The traditional ant colony optimisation (ACO) algorithm, when applied to mobile robot path planning, faces several challenges: slow convergence, susceptibility to local optima, and the generation of paths with excessive turning points, all of which reduce the robot’s operational efficiency. To overcome these shortcomings, this paper proposes a targeted set of improvements designed to enhance algorithm performance and increase the practicality and efficiency of path planning. First, we introduce an initial pheromone enhancement mechanism based on the Bresenham algorithm. By augmenting pheromone concentration along the approximate straight-line path from the start to the goal, ants are guided to explore in the optimal direction, thereby significantly accelerating convergence. Second, we integrate a directional continuity factor into the path selection probability: by using vector dot products to strengthen the bias toward consistent directions and by coupling this with a curvature-based pheromone reward that favours straighter segments, we ensure smoother, more direct paths. Finally, we apply a spring-model-based smoothing strategy as a post-processing step to the paths generated by the ant colony, reducing path complexity and the number of turns to guarantee efficient and reliable robot motion. To validate the performance of the improved algorithm, we conduct comparative experiments on a MATLAB platform against other enhanced ACO variants reported in the literature. The results demonstrate that our proposed algorithm significantly outperforms these existing methods across all performance metrics, exhibiting superior path planning capabilities.

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.

This study presents an experimental investigation on the drag reduction (DR) over air-fed hydrophobic surfaces (AFHS) with longitudinal grooves in a turbulent boundary layer (TBL). The AFHS, designed with longitudinal grooves and air supplement channels, enables active maintenance and reversible restoration of the plastron in TBL. The shear stress sensor, particle image velocimetry (PIV) and interfacial visualization are applied for simultaneous measurement of the skin friction drag, TBL velocity profiles and plastron coverage. The AFHS demonstrated the ability to control plastron shape and enhance its sustainability with friction Reynolds numbers up to 1723. Drag reductions ranging from 14.8–35.8 % are obtained over the AFHS. At same designed air fraction, the AFHS exhibits higher DR than the conventional hydrophobic surface. By minimizing influences of the degradation of plastron coverage and the shape, the monotonic increase in DR and slip velocity with Reynolds number is confirmed, which corroborates trends from direct numerical simulations. Turbulence statistics measured by PIV reveal an apparent decrease in near-wall viscous shear stress, and corresponding slip velocities both in the viscous sublayer and log-law region. The Reynolds shear stress and streamwise velocity fluctuations over the AFHS are larger than those over a smooth wall, where near-wall vortex cores of the AFHS are found to be shifted 10 % towards the wall. This study presents the first simultaneous experimental quantification of skin friction, plastron coverage and turbulence statistics under sustained plastron conditions in TBL. The results demonstrate the efficacy of the plastron control strategy on hydrophobic surfaces and address a critical gap in validating numerical predictions for turbulent flows in practical applications.

Non-spherical bubble collapses near solid boundaries, generating water hammer pressures and shock waves, were recognized as key mechanisms for cavitation erosion. However, there is no agreement on local erosion patterns, and cavitation erosion damage lacks quantitative analysis. In our experiments, five distinct local erosion patterns were identified on aluminium sample surfaces, resulting from the collapse of laser-induced cavitation bubbles at moderate stand-off distances of $0.4\leqslant \gamma \leqslant 2.2$, namely bipolar, monopolar, annular, solar-halo and central. Among them, the bipolar and monopolar patterns exhibit the most severe cavitation erosion when the toroidal bubbles undergo asymmetrical collapse along the circumferential direction during the second cycle. Shadowgraphy visualization revealed that asymmetrical collapse caused shockwave focusing through head-on collision and oblique superposition of wavefronts. This led to the variations in toroidal bubble radii and the positions of maximum erosion depth not matching at certain stand-off distances. Both initial plasma asymmetry and bubble–wall stand-off distance were critical in determining circumferential asymmetrical collapse behaviours. At large initial aspect ratios, the elliptical jet tips form during the contraction process, resulting in the toroidal bubble collapsing from regions with smaller curvature radii, ultimately converging to the colliding point along the circumferential direction. Our three-dimensional simulations using OpenFOAM successfully reproduce the key features of circumferentially asymmetrical bubble collapse. This study provides new insights into the non-spherical near-wall bubble collapse dynamics and provides a foundation for developing predictive models for cavitation erosion.

