Path planning, as a critical component of mobile robotic systems, significantly impacts operational efficiency and energy consumption ratios. State-of-the-art algorithms often suffer from inadequate real-time adjustment capability, insufficient dynamic environment adaptation, and suboptimal computational efficiency. To resolve these limitations, we propose a bidirectionally optimized path planning algorithm named Bidirectional Q-learning LPA* (BQ-LPA*), which incorporates three key innovations. Specifically, to enhance the global search capability of the LPA* framework, we replace fixed heuristic functions with a Q-learning-driven adaptive heuristic mechanism, which improves path quality through dynamic heuristic weighting and update strategies. Additionally, to improve the convergence rate and sample efficiency of Q-learning in complex environments, we propose integrating the LPA* framework to provide prior knowledge guidance, which can effectively minimize redundant exploration attempts by informed pathfinding initialization. Moreover, the Q-learning method inherently faces dimensionality challenges in high-dimensional continuous spaces, which manifest as action space congestion, storage bottlenecks, and computational inefficiency. To mitigate these risks, we devise an LPA*-based space discretization strategy that can reduce action space dimensionality and preserve the path feasibility. Experimental results show that, compared with mainstream path planning algorithms, BQ-LPA* achieves higher accuracy and faster convergence in mobile robot path planning.

High-sensitivity observations of PSR J1919+1745 were conducted using the Five-hundred-metre Aperture Spherical Radio Telescope (FAST) at a central frequency of 1 250 MHz, enabling a detailed investigation of its single-pulse behaviour. Our research indicates that this pulsar is a normal pulsar, exhibiting null behaviour, subpulse drifting, and occasional bright pulses. Moreover, we observed that the null events tend to be of short duration, with an estimated overall null fraction of approximately $29.5\pm1.1\% $. Through Sliding Fluctuation Spectrum analysis, the modulation period of subpulse drifting is determined to be $P_3=(6.1 \pm 0.7)P_1$ (where $P_1$ denotes the pulsar rotation period), and a non-drifting behaviour is also observed besides this. Analysis using the Harmonic-Resolved Fourier Spectrum indicates that a combination of amplitude modulation and phase modulation causes the subpulse drifting behaviour of this pulsar. Furthermore, the value $P_2$, derived from phase modulation, is approximately $360^\circ / 21 = 17.1^\circ$. polarisation analysis shows a moderate degree of linear polarisation ($37.22\pm0.59\% $), an S-shaped swing in the polarisation position angle, and an approximate $90^\circ$ orthogonal polarisation jump. The radiation characteristics of PSR J1919+1745 will expand the sample of pulsars with pulse null and subpulse drifting, thus contributing to future systematic studies on the physical origins of pulse null and subpulse drifting phenomena.

The emergence, on the Loess Plateau of Central China, of settlements enclosed by circular ditches has engendered lively debate about the function of these (often extensive) ditch systems. Here, the authors report on a suite of new dates and sedimentological analyses from the late Yangshao (5300–4800 BP) triple-ditch system at the Shuanghuaishu site, Henan Province. Exploitation of natural topographic variations, and evidence for ditch maintenance and varied water flows, suggests a key function in hydrological management, while temporal overlap in the use of these three ditches reveals the large scale of this endeavour to adapt to the pressures of the natural environment.

Saccharum barberi is regarded as a sugarcane germ plasm resource of potential value. Tissue culture serves multiple purposes in breeding-related research for sugarcane. The response to tissue culture varies considerably among sugarcane genotypes; however, the influence of genetic differences on the tissue culture performance of S. barberi had not been previously investigated. This study evaluated the genotypic variation in tissue culture response among six accessions of S. barberi. Seven parameters were assessed to determine the tissue culture performance: callus induction frequency (CIF), embryogenic callus ratio, embryogenic callus induction frequency, callus regeneration frequency, callus regeneration coefficient, overall regeneration frequency (ORF) and overall regeneration coefficient (ORC). Significant variations (P < 0.05) were observed among the S. barberi genotypes for all parameters. The broad-sense heritability ranged from 80.77% to 93.10%, indicating that genetic differences were the primary source of genotypic variation. ORF exhibited the highest diversity among the parameters, with a genotypic coefficient of variation up to 70.06%. Pansahi was identified as the most amenable genotype to tissue culture, demonstrating superior performance in both callus induction and plant regeneration. CIFs at different induction periods were strongly positively correlated with both ORF and ORC, particularly during the first week, suggesting that CIF may serve as a promising early predictor of overall regeneration competence. This study is the first to report the effect of genotypic variation on callus induction and plant regeneration of S. barberi, and the findings will be valuable for future research involving tissue culture in this species.

