Although deep reinforcement learning (DRL) techniques have been extensively studied in the field of robotic manipulators, there is limited research on directly mapping the output of policy functions to the joint space of manipulators. This paper proposes a motion planning scheme for redundant manipulators to avoid obstacles based on DRL, considering the actual shapes of obstacles in the environment. This scheme not only accomplishes the path planning task for the end-effector but also enables autonomous obstacle avoidance while obtaining the joint trajectories of the manipulator. First, a reinforcement learning framework based on the joint space is proposed. This framework uses the joint accelerations of the manipulator to calculate the Cartesian coordinates of the end-effector through forward kinematics, thereby performing end-to-end path planning for the end-effector. Second, the distance between all the linkages of the manipulator and irregular obstacles is calculated in real time based on the Gilbert–Johnson–Keerthi distance algorithm. The reward function containing joint acceleration is constructed with this distance to realize the obstacle avoidance task of the redundant manipulator. Finally, simulations and physical experiments were conducted on a 7-degree-of-freedom manipulator, demonstrating that the proposed scheme can generate efficient and collision-free trajectories in environments with irregular obstacles, effectively avoiding collisions.

The aim of this study is to explore how large language models (LLMs) integrated with structured versus unstructured concept generation techniques (CGTs) influence designers’ creative thinking processes and outputs. Using human–human collaboration (HHC) as a baseline, a 2 × 2 mixed factorial design was adopted to investigate the effects of collaborator type (between-subjects: LLM-based agents vs. experienced designers) and CGT type (within-subjects: brainstorming vs. TRIZ). Two LLM-based agents, IntelliStorm and EvoluTRIZ, were developed for the study, with 32 participants randomly assigned to either the HHC or human–agent collaboration (HAC) groups. Brain activity was measured using functional near-infrared spectroscopy, while outputs were assessed through expert evaluations. Results showed that designers exhibited lower cognitive load, better cognitive resource coordination, and enhanced fluency and flexibility in thinking in HAC than in HHC. Moreover, distinct patterns were revealed in different CGTs: brainstorming activated the right dorsolateral prefrontal cortex (PFC) as the core connectivity region, enhancing ideational fluency, whereas TRIZ activated the left dorsolateral PFC, facilitating refined thinking. Although HAC demonstrated stronger overall performance, HHC retained unique advantages in originality. This research offers novel neuroscientific insights and provides evidence-based guidance for developing more effective LLM-based design agents.

This study utilises large-eddy simulation with the actuator line model to examine the effects of the tip speed ratio (TSR) on the wake-meandering characteristics of a wind turbine in uniform and turbulent inflows. It is shown that as the TSR grows, the onset position of the wake meandering moves closer to the rotor, and the magnitude of wake oscillation is stronger. This aligns with previous work showing that a higher TSR can accelerate the instability and breakdown of tip vortices. Without a nacelle, the Strouhal number of the wake meandering is found to be independent of the TSR under both the uniform and turbulent inflows. However, with a relatively large nacelle, the Strouhal number first increases and then decreases with TSR. Therefore, the current discovery elucidates the crucial role of the nacelle and clarifies the origin of the TSR dependence of the Strouhal number in wake meandering. In addition, the characteristic frequency of the wake meandering under the turbulent inflow is much smaller than that under the uniform inflow, because of the significant influence of the freestream turbulence. Furthermore, the proper orthogonal decomposition (POD) and spectral POD (SPOD) methods are employed to study the spatiotemporal characteristics of the meandering wake and its TSR dependence. It is found that the tip and root vortices are the prominent wake structures under the uniform inflow, whereas more complex multiscale structures from the interaction between the freestream turbulence and tip/root vortices exist under the turbulent inflow. Moreover, an amplitude modulation phenomenon of the POD time coefficients at the optimal TSR is observed in the uniform inflow case. Finally, a reduced-order model is constructed for predicting the wake dynamics by combining the SPOD and the ‘sparse identification of nonlinear dynamics’ algorithm with high accuracy and interpretability.

The betatron radiation source features a micrometer-scale source size, a femtosecond-scale pulse duration, milliradian-level divergence angles and a broad spectrum exceeding tens of keV. It is conducive to the high-contrast imaging of minute structures and for investigating interdisciplinary ultrafast processes. In this study, we present a betatron X-ray source derived from a high-charge, high-energy electron beam through a laser wakefield accelerator driven by the 1 PW/0.1 Hz laser system at the Shanghai Superintense Ultrafast Laser Facility (SULF). The critical energy of the betatron X-ray source is 22 ± 5 keV. The maximum X-ray flux reaches up to 4 × 109 photons for each shot in the spectral range of 5–30 keV. Correspondingly, the experiment demonstrates a peak brightness of 1.0 × 1023 photons·s−1·mm−2·mrad−2·0.1%BW−1, comparable to those demonstrated by third-generation synchrotron light sources. In addition, the imaging capability of the betatron X-ray source is validated. This study lays the foundation for future imaging applications.

