In recent years, unmanned aerial vehicles (UAVs) have been applied in underground mine inspection and other similar works depending on their versatility and mobility. However, accurate localization of UAVs in perceptually degraded mines is full of challenges due to the harsh light conditions and similar roadway structures. Due to the unique characteristics of the underground mines, this paper proposes a semantic knowledge database-based localization method for UAVs. By minimizing the spatial point-to-edge distance and point-to-plane distance, the relative pose constraint factor between keyframes is designed for UAV continuous pose estimation. To reduce the accumulated localization errors during the long-distance flight in a perceptual-degraded mine, a semantic knowledge database is established by segmenting the intersection point cloud from the prior map of the mine. The topological feature of the current keyframe is detected in real time during the UAV flight. The intersection position constraint factor is constructed by comparing the similarity between the topological feature of the current keyframe and the intersections in the semantic knowledge database. Combining the relative pose constraint factor of LiDAR keyframes and the intersection position constraint factor, the optimization model of the UAV pose factor graph is established to estimate UAV flight pose and eliminate the cumulative error. Two UAV localization experiments conducted on the simulated large-scale Edgar Mine and a mine-like indoor corridor indicate that the proposed UAV localization method can realize accurate localization during long-distance flight in degraded mines.

The widely used model predictive control of discrete-time control barrier functions (MPC-CBF) has difficulties in obstacle avoidance for unmanned ground vehicles (UGVs) in complex terrain. To address this problem, we propose adaptive dynamic control barrier functions (AD-CBF). AD-CBF is able to adaptively select an extended class of functions of CBF to optimize the feasibility and flexibility of obstacle avoidance behaviors based on the relative positions of the UGV and the obstacle, which in turn improves the obstacle avoidance speed and safety of the MPC algorithm when integrated with MPC. The algorithmic constraints of the CBF employ hierarchical density-based spatial clustering of applications with noise (HDBSCAN) for parameterization of dynamic obstacle information and unscaled Kalman filter (UKF) for trajectory prediction. Through simulations and practical experiments, we demonstrate the effectiveness of the AD-CBF-MPC algorithm in planning optimal obstacle avoidance paths in dynamic environments, overcoming the limitations of the point-by-point feasibility of MPC-CBF.

Tree-ring cellulose is a commonly used material for radiocarbon analysis. Extracting cellulose is labor-consuming and several devices that enable batchwise extraction have been developed. However, these devices bear the risk of sample contamination. The present study describes a new device which improves upon two aspects of currently available devices. First, to prevent cross-sample-contamination, we redesigned the drainage module to enable independent removal of chemical waste from each individual sample funnel. Second, we added covers to the sample funnels to reduce the risk of external contamination. Cellulose purity (i.e., holocellulose) was confirmed by Fourier Transform Infrared (FTIR) Spectroscopy. Furthermore, accuracy of the radiocarbon analysis was confirmed by results of 14C-blank samples and samples of known age. In conclusion, while maintaining labor-saving, our modified device significantly reduces the risk of sample contamination during extraction of tree-ring cellulose.

Vessel trajectories from the Automatic Identification System (AIS) play an important role in maritime traffic management, but a drawback is the huge amount of memory occupation which thus results in a low speed of data acquisition in maritime applications due to a large number of scattered data. This paper proposes a novel online vessel trajectory compression method based on the Improved Open Window (IOPW) algorithm. The proposed method compresses vessel trajectory instantly according to vessel coordinates along with a timestamp driven by the AIS data. In particular, we adopt the weighted Euclidean distance (WED), fusing the perpendicular Euclidean distance (PED) and synchronous Euclidean distance (SED) in IOPW to improve the robustness. The realistic AIS-based vessel trajectories are used to illustrate the proposed model by comparing it with five traditional trajectory compression methods. The experimental results reveal that the proposed method could effectively maintain the important trajectory features and significantly reduce the rate of distance loss during the online compression of vessel trajectories.

Nontuberculous mycobacteria (NTM) is a large group of mycobacteria other than the Mycobacterium tuberculosis complex and Mycobacterium leprae. Epidemiological investigations have found that the incidence of NTM infections is increasing in China, and it is naturally resistant to many antibiotics. Therefore, studies of NTM species in clinical isolates are useful for understanding the epidemiology of NTM infections. The present study aimed to investigate the incidence of NTM infections and types of NTM species. Of the 420 samples collected, 285 were positive for M. tuberculosis, 62 samples were negative, and the remaining 73 samples contained NTM, including 35 (8.3%) only NTM and 38 (9%) mixed (M. tuberculosis and NTM). The most prevalent NTM species were Mycobacterium intracellulare (30.1%), followed by Mycobacterium abscessus (15%) and M. triviale (12%). M. gordonae infection was detected in 9.5% of total NTM-positive cases. Moreover, this study reports the presence of Mycobacterium nonchromogenicum infection and a high prevalence of M. triviale for the first time in Henan. M. intracellulare is the most prevalent, accompanied by some emerging NTM species, including M. nonchromogenicum and a high prevalence of M. triviale in Henan Province. Monitoring NTM transmission and epidemiology could enhance mycobacteriosis management in future.