Drop shafts play a vital role in urban drainage and tunnel sewerage systems. To gain an insight into the magnitude of transient flow fluctuations inside a drop shaft attached to a scroll vortex intake, large eddy simulations (LESs) are performed in this study. First, the LES predictions are validated against experimental data from Guo (2012), demonstrating good agreement for both the time-averaged head-discharge relationship and the minimum air-core percentage. Subsequently, the transient fluctuations of the air core inside the drop shaft are investigated, with the worst-case scenario being choking of the air core inside the drop shaft, which might lead to a grave consequence to the system response. The transient fluctuations of the air core are found to have up to 13 % variation in the non-dimensional air-core area due to dynamic contraction and expansion. Additionally, velocity characteristics at different vertical and angular locations within the drop shaft are analysed, offering new insights into vortex structures and challenging assumptions from existing analytical models. The transient simulation results also reveal a global vortex structure together with embedded small-scale vortices using the $\Omega$-criterion vortex identification method.

During speech production, bilinguals need to encode target words phonologically before articulation, and the encoding units differ across languages. It remains an open question whether bilinguals employ the encoding unit in their L1 or L2 for phonological encoding. The present study examined the primary unit of phonological encoding in L2 speech production by Mandarin Chinese-English bilinguals with high and low L2 proficiency using the picture-word interference paradigm. Results revealed segmental priming effects with one or two segments and syllabic overlap at varied stimulus onset asynchronies (SOAs), for both groups in their L2 speech production. Additionally, the results demonstrated increasing effects with more overlapping segments for both groups, and the facilitation effects decreased as SOA increased. These results indicate that bilinguals encode English words with the segment as a primary planning unit regardless of their L2 proficiency. The time course of segmental encoding in L2 production is also discussed.

Feed intake, a critical factor for dairy cows during the postpartum period, is intricately linked to the rumen microbiome. However, the specific roles of rumen metagenome and metabolome in modulating feed intake in postpartum dairy cows remain unclear. In the current study, 20 postpartum dairy cows were divided into low feed intake (n = 5) and high feed intake (HFI, n = 5) groups to investigate the role of ruminal microbial composition, function, and metabolism on feed intake using a combined approach of metagenomics and metabolomics. Our analysis revealed a significant enrichment of Bacteroides and Fibrobacter in HFI cows (p < 0.05), contributing to enhanced protein and energy metabolism. Metabolomic analysis disclosed that HFI cows exhibited a higher relative concentration of rumen metabolites, such as alpha-tocopheryl acetate (fold change = 9.2, p = 0.008), linoleic acid (fold change = 5.96, p = 0.007), and leucine (fold change = 4.14, p = 0.004). Spearman correlation analysis pinpointed a positive correlation between specific microbiota (Succinivibrionaceae and Prevotellaceae) and metabolites involved in amino acid and peptide metabolism, fatty acid metabolism, and conjugates. Furthermore, co-occurrence network analysis showed that the unclassified_f_Succinivibrionaceae, Succinatimonas, and Ruminobacte were significantly associated with dry matter intake-associated metabotypes, including rumen metabolites involved in fatty acids and conjugates, favonoids, and gycerophosphocholines. The feed intake variation explained by the rumen microbiome, functions, and metabolites were 29.63%, 27.30%, and 33.50%, respectively. These findings provide comprehensive insights into rumen metagenomics at different feed intake levels in postpartum dairy cows, potentially guiding strategies to manipulate the rumen microbiome for feed intake and production improvement.

Fe2+-catalyzed transformation of poorly crystalline ferrihydrite into highly crystalline forms is critical in the biogeochemical cycles of Fe, nutrients, and trace elements. The co-existence of ferrihydrite and kaolinite is widespread in soils of tropical and subtropical regions. In this investigation, three associations of ferrihydrite–kaolinite with ratios of 10, 30, and 50% (10% Fhy–Kln, 30% Fhy–Kln, and 50% Fhy–Kln) were examined to study the impact of the initial Fe2+ concentration and pH on Fe2+-catalyzed transformation under anoxic conditions. The findings reveal that the ferrihydrite in the 10% Fhy–Kln associations has the smallest particle size and the largest number of surface hydroxyl groups. At 0.5 mM Fe2+ and pH 7.5, ferrihydrite underwent transformation into lepidocrocite, with the presence of kaolinite promoting the formation of goethite. Moreover, the presence of kaolinite influenced the morphology of the resulting transformation products. A decrease in pH hindered the transformation of ferrihydrite, while an increase in Fe2+ concentration resulted in the formation of magnetite. The impact of kaolinite in the association system on the transformations of ferrihydrite occurs primarily through alteration of the properties of ferrihydrite during its formation process.

Er:CaF2 crystals are crucial gain media for producing 3 μm mid-infrared (MIR) lasers pumped by 976 nm continuous-wave (CW) lasers owing to their low phonon energy and high conversion efficiency. This study investigated the damage characteristics and mechanism of Er:CaF2 crystals irradiated with a 976 nm CW laser. The laser-induced damage threshold of Er:CaF2 crystals with different Er3+ doping levels was tested; the damage morphology consists of a series of regular 70° cracks related to the angle of the crystal slip system on the surface. A finite-element model was used to calculate the temperature and stress fields of the crystals. The results indicated that the damage can be attributed to surface tensile stresses caused by the temperature gradient, and crystals with higher doping concentrations were more susceptible to damage owing to stronger light absorption. These findings provide valuable insights into the development of high-power MIR lasers.

