Visual exploration is a task in which a camera-equipped robot seeks to efficiently visit all navigable areas of an environment within the shortest possible time. Most existing visual exploration methods rely on a static camera fixed to the robot’s body to control its own movements. However, coupling the orientation of camera with robot’s body limits the extra degrees of freedom to obtain more visual information. In this work, we adjust the camera orientation during robot motion by using a novel camera view planning (CVP) policy to improve the exploration efficiency. Specifically, we reformulate the CVP problem as a reinforcement learning problem. However, two new challenges need to be addressed: 1) determining how to learn an effective CVP policy in complex indoor environments and 2) figuring out how to synchronize it with the robot motion. To solve the above issues, we create a reward function considering factors such as exploration area, observed semantic objects, and the motion conflicts between the camera and the robot’s body. Moreover, to better coordinate the policies of the camera and the robot’s body, the CVP policy takes the body actions and the egocentric 2D spatial maps with exploration, occupancy, and trajectory information into account to make motion decisions. Experimental results show that after using the proposed CVP policy, the exploration area is expanded by 21.72% and 25.6% on average in the small-scale indoor scene with few structured obstacles and large-scale indoor scene with cluttered obstacles, respectively.

The transition from conventional cage systems to cage-free egg production in China remains limited despite apparently increasing consumer demand for cage-free eggs. This study interviewed 15 large-scale Chinese egg producers using cages and/or cage-free systems (i.e. single-, multi-tier and free-range) to investigate the perceived challenges and opportunities during the transition. The cage farms’ scales range from 110,000 to 30 million, while the cage-free farms keep between 12,000 and 300,000 laying hens. Drawing upon the COM-B model of the Behaviour Change Wheel, this study explored how producers’ Capabilities, Opportunities, and Motivations impact decision-making processes. Key findings reveal that cage and cage-free producers considered consumer demand and profitability as primary drivers for adopting cage-free systems. While free-range producers were more confident in the market, barn system producers faced greater uncertainty due to limited engagement from corporate buyers. Moreover, these cage-free producers believed reliable certification and labelling schemes to be critical for building consumer trust and ensuring the success of cage-free operations. All the participants perceived access to sufficient land and financial resources to be essential for a successful transition. While most studies propose education as a long-term strategy to promote the growth of the cage-free egg sector, our findings are the first to highlight that engaging corporate buyers and establishing trustworthy certification schemes are the most crucial short-term interventions required to drive the development of large-scale cage-free farms and support sustained improvements in animal welfare in China.

Linear non-modal analyses are performed to study the mechanism of how deformable free surfaces influence very-large-scale motions (VLSMs) in turbulent open channel flows. The mean velocity and eddy viscosity profiles obtained from direct numerical simulations are used in the generalised Orr–Sommerfeld and Squire equations to represent background turbulence effects. Solutions of surface-wave eigenmodes and shear eigenmodes are obtained. The results indicate that at high Froude numbers, free surfaces enhance the maximum transient growth rate of VLSMs through surface-wave eigenmodes. We then analyse the energy budget equation to reveal the underlying mechanism. For streamwise-uniform motions, the energy growth rate is enhanced by an energy production term associated with the correlation between the streamwise velocity, which is generated by the lifting-up effect of streamwise vortices composed of shear eigenmodes, and the vertical velocity, which is induced by a spanwise standing wave composed of surface-wave eigenmodes. For streamwise-varying motions, the energy growth rate is enhanced by a standing wave moving with a pair of vortices that travel at a speed approximately equal to the projection of the mean surface velocity along the wavenumber vector direction. Finally, an analytical expression of the energy production term is derived to provide the initial conditions for the maximum transient growth and explain the weak free-surface effect observed at large spanwise wavenumbers and low Froude numbers. The results demonstrate a linear non-modal mechanism in interactions between free surfaces and VLSMs in open channel flows.

