Expert drivers possess the ability to execute high sideslip angle maneuvers, commonly known as drifting, during racing to navigate sharp corners and execute rapid turns. However, existing model-based controllers encounter challenges in handling the highly nonlinear dynamics associated with drifting along general paths. While reinforcement learning-based methods alleviate the reliance on explicit vehicle models, training a policy directly for autonomous drifting remains difficult due to multiple objectives. In this paper, we propose a control framework for autonomous drifting in the general case, based on curriculum reinforcement learning. The framework empowers the vehicle to follow paths with varying curvature at high speeds, while executing drifting maneuvers during sharp corners. Specifically, we consider the vehicle’s dynamics to decompose the overall task and employ curriculum learning to break down the training process into three stages of increasing complexity. Additionally, to enhance the generalization ability of the learned policies, we introduce randomization into sensor observation noise, actuator action noise, and physical parameters. The proposed framework is validated using the CARLA simulator, encompassing various vehicle types and parameters. Experimental results demonstrate the effectiveness and efficiency of our framework in achieving autonomous drifting along general paths. The code is available at https://github.com/BIT-KaiYu/drifting.

In this work, the Riemann–Hilbert (RH) problem is employed to study the multiple high-order pole solutions of the cubic Camassa–Holm (cCH) equation with the term characterizing the effect of linear dispersion under zero boundary conditions and nonzero boundary conditions. Under the reflectionless situation, we generalize the residue theorem and obtain the multiple high-order pole solutions of cCH equation by solving an algebraic system. During the process of establishing the solution of RH problem, to simplify the calculations involving the implicitly expressed of variables (x, t) in the solution, we introduce a new scale (y, t) to ensure the solution of RH problem is explicitly expressed with respect to it. Finally, the exact solutions are obtained for cases involving one high-order pole and N high-order poles.

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.

Montmorillonite (Mnt)-based solid acids have a wide range of applications in catalysis and adsorption of pollutants. For such solid acids, the acidic characteristic often plays a significant role in these applications. The objective of the current study was to examine the effects of H3PO4-activation and supporting WO3 on the textural structure and surface acidic properties of Mnt. The Mnt-based solid acid materials were prepared by H3PO4 treatment and an impregnation method with a solution of ammonium metatungstate (AMT) and were examined as catalysts in the dehydration of glycerol to acrolein. The catalysts were characterized by nitrogen adsorption-desorption, powder X-ray diffraction (XRD), Fourier-transform infrared (FTIR) spectroscopy, scanning electronic microscopy (SEM), X-ray photoelectron spectroscopy (XPS), diffuse reflectance ultraviolet-visible (DR UV-Vis) spectroscopy, temperature programmed desorption of NH3 (NH3-TPD), diffuse reflectance Fourier-transform infrared (DR FTIR) spectroscopy of adsorbed pyridine, and thermogravimetric (TG) analyses. The phosphoric acid treatment of Mnt created Brönsted and Lewis acid sites and led to increases in specific surface areas, porosity, and acidity. WO3 species influenced total acidity, acid strength, the numbers of Brönsted and Lewis acid sites, and catalytic performances. A high turnover frequency (TOF) value (31.2 h−1) based on a maximal 60.7% yield of acrolein was reached. The correlation of acrolein yield with acidic properties indicated that the cooperative role of Brönsted and Lewis acid sites was beneficial to the formation of acrolein and a little coke deposition (<3.3 wt.%). This work provides a new idea for the design of solid acid catalysts with cooperative Brönsted and Lewis acidity for the dehydration of glycerol.

