Visual simultaneous localisation and mapping (vSLAM) has shown considerable promise in positioning and navigating across a variety of indoor and outdoor settings, significantly enhancing the mobility of robots employed in industrial and everyday services. Nonetheless, the prevalent reliance of vSLAM technology on the assumption of static environments has led to suboptimal performance in practical implementations, particularly in unstructured and dynamically noisy environments such as substations. Despite advancements in mitigating the influence of dynamic objects through the integration of geometric and semantic information, existing approaches have struggled to strike an equilibrium between performance and real-time responsiveness. This study introduces a lightweight, multi-modal semantic framework predicated on vSLAM, designed to enable intelligent robots to adeptly navigate the dynamic environments characteristic of substations. The framework notably enhances vSLAM performance by mitigating the impact of dynamic objects through a synergistic combination of object detection and instance segmentation techniques. Initially, an enhanced lightweight instance segmentation network is deployed to ensure both the real-time responsiveness and accuracy of the algorithm. Subsequently, the algorithm’s performance is further refined by amalgamating the outcomes of detection and segmentation processes. With a commitment to maximising performance, the framework also ensures the algorithm’s real-time capability. Assessments conducted on public datasets and through empirical experiments have demonstrated that the proposed method markedly improves both the accuracy and real-time performance of vSLAM in dynamic environments.

The language-guided visual robotic grasping task focuses on enabling robots to grasp objects based on human language instructions. However, real-world human-robot collaboration tasks often involve situations with ambiguous language instructions and complex scenarios. These challenges arise in the understanding of linguistic queries, discrimination of key concepts in visual and language information, and generation of executable grasping configurations for the robot’s end-effector. To overcome these challenges, we propose a novel multi-modal transformer-based framework in this study, which assists robots in localizing spatial interactions of objects using text queries and visual sensing. This framework facilitates object grasping in accordance with human instructions. Our developed framework consists of two main components. First, a visual-linguistic transformer encoder is employed to model multi-modal interactions for objects referred to in the text. Second, the framework performs joint spatial localization and grasping. Extensive ablation studies have been conducted on multiple datasets to evaluate the advantages of each component in our model. Additionally, physical experiments have been performed with natural language-driven human-robot interactions on a physical robot to validate the practicality of our approach.

Electronic skin (e-skin) is playing an increasingly important role in health detection, robotic teleoperation, and human-machine interaction, but most e-skins currently lack the integration of on-site signal acquisition and transmission modules. In this paper, we develop a novel flexible wearable e-skin sensing system with 11 sensing channels for robotic teleoperation. The designed sensing system is mainly composed of three components: e-skin sensor, customized flexible printed circuit (FPC), and human-machine interface. The e-skin sensor has 10 stretchable resistors distributed at the proximal and metacarpal joints of each finger respectively and 1 stretchable resistor distributed at the purlicue. The e-skin sensor can be attached to the opisthenar, and thanks to its stretchability, the sensor can detect the bent angle of the finger. The customized FPC, with WiFi module, wirelessly transmits the signal to the terminal device with human-machine interface, and we design a graphical user interface based on the Qt framework for real-time signal acquisition, storage, and display. Based on this developed e-skin system and self-developed robotic multi-fingered hand, we conduct gesture recognition and robotic multi-fingered teleoperation experiments using deep learning techniques and obtain a recognition accuracy of 91.22%. The results demonstrate that the developed e-skin sensing system has great potential in human-machine interaction.

