To realise the overall calibration of the error model coefficients of accelerometers in an inertial combination and to improve the navigation accuracy of the inertial navigation system, a norm-observation method is applied to the calibration, especially for the quadratic coefficient of the accelerometer. The Taylor formula is used to expand the solution of the acceleration model, and the intermediate variables with error model coefficients are obtained using the least square method. The formulas for calculating the quadratic term coefficient, scale factor and bias of the accelerometer are given. A 20-position method is designed to calibrate the accelerometer combination, the effectiveness of the method is verified by simulation, and the effects of installation misalignment and rod-arm error on calibration accuracy are analysed. The results show that the installation misalignments and rod-arm errors have little influence on the coefficient calibration, less than 10−8, and can be neglected in a practical calibration process.

The development of Maritime Autonomous Surface Ship (MASS) is progressing rapidly within the maritime industry. Degree Two of MASS (MASS-DoA2), balancing human oversight and autonomous efficiency, will likely gain regulatory approval and industry acceptance. MASS-DoA2 possesses different control modes to adapt to various scenarios. However, the control-switching mechanisms among operators at shore control centres, autonomous navigation systems and number of seafarers onboard remain ambiguous, which poses a new risk that may significantly influence navigation safety. This study focuses on MASS-DoA2 and carries out a systematic review of autonomous ship guidelines. A questionnaire was designed based on the review findings, and a survey was carried out among captains and researchers in related fields. The review identified 11 control-switching scenarios with suggested takeover agents and the switching process and outlined the priority relationship between various takeover agents. Finally, a control-switching framework for MASS – DoA2 is proposed. It can serve as a theoretical framework for research on MASS's dynamic degree of autonomy and provide a reference for maritime regulatory authorities in establishing MASS – DoA2 control-switching mechanisms.

Let X be a compact Kähler manifold, and let $L \rightarrow X$ be a holomorphic line bundle equipped with a singular metric h such that the curvature $\mathrm {i}\Theta _{L,h}\geqslant 0$ in the sense of currents. The main result of this paper is the vanishing of $H^n(X,\mathcal {O}(\Omega ^p_X\otimes L)\otimes \mathcal {I}(h))$ for $p\geqslant n-\operatorname {nd}(L,h)+1$, which generalizes Bogomolov’s vanishing theorem and Watanabe’s result.

Modern fluvial sediments provide important information about source-to-sink process and regional tectono-magmatic events in the source area, but many factors, e.g., chemical weathering, sedimentary cycles and source-rock types, can interfere with the establishment of the source-sink system. The Lalin River (LR) and the Jilin Songhua River (JSR) are two important tributaries of the Songhua River in the Songnen Plain in NE China. They have similar flow direction, topography and identical climate backgrounds, but have notably different parent-rock types in the headwater, which provides an opportunity to explore the influencing factors of river sediment composition. To this end, the point bar sediments in the two rivers were sampled for an analysis of geochemistry (including element and Sr-Nd isotopic ratios), heavy mineral and detrital zircon U-Pb dating. The results are indicative of the fact that the two rivers have the similar geochemical composition (e.g., elements and Sr isotopes) as well as chemical weathering (CIA = 51.41–57.60, CIW = 59.68–66.11, PIA = 51.95–60.23, WIP = 56.00–65.47, Rb/Sr = 0.38–0.42) and recycling (SiO2/Al2O3 = 5.79 and 5.03, ICV = 1.0 and 1.2, CIA/WIP = 0.81–1.03) characteristics, showing a major control of climate on the low-level weathering and recycling of the river sediments. However, there are significant differences in the detrital zircon U-Pb age (a significant Mesozoic age peak for the LR but an additional Precambrian peak for the JSR), Nd isotope ratio (−6.2812–8.5830 and −8.1149–10.2411 for the LR and the JSR, respectively) and to a certain extent heavy mineral composition (e.g., for the < 63 μm fraction, a dominance of hornblende and magnetite in the LR, but haematite-limonite in the JSR) in the two river sediments, indicating that source rocks largely control the composition of the river sediments. Some of the major tectono-magmatic events (e.g., crustal growth and cratonisation of the North China Craton, closure of the Paleo-Asian Ocean, subduction and rollback of the Paleo-Pacific plate) occurring in the eastern Songnen Plain are well documented in the JSR sediments but not in the LR, the difference of which is largely regulated by the source rocks in the source area.