This study investigates the impacts of the timing of an extreme cyclone that occurred in August 2012 on the sea-ice volume evolution based on the Arctic Ice Ocean Prediction System (ArcIOPS). By applying a novel cyclone removal algorithm to the atmospheric forcing during 4–12 August 2012, we superimpose the derived cyclone component onto the atmospheric forcing one month later or earlier. This study finds that although the extreme cyclone leads to strong sea-ice volume loss in all runs, large divergence occurs in sea-ice melting mechanism in response to various timing of the cyclone. The extreme cyclone occurred in August, when enhanced ice volume loss is attributed to ice bottom melt primarily and ice surface melt secondarily. If the cyclone occurs one month earlier, ice surface melt dominates ice volume loss, and earlier appearance of open water within the ice zone initiates positive ice-albedo feedback, leading to a long lasting of the cyclone-induced impacts for approximately one month, and eventually a lower September ice volume. In contrast, if the cyclone occurs one month later, ice bottom melt entirely dominates ice volume loss, and the air-open water heat flux in the ice zone tends to offset ice volume loss.

We first sequenced and characterised the complete mitochondrial genome of Toxocara apodeme, then studied the evolutionary relationship of the species within Toxocaridae. The complete mitochondrial genome was amplified using PCR with 14 specific primers. The mitogenome length was 14303 bp in size, including 12 PCGs (encoding 3,423 amino acids), 22 tRNAs, 2 rRNAs, and 2 NCRs, with 68.38% A+T contents. The mt genomes of T. apodemi had relatively compact structures with 11 intergenic spacers and 5 overlaps. Comparative analyses of the nucleotide sequences of complete mt genomes showed that T. apodemi had higher identities with T. canis than other congeners. A sliding window analysis of 12 PCGs among 5 Toxocara species indicated that nad4 had the highest sequence divergence, and cox1 was the least variable gene. Relative synonymous codon usage showed that UUG, ACU, CCU, CGU, and UCU most frequently occurred in the complete genomes of T. apodemi. The Ka/Ks ratio showed that all Toxocara mt genes were subject to purification selection. The largest genetic distance between T. apodemi and the other 4 congeneric species was found in nad2, and the smallest was found in cox2. Phylogenetic analyses based on the concatenated amino acid sequences of 12 PCGs demonstrated that T. apodemi formed a distinct branch and was always a sister taxon to other congeneric species. The present study determined the complete mt genome sequences of T. apodemi, which provide novel genetic markers for further studies of the taxonomy, population genetics, and systematics of the Toxocaridae nematodes.

To meet the demands of laser-ion acceleration at a high repetition rate, we have developed a comprehensive diagnostic system for real-time and in situ monitoring of liquid sheet targets (LSTs). The spatially resolved rapid characterizations of an LST’s thickness, flatness, tilt angle and position are fulfilled by different subsystems with high accuracy. With the help of the diagnostic system, we reveal the dependence of thickness distribution on collision parameters and report the 238-nm liquid sheet generated by the collision of two liquid jets. Control methods for the flatness and tilt angle of LSTs have also been provided, which are essential for applications of laser-driven ion acceleration and others.

A new species of Moniliformis, M. tupaia n. sp. is described using integrated morphological methods (light and scanning electron microscopy) and molecular techniques (sequencing and analysing the nuclear 18S, ITS, 28S regions and mitochondrial cox1 and cox2 genes), based on specimens collected from the intestine of the northern tree shrew Tupaia belangeri chinensis Anderson (Scandentia: Tupaiidae) in China. Phylogenetic analyses show that M. tupaia n. sp. is a sister to M. moniliformis in the genus Moniliformis, and also challenge the systematic status of Nephridiacanthus major. Moniliformis tupaia n. sp. represents the third Moniliformis species reported from China.

