This paper presents a low-cost, accurate indoor positioning system that integrates image acquisition and processing and data-driven modeling algorithms for robotics research and education. Multiple overhead cameras are used to obtain normalized image coordinates of ArUco markers, and a new procedure is developed to convert them to the camera coordinate frame. Various data-driven models are proposed to establish a mapping relationship between the camera and the world coordinates. One hundred fifty data pairs in the camera and world coordinates are generated by measuring the ArUco marker at different locations and then used to train and test the data-driven models. With the model, the world coordinate values of the ArUco marker and its robot carrier can be determined in real time. Through comparison, it is found that a straightforward polynomial regression outperforms the other methods and achieves a positioning accuracy of about 1.5 cm. Experiments are also carried out to evaluate its feasibility for use in robot control. The developed system (both hardware and algorithms) is shared as an open source and is anticipated to contribute to robotic studies and education in resource-limited environments and underdeveloped regions.

Objectives: Rapid and accurate screening for carbapenemase-producing organism (CPOs) in hospitalized patients is critical for infection control and prevention. The Xpert Carba-R assay is designed for rapid detection of CPOs, but 1 assay is usually conducted for only 1 sample. We evaluated a pooling strategy for CPO screening using the Xpert Carba-R assay. Methods: Swab sets containing 2 swabs were collected from 415 unique patients at Peking University People’s Hospital. One swab was used for the pooling test, in which 5 swabs from different patients were mixed in 1 sample treatment solution. The prevalence of CPOs in the hospital (5.3%) predicted that 5:1 pooling was most economical. As the reference method, the other swab was tested by culture using sequencing. Results: Of 415 samples, 383 were CPO negative using the pooling test strategy and 31 were positive. All samples that were negative by pooling were negative by culture and sequencing. Among the 31 positive samples identified by the pooling strategy, 26 were positive by culture and sequencing (including 24 samples with 1 targeted gene and 2 samples with double targeted genes, 1 NDM+/IMP+ and 1 VIM+/IMP+), and 5 were negative. Overall, 198 tests were conducted in the study, and 217 were saved compared with testing individually. The efficiency of the pooling strategy was 215%. The overall sensitivity was 1 (95% CI, 0.840–1), the specificity was 0.987 (95% CI, 0.968–0.995), the accuracy was 0.987 (95% CI, 0.970–0.996), positive predictive value was 0.838 (95% CI, 0.655–0.939), and the negative predictive value was 1 (95% CI, 0.988–1). Conclusions: The pooling strategy using the Xpert Carba-R assay showed good potential in screening CPO with good sensitivity and a significantly lower cost.

Plasma jets are widely investigated both in the laboratory and in nature. Astrophysical objects such as black holes, active galactic nuclei and young stellar objects commonly emit plasma jets in various forms. With the availability of data from plasma jet experiments resembling astrophysical plasma jets, classification of such data would potentially aid in not only investigating the underlying physics of the experiments but also the study of astrophysical jets. In this work we use deep learning to process all of the laboratory plasma images from the Caltech Spheromak Experiment spanning two decades. We found that cosine similarity can aid in feature selection, classify images through comparison of feature vector direction and be used as a loss function for the training of AlexNet for plasma image classification. We also develop a simple vector direction comparison algorithm for binary and multi-class classification. Using our algorithm we demonstrate 93 % accurate binary classification to distinguish unstable columns from stable columns and 92 % accurate five-way classification of a small, labelled data set which includes three classes corresponding to varying levels of kink instability.