A new resolvent-based method is developed to predict the space–time properties of the flow field. To overcome the deterioration of the prediction accuracy with increasing distance between the measurements and predictions in the resolvent-based estimation (RBE), the newly proposed method utilizes the RBE to estimate the relative energy distribution near the wall rather than the absolute energy directly estimated from the measurements. Using this extra information from RBE, the new method modifies the energy distribution of the spatially uniform and uncorrelated forcing that drives the flow system by minimizing the norm of the cross-spectral density tensor of the error matrix in the near-wall region in comparison with the RBE-estimated one, and therefore it is named as the resolvent-informed white-noise-based estimation (RWE) method. For validation, three time-resolved direct numerical simulation (DNS) datasets with the friction Reynolds numbers $Re_\tau = 180$, 550 and 950 are generated, with various locations of measurements ranging from the near-wall region ($y^+ = 40$) to the upper bound of the logarithmic region ($y/h \approx 0.2$, where h is the half-channel height) for the predictions. Besides the RWE, three existing methods, i.e. the RBE, the $\lambda$-model and the white-noise-based estimation (WBE), are also included for the validation. The performance of the RBE and scale-dependent model ($\lambda$-model) in predicting the energy spectra shows a strong dependence on the measurement locations. The newly proposed RWE shows a low sensitivity on $Re_{\tau }$ and the measurement locations, which may range from the near-wall region to the upper bound of the logarithmic region, and has a high accuracy in predicting the energy spectra. The RWE also performs well in predicting the space–time properties in terms of the correlation magnitude and the convection velocity. We further utilize the new method to reconstruct the instantaneous large-scale structures with measurements from the logarithmic region. Both the RWE and RBE perform well in estimating the instantaneous large-scale structure, and the RWE has smaller errors in the estimations near the wall. The structural inclination angles around $15^\circ$ are predicted by the RWE and WBE, which generally recover the DNS results.

In the United States, cardiovascular disease is the leading cause of death and the rate of maternal mortality remains among the highest of any industrialized nation. Maternal cardiometabolic health throughout gestation and postpartum is representative of placental health and physiology. Both proper placental functionality and placental microRNA expression are essential to successful pregnancy outcomes, and both are highly sensitive to genetic and environmental sources of variation. Placental pathologies, such as preeclampsia, are associated with maternal cardiovascular health but may also contribute to the developmental programming of chronic disease in offspring. However, the role of more subtle alterations to placental function and microRNA expression in this developmental programming remains poorly understood. We performed small RNA sequencing to investigate microRNA in placentae from the Rhode Island Child Health Study (n = 230). MicroRNA counts were modeled on maternal family history of cardiovascular disease using negative binomial generalized linear models. MicroRNAs were considered to be differentially expressed at a false discovery rate (FDR) less than 0.10. Parallel mRNA sequencing data and bioinformatic target prediction software were then used to identify potential mRNA targets of differentially expressed microRNAs. Nine differentially expressed microRNAs were identified (FDR < 0.1). Bioinformatic target prediction revealed 66 potential mRNA targets of these microRNAs, many of which are implicated in TGFβ signaling pathway but also in pathways involving cellular metabolism and immunomodulation. A robust association exists between familial cardiovascular disease and placental microRNA expression which may be implicated in both placental insufficiencies and the developmental programming of chronic disease.

The Songling and Majiayu peridotite blocks occur in the Eastern Block, North China Craton (NCC). Geothermobarometry data show that the Songling peridotites began exhumation from a depth of c. 70 km (c. 23 kbar). During exhumation, the Songling peridotites were intruded by an upper-crust-derived, high-δ18O (up to +7.28‰ in zircon) trondhjemitic dyke at 2.47 Ga and experienced granulite-facies metamorphism. The Songling peridotites have hybrid mantle wedge (HMW) -like high SiO2 (> 45 wt%), high FeOt (c. 10 wt%) content, high modal orthopyroxene abundance (> 35%) and high ϵNd(t) (+18.4 to +21.4), which were generated by the reaction between peridotite and eclogite-derived melts. The clinopyroxenes from the Songling peridotites were in equilibrium with a Nb-, Zr- and Ti-depleted arc-like magma. The Majiayu peridotites are characterized by depletion of Nb, Zr and Hf and are highly enriched in FeOt, Th and light rare earth elements (LREEs), which can be interpreted as an open system reaction between hydrous melts and fore-arc mantle peridotites. These two peridotite blocks are considered to be arc-related mantle peridotites that experienced melt extraction and metasomatism in different styles. They were exhumed to the north margin of the North China Craton during the c. 2.47 Ga arc–continent collision along the Zunhua structural belt.

