Instrument delivery is critical part in vascular intervention surgery. Due to the soft-body structure of instruments, the relationship between manipulation commands and instrument motion is non-linear, making instrument delivery challenging and time-consuming. Reinforcement learning has the potential to learn manipulation skills and automate instrument delivery with enhanced success rates and reduced workload of physicians. However, due to the sample inefficiency when using high-dimensional images, existing reinforcement learning algorithms are limited on realistic vascular robotic systems. To alleviate this problem, this paper proposes discrete soft actor-critic with auto-encoder (DSAC-AE) that augments SAC-discrete with an auxiliary reconstruction task. The algorithm is applied with distributed sample collection and parameter update in a robot-assisted preclinical environment. Experimental results indicate that guidewire delivery can be automatically implemented after 50k sampling steps in less than 15 h, demonstrating the proposed algorithm has the great potential to learn manipulation skill for vascular robotic systems.

When a charge neutral drop impacts on a flat solid substrate, a small air bubble is always trapped underneath due to the lubrication pressure coming from the viscous stress in the squeezed air film. Herein we find experimentally and numerically that the process of the air entrapment and the initial contact state of the drop with the substrate can be profoundly altered via an external electric field. In an electric field, the induced electric stresses at the bottom of the drop increase drastically right before the drop contacts the substrate, which acts against the lubrication pressure, resulting in reduced initial contact radius and air bubble size. When the external electric field reaches a critical value, the electrical stress accelerates the flow near the bottom of the drop and generates a conical tip quickly instead of a dimple, resulting in a centre contact and eliminating the air bubble entrapment. Based on the dipole mirror charge model, we find the dimensionless strength of critical electric field scales with the square root of capillary number based on the air viscosity. This scaling law of the critical electric field for eliminating the air bubble entrapment is verified experimentally and numerically. This work may offer a new way to mitigate defects caused by air bubble entrapment for inkjet printing and droplet-based additive manufacturing.

Widely distributed Mid-Neoproterozoic mafic rocks of the Qilian – Qaidam – East Kunlun region record the tectonic evolution of the northeastern Tibetan Plateau. This study presents whole-rock geochemistry, zircon U–Pb geochronology and Hf isotopes for the Xialanuoer gabbros of the central South Qilian Belt (SQB). Zircon laser ablation – inductively coupled plasma – mass spectrometry (LA-ICP-MS) U–Pb dating indicates that the gabbros were emplaced at ca. 738 Ma, indicating they are contemporaneous with mafic magmatism elsewhere in the northeastern Tibetan Plateau. The gabbros have low SiO2, Cr and Ni contents and Mg# values, are relatively enriched in light rare-earth elements (LREEs) and depleted in high-field-strength elements (HFSEs; e.g. Nb and Ta), have no positive Zr or Hf anomalies and have relatively high Nb/Ta but low Nb/La ratios. These data indicate that the Xialanuoer gabbros formed from calc-alkaline basaltic magmas that were originally generated by the partial melting of an enriched mantle of type-I (EMI-type) enriched region of the lithospheric mantle, underwent little to no crustal contamination prior to their emplacement, and have within-plate basalt geochemical affinities. Combining these data with the presence of widespread contemporaneous continental rift-related magmatism and sedimentation in the North Qilian, Central Qilian, South Qilian, Quanji, North Qaidam and East Kunlun regions suggests that the northeastern Tibetan Plateau underwent Mid-Neoproterozoic continental rifting, which also affected other Rodinian blocks (e.g. Tarim, South China, Australia, North America and Southern Africa).

The parasite Fasciola hepatica is an important zoonotic parasite. The development of an animal model of F. hepatica's life cycle is critical for studying the biological characteristics of the parasite in snails and mammals. Eggs of F. hepatica of bovine origin were cultured, and metacercariae were obtained after infection of Galba pervia snails. The life cycle system of F. hepatica was initiated in 2 different animals by orally infecting rabbits, SD rats and Kunming mice with the metacercariae. The animals' survival after infection, parasite migration in the animals and pathological damage to the liver were observed. We discovered that rabbits died due to acute suppurative hepatitis 60–69 days after infection, and eggs were found in the feces on day 63 of infection. The liver of SD rats showed punctate lesions on day 3 of infection, and further changes occurred as the infection progressed. However, liver repair was observed at week 9. SD rats survived for more than a year after infection and continued the F. hepatica life cycle. The liver lesions in Kunming mice after infection were similar but more severe than those in SD rats. Death was observed on the 31st post-infection day. We discovered that while rabbits, SD rats and Kunming mice can all be used as animal models of F. hepatica, SD rats are more suitable experimental animals in terms of tolerance and pathological response.