Milk fat synthesis is tightly regulated by hormones and growth factors. Leptin is a versatile peptide hormone that exerts pleiotropic effects on metabolic pathways. In this study, we evaluated the expression and function of leptin and its long form receptor OB-Rb in dairy cow mammary tissues from different physiological stages and in cultured mammary epithelial cells. The results showed that the expression of leptin and OB-Rb were significantly higher in the mammary tissues of lactating cows as compared with dry cows, suggesting that they are related to milk component synthesis. In cultured dairy cow mammary epithelial cells, leptin treatment significantly increased OB-Rb expression and intracellular triacylglycerol content. Transcriptome analysis identified the difference in gene expression between leptin treated cells and control cells, and 317 differentially expressed genes were identified. Gene ontology and pathway mapping showed that lipid metabolism-related gene expression increased and signal transduction pathway-related genes were the most significantly enriched. Mechanistic studies showed that leptin stimulation enhanced sterol regulatory element-binding protein 1 expression via activating the phosphatidylinositol 3-kinase/protein kinase B/mammalian target of rapamycin (PI3K/AKT/mTOR) signaling pathway, which in turn up-regulated the expression of genes related to milk fat synthesis. Moreover, we found that fatty acid synthesis precursors, acetate and β-hydroxybutyrate, could positively regulate the expression of leptin and OB-Rb in bovine mammary epithelial cells, thereby potentially increasing milk fat synthesis. Our study provided novel evidence in the regulation of leptin on milk fat production in mammary glands of dairy cows, as well as experimental basis for artificial regulation of milk fat

Tea can improve the progression of some metabolic diseases through anti-inflammatory and antioxidant effects, but its impact on non-alcoholic fatty liver disease (NAFLD) is still controversial. The aim of this paper is to identify the relationship between tea and NAFLD by Mendelian randomisation (MR) and complete clinical validation using National Health and Nutrition Examination Survey (NHANES) database. MR used data from Genome Wide Association Study, with inverse-variance weighted (IVW) as principal analytical methods. The reliability of the results was verified by a series of sensitivity and heterogeneity tests. Subsequently, clinical validation was conducted using NHANES (2005–2018), involving 22 257 participants, grouped by the type of tea. Green tea drinkers were categorised into four groups (Q1–Q4) by quartiles of green tea intake, from lowest to highest (similar for black tea drinkers and other tea drinkers). Models were constructed by logistic regression to estimate the role of tea consumption (Q1–4) on NAFLD. Finally, using fibrosis-4 index (FIB-4) to evaluate the severity of hepatic fibrosis, the effect of tea consumption (Q1–4) on the degree of hepatic fibrosis was investigated by linear regression. IVW method (OR = 0·43, 95 % CI: 0·21, 0·85, P = 0·01) and weighted median method (OR = 0·35, 95 % CI: 0·14, 0·91, P = 0·03) revealed there was a causal relationship between tea and NAFLD. An array of sensitivity analyses validated the reliability of results. Analysis of NHANES indicated tea drinker present a slightly lower prevalence of NAFLD than non-tea drinker (green tea drinkers: 47·6 %, black tea drinkers: 46·3 %, other tea drinker: 43·2 %, non-tea drinkers: 48·1 %, P < 0·05). After adjusting for confounders, compared with the lowest black tea consumption (Q1), the population with the highest black tea consumption (Q4) was independently related to lower presence of NAFLD (Q4: OR = 0·69, 95 % CI: 0·50, 0·93, P < 0·05), such association remained stable in the overweight subgroup. As further analysed, Q4 also displayed a significant negative correlation with the level of hepatic fibrosis in patients with NAFLD (β = –0·073, 95 % CI: –0·126, −0·020, P < 0·01).Tea reduces the morbidity of NAFLD and ameliorates hepatic fibrosis degree in those already suffering from the disease.

This study presents observations of coherent modes (CMs) in a spherical tokamak using a microwave interferometer near the midplane. The CMs within the 30–60 kHz frequency range were observed during electron cyclotron resonance heating only, and the frequency of the CMs increased proportionally with the square root of the electron temperature near $R = 0.7m$. Generally, these modes displayed bursting and chirping signatures with strong density rise and fall. Their appearance indicated an increase in the intensity of hard x rays, suggesting a deterioration in energetic electron confinement. Furthermore, the effect of CMs on the intensity of energetic electron-driven whistler waves was observed. They decreased when CMs were present and gradually increased with the decrease in CM intensity. The CMs may influence the intensity of whistler waves by affecting the energetic electron confinement.

