This article focuses on the luggage trolley transportation problem, an essential part of robotic autonomous luggage trolley collection. To efficiently address the nonholonomic constraints derived from the formation of two collaborative robots and a queue of luggage trolleys, we propose a comprehensive framework consisting of a global planning method and a real-time divide-and-conquer control strategy. The popular Hybrid A* algorithm generates a feasible path as the global planner. A model predictive controller is designed to track this path stably and in real time. To maintain the formation so that the whole queue of robots and luggage trolleys does not split, a safety filter that consists of a discrete-time control Lyapunov function and a decentralized control barrier function is implemented in the transportation process. Finally, we conduct real-world experiments to verify the effectiveness of the proposed method on three representative paths, and the results show that our approach can achieve robust performance. The demonstration video can be found at https://www.youtube.com/watch?v=iPiT8BfLIpU.

A system of interacting multi-class finite-state jump processes is analyzed. The model under consideration consists of a block-structured network with dynamically changing multi-color nodes. The interactions are local and described through local empirical measures. Two levels of heterogeneity are considered: between and within the blocks where the nodes are labeled into two types. The central nodes are those connected only to nodes from the same block, whereas the peripheral nodes are connected to both nodes from the same block and nodes from other blocks. Limits of such systems as the number of nodes tends to infinity are investigated. In particular, under specific regularity conditions, propagation of chaos and the law of large numbers are established in a multi-population setting. Moreover, it is shown that, as the number of nodes goes to infinity, the behavior of the system can be represented by the solution of a McKean–Vlasov system. Then, we prove large deviations principles for the vectors of empirical measures and the empirical processes, which extends the classical results of Dawson and Gärtner (Stochastics 20, 1987) and Léonard (Ann. Inst. H. Poincaré Prob. Statist. 31, 1995).

Meat quality is not only influenced by breed but also rearing environment. The aim of this study was to evaluate the influence of different housing environments on growth performance, carcase traits, meat quality, physiological response pre-slaughter and fatty acid composition in two pig breeds. A total of 120 growing pigs at 60-70 days of age were arranged in a 2 × 2 factorial design with the breeds (Duroc × Landrace × Large White [D × L × LW] and Duroc × Landrace × Min pig [D × L × M]) and environmental enrichment (barren concrete floor or enriched with straw bedding) as factors. Each treatment was performed in triplicate with ten pigs per replicate. The pigs housed in the enriched environment exhibited a higher average daily gain, average daily feed intake, saturated fatty acid percentage and backfat depth than the pigs reared in the barren environment. Plasma cortisol levels were lower and growth hormone higher in enriched compared to barren pens. The D × L × M pigs showed lower cooking loss compared with the D × L × LW pigs. Moreover, the D × L × M pigs exhibited poor growth performance but had a better water-holding capacity. Only carcase traits and meat quality interaction effects were observed. We concluded that an enriched environment can reduce preslaughter stress and improve the growth performance of pigs and modulate the fatty acid composition of pork products.

The incidence of scarlet fever has increased dramatically in recent years in Chongqing, China, but there has no effective method to forecast it. This study aimed to develop a forecasting model of the incidence of scarlet fever using a seasonal autoregressive integrated moving average (SARIMA) model. Monthly scarlet fever data between 2011 and 2019 in Chongqing, China were retrieved from the Notifiable Infectious Disease Surveillance System. From 2011 to 2019, a total of 5073 scarlet fever cases were reported in Chongqing, the male-to-female ratio was 1.44:1, children aged 3–9 years old accounted for 81.86% of the cases, while 42.70 and 42.58% of the reported cases were students and kindergarten children, respectively. The data from 2011 to 2018 were used to fit a SARIMA model and data in 2019 were used to validate the model. The normalised Bayesian information criterion (BIC), the coefficient of determination (R2) and the root mean squared error (RMSE) were used to evaluate the goodness-of-fit of the fitted model. The optimal SARIMA model was identified as (3, 1, 3) (3, 1, 0)12. The RMSE and mean absolute per cent error (MAPE) were used to assess the accuracy of the model. The RMSE and MAPE of the predicted values were 19.40 and 0.25 respectively, indicating that the predicted values matched the observed values reasonably well. Taken together, the SARIMA model could be employed to forecast scarlet fever incidence trend, providing support for scarlet fever control and prevention.