To assess the role of dietary creatine on myofiber characteristics and protein synthesis in muscle, we fed grass carp (Ctenopharyngodon idellus, initial body weight: 88.47 ± 1.44 g) creatine-supplemented diets (1.84, 5.91, 8.48, and 15.44 g/kg diet) for 8 weeks. Creatine supplementation did not affect growth performance, but significantly increased creatine contents in muscle and liver. At 8.48 g/kg, creatine decreased the activities of alanine transaminase and aspartate aminotransferase in serum, and improved hardness and chewiness of muscle due to shorter myofiber mean diameter, higher myofiber density and the frequencies of the diameters of class I and III and collagen content, longer sarcomere length, and upregulated mRNA levels of slow myosin heavy chains. Creatine supplementation upregulated the mRNA expressions of myogenic regulatory factors. The 8.48 g/kg creatine-supplemented diet significantly increased the contents of protein, total amino acids (AAs), essential AAs, and free flavor AAs in muscle, the protein levels of insulin-like growth factor I, myogenic differentiation antigen, and peroxisome proliferator-activated receptor-γ coactlvator-1α in muscle, and stimulated the phosphorylation of target of rapamycin (TOR) pathway in muscle. In summary, 8.48 mg/kg creatine improved fish health and skeletal muscle growth, and increased hardness and protein synthesis in muscle of grass carp by affecting myofiber characteristics and the TOR signaling pathway. A second-order regression model revealed that the optimal dietary creatine supplementation of grass carp ranges between 8.48 and 12.04 g/kg.

External modulation on thermal convection has been studied extensively to achieve the control of flow structures and heat-transfer efficiency. In this paper, we carry out direct numerical simulations on Rayleigh–Bénard convection accounting for both the modulation of wall shear and roughness over the Rayleigh number range $1.0 \times 10^6 \le Ra \le 1.0 \times 10^8$, the wall shear Reynolds number range $0 \le Re_w \le 5000$, the aspect-ratio range $2 \le \varGamma \le 4{\rm \pi}$, and the dimensionless roughness height range $0 \le h \le 0.2$ at fixed Prandtl number $Pr = 1$. Under the combined actions of wall shear and roughness, with increasing $Re_w$, the heat flux is initially enhanced in the buoyancy-dominant regime, then has an abrupt transition near the critical shear Reynolds number $Re_{w,cr}$, and finally enters the purely diffusion regime dominated by shear. Based on the crossover of the kinetic energy production between the buoyancy-dominant and shear-dominant regimes, a physical model is proposed to predict the transitional scaling behaviour between $Re_{w,cr}$ and $Ra$, i.e. $Re_{w,cr} \sim Ra^{9/14}$, which agrees well with our numerical results. The reason for the observed heat-transport enhancement in the buoyancy-dominant regime is further explained by the fact that the moving rough plates introduce an external shear to strengthen the large-scale circulation (LSC) in the vertical direction and serve as a conveyor belt to increase the chances of the interaction between the LSC and secondary flows within cavities, which triggers more thermal plumes, efficiently transports the trapped hot (cold) fluids outside cavities.

