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.

The incidence of obesity-related glomerulopathy (ORG) is rising worldwide with very limited treatment methods. Paralleled with the gut–kidney axis theory, the beneficial effects of butyrate, one of the short-chain fatty acids (SCFA) produced by gut microbiota, on metabolism and certain kidney diseases have gained growing attention. However, the effects of butyrate on ORG and its underlying mechanism are largely unexplored. In this study, a mice model of ORG was established with a high-fat diet feeding for 16 weeks, and sodium butyrate treatment was initiated at the 8th week. Podocyte injury, oxidative stress and mitochondria function were evaluated in mice kidney and validated in vitro in palmitic acid-treated-mouse podocyte cell lines. Further, the molecular mechanisms of butyrate on podocytes were explored. Compared with controls, sodium butyrate treatment alleviated kidney injuries and renal oxidative stress in high-fat diet-fed mice. In mouse podocyte cell lines, butyrate ameliorated palmitic acid-induced podocyte damage and helped maintain the structure and function of the mitochondria. Moreover, the effects of butyrate on podocytes were mediated via the GPR43-Sirt3 signal pathway, as evidenced by the diminished effects of butyrate with the intervention of GPR43 or Sirt3 inhibitors. In summary, we conclude that butyrate has therapeutic potential for the treatment of ORG. It attenuates high-fat diet-induced ORG and podocyte injuries through the activation of the GPR43-Sirt3 signalling pathway.

In order to improve the regional applicability of existing evaporative misting systems, a new evaporative misting system based on photovoltaic/thermal and ventilation heat exchange is proposed for sow farms. Compared to traditional systems, the proposed system can help to improve their regional applicability and reduce their energy consumption. Meanwhile, its simulation model is constructed and the reliability is verified for its core equipment. The maximum error is less than 14.5% for the above models. Through simulation, the optimal regulation variable ranges in the proposed system are determined for mass flow rate of working fluid (MFWF) and misting power by analysing its operating characteristics. The results show that its optimal ranges of MFWF and misting power are 7245–9245 kg/h and 40–45 kW, respectively. The annual performance is further quantified and analysed under different load ratios for the proposed system in Guangzhou. It can be found that the annual exergy loss, heat exchange coefficient and solar energy benefits of the proposed system in Guangzhou are negatively correlated with load ratio, but its annual energy consumption and energy efficiency ratio are positively correlated. Meanwhile, the system performance and benefits are not significantly improved by increasing device investment and sow density when load ratio exceeds 120% in sow farms. The above conclusion can contribute to improving the existing evaporative misting systems in sow farms and guiding the operating regulation of the proposed system.

Artificial sweeteners are generally used and recommended to alternate added sugar for health promotion. However, the health effects of artificial sweeteners remain unclear. In this study, we included 6371 participants from the National Health and Nutrition Examination Survey with artificial sweetener intake records. Logistic regression and Cox regression were applied to explore the associations between artificial sweeteners and risks of cardiometabolic disorders and mortality. Mendelian randomisation was performed to verify the causal associations. We observed that participants with higher consumption of artificial sweeteners were more likely to be female and older and have above medium socio-economic status. After multivariable adjustment, frequent consumers presented the OR (95 % CI) for hypertension (1·52 (1·29, 1·80)), hypercholesterolaemia (1·28 (1·10, 1·50)), diabetes (3·74 (3·06, 4·57)), obesity (1·52 (1·29, 1·80)), congestive heart failure (1·89 (1·35, 2·62)) and heart attack (1·51 (1·10, 2·04)). Mendelian randomisation confirmed the increased risks of hypertension and type 2 diabetes. Moreover, an increased risk of diabetic mortality was identified in participants who had artificial sweeteners ≥ 1 daily (HR = 2·62 (1·46, 4·69), P = 0·001). Higher consumption of artificial sweeteners is associated with increased risks of cardiometabolic disorders and diabetic mortality. These results suggest that using artificial sweeteners as sugar substitutes may not be beneficial.