A shock-induced separation loss reduction method, using local blade suction surface shape modification (smooth ramp structure) with constant adverse pressure gradient with the consideration of radial equilibrium effect to split a single shock foot into multiple weaker shock wave configuration, is investigated on the NASA Rotor 37 for promoting aerodynamic performance of a transonic compressor rotor. Numerical investigation on baseline blade and improved one with blade modification on suction side has been conducted employing the Reynolds-averaged Navier–Stokes method to reveal flow physics of ramp structure. The results indicate that the passage shock foot of baseline is replaced with a family of compression waves and a weaker shock foot generating moderate adverse pressure gradient on ramp profile, which is beneficial for mitigating the shock foot and shrinking flow separation region as well. In addition, the radial secondary flow of low-momentum fluids within boundary layer is decreased significantly in the region of passage shock-wave/boundary-layer interaction on blade suction side, which mitigates the mass flow and mixing intensity of tip leakage flow. With the reduction of flow separation loss induced by passage shock, the adiabatic efficiency and total pressure ratio of improved rotor are superior to baseline model. This study herein implies a potential application of ramp profile in design method of transonic and supersonic compressors.

Gravitational waves from coalescing neutron stars encode information about nuclear matter at extreme densities, inaccessible by laboratory experiments. The late inspiral is influenced by the presence of tides, which depend on the neutron star equation of state. Neutron star mergers are expected to often produce rapidly rotating remnant neutron stars that emit gravitational waves. These will provide clues to the extremely hot post-merger environment. This signature of nuclear matter in gravitational waves contains most information in the 2–4 kHz frequency band, which is outside of the most sensitive band of current detectors. We present the design concept and science case for a Neutron Star Extreme Matter Observatory (NEMO): a gravitational-wave interferometer optimised to study nuclear physics with merging neutron stars. The concept uses high-circulating laser power, quantum squeezing, and a detector topology specifically designed to achieve the high-frequency sensitivity necessary to probe nuclear matter using gravitational waves. Above 1 kHz, the proposed strain sensitivity is comparable to full third-generation detectors at a fraction of the cost. Such sensitivity changes expected event rates for detection of post-merger remnants from approximately one per few decades with two A+ detectors to a few per year and potentially allow for the first gravitational-wave observations of supernovae, isolated neutron stars, and other exotica.

The butterfly plastic zone theory based on Mohr Coulomb criterion has been widely used in coal mine production. In order to verify the universality of the theory, it is necessary to compare the distribution of plastic zone under different strength criteria. Based on the elastic-plastic mechanics, the principal stress distribution function around the circular tunnel is deduced in the paper, and the boundary and radius of the plastic zone under different strength criteria are calculated. The results show that the change laws of the plastic zone around the circular tunnel under different strength criteria has the following commonness: firstly, with the increase of the lateral pressure coefficient, the shape of the plastic zone presents the change laws of “circle ellipse butterfly”; Secondly, with the increase of the lateral pressure coefficient, the radius of the plastic zone is exponential distribution, while the characteristic value is different when the radius of the plastic zone is infinite. At same time, it shows that the butterfly plastic zone has a low sensitivity dependence on the strength criterion, no matter which strength criterion is adopted, and the butterfly plastic zone will inevitably appear in the surrounding rock mass of circular tunnel in the high deviator stress environment; The plastic zone with butterfly shape is highly sensitive to the stress change, and the small stress change may promote the expansion of the plastic zone. This result is significant for us to understand and prevent rock engineering disasters and accidents.

This study aimed to investigate the clinical characteristics and to analyse the epidemiological features of coronavirus disease 2019 (COVID-19) patients during convalescence. In this study, we enrolled 71 confirmed cases of COVID-19 who were discharged from hospital and transferred to isolation wards from 6 February to 26 March 2020. They were all employees of Zhongnan Hospital of Wuhan University or their family members of which three cases were <18 years of age. Clinical data were collected and analysed statistically. Forty-one cases (41/71, 57.7%) comprised medical faculty, young and middle-aged patients (aged ⩽60 years) accounted for 81.7% (58/71). The average isolation time period for all adult patients was 13.8 ± 6.1 days. During convalescence, RNA detection results of 35.2% patients (25/71) turned from negative to positive. The longest RNA reversed phase time was 7 days. In all, 52.9% of adult patients (36/68) had no obvious clinical symptoms, and the remaining ones had mild and non-specific clinical symptoms (e.g. cough, sputum, sore throat, disorders of the gastrointestinal tract etc.). Chest CT signs in 89.7% of adult patients (61/68) gradually improved, and in the others, the lesions were eventually absorbed and improved after short-term repeated progression. The main chest CT manifestations of adult patients were normal, GGO or fibre streak shadow, and six patients (8.8%) had extrapulmonary manifestations, but there was no significant correlation with RNA detection results (r = −0.008, P > 0.05). The drug treatment was mainly symptomatic support therapy, and antibiotics and antiviral drugs were ineffective. It is necessary to re-evaluate the isolation time and standard to terminate isolation for discharged COVID-19 patients.