To investigate temporal trends in coronavirus disease 2019 (COVID-19)-related outcomes and to evaluate whether the impacts of potential risk factors and disparities changed over time, we conducted a retrospective cohort study with 249 075 patients tested or treated for COVID-19 at Michigan Medicine (MM), from 10 March 2020 to 3 May 2021. Among these patients, 26 289 were diagnosed with COVID-19. According to the calendar time in which they first tested positive, the COVID-19-positive cohort were stratified into three-time segments (T1: March–June, 2020; T2: July–December, 2020; T3: January–May, 2021). Potential risk factors that we examined included demographics, residential-level socioeconomic characteristics and preexisting comorbidities. The main outcomes included COVID-19-related hospitalisation and intensive care unit (ICU) admission. The hospitalisation rate for COVID-positive patients decreased from 36.2% in T1 to 14.2% in T3, and the ICU admission rate decreased from 16.9% to 2.9% from T1 to T3. These findings confirm that COVID-19-related hospitalisation and ICU admission rates were decreasing throughout the pandemic from March 2020 to May 2021. Black patients had significantly higher (compared to White patients) hospitalisation rates (19.6% vs. 11.0%) and ICU admission rates (6.3% vs. 2.8%) in the full COVID-19-positive cohort. A time-stratified analysis showed that racial disparities in hospitalisation rates persisted over time and the estimates of the odds ratios (ORs) stayed above unity in both unadjusted [full cohort: OR = 1.98, 95% confidence interval (CI) (1.79, 2.19); T1: OR = 1.70, 95% CI (1.36, 2.12); T2: OR = 1.40, 95% CI (1.17, 1.68); T3: OR = 1.55, 95% CI (1.29, 1.86)] and adjusted analysis, accounting for differences in demographics, socioeconomic status, and preexisting comorbid conditions (full cohort: OR = 1.45, 95% CI (1.25, 1.68); T1: OR = 1.26, 95% CI (0.90, 1.76); T2: OR = 1.29, 95% CI (1.01, 1.64); T3: OR = 1.29, 95% CI (1.00, 1.67)).

The late Palaeozoic Yong’an–Meizhou depression belt is an important iron (Fe) and polymetallic metallogenic belt in southern China. It has undergone a transformation from Tethys to the circum-Pacific tectonic domain. The Luoyang deposit is one of the typical Fe skarn deposits in the Yong’an–Meizhou depression belt of eastern China. Garnet is a characteristic mineral in the deposit. Two generations of garnets are detected in the deposit based on their textural characteristics and trace-element contents, and are represented by Fe-enriched andradite. The first generation of garnets (Grt1) have two types of garnets (Grt1-A and Grt1-B). Type A garnets of the first generation (Grt1-A) (Adr80-88) replaced by massive diopside-magnetite assemblage exhibit distinct oscillatory zonings and display patterns of enriched light rare earth elements (LREE) to weak heavy rare earth elements (HREE), with weak negative to positive Eu anomalies, and highest U, ΣREE and Sn contents. Type B garnets of the first generation (Grt1-B) are irregular zones (Adr94-96) coexisting with magnetite, in which Grt1-A is generally dissolved, and have obviously LREE-enriched and HREE-depleted patterns, with weak negative to positive Eu anomalies, and moderate U, ΣREE and Zn contents. Garnets of the second generation (Grt2) (Adr96-99) that replaced massive magnetite together with sphalerite show unzoned patterns, with a flat REE pattern and pronounced negative Eu anomalies as well as contents of lowest U and ΣREE, and highest W. The substitution of REEs in garnets occurs as [X2+]VIII –1[REE3+]VIII +1[Si4+]IV –1[Z3+]IV +1in an Al-enriched environment. Luoyang hydrothermal fluids shifted from reducing conditions with relatively high-U and -ΣREE characteristics to oxidizing conditions with relatively low-U and -ΣREE characteristics. The reduced siderophile elements and increased fO2 in fluid during Grt1-B formation caused magnetite mineralization and reduced Zn contents during Grt2 formation, causing the deposition of sphalerite. All garnets formed from magmatic fluid and were controlled by infiltrative metasomatism in an opened system.

To uncover the chewing mechanism of Cyrtotrachelus buqueti Guer, a mathematical model was created and a kinematic analysis of its rostrum mouthparts was conducted for, to our knowledge, the first time. To reduce noise and improve the quality of scanning electron micrographs of the weevil's mouthparts, nonlocal means and integral nonlocal means algorithms were proposed. Additionally, based on a comparison and analysis of five classical edge detection algorithms, a multiscale edge detection algorithm based on the B-spline wavelet was used to obtain the boundaries of structural features. The least squares method was used to analyze the data of the mouthparts to fit the mathematical model and fitted curves were obtained using Gaussian equations. The results show that curvature and concave–convex variations of the weevil's mouthparts can highlight fluctuations in friction effects when it chews bamboo shoots, which is helpful in preventing debris from bamboo shoots or other debris from sticking to the mouthpart surfaces. Moreover, this paper highlights the utility of micro-computed tomography (microCT) for three-dimensional (3D) reconstruction and a flowchart is suggested. The reconstructed slices were 9.0 μm thick and an accurate 3D rendered model was obtained from a series of microCT slices. Finally, a real model of the rostrum mouthparts was analyzed using finite-element analysis. The results provide a biological template for the design of a novel bionic drilling mechanism.