Few studies have been conducted to investigate the association of kidney function decline with the trajectories of homocysteine (Hcy) over time, using repeated measurements. We aimed to investigate the association of kidney function with changes in plasma Hcy levels over time. Data were collected from the Rugao Longevity and Ageing Study. In detail, plasma Hcy and creatinine levels were measured in both waves (waves 2, 3 and 4) during the 3·5-year follow-up (n 1135). Wave 2 was regarded as the baseline survey. The estimated glomerular filtration rate (eGFR) was calculated based on creatinine. Subjects were categorised into four groups according to quartiles of eGFR at baseline. Linear mixed-effect models were used to investigate the association of eGFR with subsequent plasma Hcy levels. The mean eGFR at baseline was 90·84 (sd 11·42) ml/min per 1·73 m2. The mean plasma Hcy level was 14·09 (sd 6·82) at baseline and increased to 16·28 (sd 8·27) and 17·36 (sd 10·39) μmol/l during follow-ups. In the crude model, the interaction between time and eGFR at baseline was significant (β = −0·02, 95 % CI −0·02, −0·01, P = 0·002). After adjusting for confounding factors, a significant relationship remained (β = −0·02, 95 % CI −0·02, −0·01, P = 0·003), suggesting that kidney function decline at baseline was associated with a faster increase in Hcy levels. Kidney function decline is associated with a more pronounced increase in plasma Hcy levels. Further studies with longer follow-up periods and larger sample sizes are needed to validate our findings.

Fossil charcoals from archaeological sites provide direct evidence for the relationship between environmental change and ancient peoples’ livelihoods in the past. Our identification of 5811 fossil charcoal fragments from 84 samples suggested temperate deciduous and mixed conifer-broadleaved forests as the dominant vegetation at the Erdaojingzi site in northeastern China ca. 3500 cal yr BP; the major representative taxa were Quercus, Pinus, and Ulmus. Four woody plants probably supplied humans with food resources at the Erdaojingzi site, including Quercus, Ulmus, Amygdalus/Armeniaca, and Ziziphus. The nuts of Quercus were utilized as staple foods because of their rich starch content. The leaves of Ulmus may have been used by humans because of their massive dietary fibre. Amygdalus/Armeniaca and Ziziphus probably provided fruits for humans. Based on the coexistence approach (CA) used on the fossil charcoals, we found that the MAT anomaly was 7.9 ± 5.9°C at ca. 3500 cal yr BP, which is almost the same as the modern one (7.8°C), while the MAP was halved from 772 ± 301 mm at ca. 3500 cal yr BP to 370 mm currently. The wet climate might have facilitated significant development of rain-fed agriculture, promoted the emergence of large settlements, and eventually facilitated the birth of civilization.

The extent of intertidal flats in the Yellow Sea region has declined significantly in the past few decades, resulting in severe population declines in several waterbird species. The Yellow Sea region holds the primary stopover sites for many shorebirds during their migration to and from northern breeding grounds. However, the functional roles of these sites in shorebirds’ stopover ecology remain poorly understood. Through field surveys between July and November 2015, we investigated the stopover and moult schedules of migratory shorebirds along the southern Jiangsu coast, eastern China during their southbound migration, with a focus on the ‘Critically Endangered’ Spoon-billed Sandpiper Calidris pygmaea and ‘Endangered’ Nordmann’s Greenshank Tringa guttifer. Long-term count data indicate that both species regularly occur in globally important number in southern Jiangsu coast, constituting 16.67–49.34% and 64.0–80.67% of their global population estimates respectively, and it is highly likely that most adults undergo their primary moult during this southbound migration stopover. Our results show that Spoon-billed Sandpiper and Nordmann’s Greenshank staged for an extended period of time (66 and 84 days, respectively) to complete their primary moult. On average, Spoon-billed Sandpipers and Nordmann’s Greenshanks started moulting primary feathers on 8 August ± 4.52 and 27 July ± 1.56 days respectively, and their moult durations were 72.58 ± 9.08 and 65.09 ± 2.40 days. In addition, some individuals of several other shorebird species including the ‘Endangered’ Great Knot Calidris tenuirostris, ‘Near Threatened’ Bar-tailed Godwit Limosa lapponica, ‘Near Threatened’ Eurasian Curlew Numenius arquata and Greater Sand Plover Charadrius leschenaultii also underwent primary moult. Our work highlights the importance of the southern Jiangsu region as the primary moulting ground for these species, reinforcing that conservation of shorebird habitat including both intertidal flats and supratidal roosting sites in this region is critical to safeguard the future of some highly threatened shorebird species.

A high energy electron density modulator from a high-intensity laser standing wave field is studied herein by investigating the ultrafast motion of electrons in the field. Electrons converge at the electric field antinodes, and the discrete electron density peaks modulated by the field located at the corresponding laser phases of kx = nπ, (n = 0, 1, 2, …), that is, the modulation period is 1/2 the wavelength of the individual laser. We also discussed the influence of the laser parameters such as laser intensity and waist size on the beam modulator. It is shown that a long interaction length (waist) or sufficiently high field intensity is essential for relativistic electron density modulation.