This paper presents a broadband circularly polarized (CP) antenna array for millimeter-wave applications, and the antenna array has the advantages of wide impedance bandwidth (IBW), novel CP design, and low profile. The antenna unit consists of a two-layer substrate and two pairs of magnetoelectric dipoles. Stepped microstrip lines coupled by rectangular slits form a feeder network for easy integration. The axial ratio bandwidth (ARBW) is extended because a pair of parasitic patches is loaded and an elliptical perturbation is added. The simulation results show that the antenna has an ARBW of 18.6% (26.4–31.9 GHz) and an IBW of 45.5% (20.6–32.7 GHz), with a gain greater than 7.11 dBic in the IBW. To improve the gain of the antenna, a 2 × 2 antenna array is designed, fabricated, and measured. The measured results show that the array has an ARBW of 16.6% (26.42–31.21 GHz), an IBW of 41.6% (22.28–33.97 GHz), a peak gain of 13.89 dBic in the IBW, the cross-polarization levels in the xoz-plane and yoz-plane are above 20 dB, and a radiation efficiency greater than 89%.

Effects of solid nanolayers embedded in a near-critical density plasma on the laser-driven collisionless shock acceleration are investigated by using two-dimensional particle-in-cell simulations. Due to the interaction of nanolayers and the incident laser, an additional number of hot electrons are generated and an inhomogeneous magnetic field is induced. As a result, the collisionless shock is reinforced within the nanolayer gaps compared to the target without the structured nanolayers. When the laser intensity is 9.8 × 1019 W/cm2, the amplitude of the electrostatic field is increased by 30% and the shock velocity is increased from 0.079c to 0.091c, leading to an enhancement of the peak energy and the cutoff energy of accelerated protons, from 6.9 MeV to 9.1 MeV and 12.2 MeV to 20.0 MeV, respectively. Furthermore, the effects of the width of the nanolayer gaps are studied, by adjusting the gap width of nanolayers, and optimal nanolayer setups for collisionless shock acceleration can be acquired.

The effects of magnetic vortex acceleration (MVA) are investigated with two-dimensional particle-in-cell (PIC) simulations by laser interaction with near-critical density (NCD) plasma inside a hollow conical plasma. Energetic and collimated proton beams can be accelerated by a longitudinal charge-separation field. Energetic protons with a peak energy of 220 MeV are produced in PIC simulations. Compared with a uniform NCD plasma, both the cutoff energy and collimation of proton beams are improved remarkably. Furthermore, the influence of different gap sizes of cone tip is taken into account. For optimizing magnetic vortex acceleration, the gap size of the cone tip is suggested to match the focal spot size of laser pulse.

Atomization is often accompanied by phase change, which could significantly affect performance parameters such as the cooling efficiency and combustion efficiency of atomization. Nevertheless, the effect of phase change on jet atomization is rarely numerically studied due to the complexity of the coupling of the aerodynamics and the thermodynamics as well as the modelling difficulty caused by the cross-scale flow. In this study, comprehensive direct numerical simulations were carried out to evaluate the effects of phase change on the primary breakup and secondary atomization. Two methods dealing with phase-interface movement and mass transfer across the interface are built to meet the requirements of different modelling scales and Weber numbers. Simulation results indicate that phase change affects the flow behaviours and volume distribution of broken droplets in the primary breakup. In the secondary atomization, phase change leads to significantly different deforming morphologies of droplets with low Weber number and a more thorough breakup of droplets with high Weber number.

The joint effects of stimulus quality and semantic context in visual word recognition were examined with event-related potential (ERP) recordings. In one-character Chinese word recognition, we manipulated stimulus quality at two degradation levels (highly vs. slightly degraded) and semantic context at two priming levels (semantically related vs. unrelated). In a prime–target–probe trial flow, ERPs were recorded to the target character which was presented in either high or slight degradation and which was preceded by either a semantically related or unrelated prime character. The target character was then followed by a probe character which was either identical to or different from the target character. Subjects were instructed to make target–probe matching judgments. The ERP results demonstrated a degradation by priming interaction, with larger N400 semantic priming effects for slightly degraded targets. Moreover, the degradation effects were observed on the P200, N250, and N400. These findings provided evidence for the cascaded model of visual word recognition such that the visual processing cascaded into the semantic stage and thus interacted on the N400 amplitude. The results were compared to an earlier study with a null ERP degradation by priming interaction. The ramifications of these results for models of visual word recognition are discussed.