This paper retrospectively analysed the prevalence of macrolide-resistant Mycoplasma pneumoniae (MRMP) in some parts of China. Between January 2013 and December 2019, we collected 4,145 respiratory samples, including pharyngeal swabs and alveolar lavage fluid. The highest PCR-positive rate of M. pneumoniae was 74.5% in Beijing, the highest resistance rate was 100% in Shanghai, and Gansu was the lowest with 20%. The highest PCR-positive rate of M. pneumoniae was 74.5% in 2013, and the highest MRMP was 97.4% in 2019; the PCR-positive rate of M. pneumoniae for adults in Beijing was 17.9% and the MRMP was 10.48%. Among the children diagnosed with community-acquired pneumonia (CAP), the PCR-positive and macrolide-resistant rates of M. pneumoniae were both higher in the severe ones. A2063G in domain V of 23S rRNA was the major macrolide-resistant mutation, accounting for more than 90%. The MIC values of all MRMP to erythromycin and azithromycin were ≥ 64 μg/ml, and the MICs of tetracycline and levofloxacin were ≤ 0.5 μg/ml and ≤ 1 μg/ml, respectively. The macrolide resistance varied in different regions and years. Among inpatients, the macrolide-resistant rate was higher in severe pneumonia. A2063G was the common mutation, and we found no resistance to tetracycline and levofloxacin.

Soft drink consumption has become a highly controversial public health issue. Given the pattern of consumption in China, sugar-sweetened beverage is the main type of soft drink consumed. Due to containing high levels of fructose, a soft drink may have a deleterious effect on handgrip strength (HGS) due to oxidative stress, inflammation and insulin resistance. However, few studies show an association between soft drink consumption and HGS in adults. We aimed to investigate the association between soft drink consumption and longitudinal changes in HGS among a Chinese adult population. A longitudinal population-based cohort study (5-year follow-up, median: 3·66 years) was conducted in Tianjin, China. A total of 11 125 participants (56·7 % men) were enrolled. HGS was measured using a handheld digital dynamometer. Soft drink consumption (mainly sugar-containing carbonated beverages) was measured at baseline using a validated FFQ. ANCOVA was used to evaluate the association between soft drink consumption and annual change in HGS or weight-adjusted HGS. After adjusting for multiple confounding factors, the least square means (95 % CI) of annual change in HGS across soft drink consumption frequencies were −0·70 (–2·49, 1·09) for rarely drinks, −0·82 (–2·62, 0·97) for < 1 cup/week and −0·86 (–2·66, 0·93) for ≥ 1 cup/week (Pfor trend < 0·05). Likewise, a similar association was observed between soft drink consumption and annual change in weight-adjusted HGS. The results indicate that higher soft drink consumption was associated with faster HGS decline in Chinese adults.

The integration of camera and LiDAR technologies has the potential to significantly enhance construction robots’ perception capabilities by providing complementary construction information. Structured light cameras (SLCs) are a desirable alternative as they provide comprehensive information on construction defects. However, fusing these two types of information depends largely on the sensors’ relative positions, which can only be established through extrinsic calibration. This paper introduces a novel calibration algorithm considering a customized board for SLCs and repetitive LiDARs, which are designed to facilitate the automation of construction robots. The calibration board is equipped with four symmetrically distributed hemispheres, whose centers are obtained by fitting the spheres and adoption with the geometric constraints. Subsequently, the spherical centers serve as reference features to estimate the relationship between the sensors. These distinctive features enable our proposed method to only require one calibration board pose and minimize human intervention. We conducted both simulation and real-world experiments to assess the performance of our algorithm. And the results demonstrate that our method exhibits enhanced accuracy and robustness.

The credit default swap (CDS) Big Bang introduced 2 standard coupons for CDS trading. We exploit the setting of the 2 standard coupons as a natural experiment to quantify the components of the bid–ask spreads in over-the-counter markets. We find that a significant portion of the difference in the bid–ask spread between the 2 coupons is explained by the difference in funding costs. Furthermore, search intensity also explains the variation in the difference in bid–ask spread. The liquidity typically concentrates on one of the standard coupons and can suddenly switch to the other coupon. Using the sudden switch of the primary coupon, we provide further evidence to support the predictions of search-based liquidity models.