Echinococcus shiquicus is currently limited to the Qinghai–Tibet plateau, a large mountainous region in China. Although the zoonotic potential remains unknown, progress is being made on the distribution and intermediate host range. In this study, we report E. shiquicus within Gansu and Qinghai provinces in regions located not only around the central areas but also the southeast edge of the plateau and describe their genetic relationship with previous isolates from the plateau. From 1879 plateau pikas examined, 2.39% (95% CI 1.79–3.18) were infected with E. shiquicus. The highest prevalence of 10.26% (4.06–23.58) was recorded in Makehe town, Qinghai province. Overall the prevalence was marginally higher in Qinghai (2.5%, CI 1.82–3.43) than in Gansu (2%, CI 1.02–3.89). The cox1 and nad1 genes demonstrated high and low haplotype and nucleotide diversities, respectively. The median-joining network constructed by the cox1–nad1 gene sequences demonstrated a star-like configuration with a median vector (unsampled haplotype) occupying the centre of the network. No peculiar distinction or common haplotype was observed in isolates originating from the different provinces. The presence of E. shiquicus in regions of the southeast and northeast edges of the Qinghai–Tibet plateau and high genetic variation warrants more investigation into the haplotype distribution and genetic polymorphism by exploring more informative DNA regions of the mitochondrial genome to provide epidemiologically useful insight into the population structure of E. shiquicus across the plateau and its axis.

This experiment was designed to investigate the effect of supplementing conjugated linoleic acid (CLA) in breeder hens diet on development and hepatic lipid metabolism of chick offspring. Hy-Line Brown breeder hens were allocated into two groups, supplemented with 0 (control (CT)) or 0·5 % CLA for 8 weeks. Offspring chicks were grouped according to the mother generation and fed for 7 d. CLA treatment had no significant influence on development, egg quality and fertility of breeder hens but darkened the egg yolks in shade and increased yolk sac mass compared with the CT group. Addition of CLA resulted in increased body mass and liver mass and decreased deposition of subcutaneous adipose tissue in chick offspring. The serum TAG and total cholesterol levels of chick offspring were decreased in CLA group. CLA treatment increased the incorporation of both CLA isomers (c9t11 and t10c12) in the liver of chick offspring, accompanied by the decreased hepatic TAG levels, related to the significant reduction of fatty acid synthase (FAS) and acetyl-CoA carboxylase (ACC) enzyme activities and the increased carnitine palmitoyltransferase-1 (CPT1) enzyme activity. Meanwhile, CLA treatment reduced the mRNA expression of genes related to fatty acid biosynthesis (FAS, ACC and sterol regulatory element-binding protein-1c) and induced the expression of genes related to β-oxidative (CPT1, AMP-activated protein kinase and PPARα) in chick offspring liver. In summary, the addition of CLA in breeder hens diet significantly increased the incorporation of CLA in the liver of chick offspring, which further regulate hepatic lipid metabolism.

We carry out direct numerical simulations of turbulent Rayleigh–Bénard convection in a square box with rough conducting plates over the Rayleigh number range $10^7\leqslant Ra\leqslant 10^9$ and the Prandtl number range $0.01\leqslant Pr\leqslant 100$. In Zhang et al. (J. Fluid Mech., vol. 836, 2018, R2), it was reported that while the measured Nusselt number $Nu$ is enhanced at large roughness height $h$, the global heat transport is reduced at small $h$. The division between the two regimes yields a critical roughness height $h_c$, and we now focus on the effects of the Prandtl number ($Pr$) on $h_c$. Based on the variations of $h_c$, we identify three regimes for $h_c(Pr)$. For low $Pr$, thermal boundary layers become thinner with increasing $Pr$. This makes the boundary layers easier to be disrupted by rough elements, leading to the decrease of $h_c$ with increasing $Pr$. For moderate $Pr$, the corner-flow rolls become much more pronounced and suppress the global heat transport via the competition between the corner-flow rolls and the large-scale circulation (LSC). As a consequence, $h_c$ increases with increasing $Pr$ due to the intensification of the corner–LSC competition. For high $Pr$, the convective flow transitions to the plume-controlled regime. As the rough elements trigger much stronger and more frequent plume emissions, $h_c$ again decreases with increasing $Pr$.

