Instrument delivery is critical part in vascular intervention surgery. Due to the soft-body structure of instruments, the relationship between manipulation commands and instrument motion is non-linear, making instrument delivery challenging and time-consuming. Reinforcement learning has the potential to learn manipulation skills and automate instrument delivery with enhanced success rates and reduced workload of physicians. However, due to the sample inefficiency when using high-dimensional images, existing reinforcement learning algorithms are limited on realistic vascular robotic systems. To alleviate this problem, this paper proposes discrete soft actor-critic with auto-encoder (DSAC-AE) that augments SAC-discrete with an auxiliary reconstruction task. The algorithm is applied with distributed sample collection and parameter update in a robot-assisted preclinical environment. Experimental results indicate that guidewire delivery can be automatically implemented after 50k sampling steps in less than 15 h, demonstrating the proposed algorithm has the great potential to learn manipulation skill for vascular robotic systems.

The subduction model of the Neo-Tethys during the Early Cretaceous has always been a controversial topic, and the scarcity of Early Cretaceous magmatic rocks in the southern part of the Gangdese batholith is the main cause of this debate. To address this issue, this article presents new zircon U–Pb chronology, zircon Hf isotope, whole-rock geochemistry and Sr–Nd isotope data for the Early Cretaceous quartz diorite dykes with adakite affinity in Liuqiong, Gongga. Zircon U–Pb dating of three samples yielded ages of c. 141–137 Ma, indicating that the Liuqiong quartz diorite was emplaced in the Early Cretaceous. The whole-rock geochemical analysis shows that the Liuqiong quartz diorite is enriched in large-ion lithophile elements (LILEs) and light rare-earth elements (LREEs) and is depleted in high-field-strength elements (HFSEs), which are related to slab subduction. Additionally, the Liuqiong quartz diorite has high SiO2, Al2O3 and Sr contents, high Sr/Y ratios and low heavy rare-earth element (HREE) and Y contents, which are compatible with typical adakite signatures. The initial 87Sr/86Sr values of the Liuqiong adakite range from 0.705617 to 0.705853, and the whole-rock ϵNd(t) values vary between +5.78 and +6.24. The zircon ϵHf(t) values vary from +11.5 to +16.4. Our results show that the Liuqiong adakite magma was derived from partial melting of the Neo-Tethyan oceanic plate (mid-ocean ridge basalt (MORB) + sediment + fluid), with some degree of subsequent peridotite interaction within the overlying mantle wedge. Combining regional data, we favour the interpretation that the Neo-Tethyan oceanic crust was subducted at a low angle beneath the Gangdese during the Early Cretaceous.

Blood oxygen is an essential component for numerous biological processes of mammalian animals. Milk production of ruminants largely relies on the supply of nutrients, such as glucose, amino acids and fatty acids. To define the regulatory role of blood oxygen availability in regard to milk production, seventy-five healthy Guanzhong dairy goats with similar body weight, days in milk and parities were selected. For each animal, milk yield was recorded and milk sample was collected to determine compositions. Milk vein blood was collected to determine parameters including blood gas, physio-biochemistry and haematology. Another blood sample was prepared for transcriptome and RT-qPCR. Results showed that both pressure of oxygen (pO2) in the milk vein (positively) and numbers of neutrophils in mammary vein (negatively) were associated with milk yield of the animals. To learn the role of pO2 in blood cell functionality, twelve animals (six with higher yield (H-group) and six with lower yield (L-group)) from seventy-five goats were selected. Compared with animals in L-group, goats in H-group were higher in pO2 but lower in pCO2, lactate, lactate dehydrogenase activity and neutrophil abundance in milk vein, compared with L-group. The blood transcriptome analysis suggested that compared with L-group, animals in H-group were depressed in functionality including neutrophil activation and metabolic pathways including glycolysis, NF-κB and HIF-1. Our result revealed that lower milk production could be associated with neutrophil activation responding to low pO2 in the mammary vein. In the meantime, we highlighted the potential importance of blood oxygen as a milk yield regulator.

The sedimentary characteristics and preservation potential of lacustrine carbonates provide fundamental information on climate change. The lacustrine carbonate deposition in the Eocene Dongying Depression was investigated using a combination of mineralogical, petrological and geochemical analyses. Micritic calcite/dolomite, granular calcite, columnar calcite, calcareous shell fragments and reworked detrital calcite were identified. Varying patterns of carbonates (VPC) including lithofacies, geochemical indicators and carbonate distribution were revealed in the Dongying Depression: (i) carbonates hardly precipitate in the nearshore area (average 12 wt %); (ii) carbonate content is high (average 53 wt %) in the shallow lake and (iii) gradually decreases to reach a minimum (average 24 wt %) in the deeper part of the lake. Comparison of VPC in four Holocene lakes (the Qinghai Lake and Barkol Lake in China, Oro Lake in Canada and Montcortès Lake in Spain) with the Dongying Depression suggests that four distinct lake stages were developed, namely the terrigenous clastic/gypsum-rich, carbonate-rich, carbonate-decreasing and carbonate-poor stages. A depositional model of lacustrine carbonates influenced by detrital influx, climate, palaeoproductivity and salinity is developed. This study contributes to the understanding of the genetic mechanisms of lacustrine carbonate deposition to reconstruct environmental changes.