Childhood maltreatment is an established risk factor for psychopathology. However, it remains unclear how childhood traumatic events relate to mental health problems and how the brain is involved. This study examined the serial mediation effect of brain morphological alterations and emotion-/reward-related functions on linking the relationship from maltreatment to depression. We recruited 156 healthy adolescents and young adults and an additional sample of 31 adolescents with major depressive disorder for assessment of childhood maltreatment, depressive symptoms, cognitive reappraisal and anticipatory/consummatory pleasure. Structural MRI data were acquired to identify maltreatment-related cortical and subcortical morphological differences. The mediation models suggested that emotional maltreatment of abuse and neglect, was respectively associated with increased gray matter volume in the ventral striatum and greater thickness in the middle cingulate cortex. These structural alterations were further related to reduced anticipatory pleasure and disrupted cognitive reappraisal, which contributed to more severe depressive symptoms among healthy individuals. The above mediating effects were not replicated in our clinical group partly due to the small sample size. Preventative interventions can target emotional and reward systems to foster resilience and reduce the likelihood of future psychiatric disorders among individuals with a history of maltreatment.

Differences in the properties of clay minerals cause formation damage under the condition of thermal production in heavy-oil reservoirs; asphaltenes adsorbed on clay minerals exacerbate the formation damage. The purpose of the present study was to reveal the variation in clay minerals and the adsorption behavior of asphaltenes on clay mineral surfaces under thermal recovery conditions. Volume changes and transformations of typical clay minerals were studied under various conditions (80 and 180°C, pH 9 and 11, aqueous and oven-dry conditions). On this basis, the adsorption behavior and mechanism of asphaltenes on the surfaces of clay minerals in various simulated conditions were investigated. The adsorption mechanism was revealed using kinetics and isothermal adsorption models. The results showed that the volume of montmorillonite expanded by up to 159.13% after water–rock interaction at 180°C with pH 11; meanwhile, the conversion rates of kaolinite and illite to montmorillonite were 6.6 and 7.8%, respectively. The water–rock interaction intensified the volume changes and transformations of clay minerals under thermal conditions. The amounts of asphaltene adsorbed on clay minerals at 180°C were greater than those at 80°C. The adsorption process of asphaltenes was inhibited under aqueous conditions. The abilities of the constituent minerals to bind asphaltenes was in order: montmorillonite > chlorite > kaolinite > illite > quartz sand. The adsorption process of asphaltenes yielded high coefficients of regression with both the Freundlich and Langmuir models under oven-dry (>0.99) and aqueous (>0.98) conditions. At 180°C under aqueous conditions, the water film significantly inhibited the adsorption of asphaltene on the clay minerals. The adsorption process of asphaltenes, therefore, could be regarded as the adsorption occurring at lower concentrations under oven-dry conditions.

Here, we report the generation of MeV alpha-particles from H-11B fusion initiated by laser-accelerated boron ions. Boron ions with maximum energy of 6 MeV and fluence of 109/MeV/sr@5 MeV were generated from 60 nm-thick self-supporting boron nanofoils irradiated by 1 J femtosecond pulses at an intensity of 1019 W/cm2. By bombarding secondary hydrogenous targets with the boron ions, 3 × 105/sr alpha-particles from H-11B fusion were registered, which is consistent with the theoretical yield calculated from the measured boron energy spectra. Our results demonstrated an alternative way toward ultrashort MeV alpha-particle sources employing compact femtosecond lasers. The ion acceleration and product measurement scheme are referential for the studies on the ion stopping power and cross section of the H-11B reaction in solid or plasma.

The proton-boron (p 11 B) reaction is regarded as the holy grail of advanced fusion fuels, where the primary reaction produces 3 energetic α particles. However, due to the high nuclear bounding energy and bremsstrahlung energy losses, energy gain from the p 11 B fusion is hard to achieve in thermal fusion conditions. Owing to advances in intense laser technology, the p11 B fusion has drawn renewed attention by using an intense laser-accelerated proton beam to impact a boron-11 target. As one of the most influential works in this field, Labaune et al. first experimentally found that states of boron (solid or plasma) play an important role in the yield of α particles. This exciting experimental finding rouses an attempt to measure the nuclear fusion cross section in a plasma environment. However, up to now, there is still no quantitative explanation. Based on large-scale, fully kinetic computer simulations, the inner physical mechanism of yield increment is uncovered, and a quantitative explanation is given. Our results indicate the yield increment is attributed to the reduced energy loss of the protons under the synergetic influences of degeneracy effects and collective electromagnetic effects. Our work may serve as a reference for not only analyzing or improving further experiments of the p 11 B fusion but also investigating other beam-plasma systems, such as ion-driven inertial confinement fusions.