The potential threshold for dietary energy intake (DEI) that might prevent protein-energy wasting (PEW) in chronic kidney disease (CKD) is uncertain. The subjects were non-dialysis CKD patients aged ≥ 14 years who were hospitalised from September 2019 to July 2022. PEW was measured by subjective global assessment. DEI and dietary protein intake (DPI) were obtained by 3-d diet recalls. Patients were divided into adequate DEI group and inadequate DEI group according to DEI ≥ 30 or < 30 kcal/kg/d. Logistic regression analysis and restricted cubic spline were used in this study. We enrolled 409 patients, with 53·8 % had hypertension and 18·6 % had diabetes. The DEI and DPI were 27·63 (sd 5·79) kcal/kg/d and 1·00 (0·90, 1·20) g/kg/d, respectively. 69·2 % of participants are in the inadequate DEI group. Malnutrition occurred in 18·6 % of patients. Comparing with patients in the adequate DEI group, those in the inadequate DEI group had significantly lower total lymphocyte count, serum cholesterol and LDL-cholesterol and a higher prevalence of PEW. For every 1 kcal/kg/d increase in DEI, the incidence of PEW was reduced by 12·0 % (OR: 0·880, 95 % CI: 0·830, 0·933, P < 0·001). There was a nonlinear curve relationship between DEI and PEW (overall P < 0·001), and DEI ≥ 27·6 kcal/kg/d may have a preventive effect on PEW in CKD. Low DPI was also significantly associated with malnutrition, but not when DEI was adequate. Decreased energy intake may be a more important factor of PEW in CKD than protein intake.

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.

Deubiquitinases are a group of proteins that identify and digest monoubiquitin chains or polyubiquitin chains attached to substrate proteins, preventing the substrate protein from being degraded by the ubiquitin-proteasome system. Deubiquitinases regulate cellular autophagy, metabolism and oxidative stress by acting on different substrate proteins. Recent studies have revealed that deubiquitinases act as a critical regulator in various cardiac diseases, and control the onset and progression of cardiac disease through a board range of mechanism. This review summarizes the function of different deubiquitinases in cardiac disease, including cardiac hypertrophy, myocardial infarction and diabetes mellitus-related cardiac disease. Besides, this review briefly recapitulates the role of deubiquitinases modulators in cardiac disease, providing the potential therapeutic targets in the future.

There is a trend towards the adoption of cage-free housing systems in the egg industry across Asia. While cage-free housing systems can hold significant animal welfare advantages over cages, there can also be challenges in managing these systems. This exploratory study aimed to investigate the perspectives of egg producers on the main challenges and proposed solutions associated with cage-free systems in China, Indonesia, Thailand, Japan, Malaysia, and the Philippines. Cage-free producers found disease prevention and maintaining a healthy profit margin more difficult than producers from cage farms, while it was less difficult to provide environmental enrichment in cage-free systems compared to cage farms. The top challenges for cage-free producers were the cost of production, system management, disease, sales, and egg production, and the top proposed solution was to improve on-farm practices and efficiencies. Eighty-one percent of egg producers believed that more support is needed to maintain their farms than is currently available, and support was most needed in helping to improve sales, improve farm operations, lower farm costs, and provide information for producers in the form of education and training. Most responses identified the government as the stakeholder that should offer support. These results may help direct further studies in this field as well as supplying information to develop relevant initiatives with an emphasis on education and training, thereby improving animal welfare on cage-free farms and increasing the uptake of high welfare cage-free farms across the region.

The oscillatory Kelvin–Helmholtz (K–H) instability of a planar liquid sheet was experimentally investigated in the presence of an axial oscillating gas flow. An experimental system was initiated to study the oscillatory K–H instability. The surface wave growth rates were measured and compared with theoretical results obtained using the authors’ early linear method. Furthermore, in a larger parameter range experimentally studied, it is interesting that there are four different unstable modes: first disordered mode (FDM), second disordered mode (SDM), K–H harmonic unstable mode (KHH) and K–H subharmonic unstable mode (KHS). These unstable modes are determined by the oscillating amplitude, oscillating frequency and liquid inertia force. The frequencies of KHH are equal to the oscillating frequency; the frequency of KHS equals half the oscillating frequency, while the frequencies of FDM and SDM are irregular. By considering the mechanism of instability, the instability regime maps on the relative Weber number versus liquid Weber number (Werel–Wel) and the Weber number ratio versus the oscillating frequency (Werel/Wel–$\varOmega$s2) were plotted. Among these four modes, KHS is the most unexpected: the frequency of this mode is not equal to the oscillating frequency, but the surface wave can also couple with the oscillating gas flow. Linear instability theory was applied to divide the parameter range between the different unstable modes. According to linear instability theory, K–H and parametric unstable regions both exist. However, note that all four modes (KHH, KHS, FDM and SDM) corresponded primarily to the K–H unstable region obtained from the theoretical analysis. Nevertheless, the parametric unstable mode was also observed when the oscillating frequency and amplitude were relatively low, and the liquid inertia force was relatively high. The surface wave amplitude was small but regular, and the evolution of this wave was similar to that of Faraday waves. The wave oscillating frequency was half that of the surface wave.