Underground Nuclear Astrophysics in China (JUNA) will take the advantage of the ultra-low background in Jinping underground lab. High current accelerator with an ECR source and detectors were commissioned. JUNA plans to study directly a number of nuclear reactions important to hydrostatic stellar evolution at their relevant stellar energies. At the first period, JUNA aims at the direct measurements of 25Mg(p,γ)26 Al, 19F(p,α) 16 O, 13C(α, n) 16O and 12C(α,γ) 16O near the Gamow window. The current progress of JUNA will be given.

Energy chirp compensation of the electron bunch (e-bunch) in a laser wakefield accelerator, which is caused by the phase space rotation in the gradient wakefield, has been applied in many schemes for low energy spread e-bunch generation. We report the experimental observation of energy chirp compensation of the e-bunch in a nonlinear laser wakefield accelerator with a negligible beam loading effect. By adjusting the acceleration length using a wedge-roof block, the chirp compensation of the accelerated e-bunch was observed via an electron spectrometer. Apart from this, some significant parameters for the compensation process, such as the longitudinal dispersion and wakefield slope at the bunch position, were also estimated. A detailed comparison between experiment and simulation shows good agreement of the wakefield and bunch parameters. These results give a clear demonstration of the longitudinal characteristics of the wakefield in a plasma and the bunch dynamics, which are important for better control of a compact laser wakefield accelerator.

In this study, we investigate a new simple scheme using a planar undulator (PU) together with a properly dispersed electron beam ($e$ beam) with a large energy spread (${\sim}1\%$) to enhance the free-electron laser (FEL) gain. For a dispersed $e$ beam in a PU, the resonant condition is satisfied for the center electrons, while the frequency detuning increases for the off-center electrons, inhibiting the growth of the radiation. The PU can act as a filter for selecting the electrons near the beam center to achieve the radiation. Although only the center electrons contribute, the radiation can be enhanced significantly owing to the high-peak current of the beam. Theoretical analysis and simulation results indicate that this method can be used for the improvement of the radiation performance, which has great significance for short-wavelength FEL applications.

Surface elevation data for sea ice in the northwesternty - Weddell Sea, Antarctica, collected by a helicopter-borne laser altimeter during the Winter Weddell Outflow Study 2006, were used to estimate the form drag on pressure ridges and its contribution to the total wind drag, and the air-ice drag coefficient at a reference height of 10 m under neutral stability conditions (Cdn(10)). This was achieved by partitioning the total wind drag into two components: form drag on pressure ridges and skin drag over rough sea-ice surfaces. The results reveal that for the compacted ice field, the contribution of form drag on pressure ridges to the total wind drag increases with increasing ridging intensity Ri (where Ri is the ratio of mean ridge height to spacing), while the contribution decreases with increasing roughness length. There is also an increasing trend in the air-ice drag coefficient Cdn(10) as ridging intensity Ri increases. However, as roughness length increases, Cdn(10) increases at lower ridging intensities (Ri < 0.023) but decreases at lower ridging intensities (0.023 < Ri < 0.05). These opposing trends are mainly caused by the dominance of the form drag on pressure ridges and skin drag over rough ice surfaces. Generally, the form drag becomes dominant only when the ridging intensity is sufficiently large, while the skin drag is the dominant component at relatively larger ridging intensities. These results imply that a large value of Cdn(10) is caused not only by the form drag on pressure ridges, but also by the skin drag over rough ice surfaces. Additionally, the estimated drag coefficients are consistent with reported measurements in the northwestern Weddell Sea, further demonstrating the feasibility of the drag partition model.