We investigate the dynamic couplings between particles and fluid in turbulent Rayleigh–Bénard (RB) convection laden with isothermal inertial particles. Direct numerical simulations combined with the Lagrangian point-particle mode were carried out in the range of Rayleigh number $1\times 10^6 \le {Ra}\le 1 \times 10^8$ at Prandtl number ${Pr}=0.678$ for three Stokes numbers ${St_f}=1 \times 10^{-3}$, $8 \times 10^{-3}$ and $2.5 \times 10^{-2}$. It is found that the global heat transfer and the strength of turbulent momentum transfer are altered a small amount for the small Stokes number and large Stokes number as the coupling between the two phases is weak, whereas they are enhanced a large amount for the medium Stokes number due to strong coupling of the two phases. We then derived the exact relation of kinetic energy dissipation in the particle-laden RB convection to study the budget balance of induced and dissipated kinetic energy. The strength of the dynamic coupling can be clearly revealed from the percentage of particle-induced kinetic energy over the total induced kinetic energy. We further derived the power law relation of the averaged particles settling rate versus the Rayleigh number, i.e. $S_p/(d_p/H)^2{\sim} Ra^{1/2}$, which is in remarkable agreement with our simulation. We found that the settling and preferential concentration of particles are strongly correlated with the coupling mechanisms.

As an attractive collector medium for hypervelocity particles, combined with outstanding physical properties and suitable compositional characteristics, SiO2 aerogel has been deployed on outer space missions and laser shock-loaded collection experiments. In this paper, impact experiments were conducted to understand the penetration process of irregular grains, irregular Al2O3 grains with two different sizes and speeds (~110 μm@7 km/s, ~251 μm@2.3 km/s) at various density silica aerogels. By classifying the shapes of projectile residues and tracks, the morphology of tracks was analyzed. It was observed that there were several kinds of typical tracks in the penetration of irregular grains, accompanied by residues with the shapes of near-sphere, polyhedron, streamlined body wedge, and rotator. The rotational behavior was demonstrated by the final status of one flake projectile as direct evidence. In addition, there was no obvious relationship between the track length and experimental parameters, which may be caused by the uncertain interaction between aerogels and irregular particles. In addition, it confirmed the existence of fragmentation, melting situation by observing the shape of the impact entrance hole. At the same time, optical coherence tomography was used to observe the detail of tracks clearly, which provided a method to characterize the tracks nondestructively.

From June 28 to November 22, 2018, the Chinese People’s Liberation Army Navy – PLA(N) – Peace Ark hospital ship had conducted Mission Harmony 2018, providing humanitarian medical assistance and carrying out international cooperation, in 4 Pacific island countries and 6 Central and South American countries. Compared with its application only in onshore outreach medical teams in the previous Mission Harmony, portable ultrasonography was used both onboard and onshore in Mission Harmony 2018. The purpose of this study was to assess the performance of onboard portable ultrasonography in PLA(N) Peace Ark hospital ship during Mission Harmony-2018, share our onboard working experience, and provide a reference for humanitarian assistance missions in the future. A retrospective review was performed on a cohort of patients checked by onboard portable ultrasonography. Patients’ gender, age, the distribution of examined organs, and multiple applications of the portable ultrasonography were analyzed. Some limitations of portable ultrasonography on the mission and possible improvements in the future were also discussed. A total of 5277 cases (mean age: 43.74 years; range: 2 months–105 years) of ultrasound examinations were performed during the mission; among them, 3126 (59.2%) cases were performed by portable ultrasonography, including 3024 onboard cases and 102 onshore cases. The portable ultrasonography had been applied in many scenarios, for example, onboard emergency triage process, onboard bedside medical support, and onshore outreach medical service, which had become one of the indispensable auxiliary examination methods for its compatibility, portability, and flexibility. The onboard deployment of portable ultrasonography played a versatile and irreplaceable role in the humanitarian medical assistance and medical cooperation carried out by the PLA(N) Peace Ark hospital ship, and will contribute to such kind of missions in the future.

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 $Pr$.