The low maturation rate of oocytes is an important reason for female infertility and failure of assisted pregnancy. The germinal vesicle breakdown (GVBD) is a landmark event of oocyte maturation. In our previous studies, we found that zona pellucida 3 (ZP3) was strongly concentrated in the nuclear region of germinal vesicle (GV) oocytes and interacted with aryl hydrocarbon receptor-interacting protein-like 1 (AIPL1) and lamin A to promote GVBD. In the current study, we found that lamin A is mainly concentrated in the nuclear membrane. When ZP3 is knocked down, lamin A will be partially transferred to the nucleus of oocytes. The prelamin A is increased in both the nuclear membrane and nucleus, while phosphorylated lamin A (p-lamin A) is significantly reduced. AIPL1 was also proved to accumulate in the GV region of oocytes, and ZP3 deletion can significantly inhibit the aggregation of AIPL1 in the nuclear region. Similar to ZP3 knockdown, the absence of AIPL1 resulted in a decrease in the occurrence of GVBD, an increase in the amount of prelamin A, and a significant decrease in p-lamin A in oocytes developed in vitro. Finally, we propose the hypothesis that ZP3 can stabilize farnesylated prelamin A on the nuclear membrane of AIPL1, and promote its further processing into mature lamin A, therefore promoting the occurrence of GVBD. This study may be an important supplement for the mechanism of oocyte meiotic resumption and provide new diagnostic targets and treatment clues for infertility patients with oocyte maturation disorder.

Immune cells play a key role in maintaining renal dynamic balance and dealing with renal injury. The physiological and pathological functions of immune cells are intricately connected to their metabolic characteristics. However, immunometabolism in chronic kidney disease (CKD) is not fully understood. Pathophysiologically, disruption of kidney immune cells homeostasis causes inflammation and tissue damage via triggering metabolic reprogramming. The diverse metabolic characteristics of immune cells at different stages of CKD are strongly associated with their different pathological effect. In this work, we reviewed the metabolic characteristics of immune cells (macrophages, natural killer cells, T cells, natural killer T cells and B cells) and several non-immune cells, as well as potential treatments targeting immunometabolism in CKD. We attempt to elaborate on the metabolic signatures of immune cells and their intimate correlation with non-immune cells in CKD.

The codling moth Cydia pomonella is a major pest of global significance impacting pome fruits and walnuts. It threatens the apple industry in the Loess Plateau and Bohai Bay in China. Sterile insect technique (SIT) could overcome the limitations set by environmentally compatible area-wide integrated pest management (AW-IPM) approaches such as mating disruption and attract-kill that are difficult to suppress in a high-density pest population, as well as the development of insecticide resistance. In this study, we investigated the effects of X-ray irradiation (183, 366, 549 Gy) on the fecundity and fertility of a laboratory strain of C. pomonella, using a newly developed irradiator, to evaluate the possibility of X-rays as a replacement for Cobalt60 (60Co-γ) and the expanded future role of this approach in codling moth control. Results show that the 8th-day is the optimal age for irradiation of male pupae. The fecundity decreased significantly as the dosage of radiation increased. The mating ratio and mating number were not influenced. However, treated females were sub-sterile at a radiation dose of 183 Gy (20.93%), and were almost 100% sterile at a radiation dose of 366 Gy or higher. Although exposure to a radiation dose of 366 Gy resulted in a significant reduction in the mating competitiveness of male moths, our radiation biology results suggest that this new generation of X-ray irradiator has potential applications in SIT programs for future codling moth control.

The study was to evaluate the reproducibility and validity of the FFQ for residents of northeast China. A total of 131 participants completed two FFQ (FFQ1 and FFQ2) within a 3-month period, 125 participants completed 8-d weighed diet records (WDR) and 112 participants completed blood biomarker testing. Reproducibility was measured by comparing nutrient and food intake between FFQ1 and FFQ2. The validity of the FFQ was assessed by WDR and the triad method. The Spearman correlation coefficients (SCC) and intraclass correlation coefficients (ICC) for reproducibility ranged from 0·41 to 0·69 (median = 0·53) and from 0·18 to 0·68 (median = 0·53) for energy and nutrients and from 0·37 to 0·73 (median = 0·59) and from 0·33 to 0·86 (median = 0·60) for food groups, respectively. The classifications of same or adjacent quartiles ranged from 73·64 to 93·80 % for both FFQ. The crude SCC between the FFQ and WDR ranged from 0·27 to 0·55 (median = 0·46) for the energy and nutrients and from 0·26 to 0·70 (median = 0·52) for food groups, and classifications of the same or adjacent quartiles ranged from 65·32 to 86·29 %. The triad method indicated that validation coefficients for the FFQ were above 0·3 for most nutrients, which indicated a moderate or high level of validity. The FFQ that was developed for residents of northeast China for the Northeast Cohort Study of China is reliable and valid for assessing the intake of most foods and nutrients.