This study aimed to evaluate the association between dietary carotenoid intake and periodontitis in diabetic patients. Data on diabetic patients were collected from the National Health and Nutrition Examination Survey (NHANES) 2009–2014 for this cross-sectional study. Dietary intake of carotenoids was assessed through the first 24-hour dietary recall interview. Full-mouth periodontal examinations were conducted by trained dental examiners. Subgroup analysis was conducted in terms of age, gender, the number of missing teeth, cardiovascular disease, smoking, and anti-diabetic drugs. Totally 1914 diabetic patients were included, with 1281 (66.93%) in the periodontitis group. After adjusting for age, gender, race, education, smoking, dental implants, hepatitis, and the number of missing teeth, α-carotene intake ≥55.82 mcg was associated with lower odds of periodontitis than α-carotene intake <55.82 mcg [OR = 0.70, 95% CI: 0.53–0.91, P = 0.010]; lutein and zeaxanthin intake ≥795.95 mcg was associated with decreased odds of periodontitis than lutein and zeaxanthin intake <795.95 mcg (OR = 0.75, 95%CI: 0.57–0.98, P = 0.039). The association between carotenoid intake and periodontitis varied across different subpopulations. In diabetes, dietary intake of α-carotene and lutein and zeaxanthin was inversely associated with the odds of periodontitis, which may facilitate clinical periodontitis management.

Wireless power transfer (WPT) is an emerging technology with many promising applications where transmitting power via wired connections is undesirable. However, near-field WPT between magnetically coupled inductors is highly susceptible to positional changes, with power transfer efficiency (PTE) suffering if the coils are misaligned. To combat this effect, many position-independent, self-adaptive, inductive WPT schemes have been developed. Recent work indicates that it is possible to passively achieve high PTE across the operating range with nonlinear capacitors. In this work, the functionality of nonlinear WPT circuits is investigated, and fundamental design equations are derived and validated. A simplified design procedure is proposed for the position-independent self-adaptive WPT using nonlinear capacitors, wherein the ideal capacitance is extracted for each coupling factor. The efficacy of the method is demonstrated with an experimental circuit. Future work in this area is also proposed.

L-aspartic acid was intercalated into layered double hydroxides by coprecipitation. Two types of well crystallized material were obtained and were characterized by powder X-ray diffraction, Fourier transform infrared spectroscopy, thermogravimetry, differential thermal analysis and polarimetry. Schematic models of two intercalation structures with different basal spacings are given. It is proved that the optical activity of L-aspartic acid is retained during and after the intercalation process.

Two-dimensional montmorillonite nanolayers (2D Mnt) are excellent adsorbents for methylene blue due to the fully exposed active sites, but the separation of 2D Mnt from water is difficult. The objective of the present study was to assemble 2D Mnt and graphene oxide sheets into a three-dimensional aerogel (3D Mnt-rGO Gel) to achieve easy solid–liquid separation. Structural characterization demonstrated that the Mnt-rGO Gel has a porous 3D structure with Mnt nanolayers distributed uniformly within; the introduction of 2D Mnt could reduce significantly the degree of restacking of graphene sheets. Adsorption tests indicated that 2D Mnt enhances the methylene blue (MB) removal performance of Mnt-rGO Gel with a large adsorption capacity of 207 mg g–1, which may be attributed to the adsorption of MB onto 2D Mnt and the increased adsorption surface of rGO resulting from the reduced restacking of graphene sheets. The MB was removed completely by 300 mg L–1 of Mnt-rGO Gel-3 in 180 min. The adsorption process of MB onto Mnt-rGO Gel followed the pseudo-second order kinetic model and the Langmuir isotherm model. Mnt-rGO Gel also showed good reusability. Fourier-transform infrared (FTIR) and X-ray photoelectron spectroscopy (XPS) results suggested that the adsorption of MB onto Mnt-rGO Gel may be attributed to the π–π interactions between aromatic rings of MB and graphene, hydrogen bonding, and the electrostatic interactions between the nitrogen groups on the MB and oxygen-containing groups on the Mnt-rGO Gel.

Droplet coalescence is a common phenomenon and plays an important role in multidisciplinary applications. Previous studies mainly consider the coalescence of miscible liquids, even though the coalescence of immiscible droplets on a solid surface is a common process. In this study, we explore the coalescence of two immiscible droplets on a partial wetting surface experimentally and theoretically. We find that the coalescence process can be divided into three stages based on the time scales and force interactions involved, namely (I) the growth of a liquid bridge, (II) the oscillation of the coalescing sessile droplet and (III) the formation of a partially engulfed compound sessile droplet and the subsequent retraction. In stage I, the immiscible interface is found not to affect the scaling of the temporal evolution of the liquid bridge, which follows the same 2/3 power law as that of miscible droplets. In stage II, by developing a new capillary time scale considering both surface and interfacial tensions, we show that the interfacial tension between the two immiscible liquids functions as a non-negligible resistance to the oscillation which decreases the oscillation periods. In stage III, a modified Ohnesorge number is developed to characterize the visco-capillary and inertia-capillary time scales involved during the displacement of water by oil; a new model based on energy balance is proposed to analyse the maximum retraction velocity, highlighting that the viscous resistance is concentrated in a region close to the contact line.