Natural infection by Trichinella sp. has been reported in humans and more than 150 species of animals, especially carnivorous and omnivorous mammals. Although the presence of Trichinella sp. infection in wild boars (Sus scrofa) has been documented worldwide, limited information is known about Trichinella circulation in farmed wild boars in China. This study intends to investigate the prevalence of Trichinella sp. in farmed wild boars in China. Seven hundred and sixty-one (761) muscle samples from farmed wild boars were collected in Jilin Province of China from 2017 to 2020. The diaphragm muscles were examined by artificial digestion method. The overall prevalence of Trichinella in farmed wild boars was 0.53% [95% confidence interval (CI): 0.51–0.55]. The average parasite loading was 0.076 ± 0.025 larvae per gram (lpg), and the highest burden was 0.21 lpg in a wild boar from Fusong city. Trichinella spiralis was the only species identified by multiplex polymerase chain reaction. The 5S rDNA inter-genic spacer region of Trichinella was amplified and sequenced. The results showed that the obtained sequence (GenBank accession number: OQ725583) shared 100% identity with the T. spiralis HLJ isolate (GenBank accession number: MH289505). Since the consumption of farmed wild boars is expected to increase in the future, these findings highlight the significance of developing exclusive guidelines for the processing of slaughtered farmed wild boar meat in China.

Precise and efficient grasping detection is vital for robotic arms to execute stable grasping tasks in industrial and household applications. However, existing methods fail to consider refining different scale features and detecting critical regions, resulting in coarse grasping rectangles. To address these issues, we propose a real-time coarse and fine granularity residual attention (CFRA) grasping detection network. First, to enable the network to detect different sizes of objects, we extract and fuse the coarse and fine granularity features. Then, we refine these fused features by introducing a feature refinement module, which enables the network to distinguish between object and background features effectively. Finally, we introduce a residual attention module that handles different shapes of objects adaptively, achieving refined grasping detection. We complete training and testing on both Cornell and Jacquard datasets, achieving detection accuracy of 98.7% and 94.2%, respectively. Moreover, the grasping success rate on the real-world UR3e robot achieves 98%. These results demonstrate the effectiveness and superiority of CFRA.

We present the generation of high-repetition-rate strong-field terahertz (THz) pulses from a thin 4-N,N-dimethylamino-4’-N’-methyl-stilbazolium 2,4,6-trimethylbenzenesulfonate (DSTMS) organic crystal pumped by an ytterbium-doped yttrium aluminum garnet laser. The generated THz pulse energy reaches 932.8 nJ at 1 kHz repetition rate, with a conversion efficiency of 0.19% and a peak electric field of 819 kV/cm. At a repetition rate of 10 kHz, it is able to maintain a peak electric field of 236 kV/cm and an average THz power of 0.77 mW. The high-repetition-rate, strong-field THz source provides a convenient tool for the study of THz matter manipulation and THz spectroscopy.

This study aimed to estimate the nationwide prevalence of cardiometabolic diseases (CMD) among adults with underweight in the US general population. Using data from the National Health and Nutrition Examination Survey (1999–2020), we estimated the age-standardised prevalence of dyslipidemia, hypertension, diabetes, chronic kidney disease, CVD and the presence of zero or at least two CMD. Multivariable Poisson regressions were used to compare CMD prevalence between subgroups, adjusting for age, sex and race/ethnicity. Among the 855 adults with underweight included, the weighted mean age was 40·8 years, with 68·1 % being women and 70·4 % non-Hispanic White. The estimated prevalence rates were 23·4 % for dyslipidemia (95 % CI 19·4 %, 27·5 %), 15·6 % for hypertension (95 % CI 13·3 %, 17·8 %), 2·5 % for diabetes (95 % CI 1·5 %, 3·5 %), 7·9 % for chronic kidney disease (95 % CI 6·9 %, 8·8 %) and 6·1 % for CVD (95 % CI 4·3 %, 7·9 %). The prevalence of having zero and at least two CMD was 50·6 % (95 % CI 44·1 %, 57·0 %) and 12·3 % (95 % CI 8·1 %, 16·4 %), respectively. Non-Hispanic Black adults had significantly higher prevalence of diabetes (adjusted prevalence ratio, 3·35; 95 % CI 1·35, 8·30) compared with non-Hispanic White adults. In conclusion, approximately half of the underweight adults had at least one CMD, and 12·3 % had at least two CMD. Prevention and management of CMD in underweight adults are critical yet neglected public health challenges.