N-acetylcysteine (NAC) possesses a strong capability to ameliorate high-fat diet (HFD)-induced non-alcoholic fatty liver disease (NAFLD) in mice, but the underlying mechanism is still unknown. Our study aimed to clarify the involvement of long non-coding RNA (lncRNA) in the beneficial effects of NAC on HFD-induced NAFLD. C57BL/6J mice were fed a normal-fat diet (10 % fat), a HFD (45 % fat) or a HFD plus NAC (2 g/l). After 14-week of intervention, NAC rescued the deleterious alterations induced by HFD, including the changes in body and liver weights, hepatic TAG, plasma alanine aminotransferase, plasma aspartate transaminase and liver histomorphology (haematoxylin and eosin and Oil red O staining). Through whole-transcriptome sequencing, 52 167 (50 758 known and 1409 novel) hepatic lncRNA were detected. Our cross-comparison data revealed the expression of 175 lncRNA was changed by HFD but reversed by NAC. Five of those lncRNA, lncRNA-NONMMUT148902·1 (NO_902·1), lncRNA-XR_001781798·1 (XR_798·1), lncRNA-NONMMUT141720·1 (NO_720·1), lncRNA-XR_869907·1 (XR_907·1), and lncRNA-ENSMUST00000132181 (EN_181), were selected based on an absolute log2 fold change value of greater than 4, P-value < 0·01 and P-adjusted value < 0·01. Further qRT-PCR analysis showed the levels of lncRNA-NO_902·1, lncRNA-XR_798·1, and lncRNA-EN_181 were decreased by HFD but restored by NAC, consistent with the RNA sequencing. Finally, we constructed a ceRNA network containing lncRNA-EN_181, 3 miRNA, and 13 mRNA, which was associated with the NAC-ameliorated NAFLD. Overall, lncRNA-EN_181 might be a potential target in NAC-ameliorated NAFLD. This finding enhanced our understanding of the biological mechanisms underlying the beneficial role of NAC.

The structure, powder diffraction patterns and bandgap measurements of a series of manganese- and tungsten-containing alkaline-earth double perovskites (CaxSr2−x)MnWO6 (x = 0.25, 0.5, 0.75, 1.5, 1.75) have been investigated. Powder X-ray diffraction patterns of this series of compounds measured at room temperature have been submitted to be included in the Powder Diffraction File (PDF). These compounds crystallize in monoclinic space group P21/n (No.14). From (Ca1.75 Sr0.25)MnWO6 to (Ca0.25Sr1.75)MnWO6, lattice parameters a range from 5.6729(2) Å to 5.6774(4) Å, b from 5.5160(2) Å to 5.6638(4) Å, c from 7.8741(3) Å to 8.0051(4) Å, V from 240.39(2) Å3 to 257.410(12) Å3, and Z = 2. These compounds are pseudo-tetragonal. They all consist of distorted MnO6 and WO6 octahedra with rotational mismatch angles and tilt angles with respect to each other. For (CaxSr2−x)MnWO6, as x increases, the mismatch angles for MnO6 octahedra increase from 7.96 (6)° to 13.12(8)° and from 9.28(7)° to 14.87(9)° for WO6 octahedra. Correspondingly, the tilt angles range from 11.60(15)° to 14.20(3)° for MnO6, and from 13.34(2)° to 16.35(3)° for WO6. Bandgap measurements suggest that these compounds to be direct-allowed semiconductors with bandgaps ranging from 1.5 to 2.5 eV, indicating that members of (CaxSr2−x)MnWO6 are potential photocatalysts and photovoltaic materials that absorb visible light of the solar spectrum.

This paper, in allusion to the limitations of traditional transfer alignment methods based on the external measurement equipment or the empirical model of angular deformation, proposes a rapid and accurate transfer alignment method without relying on the empirical angular deformation model. Firstly, the relationship between the actual angular deformation and the angular velocities measured by the gyroscopes in the master and slave inertial navigation systems (INSs) is derived to roughly estimate the angular deformation. Secondly, according to the error characteristics of gyroscopes, the error model of angular deformation is established. Thirdly, expanding the angular deformation error instead of the installation error angle, flexure angle and flexure angle rate into the state vector, a low-order transfer alignment filtering model independent of the empirical angular deformation model is established. The proposed method not only gets rid of the dependence on an empirical angular deformation model, but also realises the rapid and accurate initial alignment of the slave INS without adding any external measurement equipment. The simulations and experiments evidence the validity of the proposed transfer alignment method.