During the 19th Chinese National Antarctic Research Expedition from December 2002 to January 2003, 1085 icebergs were observed along the cruise track within the range 58–68° S in the Southern Ocean using the marine radar on the R/V Xuelong. These icebergs were located mainly in the Ross Sea, Weddell Sea and Prydz Bay with lengths ranging from 68 to 8169 m. Both power-law and Weibull functions are applied to the curve fitting of cumulative probability distribution of iceberg length in each region. The results reveal that the power-law function underestimates the measured data in the middle of the data, but overestimates them for both the smallest and largest iceberg sizes, whereas the Weibull function underestimates the measured data when iceberg length is large enough. To reduce the relative error increasing with iceberg length, the Weibull function is used only in fitting to iceberg lengths less than a threshold value of iceberg size (Lt) and the power-law function is used in fitting to iceberg lengths >Lt. The improved curve fits show a good correlation over the full range of the data. This clearly reveals that an upper limit of iceberg length exists in the good agreement between the Weibull function and the measured data, which is attributed to different thermodynamic effects on calving processes and subsequent modification of large and small icebergs. In addition, iceberg size in Prydz Bay increases and then decreases when approaching the Amery Ice Shelf as a result of bergy bits and growlers calved from large icebergs in front of the ice shelf.

Airborne and spaceborne remote sensing of ice freeboard offers a good method of retrieving ice thickness in the polar oceans. However, its accuracy is highly limited by the factors altering the hydrostatic equilibrium of ice floes, such as snow cover and melt ponds which change the surface loading on the ice volume. In contrast to the abundant studies on snow loads, little attention has been paid to the role of melt ponds, partly owing to the difficulties of freeboard measurements during the melt season. To help fill this gap and provide a basis for possible instruments and algorithms being able to access ice freeboard with melting surface in future, a theoretical model was developed to investigate the uncertainty in ice thickness retrieval due to surface melting. First, the ice thickness was related to the freeboard, snow depth, melt pond size and densities of snow, ice and water, and then a sensitivity analysis was carried out to study the influence of melt pond morphology. The results show that melting ice has a much lower mean thickness than ice without a melting surface, although with the same freeboard because of a loss of floe weight due to melting. During pond evolution, a floe gains weight when ponds deepen on the vertical scale, but loses weight when they widen on the horizontal scale, resulting in increasing mean ice thickness with decreasing pond depth and fraction. Freeboard is found to be the major source of uncertainty in the retrieved thickness of first-year ice (FYI), while it is ice density in the case of multi-year ice (MYI). The ratio of ice draft to freeboard ranges from 3.0 to 6.2 for FYI and 2.0 to 4.1 for MYI, agreeing with field observations during melting seasons.

Rijpfjorden (808 N, 22° E) is a high-Arctic fjord on Nordaustlandet in the Svalbard archipelago. To monitor the thermodynamic change of sea ice in spring, an ice mass-balance buoy (IMB) was deployed for 2.5 months (10 April–26 June 2011), with accompanying in situ measurements, sea-ice sampling on three occasions and ice-core analysis. Uncertainties and sources of error in in situ measurements and IMB data are discussed. The in situ measurements, ice-core analysis and IMB data together depict the development of snow and ice in spring. Snow and ice thickness exhibited large spatial and temporal variability. After relatively stable conditions with only little change in ice thickness and accumulation of snow, a layer of superimposed ice ∼0.06 m thick formed at the snow-ice interface due to refreezing of snow meltwater in late spring. Ice thickness (except for growth of superimposed ice) did not change significantly based on in situ observations. In contrast, the under-ice sonar data from the IMB show reflections from a layer deeper than the underside of the ice during the melting phase. This can be explained as a reflection of the sonar pulses from an interface between a freshwater layer under the ice and more saline water below, or as a false-bottom formation.

The ice cover on the Qinghai–Tibetan Plateau plays an important role in the environmental and ecological systems. We analyze the in situ measurements of ice growth and examine the thermal diffusivity of thermokarst lake ice in the Beiluhe basin. We evaluate numerically the change of thermal diffusivity of thermokarst lake ice with changing ice temperature using an optimal control model. In a higher ice temperature regime (–3 to 0°C), the thermal diffusivity of thermokarst lake ice decreases exponentially with increasing ice temperature, and approaches the thermal diffusivity value of fresh water near the freezing-point temperature. In a lower ice temperature regime (–15 to –3°C), the thermal diffusivity increases slowly with decreasing ice temperature.