Sediments within accretionary complexes, preserving key information on crust growth history of Central Asian Orogenic Belt, did not get enough attention previously. Here, we conduct comprehensive geochemical study on the turbidites from the North Tianshan Accretionary Complex (NTAC) in the Chinese West Tianshan orogen, which is a good example of sediments derived from juvenile materials. The turbidites, composed of sandstone, siltstone, and argillaceous siliceous rocks, are mainly Carboniferous. All the investigated samples have relatively low Chemical Index of Alteration values (35–63) and Plagioclase Index of Alteration values (34–68), indicating relatively weak weathering before erosion and deposition. The sandstone and siltstone, and slate samples display high Index of Compositional Variability values of 0.89–1.50 and 0.89–0.93, suggesting a relatively immature source. The sandstones and siltstones were mainly derived from intermediate igneous rocks, and the slates from felsic igneous rocks, formed in oceanic/continental arc settings. The investigated samples roughly display high positive εNd(t) values (mainly at +5.5 to +7.9, except one spot at +0.8), with corresponding Nd model ages at 672 Ma–522 Ma (except one at ∼1.1 Ga). Combined with the previous studies, we suggest that the turbidites in the NTAC were mainly derived from intermediate to felsic igneous rocks with juvenile arc signature, and thus the northern Chinese West Tianshan is a typical site with significant Phanerozoic crust growth.

Depression is highly prevalent in haemodialysis patients, and diet might play an important role. Therefore, we conducted this cross-sectional study to determine the association between dietary fatty acids (FA) consumption and the prevalence of depression in maintenance haemodialysis (MHD) patients. Dietary intake was assessed using a validated FFQ between December 2021 and January 2022. The daily intake of dietary FA was categorised into three groups, and the lowest tertile was used as the reference category. Depression was assessed using the Patient Health Questionnaire-9. Logistic regression and restricted cubic spline (RCS) models were applied to assess the relationship between dietary FA intake and the prevalence of depression. As a result, after adjustment for potential confounders, a higher intake of total FA [odds ratio (OR)T3 vs. T1 = 1·59, 95 % confidence interval (CI) = 1·04, 2·46] and saturated fatty acids (SFA) (ORT3 vs. T1 = 1·83, 95 % CI = 1·19, 2·84) was associated with a higher prevalence of depressive symptoms. Significant positive linear trends were also observed (P < 0·05) except for SFA intake. Similarly, the prevalence of depression in MHD patients increased by 20% (OR = 1.20, 95% CI = 1.01–1.43) for each standard deviation increment in SFA intake. RCS analysis indicated an inverse U-shaped correlation between SFA and depression (Pnonlinear > 0·05). Additionally, the sensitivity analysis produced similar results. Furthermore, no statistically significant association was observed in the subgroup analysis with significant interaction. In conclusion, higher total dietary FA and SFA were positively associated with depressive symptoms among MHD patients. These findings inform future research exploring potential mechanism underlying the association between dietary FA and depressive symptoms in MHD patients.

Unmanned aerial vehicles (UAVs) have recently been widely applied in a comprehensive realm. By enhancing computer photography and artificial intelligence, UAVs can automatically discriminate against environmental objectives and detect events that occur in the real scene. The application of collaborative UAVs will offer diverse interpretations which support a multiperspective view of the scene. Due to the diverse interpretations of UAVs usually deviating, UAVs require a consensus interpretation for the scenario. This study presents an original consensus-based method to pilot multi-UAV systems for achieving consensus on their observation as well as constructing a group situation-based depiction of the scenario. Taylor series are used to describe the fuzzy nonlinear plant and derive the stability analysis using polynomial functions, which have the representations $V(x )={m_{\textrm{1} \le l \le N}}({{V_\textrm{l}}(x )} )$ and ${V_l}(x )={x^T}{P_l}(x )x$. Due to the fact that the ${\dot{P}_l}(x )$ in ${\dot{V}_l}(x )={\dot{x}^T}{P_l}(x )x + {x^T}{\dot{P}_l}(x )x + {x^T}{P_l}(x )\dot{x}$ will yield intricate terms to ensure a stability criterion, we aim to avoid these kinds of issues by proposing a polynomial homogeneous framework and using Euler's functions for homogeneous systems. First, this method permits each UAV to establish high-level conditions from the probed events via a fuzzy-based aggregation event. The evaluated consensus indicates how suitable is the scenario collective interpretation for every UAV perspective.