The aim of this study was to evaluate the association between prenatal and neonatal period exposures and the risk of childhood and adolescent nasopharyngeal carcinoma (NPC). From January 2009 to January 2016, a total of 46 patients with childhood and adolescent NPC (i.e., less than 18 years of age) who were treated at Sun Yat-sen University Cancer Center were screened as cases, and a total of 45 cancer-free patients who were treated at Sun Yat-sen University Zhongshan Ophthalmic Center were selected as controls. The association between maternal exposures during pregnancy and obstetric variables and the risk of childhood and adolescent NPC was evaluated using logistic regression analysis. Univariate analysis revealed that compared to children and adolescents without a family history of cancer, those with a family history of cancer had a significantly higher risk of childhood and adolescent NPC [odds ratios (OR) = 3.15, 95% confidence interval (CI) = 1.02–9.75, P = 0.046], and the maternal use of folic acid and/or multivitamins during pregnancy was associated with a reduced risk of childhood and adolescent NPC in the offspring (OR = 0.07, 95% CI = 0.02–0.25, P < 0.001). After multivariate analysis, only the maternal use of folic acid and/or multivitamins during pregnancy remained statistically significant. These findings suggest that maternal consumption of folic acid and/or multivitamins during pregnancy is associated with a decreased risk of childhood and adolescent NPC in the offspring.

The aim of the present study was to examine whether serum Zn concentrations were associated with metabolic risk factors in Chinese children and adolescents. This was a cross-sectional study including 3241 participants, aged 6 to 17 years, from Jiangsu, China. Metabolic risk factors included fasting glucose (FG), total cholesterol (TC), TAG, HDL-cholesterol, LDL-cholesterol, systolic blood pressure and diastolic blood pressure. Data were analysed using multi-variable linear regression and generalised additive models, which were adjusted for age, sex, high-sensitive C-reactive protein, estimated glomerular filtration rate, BMI and region of residence, to assess the associations of serum Zn concentrations with metabolic risk factors. We observed a negative association between serum Zn concentrations and FG (coefficient = −0·532; 95 % CI −0·569, −0·495; P < 0·001). Moreover, TC (coefficient = 0·175; 95 % CI 0·127, 0·222; P < 0·001), HDL-cholesterol (coefficient = 0·137; 95 % CI 0·082, 0·193; P < 0·001) and LDL-cholesterol (coefficient = 0·195; 95 % CI 0·128, 0·263; P < 0·001) were found to be positively associated with Zn levels. A generalised additive model showed that the negative association between serum Zn and FG was weak at lower serum Zn concentrations and was stronger with the increase in serum Zn concentrations. Additionally, a U-shaped association between serum Zn and TAG was observed. Serum Zn concentrations were associated with FG, TC, TAG, HDL-cholesterol and LDL-cholesterol levels in Chinese children and adolescents. Lower levels of serum Zn were more likely related to a poor metabolic status.

This paper investigates the volatility in regime-switching models formulated based on the geometric Brownian motion with its drift and volatility factors randomized with Markov chains. By developing explicit formulas about occupation time of Markov chains, we analysis the difference between global volatility of this model and the volatility caused by Brownian randomness, in order to measure the volatility caused by regime-switching after justifying its existence. Utilizing this structure of volatility, we optimize the methods of volatility parameters estimation.

Transition metal dichalcogenides (TMDC), such as MoS2, WS2 have attracted attention due to their mechanical and electronic properties in their two dimensional (2D) structures. Here, we report a facile growth of monolayer TMDC using oxide source materials with the assistant of NaCl. The addition of NaCl can enhance the lateral growth and widen the growth window of TMDC. Through carefully controlling the growth parameters, large area growth of TMDC can be achieved. Two steps E-beam lithography was utilized to fabricate electrodes of TMDC. The phototransistors made from the CVD grown TMDC show strong persistent photoconductivity (PPC). It was finally shown that TMDC device capping with h-BN could have suppressed PPC effects.