The evolution of the mixing layer in rotation-driven Rayleigh–Taylor (RT) turbulence is investigated theoretically and numerically. It is found that the evolution of the turbulent mixing layer in rotation-driven RT turbulence is self-similar, but the width of the mixing layer does not follow the classical quadratic growth observed in planar RT turbulence induced by constant external acceleration. Based on the approach used in cylindrical RT turbulence without rotation (Zhao et al. 2021, Phys. Rev. E, vol. 104, 055104), a theoretical model is established to predict the growth of mixing widths in rotation-driven RT turbulence, and the model’s excellent agreement with direct numerical simulations (DNS) serves to validate its reliability. The model proposes a rescaled time that allows for the unification of the evolutions of the mixing layers in rotation-driven RT turbulence with various Atwood numbers and rotation numbers. It is further identified that the growth law described by the model of rotation-driven RT turbulence can be recovered to quadratic growth when the effects of geometrical curvature, radial inhomogeneity of the centrifugal force, and Coriolis force become negligible. Moreover, based on the DNS results, we find that turbulent mixing layers in rotation-driven RT turbulence cover a wide range of length scales. The strong rotation at the same Atwood number enhances the generation of fine-scale structures but is not conducive to overall fluid mixing within the mixing layer.

Probiotics represent a promising alternative to antibiotics in livestock production. This study investigated the effects of compound probiotic fermentation (FAM, comprising Lactobacillus acidophilus and Bacillus subtilis) on nitrogen utilization and nutrient digestibility in weaned piglets. A total of 180 piglets (28 days old; initial weight: 8.21 ± 0.67 kg) were allocated to three groups: control (basal diet), FAM (basal diet + 0.1% FAM), and antibiotic (basal diet + 55 mg/kg kitasamycin + 75 mg/kg chlortetracycline). After a 30-day trial, FAM supplementation significantly increased apparent nutrient digestibility of crude protein and ether extract, enhanced duodenal and jejunal digestive enzyme activities, and reduced fecal nitrogen excretion and serum urea nitrogen levels (p < 0.05). Serum metabolomics revealed that FAM upregulated metabolites linked to energy metabolism (e.g., creatine, L-carnosine), which are metabolites of amino acid metabolism, and enriched pathways such as amino acid biosynthesis and protein digestion. These findings demonstrate that FAM improves nitrogen utilization efficiency and gut health in piglets via biosynthesis and metabolism of amino acids, offering a viable alternative to antibiotics.

Tuberculosis (TB) remains a significant public health concern in China. Using data from the Global Burden of Disease (GBD) study 2021, we analyzed trends in age-standardized incidence rate (ASIR), prevalence rate (ASPR), mortality rate (ASMR), and disability-adjusted life years (DALYs) for TB from 1990 to 2021. Over this period, HIV-negative TB showed a marked decline in ASIR (AAPC = −2.34%, 95% CI: −2.39, −2.28) and ASMR (AAPC = −0.56%, 95% CI: −0.62, −0.59). Specifically, drug-susceptible TB (DS-TB) showed reductions in both ASIR and ASMR, while multidrug-resistant TB (MDR-TB) showed slight decreases. Conversely, extensively drug-resistant TB (XDR-TB) exhibited upward trends in both ASIR and ASMR. TB co-infected with HIV (HIV-DS-TB, HIV-MDR-TB, HIV-XDR-TB) showed increasing trends in recent years. The analysis also found an inverse correlation between ASIRs and ASMRs for HIV-negative TB and the Socio-Demographic Index (SDI). Projections from 2022 to 2035 suggest continued increases in ASIR and ASMR for XDR-TB, HIV-DS-TB, HIV-MDR-TB, and HIV-XDR-TB. The rising burden of XDR-TB and HIV-TB co-infections presents ongoing challenges for TB control in China. Targeted prevention and control strategies are urgently needed to mitigate this burden and further reduce TB-related morbidity and mortality.

Let S be a minimal irregular surface of general type, whose Albanese map induces a hyperelliptic fibration $f:\,S \to B$ of genus g. We prove a quadratic upper bound on the genus g (i.e., $g\leq h\big (\chi (\mathcal {O}_S)\big )$, where h is a quadratic function). We also construct examples showing that the quadratic upper bounds cannot be improved to linear ones. In the special case when $p_g(S)=q(S)=1$, we show that $g\leq 14$.