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 $Pr$.

Folate status for women during early pregnancy has been investigated, but data for women during mid-pregnancy, late pregnancy or lactation are sparse or lacking. Between May and July 2014, we conducted a cross-sectional study in 1211 pregnant and lactating women from three representative regions in China. Approximately 135 women were enrolled in each stratum by physiological periods (mid-pregnancy, late pregnancy or lactation) and regions (south, central or north). Plasma folate concentrations were measured by microbiological assay. The adjusted medians of folate concentration decreased from 28·8 (interquartile range (IQR) 19·9, 38·2) nmol/l in mid-pregnancy to 18·6 (IQR 13·2, 26·4) nmol/l in late pregnancy, and to 17·0 (IQR 12·3, 22·5) nmol/l in lactation (Pfor trend < 0·001). Overall, lower folate concentrations were more likely to be observed in women residing in the northern region, with younger age, higher pre-pregnancy BMI, lower education or multiparity, and in lactating women who had undergone a Caesarean delivery or who were breastfeeding exclusively. In total, 380 (31·4 %) women had a suboptimal folate status (folate concentration <13·5 nmol/l). Women in late pregnancy and lactating, residing in the northern region, having multiparity and low education level had a higher risk of suboptimal folate status, while those with older age had a lower risk. In conclusion, maternal plasma folate concentrations decreased as pregnancy progressed, and were influenced by geographic region and maternal socio-demographic characteristics. Future studies are warranted to assess the necessity of folic acid supplementation during later pregnancy and lactation especially for women at a higher risk of folate depletion.

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.

Eurasian steppes experienced frequent cultural transfers, human migration, and diffusion of techniques during the Bronze Age. The Hami Oasis is one of the most dynamic areas and has attracted multiple cultural flows. It is an important area that connects various routes of the Tianshan Corridor with the Hexi Corridor in western China. The Tianshanbeilu cemetery is the largest Bronze Age cemetery in Hami. Thirty-seven new radiocarbon dates allowed us to establish a new and more accurate chronology for Tianshanbeilu. Our results showed that the Tianshanbeilu cemetery was used from approximately 2022–1802 cal BC and remained in use from 1093–707 cal BC. This indicates that Tianshanbeilu is the earliest and longest-used known cemetery in eastern Xinjiang. By incorporating the typology of artifacts and stratigraphic relationships, the development of the Tianshanbeilu cemetery was divided into four phases. The first phase was from 2011–1672 cal BC, the second phase was from 1660–1408 cal BC, the third phase was from 1385–1256 cal BC, and the fourth phase was from 1214–1029 cal BC.

TLR3 and IL-10 play a crucial role in antiviral defence. However, there is a controversy between TLR3 rs3775291 and IL-10 rs1800871 polymorphisms and the risk of hepatitis B virus (HBV) infection. The purpose of this study is to explore the relationship between the two single nucleotide mutations and the risk of HBV infection by meta-analysis. Medline, EMBASE, Web of Science, CNKI, China Wanfang database were searched for the case-control studies on the relationship between TLR3 rs3775291 and IL-10 rs1800871 polymorphism and susceptibility to HBV, updated to June 2020. The data were analysed by Stata 15.0 software. A total of 22 articles were included. The results showed that in the analysis of IL10 rs1800871 polymorphism and the risk of HBV infection, the pooled OR was 1.21 (95% CI 1.06–1.37), 1.28 (95% CI 1.04–1.56) and 1.20 (95% CI 1.06–1.37) and 1.40 (95% CI 1.07–1.83) in the allele model (C vs. T), dominant model (CC+CT vs. TT), recessive model (CC vs. CT+TT) and homozygous model (CC vs. TT), respectively. There was no statistical significance in the heterozygote model. A subgroup analysis of the Asian population showed similar results. The analysis of TLR3 rs3775291 polymorphism and the risk of HBV showed that in the allele model (T vs. C), the pooled OR was 1.30 (95% CI 1.05–1.61). Except for the recessive model, no significances were found in other genetic models. In conclusion, TLR3 rs3775291 and IL-10 rs1800871 polymorphisms are associated with the risk of HBV. Allele C and genotype CC at IL10 rs1800871 loci, as well as allele T and genotype TT at TLR rs3775291 loci, may increase susceptibility to Hepatitis B infection.