flow cytometry, and peripheral IL-17, IL-10, hs-CRP, and TNF-α expression levels were determined by enzyme-linked immunosorbent assay (ELISA) methods. The concentrations of ghrelin, leptin, and adiponectin were quantitatively examined. Results. The levels of TC, TG, ALT, and AST were declined but the level of HDL-C was increased in NAFLD patients treated with DHZCPs compared with untreated patients (P < 0.05). The ratio of Th17/Treg in NAFLD patients treated with DHZCPs was (1.52 ± 0.21), which was significantly lower than (2.39 ± 0.45) of untreated patients (P < 0.05). The levels of IL-17, hs-CRP, and TNF-α were lower, but the level of IL-10 was higher in NAFLD patients treated with DHZCPs than that in untreated patients (P < 0.05). The expression levels of ghrelin and adiponectin in NAFLD patients treated with DHZCPs were evidently higher than those in untreated patients (P < 0.01), and the expression level of leptin in NAFLD patients treated with DHZCPs was evidently lower than that in untreated patients (P < 0.01). Conclusions. Administration of DHZCPs regulates the immune function of NAFLD patients by keeping Th17/Treg balance and affecting the levels of inflammatory cytokines and adipocytokines.

Typical ophiolitic rock assemblages such as siliciclastic rocks, basalts and gabbros, together with the subduction-related intermediate-acidic intrusive rocks, are newly discovered in the Tongjiang-Fuyuan area of the Heilongjiang Provence, NE China. To determine the formation age and genesis of the mafic rocks (basalts and gabbros) and intermediate-acidic intrusive rocks (granodiorites) in the area, as well as their geodynamic settings, the whole-rock geochemical analysis and zircon LA-ICP-MS U-Pb dating were carried out. Zircon U-Pb results suggest that the granodiorites are 93–95 Ma and gabbro is 95 Ma, respectively. Geochemical results show that the gabbros and basalts exhibit characteristics of ocean island basalt (OIB) affinity and are typically related to having originated from mantle plumes. While the granodiorites show the nature of the island-arc magmatic rocks and may originate from the lower crust. Based on the coeval igneous rock associations and regional tectonic evolution, we conclude that the late Cretaceous magmatic rocks in the Tongjiang-Fuyuan area are the product of continuous subduction of the Palaeo-Pacific plate and reflect the subduction rollback process of the Palaeo-Pacific plate.

The Hamiltonian of a conventional quantum system is Hermitian, which ensures real spectra of the Hamiltonian and unitary evolution of the system. However, real spectra are just the necessary conditions for a Hamiltonian to be Hermitian. In this paper, we discuss the metric operators for pseudo-Hermitian Hamiltonian which is similar to its adjoint. We first present some properties of the metric operators for pseudo-Hermitian Hamiltonians and obtain a sufficient and necessary condition for an invertible operator to be a metric operator for a given pseudo-Hermitian Hamiltonian. When the pseudo-Hermitian Hamiltonian has real spectra, we provide a new method such that any given metric operator can be transformed into the same positive-definite one and the new inner product with respect to the positive-definite metric operator is well defined. Finally, we illustrate the results obtained with an example.