In behavioral, biomedical, and psychological studies, structural equation models (SEMs) have been widely used for assessing relationships between latent variables. Regression-type structural models based on parametric functions are often used for such purposes. In many applications, however, parametric SEMs are not adequate to capture subtle patterns in the functions over the entire range of the predictor variable. A different but equally important limitation of traditional parametric SEMs is that they are not designed to handle mixed data types—continuous, count, ordered, and unordered categorical. This paper develops a generalized semiparametric SEM that is able to handle mixed data types and to simultaneously model different functional relationships among latent variables. A structural equation of the proposed SEM is formulated using a series of unspecified smooth functions. The Bayesian P-splines approach and Markov chain Monte Carlo methods are developed to estimate the smooth functions and the unknown parameters. Moreover, we examine the relative benefits of semiparametric modeling over parametric modeling using a Bayesian model-comparison statistic, called the complete deviance information criterion (DIC). The performance of the developed methodology is evaluated using a simulation study. To illustrate the method, we used a data set derived from the National Longitudinal Survey of Youth.

Depression is highly prevalent in haemodialysis patients, and diet might play an important role. Therefore, we conducted this cross-sectional study to determine the association between dietary fatty acids (FA) consumption and the prevalence of depression in maintenance haemodialysis (MHD) patients. Dietary intake was assessed using a validated FFQ between December 2021 and January 2022. The daily intake of dietary FA was categorised into three groups, and the lowest tertile was used as the reference category. Depression was assessed using the Patient Health Questionnaire-9. Logistic regression and restricted cubic spline (RCS) models were applied to assess the relationship between dietary FA intake and the prevalence of depression. As a result, after adjustment for potential confounders, a higher intake of total FA [odds ratio (OR)T3 vs. T1 = 1·59, 95 % confidence interval (CI) = 1·04, 2·46] and saturated fatty acids (SFA) (ORT3 vs. T1 = 1·83, 95 % CI = 1·19, 2·84) was associated with a higher prevalence of depressive symptoms. Significant positive linear trends were also observed (P < 0·05) except for SFA intake. Similarly, the prevalence of depression in MHD patients increased by 20% (OR = 1.20, 95% CI = 1.01–1.43) for each standard deviation increment in SFA intake. RCS analysis indicated an inverse U-shaped correlation between SFA and depression (Pnonlinear > 0·05). Additionally, the sensitivity analysis produced similar results. Furthermore, no statistically significant association was observed in the subgroup analysis with significant interaction. In conclusion, higher total dietary FA and SFA were positively associated with depressive symptoms among MHD patients. These findings inform future research exploring potential mechanism underlying the association between dietary FA and depressive symptoms in MHD patients.

We present a systematic study on the effects of small aspect ratios $\varGamma$ on heat transport in liquid metal convection with a Prandtl number of $Pr=0.029$. The study covers $1/20\le \varGamma \le 1$ experimentally and $1/50\le \varGamma \le 1$ numerically, and a Rayleigh number $Ra$ range of $4\times 10^3 \le Ra \le 7\times 10^{9}$. It is found experimentally that the local effective heat transport scaling exponent $\gamma$ changes with both $Ra$ and $\varGamma$, attaining a $\varGamma$-dependent maximum value before transition-to-turbulence and approaches $\gamma =0.25$ in the turbulence state as $Ra$ increases. Just above the onset of convection, Shishkina (Phys. Rev. Fluids, vol 6, 2021, 090502) derived a length scale $\ell =H/(1+1.49\varGamma ^{-2})^{1/3}$. Our numerical study shows $Ra_{\ell }$, i.e. $Ra$ based on $\ell$, serves as a proper control parameter for heat transport above the onset with $Nu-1=0.018(1+0.34/\varGamma ^2)(Ra/Ra_{c,\varGamma }-1)$. Here $Ra_{c,\varGamma }$ represents the $\varGamma$-dependent critical $Ra$ for the onset of convection and $Nu$ is the Nusselt number. In the turbulent state, for a general scaling law of $Nu-1\sim Ra^\alpha$, we propose a length scale $\ell = H/(1+1.49\varGamma ^{-2})^{1/[3(1-\alpha )]}$. In the case of turbulent liquid metal convection with $\alpha =1/4$, our measurement shows that the heat transport will become weakly dependent on $\varGamma$ with $Ra_{\ell }\equiv Ra/(1+1.49\varGamma ^{-2})^{4/3} \ge 7\times 10^5$. Finally, once the flow becomes time-dependent, the growth rate of $Nu$ with $Ra$ declines compared with the linear growth rate in the convection state. A hysteresis is observed in a $\varGamma =1/3$ cell when the flow becomes time-dependent. Measurements of the large-scale circulation suggest the hysteresis is caused by the system switching from a single-roll-mode to a double-roll-mode in an oscillation state.