Extensive magmatism in NE China, eastern Central Asian Orogenic Belt, has produced multi-stage granitic plutons and accompanying W mineralization. The Narenwula complex in the southwestern Great Xing’an Range provides important insights into the petrogenesis, geodynamic processes and relationship with W mineralization. The complex comprises granodiorites, monzogranites and granite porphyry. Mafic microgranular enclaves are common in the granodiorites, and have similar zircon U–Pb ages as their host rocks (258.5–253.9 Ma), whereas the W-bearing granitoids yield emplacement ages of 149.8–148.1 Ma. Permian granodiorites are I-type granites that are enriched in large-ion lithophile elements and light rare earth elements, and depleted in high field strength elements and heavy rare earth elements. Both the mafic microgranular enclaves and granodiorites have nearly identical zircon Hf isotopic compositions. The results suggest that the mafic microgranular enclaves and granodiorites formed by the mixing of mafic and felsic magmas. W-bearing granitoids are highly fractionated A-type granites, enriched in Rb, Th, U and Pb, and depleted in Ba, Sr, P, Ti and Eu. They have higher W concentrations and Rb/Sr ratios, and lower Nb/Ta, Zr/Hf and K/Rb ratios than the W-barren granodiorites. These data and negative ϵHf(t) values (–6.0 to –2.1) suggest that they were derived from the partial melting of ancient lower crust and subsequently underwent extreme fractional crystallization. Based on the regional geology, we propose that the granodiorites were generated in a volcanic arc setting related to the subduction of the Palaeo-Asian Ocean, whereas the W-bearing granitoids and associated deposits formed in a post-orogenic extensional setting controlled by the Mongol–Okhotsk Ocean and Palaeo-Pacific Ocean tectonic regimes.

This study was designed to investigate the effects of dietary starch structure on muscle protein synthesis and gastrointestinal amino acid (AA) transport and metabolism of goats. Twenty-seven Xiangdong black female goats (average body weight = 9·00 ± 1·12 kg) were randomly assigned to three treatments, i.e., fed a T1 (normal maize 100 %, high amylose maize 0 %), T2 (normal maize 50 %, high amylose maize 50 %) and T3 (normal maize 0 %, high amylose maize 100 %) diet for 35 d. All AA in the ileal mucosa were decreased linearly as amylose:amylopectin increased in diets (P < 0·05). The plasma valine (linear, P = 0·03), leucine (linear, P = 0·04) and total AA content (linear, P = 0·03) increased linearly with the increase in the ratio of amylose in the diet. The relative mRNA levels of solute carrier family 38 member 1 (linear, P = 0·01), solute carrier family 3 member 2 (linear, P = 0·02) and solute carrier family 38 member 9 (linear, P = 0·02) in the ileum increased linearly with the increase in the ratio of amylose in the diet. With the increase in the ratio of amylose:amylopectin in the diet, the mRNA levels of acetyl-CoA dehydrogenase B (linear, P = 0·04), branched-chain amino acid transferase 1 (linear, P = 0·02) and branched-chain α-keto acid dehydrogenase complex B (linear, P = 0·01) in the ileum decreased linearly. Our results revealed that the protein abundances of phosphorylated mammalian target of rapamycin (p-mTOR) (P < 0·001), phosphorylated 4E-binding protein 1 (P < 0·001) and phosphorylated ribosomal protein S6 kinases 1 (P < 0·001) of T2 and T3 were significantly higher than that of T1. In general, a diet with a high amylose ratio could reduce the consumption of AA in the intestine, allowing more AA to enter the blood to maintain higher muscle protein synthesis through the mTOR pathway.

Over recent decades, Chinese giant salamanders Andrias spp. have declined dramatically across much of their range. Overexploitation and habitat degradation have been widely cited as the cause of these declines. To investigate the relative contribution of each of these factors in driving the declines, we carried out standardized ecological and questionnaire surveys at 98 sites across the range of giant salamanders in China. We did not find any statistically significant differences between water parameters (temperature, dissolved oxygen, ammonia, nitrite, nitrate, salinity, alkalinity, hardness and flow rate) recorded at sites where giant salamanders were detected by survey teams and/or had been recently seen by local respondents, and sites where they were not detected and/or from which they had recently been extirpated. Additionally, we found direct and indirect evidence that the extraction of giant salamanders from the wild is ongoing, including within protected areas. Our results support the hypothesis that the decline of giant salamanders across China has been primarily driven by overexploitation. Data on water parameters may be informative for the establishment of conservation breeding programmes, an initiative recommended for the conservation of these species.