Gentiana straminea Maxim. (Gentianaceae) is an important traditional Tibetan herb that is mainly distributed on the Qinghai-Tibetan Plateau. Despite its agricultural and pharmacological importance, there remains a paucity of microsatellite markers, particularly expressed sequence tag-simple sequence repeat (EST-SSR) markers, available for this local endemic species. In this study, based on previous Illumina transcriptome data of G. straminea, a total of 96 EST-SSR markers were initially designed and tested. Thirty-two of 96 loci (33.33%) were successfully amplified and verified for validation. Among them, 10 were polymorphic and had clear bands. The polymorphism information content values were 0.09–0.799, the number of alleles per locus ranged from 3 to 14, and the levels of observed and expected heterozygosity were 0.078–0.722 and 0.238–0.884, respectively, which suggested a high level of information. Moreover, cross-amplification was successful for 10 loci in two other related species, Gentiana macrophylla Pallas and Gentiana dahurica Fischer. These EST-SSR markers provide a valuable tool for investigating the genetic diversity related to quantitative traits and population genetic studies on G. straminea and related species in sect. Cruciata Gaudin.

In this paper, we have experimentally demonstrated a high-power and high-brightness narrow-linewidth fiber amplifier seeded by an optimized fiber oscillator. In order to improve the temporal stability, the fiber oscillator consists of a composite fiber Bragg grating-based cavity with an external feedback structure. By optimizing the forward and backward pumping ratio, the nonlinear effects and stimulated Raman scattering-induced mode distortion of the fiber amplifier are suppressed comprehensively, accompanied with the simultaneous improvement of beam quality and output power. The laser brightness is enhanced further by raising the threshold of transverse mode instability by approximately 1.0 kW by coiling the gain fiber with a novel curvature shape. Finally, a 6 kW narrow-linewidth laser is achieved with beam quality (M2) of approximately 1.4. The laser brightness doubled compared to the results before optimization. To the best of our knowledge, it is the highest brightness narrow-linewidth fiber laser based on a one-stage master oscillator power amplification structure.

Soft drink consumption has become a highly controversial public health issue. Given the pattern of consumption in China, sugar-sweetened beverage is the main type of soft drink consumed. Due to containing high levels of fructose, a soft drink may have a deleterious effect on handgrip strength (HGS) due to oxidative stress, inflammation and insulin resistance. However, few studies show an association between soft drink consumption and HGS in adults. We aimed to investigate the association between soft drink consumption and longitudinal changes in HGS among a Chinese adult population. A longitudinal population-based cohort study (5-year follow-up, median: 3·66 years) was conducted in Tianjin, China. A total of 11 125 participants (56·7 % men) were enrolled. HGS was measured using a handheld digital dynamometer. Soft drink consumption (mainly sugar-containing carbonated beverages) was measured at baseline using a validated FFQ. ANCOVA was used to evaluate the association between soft drink consumption and annual change in HGS or weight-adjusted HGS. After adjusting for multiple confounding factors, the least square means (95 % CI) of annual change in HGS across soft drink consumption frequencies were −0·70 (–2·49, 1·09) for rarely drinks, −0·82 (–2·62, 0·97) for < 1 cup/week and −0·86 (–2·66, 0·93) for ≥ 1 cup/week (Pfor trend < 0·05). Likewise, a similar association was observed between soft drink consumption and annual change in weight-adjusted HGS. The results indicate that higher soft drink consumption was associated with faster HGS decline in Chinese adults.

Mythimna separata (Lepidoptera: Noctuidae) is an omnivorous pest that poses a great threat to food security. Insect antimicrobial peptides (AMPs) are small peptides that are important effector molecules of innate immunity. Here, we investigated the role of the AMP cecropin B in the growth, development, and immunity of M. separata. The gene encoding M. separata cecropin B (MscecropinB) was cloned. The expression of MscecropinB was determined in different developmental stages and tissues of M. separata. It was highest in the prepupal stage, followed by the pupal stage. Among larval stages, the highest expression was observed in the fourth instar. Tissue expression analysis of fourth instar larvae showed that MscecropinB was highly expressed in the fat body and haemolymph. An increase in population density led to upregulation of MscecropinB expression. MscecropinB expression was also upregulated by the infection of third and fourth instar M. separata with Beauveria bassiana or Bacillus thuringiensis (Bt). RNA interference (RNAi) targeting MscecropinB inhibited the emergence rate and fecundity of M. separata, and resulted in an increased sensitivity to B. bassiana and Bt. The mortality of M. separata larvae was significantly higher in pathogen plus RNAi-treated M. separata than in controls treated with pathogens only. Our findings indicate that MscecropinB functions in the eclosion and fecundity of M. separata and plays an important role in resistance to infection by B. bassiana and Bt.