Accurately predicting neurosyphilis prior to a lumbar puncture (LP) is critical for the prompt management of neurosyphilis. However, a valid and reliable model for this purpose is still lacking. This study aimed to develop a nomogram for the accurate identification of neurosyphilis in patients with syphilis. The training cohort included 9,504 syphilis patients who underwent initial neurosyphilis evaluation between 2009 and 2020, while the validation cohort comprised 526 patients whose data were prospectively collected from January 2021 to September 2021. Neurosyphilis was observed in 35.8% (3,400/9,504) of the training cohort and 37.6% (198/526) of the validation cohort. The nomogram incorporated factors such as age, male gender, neurological and psychiatric symptoms, serum RPR, a mucous plaque of the larynx and nose, a history of other STD infections, and co-diabetes. The model exhibited good performance with concordance indexes of 0.84 (95% CI, 0.83–0.85) and 0.82 (95% CI, 0.78–0.86) in the training and validation cohorts, respectively, along with well-fitted calibration curves. This study developed a precise nomogram to predict neurosyphilis risk in syphilis patients, with potential implications for early detection prior to an LP.

Schistosomiasis, a parasite infectious disease caused by Schistosoma japonicum, often leads to egg granuloma and fibrosis due to the inflammatory reaction triggered by egg antigens released in the host liver. This study focuses on the role of the egg antigens CP1412 protein of S. japonicum (SjCP1412) with RNase activity in promoting liver fibrosis. In this study, the recombinant egg ribonuclease SjCP1412, which had RNase activity, was successfully prepared. By analysing the serum of the population, it has been proven that the anti-SjCP1412 IgG in the serum of patients with advanced schistosomiasis was moderately correlated with liver fibrosis, and SjCP1412 may be an important antigen associated with liver fibrosis in schistosomiasis. In vitro, the rSjCP1412 protein induced the human liver cancer cell line Hep G2 and liver sinusoidal endothelial cells apoptosis and necrosis and the release of proinflammatory damage-associated molecular patterns (DAMPs). In mice infected with schistosomes, rSjCP1412 immunization or antibody neutralization of SjCP1412 activity significantly reduced cell apoptosis and necroptosis in liver tissue, thereby reducing inflammation and liver fibrosis. In summary, the SjCP1412 protein plays a crucial role in promoting liver fibrosis during schistosomiasis through mediating the liver cells apoptosis and necroptosis to release DAMPs inducing an inflammatory reaction. Blocking SjCP1412 activity could inhibit its proapoptotic and necrotic effects and alleviate hepatic fibrosis. These findings suggest that SjCP1412 may be served as a promising drug target for managing liver fibrosis in schistosomiasis japonica.

This study aimed to assess how Bacillus subtilis and Enterococcus faecium co-fermented feed (FF) affects the antioxidant capacity, muscle fibre types and muscle lipid profiles of finishing pigs. In this study, a total of 144 Duroc × Berkshire × Jiaxing Black finishing pigs were randomly assigned into three groups with four replicates (twelve pigs per replication). The three treatments were a basal diet (0 % FF), basal diet + 5 % FF and basal diet + 10 % FF, respectively. The experiment lasted 38 d after 4 d of acclimation. The study revealed that 10 % FF significantly increased the activity of superoxide dismutase (SOD) and catalase (CAT) compared with 0 % FF group, with mRNA levels of up-regulated antioxidant-related genes (GPX1, SOD1, SOD2 and CAT) in 10 % FF group. 10 % FF also significantly up-regulated the percentage of slow-twitch fibre and the mRNA expression of MyHC I, MyHC IIa and MyHC IIx, and slow MyHC protein expression while reducing MyHC IIb mRNA expression. Lipidomics analysis showed that 5 % FF and 10 % FF altered lipid profiles in longissimus thoracis. 10 % FF particularly led to an increase in the percentage of TAG. The Pearson correlation analysis indicated that certain molecular markers such as phosphatidic acid (PA) (49:4), Hex2Cer (d50:6), cardiolipin (CL) (72:8) and phosphatidylcholine (PC) (33:0e) could be used to indicate the characteristics of muscle fibres and were closely related to meat quality. Together, our findings suggest that 10 % FF improved antioxidant capacity, enhanced slow-twitch fibre percentage and altered muscle lipid profiles in finishing pigs.