White-light continuum can be induced by the interaction of intense femtosecond laser pulses with condensed materials. By using two orthogonal polarizers, a self-induced birefringence of continuum is observed when focusing femtosecond laser pulses into bulk fused silica. That is, the generated white-light continuum is synchronously modulated anisotropically while propagating in fused silica. Time-resolved detection confirms that self-induced birefringence of continuum shows a growth and saturation feature with time evolution. By adjusting laser energy, the transmitted intensity of continuum modulated by self-induced birefringence also varies correspondingly. Morphology analysis with time evolution indicates that it is the focused femtosecond laser pulses that induce anisotropic microstructures in bulk fused silica, and the anisotropic structures at the same time modulate the generated continuum.

Although numerous studies have investigated the individual effects of salinity, irrigation and fertilization on soil microbial communities, relatively less attention has been paid to their combined influences, especially using molecular techniques. Based on the field of orthogonal designed test and deoxyribonucleic acid sequencing technology, the effects of saline water irrigation amount, salinity level of irrigation water and nitrogen (N) fertilizer rate on soil bacterial community structure were investigated. The results showed that the irrigation amount was the most dominant factor in determining the bacterial richness and diversity, followed by the irrigation water salinity and N fertilizer rate. The values of Chao1 estimator, abundance-based coverage estimator and Shannon indices decreased with an increase in irrigation amount while increased and then decreased with an increase in irrigation water salinity and N fertilizer rate. The highest soil bacterial richness and diversity were obtained under the least irrigation amount (25 mm), medium irrigation water salinity (4.75 dS/m) and medium N fertilizer rate (350 kg/ha). However, different bacterial phyla were found to respond distinctively to these three factors: irrigation amount significantly affected the relative abundances of Proteobacteria and Chloroflexi; irrigation water salinity mostly affected the members of Actinobacteria, Gemmatimonadetes and Acidobacteria; and N fertilizer rate mainly influenced the Bacteroidetes' abundance. The results presented here revealed that the assessment of soil microbial processes under combined irrigation and fertilization treatments needed to be more careful as more variable consequences would be established by comparing with the influences based on an individual factor, such as irrigation amount or N fertilizer rate.

Glutathione S-transferases (GSTs) are a detoxifying enzyme family that is essential for parasite blood-feeding and survival, and represent potential targets for hookworm vaccine development. Multiple GST-encoding complementary DNAs (cDNAs) have been cloned from Ancylostoma caninum and Necator americanus, but there are no reports about the cloning of this enzyme from Ancylostoma ceylanicum, the animal-derived zoonotic hookworm. To study the molecular nature and tissue localization of GST of A. ceylanicum (Ace-GST), we designed primers based on the GST gene sequence of A. ceylanicum in GenBank, amplified the Ace-GST cDNA by reverse transcription polymerase chain reaction, and analysed its homology and genetic evolution relationship. The amplified product was cloned into the pET-32a vector and transformed into Escherichia coli BL21 (DE3) for expression. To prepare anti-GST polyclonal antibodies, the recombinant protein was purified and used to immunize Kunming mice. The level of immunoglobulin G (IgG) antibody in the serum of immunized mice was detected by indirect enzyme-linked immunosorbent assay, and the Ace-GST localization in adult worm was determined using the immunofluorescence method. The results showed that the full-length cDNA encoding Ace-GST was 468 bp, which had the highest homology with Ac-GST-1 (60.1%) and clustered into one branch (v-class) with Ac-GST-1 and Na-GST-1 in a phylogenetic tree. Mice immunized with recombinant Ace-GST showed specific IgG antibody response. Immunolocalization revealed that natural Ace-GST is mainly located in the epidermis, muscle and intestine of the adult. These results may lay a foundation for further studies on the biological function of Ace-GST.

In evaluating the quality of table eggs and the developmental stages of embryonic eggs, spectroscopic techniques provide greater efficiency than traditional, time-consuming and laborious approaches. This review summarises recent developments in the spectroscopic analysis of table eggs, including the determination of the chemical composition (ratios of performance to standard deviation of 4.38, 2.25, 2.28, 2.31, and 3.03 for fat, moisture, and protein in egg yolk and moisture and protein in egg albumen, respectively, have been reported). A Haugh unit detection accuracy RMSEP (root mean square error of prediction) for quality of 6.29 was obtained by hyperspectral imaging) for table eggs and fertility detection (for white-shell eggs, fertility detection has been realised at a promising rate of 93.5%) and gender determination in hatching eggs. In conclusion, hyperspectral imaging generally outperforms visible or near-infrared reflectance spectroscopy when evaluating both consumption eggs and hatching eggs, and near-infrared reflectance Raman and fluorescence spectroscopy exhibit a strong potential for gender determination prior to hatching. Scientists have attained a correct sexing rate above 90% at 3.5 d of egg incubation without removing the inner shell membrane. In the detection of blood-spot eggs or fertile eggs, eggshell colour proved to be a negative factor.