Human alveolar echinococcosis is a hard-to-treat and largely untreated parasitic disease with high associated health care costs. The current antiparasitic treatment for alveolar echinococcosis relies exclusively on albendazole, which does not act parasiticidally and can induce severe adverse effects. Alternative, and most importantly, improved treatment options are urgently required. A drug repurposing strategy identified the approved antimalarial pyronaridine as a promising candidate against Echinococcus multilocularis infections. Following a 30-day oral regimen (80 mg kg−1 day−1), pyronaridine achieved an excellent therapeutic outcome in a clinically relevant hepatic alveolar echinococcosis murine model, showing a significant reduction in both metacestode size (72.0%) and counts (85.2%) compared to unmedicated infected mice, which revealed significantly more potent anti-echinococcal potency than albendazole treatment at an equal dose (metacestode size: 42.3%; counts: 4.1%). The strong parasiticidal activity of pyronaridine was further confirmed by the destructive damage to metacestode tissues observed morphologically. In addition, a screening campaign combined with computational similarity searching against an approved drug library led to the identification of pirenzepine, a gastric acid-inhibiting drug, exhibiting potent parasiticidal activity against protoscoleces and in vitro cultured small cysts, which warranted further in vivo investigation as a promising anti-echinococcal lead compound. Pyronaridine has a known drug profile and a long track record of safety, and its repurposing could translate rapidly to clinical use for human patients with alveolar echinococcosis as an alternative or salvage treatment.

The Indo-Pacific Warm Pool (IPWP) significantly influences the global hydrological cycle through its impact on atmospheric-oceanic circulation. However, gaining a comprehensive understanding of the hydrologic climate dynamics within the IPWP and its broader effects on the global climate have been hindered by spatial and temporal limitations in paleoclimate records on orbital timescales. In this study, we reconstructed precipitation records (approximated from δ18Osw-ivc) over the past 450 kyr, based on planktonic foraminiferal Mg/Ca and δ18O data obtained from International Ocean Discovery Program Site U1486 in the western tropical Pacific. The δ18Osw-ivc record revealed a generally consistent pattern with precession variations over the past 450 kyr, closely corresponding to changes in boreal summer insolation at the equator. The δ18Osw-ivc record displayed an anti-phased relationship with Chinese speleothem δ18O records on the precession band, with lower precipitation in the western tropical Pacific and higher precipitation in the East Asia summer monsoon region during periods of high Northern Hemisphere summer insolation. This anti-phased correlation primarily resulted from the north-south migration of the Intertropical Convergence Zone (ITCZ), influenced by the interhemispheric insolation contrast. By considering additional δ18Osw-ivc records from various locations within the IPWP region, we identified synchronous precipitation changes within the IPWP on the precession band. The synchronization of precipitation on both margins of the ITCZ’s seasonal range and differences between central and marginal regions of the ITCZ within the IPWP revealed the expansion and contraction of the ITCZ on precession band.

Modern studies suggest that the upper ocean heat content (OHC) in the tropical Indian Ocean (TIO) is a better qualitative predictor of the Indian summer monsoon rainfall (ISMR). But it is still unknown how the OHC is mechanically linked to ISMR and whether it can be applied to long-term climate changes. By analyzing reanalysis datasets across the 20th century, we illustrate that in contrast to those anomalies associated with stronger ISM westerlies, higher ISMR is accompanied with summer surface high pressure and east wind anomalies from the South China Sea to the Bay of Bengal (BOB), and is loosely related to increased western TIO OHC during decayed phases of positive Indian Ocean dipole (IOD) and of El Niño. Except for 1944–1968 AD, this interannually lagged ISMR response to winter OHC is insignificant, probably suppressed by those simultaneous effects of positive IOD and El Niño on ISMR. In our paleoclimatic simulations, this modern observed lagged response is interrupted by seasonally reversed insolation anomalies at the 23,000-year precessional band. Our sensitivity experiments further prove that, the ISMR can be simultaneously reduced by positive IOD-like summer OHC anomalies both for modern and precessional situations. This damping effect is mainly contributed by the warmer western TIO that triggers anomalous surface high pressure, easterly winds, and drastically reduced rainfall from BOB to Arabian Peninsula, but with slightly increased rainfall in the northern ISM region. And the cooler southeastern TIO will only moderately increase rainfall in the southern ISM region.