Barnyardgrass [Echinochloa crus-galli (L.) P. Beauv.] is a problematic weed in rice (Oryza sativa L.) fields. Overapplication of herbicides causes environmental pollution and the emergence of resistant weeds, and integrated weed management methods can reduce dependence on herbicides. The growth of E. crus-galli and rice seedlings was shown to be significantly inhibited by high concentrations of fulvic acid (FA, C14H12O8) under flooding conditions (HF, 0.80 g L−1) (P < 0.05). In contrast, seedling growth was promoted by the application of very low concentrations of FA (LF, 0.02 g L−1). The activities of glutathione S-transferase (GST) and antioxidant enzymes, including total superoxide dismutase (T-SOD), peroxidase (POD), and catalase (CAT), in E. crus-galli seedlings were enhanced by the LF treatment; while POD activity decreased and GST, T-SOD, and CAT activity was not significantly altered by the HF treatment. The metabolomic and transcriptomic analyses showed that FA regulated E. crus-galli seedling growth by affecting the synthesis of indole derivatives and flavonoid compounds. Compared with the blank control (CK, 0 g L−1), the levels of four indole derivatives were upregulated under the HF treatment, and the indole derivatives were slightly downregulated under the LF treatment. The flavonoids, including naringenin, naringenin chalcone, eriodictyol, kaempferol, and epigallocatechin, were downregulated under HF treatment, and the growth of E. crus-galli was reduced. In contrast, the metabolism and transcription of flavonoids were not significantly altered by the LF treatment. The addition of 0.80 g L−1 FA obviously inhibited the growth of newly sprouted E. crus-galli, whereas rice growth was significantly promoted 8 d after rice planting (P < 0.05). The application of FA, therefore, might be a potential integrated weed management method to control the damage caused by E. crus-galli in paddy fields.

In this paper, the generation of relativistic electron mirrors (REMs) and the reflection of an ultra-short laser off this mirrors are discussed, applying two-dimensional particle-in-cell (2D-PIC) simulations. REMs with ultra-high acceleration and expanding velocity can be produced from a solid nanofoil illuminated normally by an ultra-intense femtosecond laser pulse with a sharp rising edge. Chirped attosecond pulse can be produced through the reflection of a counter-propagating probe laser off the accelerating REM. In the electron moving frame, the plasma frequency of the REM keeps decreasing due to its rapidly expanding. The laser frequency, on the contrary, keeps increasing due to the acceleration of REM and the relativistic Doppler shift from the lab frame to the electron moving frame. Within an ultra-short time interval, the two frequencies will be equal in the electron moving frame, which leads the resonance between laser and REM. The reflected radiation near this interval and the corresponding spectra will be amplified due to the resonance. Through adjusting the arriving time of the probe laser, certain part of the reflected field could be selectively amplified or depressed, leading to the selectively adjusting of the corresponding spectra.

Nowadays, theranostics drug delivery systems (DDSs) with imaging and therapy bi-functions have been regarded as a future orientation for imaging-guided cancer therapy. To achieve high imaging quality, a donor–acceptor (D–A)/Förster resonance energy transfer (FRET) bi-adjustment strategy is carried out for designing dual-colored DDSs with amplified aggregation-induced emission (AIE) behavior for imaging-guided cocktail cancer therapy in this study. In detail, four AIE-active conjugated polymers P-1 to P-4 are synthesized via the Suzuki reaction. Noteworthily, the D–A-type structure is applied in tuning the fluorescence color from orange (P-1) to far-red/near-infrared (P-2), while the intramolecular FRET process further enhanced the fluorescence signal for six times (P-3). Afterwards, P-3-based amphipathic polymer P-4 further acts as a drug carrier in preparing doxorubicin (Dox)- and curcumin (Cur)-loaded polymer dots (Pdots) (Dox-loaded Pdots as PDox and Cur-loaded Pdots as PCur). PDox + PCur DDS is successfully applied in imaging-guided cocktail cancer therapy to give obviously higher in vivo anticancer efficacy compared with single PDox or PCur. In addition, the drug-loaded Pdots also exhibit higher biocompatibility compared with free drugs. This work provides a novel D–A/FRET bi-adjustment strategy for developing high efficiency imaging-guided cocktail DDSs in cancer therapy.