The construction of organic-inorganic hybrid ferroelectric materials with larger, high-polarity guest molecules intercalated in kaolinite (K) faces difficulties in terms of synthesis and uncertainty of structure-property relationships. The purpose of the present study was to optimize the synthesis method and to determine the mechanism of ferroelectric behavior of kaolinite intercalated with p-aminobenzamide (PABA), with an eye to improving the design of intercalation methods and better utilization of clay-based ferroelectric materials. The K-PABA intercalation compound (chemical formula Al2Si2O5(OH)4∙(PABA)0.7) was synthesized in an autoclave and then characterized using X-ray diffraction (XRD), infrared spectroscopy (IR), thermogravimetric analysis (TGA), and scanning electron microscopy (SEM). The experimental results showed that PABA expanded the kaolinite interlayer from 7.2 Å to 14.5 Å, and the orientation of the PABA molecule was ~70° from the plane of the kaolinite layers. The amino group of the PABA molecule was close to the Si sheet. The presence of intermolecular hydrogen bonds between kaolinite and PABA and among PABA molecules caused macro polarization of K-PABA and dipole inversion under the external electric field, resulting in K-PABA ferroelectricity. Simulation calculations using the Cambridge Sequential Total Energy Package (CASTEP) and the ferroelectricity test revealed the optimized intercalation model and possible ferroelectric mechanism.

Chlorite is one of the most common Fe-bearing minerals and is susceptible to weathering in loess and soils. The conventional method for analyzing chlorite, based on XRD with the Rietveld technique, is quantitative, but very time consuming and expensive. In this paper we develop a new methodology based on diffuse reflectance spectroscopy (DRS) and selective chemical extractions to identify chlorite qualitatively in the Chinese loess sequence and present evidence suggesting that DRS may be used to quantify chlorite content. The spectral signature of chlorite in loess is obscured by Fe oxides, but becomes obvious when they are removed. Changes in the ferrous absorption band near 1140 nm vary consistently with changing chlorite content. Using this spectral feature, DRS can distinguish chlorite contents as small as 1 wt.% in loess sediments. Future possibilities for this method in other soil and sediment types need to be explored.

Dietary antioxidant indices (DAI) may be potentially associated with relative telomere length (RTL) of leucocytes. This study aimed to investigate the relationship between DAI and RTL. A cross-sectional study involving 1656 participants was conducted. A generalised linear regression model and a restricted cubic spline model were used to assess the correlation of DAI and its components with RTL. Generalised linear regression analysis revealed that DAI (β = 0·005, P = 0·002) and the intake of its constituents vitamin C (β = 0·043, P = 0·027), vitamin E (β = 0·088, P < 0·001), Se (β = 0·075, P = 0·003), and Zn (β = 0·075, P = 0·023) were significantly and positively correlated with RTL. Sex-stratified analysis showed that DAI (β = 0·006, P = 0·005) and its constituents vitamin E (β = 0·083, P = 0·012), Se (β = 0·093, P = 0·006), and Zn (β = 0·092, P = 0·034) were significantly and positively correlated with RTL among females. Meanwhile, among males, only vitamin E intake (β = 0·089, P = 0·013) was significantly and positively associated with RTL. Restricted cubic spline analysis revealed linear positive associations between DAI and its constituents’ (vitamin E, Se and Zn) intake and RTL in the total population. Sex-stratified analysis revealed a linear positive correlation between DAI and its constituents’ (vitamin E, Se and Zn) intake and RTL in females. Our study found a significant positive correlation between DAI and RTL, with sex differences.

Purple nutsedge (Cyperus rotundus L.) is a globally distributed noxious weed that poses a significant challenge for control due to its fast and efficient propagation through the tuber, which is the primary reproductive organ. Gibberellic acid (GA3) has proven to be crucial for tuberization in tuberous plants. Therefore, understanding the relationship between GA3 and tuber development and propagation of C. rotundus will provide valuable information for controlling this weed. This study shows that the GA3 content decreases with tuber development, which corresponds to lower expression of bioactive GA3 synthesis genes (CrGA20ox, two CrGA3ox genes) and two upregulated GA3 catabolism genes (CrGA2ox genes), indicating that GA3 is involved in tuber development. Simultaneously, the expression of two CrDELLA genes and CrGID1 declines with tuber growth and decreased GA3, and yeast two-hybrid assays confirm that the GA3 signaling is DELLA-dependent. Furthermore, exogenous application of GA3 markedly reduces the number and the width of tubers and represses the growth of the tuber chain, further confirming the negative impact that GA3 has on tuber development and propagation. Taken together, these results demonstrate that GA3 is involved in tuber development and regulated by the DELLA-dependent pathway in C. rotundus and plays a negative role in tuber development and propagation.