The impact of diet on the metabolic syndrome (MetS) and CVD has been investigated widely, but few studies have investigated the association between dietary patterns (DP) and the predicted CVD, derived from reduced rank regression (RRR). The objectives of this study were to derive DP using RRR and principal component analysis (PCA) and investigate their associations with the MetS and estimated 10-year atherosclerotic CVD (ASCVD). We used the baseline dataset from the Xinjiang multi-ethnic cohort study in China, collected from June 2018 to May 2019. A total of 14 982 subjects aged 35–74 years from Urumqi, Huo Cheng and Mo Yu were included in the analysis. The 10-year ASCVD risk was estimated using the Chinese ASCVD risk equations. The associations of DP with the MetS and 10-year ASCVD were determined using multivariable logistic regression models. In Urumqi and Mo Yu, the increased RRR DP score was associated with a higher OR of having the MetS and with a higher OR of elevated 10-year ASCVD risk. However, only the first DP determined by PCA in Urumqi was inversely associated with the MetS and elevated 10-year ASCVD risk. The prevalence of the MetS and elevated ASCVD risk in urban population is higher than that in rural areas. Our results may help nutritionists develop more targeted dietary strategies to prevent the MetS and ASCVD in different regions in China.

To reveal the thermal shock resistance of double-layer thermal barrier coatings (TBCs), two types of TBCs were prepared via atmospheric plasma spraying, i.e., Gd2Zr2O7/yttria-stabilized zirconia (GZ/YSZ) TBCs and La2Zr2O7 (LZ)/YSZ TBCs, respectively. Subsequently, thermal cycling tests of the two TBCs were conducted at 1100 °C and their thermal shock resistance and failure mechanism were comparatively investigated through experiments and the finite element method. The results showed that the thermal shock failure of the two TBCs occurred inside the top ceramic coating. However, the GZ/YSZ TBCs had longer thermal cycling life. It was the mechanical properties of the top ceramic coating, and the thermal stresses arising from the thermal mismatch between the top ceramic coating and the substrate that determined the thermal cycling life of the two TBCs together. Compared with the LZ layer in the LZ/YSZ TBCs, the GZ layer in the GZ/YSZ TBCs had smaller elastic modulus, larger fracture toughness, and smaller thermal stresses, which led to the higher crack propagation resistance and less spallation tendency of the GZ/YSZ TBCs. Therefore, the GZ/YSZ TBCs exhibited superior thermal shock resistance to the LZ/YSZ TBCs.

The Myanmar snub-nosed monkey Rhinopithecus strykeri was discovered in 2010 on the western slopes of the Gaoligong Mountains in the Irrawaddy River basin in Myanmar and subsequently in the same river basin in China, in 2011. Based on 2 years of surveying the remote and little disturbed forest of the Gaoligong Mountains National Nature Reserve in China, with outline transect sampling and infrared camera monitoring, a breeding group comprising > 70 individuals was found on the eastern slopes of the Gaoligong Mountains in the Salween River Basin. Given the Critically Endangered status of this primate (a total of < 950 individuals are estimated to remain in the wild), efforts to protect the relatively undisturbed habitat of this newly discovered population and to prevent hunting are essential for the long-term survival of this species.

In this article, we present the vacuum ultraviolet-visible spectroscopic properties of NaRFPO4:Tb3+ (R = Gd and Y). Because the samples show intensive absorption near 172 nm and bright emission, the composition of the phosphors has been further optimized and an ideal phosphor NaGd0.3Y0.5Tb0.2FPO4 is obtained. This phosphor exhibits favorable characteristics such as a lower preparation temperature, an intensive emission under 172-nm excitation, a shorter decay time (τ1/10 = 8.7 ms) in comparison with the commercial green plasma display panel (PDP) phosphor Zn2SiO4:Mn2+ (τ1/10 = 10.8 ms), a good thermal stability for luminescence performance, and a uniform particle size around 2.3 μm. Hence, the phosphor NaGd0.3Y0.5Tb0.2FPO4 can be considered a promising green phosphor for use in PDPs.