Using the Dirac–Heisenberg–Wigner formalism, effects of the asymmetric pulse shape on the generation of electron-positron pairs in three typical polarized fields, i.e., linear, middle elliptical and circular fields, are investigated. Two kinds of asymmetries for the falling pulse length, short and elongated, are studied. We find that the interference effect disappears with the shorter pulse length and that the peak value of the momentum spectrum is concentrated in the center of the momentum space. In the case of the extending falling pulse length, a multiring structure without interference appears in the momentum spectrum. Research results show that the momentum spectrum is very sensitive to the asymmetry of the pulse as well as to the polarization of the fields. We also find that the number density of electron-positron pairs under different polarizations is sensitive to the asymmetry of the electric field. For the short falling pulse, the number density can be significantly enhanced by over two orders of magnitude. These results could be useful in planning high-power and/or high-intensity laser experiments.

Preoperative nutritional status plays an important role in predicting postoperative outcomes. Prognostic Nutritional Index (PNI) and Controlling Nutritional Status (CONUT) are good tools to assess patients’ nutritional status. They have been used in predicting outcomes in various malignancies, but few studies have focused on pancreatic adenocarcinoma (PDAC) patients. Totally, 306 PDAC patients were enrolled. The propensity score matching (PSM) method was introduced to eliminate the baseline inequivalence. Patients with different PNI (or CONUT) scores showed inequivalence baseline characteristics, and patients with compromised nutritional status were related with a more advanced tumour stage. After PSM, the baseline characteristics were well balanced. Both low PNI (≤45) and high CONUT (≥3) were independent risk factors for poor overall survival (P < 0·05), and the result remained the same after PSM. Survival analysis demonstrated both patients with low PNI and high CONUT score were associated with poorer survival, and the result remained the same after PSM. The results of AUC indicated that CONUT might have a higher sensitivity and specificity in predicting complications and survival. Preoperative low PNI (≤45) and high CONUT (≥3) scores might be reliable predictors of prognosis and surgical complications in PDAC patients. Compared with PNI, CONUT might be more effective.

There has been considerable interest in stratospheric airships as a cost-effective alternative to earth orbit satellites for sightseeing, aerial photography, communication and carrying weapons, etc. Many countries have plans to develop the airship owing to its greatly expected usage. The suspended curtain plays a vital role in force transmission in stratospheric airships but lacks attention. In this paper, the relationship between the optimal shape of suspended curtain and load conditions was studied through CAE Abaqus and Isight. Firstly, by using secondary development function of Abaqus, parametric FEA models of suspended curtains and envelopes have been established, several parameters were used to describe the shape of suspended curtains. Secondly, parameters of the suspended curtain shape were optimized under different loading conditions by means of the genetic algorithm. Lastly, through the analysis of the results, some conclusions are summarized: The relationship between n1(n2) and nb was found to be linear when the suspended curtain is subjected to vertical load. The stress transfer law of suspended curtain and inflatable membrane structure under the inclined load were also obtained, which are valuable for the structural engineering design of stratospheric airships..

The aim of this study was to develop and externally validate a simple-to-use nomogram for predicting the survival of hospitalised human immunodeficiency virus/acquired immunodeficiency syndrome (HIV/AIDS) patients (hospitalised person living with HIV/AIDS (PLWHAs)). Hospitalised PLWHAs (n = 3724) between January 2012 and December 2014 were enrolled in the training cohort. HIV-infected inpatients (n = 1987) admitted in 2015 were included as the external-validation cohort. The least absolute shrinkage and selection operator method was used to perform data dimension reduction and select the optimal predictors. The nomogram incorporated 11 independent predictors, including occupation, antiretroviral therapy, pneumonia, tuberculosis, Talaromyces marneffei, hypertension, septicemia, anaemia, respiratory failure, hypoproteinemia and electrolyte disturbances. The Likelihood χ2 statistic of the model was 516.30 (P = 0.000). Integrated Brier Score was 0.076 and Brier scores of the nomogram at the 10-day and 20-day time points were 0.046 and 0.071, respectively. The area under the curves for receiver operating characteristic were 0.819 and 0.828, and precision-recall curves were 0.242 and 0.378 at two time points. Calibration plots and decision curve analysis in the two sets showed good performance and a high net benefit of nomogram. In conclusion, the nomogram developed in the current study has relatively high calibration and is clinically useful. It provides a convenient and useful tool for timely clinical decision-making and the risk management of hospitalised PLWHAs.