Mutation in CFAP43 leads to severe asthenozoospermia and multiple morphological abnormalities of the sperm flagellum (MMAF) in both human and mouse. Previous studies have shown that disruption of intra-manchette transport (IMT) caused failure of flagellum assembly and sperm head shaping. In a previous study, therefore, we postulated that disruption of IMT may contribute to the failure of sperm flagellum formation and result in MMAF, however the mechanisms underlying these defects are still poorly understood. Cfap43-deficient mice were studied here to reveal the cellular mechanisms of abnormal sperm head morphology and MMAF. Depletion of Cfap43 led to abnormal spermiogenesis and caused MMAF, sperm head abnormality and oligozoospermia. Furthermore, both abnormal manchette and disorganized ectoplasmic specialization (ES) could be observed at the elongated spermatids in Cfap43-deficient mice. Therefore, our findings demonstrated that, in mice, CFAP43-mediated IMT is essential for sperm head shaping and sperm flagellum formation.

The ablation and acceleration of diamond-like high-density carbon foils irradiated by thermal X-ray radiations are investigated with radiation hydrodynamics simulations. The time-dependent front of the ablation wave is given numerically for radiation temperatures in the range of 100–300 eV. The mass ablation rates and ablation pressures can be derived or implied from the coordinates of ablation fronts, which agree well with reported experiment results of high-density carbon with radiation temperatures Trad in the range of 160–260 eV. It is also found that the $T_{{\rm rad}}^3$ scaling law for ablation rates does not apply to Trad above 260 eV. The trajectories of targets and hydrodynamic efficiencies for different target thicknesses can be derived from the coordinates of ablation fronts using a rocket model and the results agree well with simulations. The peak hydrodynamic efficiencies of the acceleration process are investigated for different foil thicknesses and radiation temperatures. Higher radiation temperatures and target thicknesses result in higher hydrodynamic efficiencies. The simulation results are useful for the design of fusion capsules.

Probiotics and plant extracts are considered to prevent the development of non-alcoholic fatty liver disease (NAFLD). The present study explores the effects of using both probiotics and plant extracts on NAFLD. The present study evaluated the effects of plant extracts on lipid droplet accumulation and the growth of probiotics in vitro. A C57BL/6 mouse model was used to examine the effects of probiotics and plant extracts on NAFLD. Body weight and food intake were measured. The levels of serum lipids, oxidative stress and the liver injury index were determined using commercial kits. Haematoxylin and eosin staining, GC and real-time PCR were also used for analysis. The results revealed that administration of Lactobacillus casei YRL577 and L. paracasei X11 with resveratrol (RES) or tea polyphenols (TP) significantly reduced the levels of total cholesterol, TAG and LDL-cholesterol and increased the level of the HDL-cholesterol. The groups of L. casei YRL577 with RES and TP also regulated the liver structure, oxidative stress and injury. Furthermore, L. casei YRL577 with TP exhibited a more positive effect towards improving the NAFLD and increased the concentrations of the butyric acid than other three combined groups. L. casei YRL577 with TP up-regulated the mRNA levels of the farnesoid X receptor and fibroblast growth factor 15 and decreased the mRNA levels of the apical Na-dependent bile acid transporter. These findings showed that L. casei YRL577 + TP-modified genes in the intestinal bile acid pathway improved markers of NAFLD.

Non-alcoholic fatty liver disease (NAFLD) has become the main cause of end-stage liver disease. Probiotics have the potential effect of alleviating NAFLD. The aim of this study was to explore functional probiotics and their underlying mechanisms. The bile salt hydrolase (BSH) activity in thirty-four strains was determined in vitro. Then, C57BL/6 mice were used to explore the effects of probiotics on NAFLD. Body weight and food intake were measured, and serum lipid concentrations, oxidative stress and proinflammatory cytokines levels were determined using commercial kits. The expressions of intestinal bile acid pathway genes were evaluated via real-time PCR. The results showed that Lactobacillus casei YRL577 and L. paracasei X11 had higher BSH activity. L. casei YRL577 significantly reduced liver weight and liver index and could regulate the levels of lipid metabolism, oxidative stress and proinflammatory cytokines as compared with L. paracasei X11. Furthermore, the results indicated that L. casei YRL577 up-regulated the mRNA levels of farnesoid X receptor and fibroblast growth factor 15, whereas down-regulated the mRNA level of apical Na-dependent bile acid transporter. These findings suggested that L. casei YRL577 modified genes in the intestinal bile acid pathway which might contribute to the alleviation of NAFLD.