In this paper, we mainly prove the following conjectures of Sun [16]: Let p > 3 be a prime. Then

\begin{align*}&A_{2p}\equiv A_2-\frac{1648}3p^3B_{p-3}\ ({\rm{mod}}\ p^4),\\&A_{2p-1}\equiv A_1+\frac{16p^3}3B_{p-3}\ ({\rm{mod}}\ p^4),\\&A_{3p}\equiv A_3-36738p^3B_{p-3}\ ({\rm{mod}}\ p^4),\end{align*}

where $A_n=\sum_{k=0}^n\binom{n}k^2\binom{n+k}{k}^2$ is the nth Apéry number, and Bn is the nth Bernoulli number.

Knowledge of clay mineralogy is essential for understanding the source areas and weathering environments of fluvial sediments, particularly in large reservoirs facing serious problems with sediment deposition, such as the Three Gorges Reservoir (TGR) in east-central China. The purpose of the present study was to identify the sediment provenances and weathering regimes contributing to the sediment load in the TGR by determining the clay-mineral and geochemical compositions of surface sediments during various seasons. X-ray diffractometry and scanning electron microscopy (SEM) were used to identify the clay minerals. The results showed that illite was the dominant mineral, followed in order by kaolinite, chlorite, and montmorillonite. From a mineralogical perspective, distal sources were the main contributors to the TGR sediments, and regional sources (surrounding tributaries) also contributed much during the three seasons, while proximal sources (hillslope soils) supplied sediment in the flood season but not in the other two seasons. The geochemical and hydrological data generally supported the mineralogical results. In the flood season, the chemical indices of the TGR sediments were >0.4, showing that the sediments contained Al-rich illite minerals and experienced intense hydrolysis. In the other two seasons the TGR sediments were enriched in Fe- and Mg-rich illite minerals, resulting from strong physical weathering. Furthermore, precipitation, rather than air temperature or latitude, was the factor that controlled weathering intensity. These findings provide deep insights into the sediment cycle and chemical weathering in this large reservoir basin.

The laboratory generation and diagnosis of uniform near-critical-density (NCD) plasmas play critical roles in various studies and applications, such as fusion science, high energy density physics, astrophysics as well as relativistic electron beam generation. Here we successfully generated the quasistatic NCD plasma sample by heating a low-density tri-cellulose acetate (TCA) foam with the high-power-laser-driven hohlraum radiation. The temperature of the hohlraum is determined to be 20 eV by analyzing the spectra obtained with the transmission grating spectrometer. The single-order diffraction grating was employed to eliminate the high-order disturbance. The temperature of the heated foam is determined to be T = 16.8 ± 1.1 eV by analyzing the high-resolution spectra obtained with a flat-field grating spectrometer. The electron density of the heated foam is about $N_e=4.0\pm 0.3\times {10}^{20}{\text{cm}}^{-3}$ under the reasonable assumption of constant mass density.

Blastocystis sp. is a prevalent protistan parasite found globally in the gastrointestinal tract of humans and various animals. This review aims to elucidate the advancements in research on axenic isolation techniques for Blastocystis sp. and their diverse applications. Axenic isolation, involving the culture and isolation of Blastocystis sp. free from any other organisms, necessitates the application of specific media and a series of axenic treatment methods. These methods encompass antibiotic treatment, monoclonal culture, differential centrifugation, density gradient separation, micromanipulation and the combined use of culture media. Critical factors influencing axenic isolation effectiveness include medium composition, culture temperature, medium characteristics, antibiotic type and dosage and the subtype (ST) of Blastocystis sp. Applications of axenic isolation encompass exploring pathogenicity, karyotype and ST analysis, immunoassay, characterization of surface chemical structure and lipid composition and understanding drug treatment effects. This review serves as a valuable reference for clinicians and scientists in selecting appropriate axenic isolation methods.

Blastocystis sp. is a common parasite in the intestinal tract of humans and animals. The clinical diagnosis of Blastocystis sp. mainly depends on the microscopic observation of parasite, which can lead to false-negative results. An accurate and convenient diagnostic approach for Blastocystis sp. infection is crucial for effectively preventing and controlling blastocystosis. Herein, we developed a recombinase polymerase amplification (RPA) method for detecting Blastocystis sp. The results showed that the DNA amplification by RPA established in this study could be performed within 5 min at 37°C, with maximum band intensity observed at 30 min. The minimum detection limit of RPA was 100 fg μL−1, consistent with conventional polymerase chain reaction (cPCR). Furthermore, the RPA method exhibited no cross-reactivity with 7 other non-target pathogens in the intestinal tract. Next, the newly established RPA method was used to analyse 40 fecal samples collected clinically, and the detection results were consistent with cPCR. These results corroborate that the newly developed RPA method has good sensitivity and specificity and offers the advantage of short detection times, which can be harnessed for differential diagnosis and rapid detection of Blastocystis sp.