Compressible direct numerical simulations are employed to elucidate the low-wavenumber behaviour of wall-pressure fluctuations in turbulent channel flow and the effect of flow Mach number in the nearly incompressible regime. Simulations are conducted at bulk Mach numbers 0.4, 0.2 and 0.1, and friction Reynolds number 180. In addition to the convective ridge that is virtually Mach-number-independent, acoustic ridges, whose magnitudes are orders of magnitude lower, are identified in the two-dimensional wavenumber–frequency spectrum. At lower frequencies, the acoustic ridges represent propagating longitudinal and oblique waves that match the theoretical predictions of two-dimensional duct modes with a uniform mean flow. They decay with decreasing Mach number but remain distinctly identifiable even at Mach 0.1. At high frequencies, in contrast, no propagating waves are found, and the spectral level in the supersonic wavenumber range is broadly elevated and increases with decreasing Mach number.

Autonomous fabric manipulation is a challenging task due to complex dynamics and potential self-occlusion during fabric handling. An intuitive method of fabric-folding manipulation first involves obtaining a smooth and unfolded fabric configuration before the folding process begins. However, the combination of quasi-static actions like pick & place and dynamic action like fling proves inadequate in effectively unfolding long-sleeved T-shirts with sleeves mostly tucked inside the garment. To address this limitation, this paper introduces an enhanced quasi-static action called pick & drag, specifically designed to handle this type of fabric configuration. Additionally, an efficient dual-arm manipulation system is designed in this paper, which combines quasi-static (including pick & place and pick & drag) and dynamic fling actions to flexibly manipulate fabrics into unfolded and smooth configurations. Subsequently, once it is confirmed that the fabric is sufficiently unfolded and all fabric keypoints are detected, the keypoint-based heuristic folding algorithm is employed for the fabric-folding process. To address the scarcity of publicly available keypoint detection datasets for real fabric, we gathered images of various fabric configurations and types in real scenes to create a comprehensive keypoint dataset for fabric folding. This dataset aims to enhance the success rate of keypoint detection. Moreover, we evaluate the effectiveness of our proposed system in real-world settings, where it consistently and reliably unfolds and folds various types of fabrics, including challenging situations such as long-sleeved T-shirts with most parts of sleeves tucked inside the garment. Specifically, our method achieves a coverage rate of 0.822 and a success rate of 0.88 for long-sleeved T-shirts folding. Supplemental materials and dataset are available on our project webpage at https://sites.google.com/view/fabricfolding.

The acoustic response of a five-bladed rotor to an axisymmetric turbulent boundary layer at the tail end of a body of revolution (BOR) is investigated numerically to elucidate the physical sources of acoustics, particularly the role of coherent structures in sound generation. The BOR is at a length-based Reynolds number of $1.9 \times 10^6$ and free-stream Mach number of 0.059. Two rotor advance ratios, $1.44$ and $1.13$, are considered. The turbulent boundary layer on the nose and midsection of the BOR is computed using wall-modelled large-eddy simulation, whereas that in the acoustically important tail-cone section is wall-resolved. The radiated acoustic field is calculated using the Ffowcs Williams–Hawkings equation. The computed flow statistics and sound pressure spectra agree well with the experimental measurements at Virginia Tech. In addition to broadband turbulence-ingestion noise, spectral humps near multiples of the blade-passing frequency and accompanying valleys are captured. They are shown to be caused by correlated blade unsteady-loading dipole sources and their constructive and destructive interference as a result of successive blades cutting through the same coherent structures. The latter undergo rapid growth in the decelerating tail-cone boundary layer before their interaction with the rotor. The acoustic radiation is dominated by the outer region of the blade owing to a combination of larger blade chord-length, inflow turbulence intensity and blade speed. The numerical results also correctly predict the effect of the rotor advance ratio on the acoustic field. A mixed free-stream/convection Mach-number scaling successfully collapses the sound pressure spectra at the two advance ratios.