As China implements the voluntary vaccination programme of one-dose of varicella vaccine (VarV) for decades, robust estimates of the impact of voluntary vaccination era on epidemiology of varicella are needed. We estimated the vaccination coverage (VC) of VarV by using surveillance data on immunisation. The descriptive epidemiological method was used to describe the changing epidemiology of varicella from 2007 to 2018. The screening method was used to estimate the vaccine effectiveness (VE) of VarV. The overall VC for VarV was 71.7%, ranged from 47.7% to 79.5% among 2008–2017 birth cohorts. In total, 16 660 varicella cases were reported during 2007–2018, the incidence increased from 10.0 cases per 100 000 population in 2007 to 65.2 cases per 100 000 population in 2018. A shift in age group of varicella was observed since 2012, with the age increased from 5–9 years to 10–14 years. The overall VE was 79.9%, and the VE increased from 60.1% in 2008 birth cohort to 96.2% in 2017 birth cohort. We found that the overall VE for VarV is moderate, but appears highly effective within 5 years after vaccination. In addition, a shift varicella infection to older ages has occurred at the long-term moderate level VC of one-dose VarV. Therefore, to contain the incidence of varicella and prevent any potential shift to older ages, the introduction of VarV into routine immunisation programme is likely needed in Lu'an.

We present the design and experiment of a broadband optical parametric chirped-pulse amplifier (OPCPA) which provides high conversion efficiency and good beam quality at 808 nm wavelength. Using a three-dimensional spatial and temporal numerical model, several design considerations necessary to achieve high conversion efficiency, good beam quality and good output stability are discussed. To improve the conversion efficiency and broaden the amplified signal bandwidth simultaneously, the nonlinear crystal length and OPCPA parameters are analyzed and optimized with the concept of dissipating amplified idler between optical parametric amplification (OPA) of two crystals configuration. In the experiment, an amplifier consisting of two OPCPA stages of ‘L’ type configuration was demonstrated by using the optimized parameters. An amplified signal energy of 160 mJ was achieved with a total pump-to-signal efficiency of 35% (43% efficiency for the OPCPA stage 2). The output bandwidth of signal pulse reached 80 nm and the signal pulse was compressed to 24 fs. The energy stability reached 1.67% RMS at 3% pump energy variation. The optimized OPCPA amplifier operates at a repetition rate of 1 Hz and is used as a front-end injection for the main amplifier of SG-II 5PW laser facility.

To satisfy the needs of precise pin-point landing missions in deep space exploration, this paper proposes a method based on feature line extraction and matching to estimate the attitude and position of a lander during the descent phase. Linear equations for a lander's motion parameters are given by using at least three feature lines on the planetary surface and their two-dimensional projections. Then, by taking advantage of Singular Value Decomposition (SVD), candidate solutions are obtained. Lastly, the unique lander's attitude and position relative to the landing site are selected from the candidate solutions. Simulation results show that the proposed algorithm is able to estimate a lander's attitude and position robustly and quickly. Without an extended Kalman filter, the average errors of attitude are less than 1° and the average errors of position are less than 10 m at an altitude of 2,000 m. With an extended Kalman filter, attitude errors are within 0·5° and position errors are within 1 m at an altitude of 247·9 m.

We present a recent progress of the SG-II 5PW facility, which designed a multi-petawatt ultrashort pulse laser based on optical parametric chirped-pulse amplification (OPCPA). The prior two optical parametric amplifiers have been accomplished and chirped pulses with an energy of 49.7 J and a full-width-at-half-maximum (FWHM) spectrum bandwidth of 85 nm have been achieved. In the PW-scale optical parametric amplification (OPA), with the pump pulse that has an energy of 118 J from the second harmonic generation of the SG-II 7th beam, the pump-to-signal conversion efficiency is up to 41.9%, which to the best of our knowledge is the highest among all of the reported values for OPCPA systems. The compressed pulse is higher than 37 J in 21 fs (1.76 PW), and the focal spot is ${\sim}10~\unicode[STIX]{x03BC}\text{m}$ after the closed-loop corrections by the adaptive optics. Limited by the repetition of the pump laser, the SG-II 5PW facility operates one shot per hour. It has successfully been employed for high energy physics experiments.

Temporal contrast is one of the crucial physical determinants which guarantee the successful performance of laser–matter interaction experiments. We generally reviewed the influences on the temporal contrast in three categories of noises based on the requirement by the physical mechanisms. The spatiotemporal influences on temporal contrast at the focal region of the chromatic aberration and propagation time difference introduced by large-aperture broadband spatial filters, which were spatiotemporally coupled with compression and focusing, were calculated and discussed with a practical case in SG-II 5 PW ultrashort petawatt laser. The system-wide spatiotemporal coupling existing in large-aperture broadband ultrashort petawatt lasers was proved to be one of the possible causes of temporal contrast degradation in the focal region.