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Multispectral imaging technology analyzes for each pixel a wide spectrum of light and provides more spectral information compared to traditional RGB images. Most current Unmanned Aerial Vehicles (UAV) camera systems are limited by the number of spectral bands (≤10 bands) and are usually not fully integrated with the ground controller to provide a live view of the spectral data. We have developed a compact multispectral camera system which has two CMV2K 4x4 snapshot mosaic sensors internally, providing 31 bands in total covering the visible and near-infrared spectral range (460-860nm). It is compatible with (but not limited to) the DJI M600 and can be easily mounted to the drone. Our system is fully integrated with the drone, providing stable and consistent communication between the flight controller, the drone/UAV, and our camera payload. With our camera control application on an Android tablet connected to the flight controller, users can easily control the camera system with a live view of the data and many useful information including histogram, sensor temperature, etc. The system acquires images at a maximum framerate of 2x20 fps and saves them on an internal storage of 1T Byte. The GPS data from the drone is logged with our system automatically. After the flight, data can be easily transferred to an external hard disk. Then the data can be visualized and processed using our software into single multispectral cubes and one stitched multispectral cube with a data quality report and a stitching report.

BackgroundDepression, one of the most frequent non-motor symptoms in Parkinson’s disease (PD), was proposed to be related to neural network dysfunction in advanced PD patients. However, the underlying mechanisms in the early stage remain unclear. The study was aimed to explore the alterations of large-scale neural networks in de novo PD patients with depression.MethodsWe performed independent component analysis (ICA) on the data of resting-state functional magnetic resonance imaging from 21 de novo PD patients with depression (dPD), 34 de novo PD patients without depression (ndPD), and 43 healthy controls (HCs) to extract functional networks. Intranetwork and internetwork connectivity was calculated for comparison between groups, correlation analysis, and predicting the occurrence of depression in PD.ResultsWe observed an ordered decrease of connectivity among groups within the ventral attention network (VAN) (dPD < ndPD < HCs), mainly located in the left middle temporal cortex. Besides, dPD patients exhibited hypoconnectivity between the auditory network (AUD) and default mode network (DMN) or VAN compared to ndPD patients or healthy controls. Correlation analysis revealed that depression severity was negatively correlated with connectivity value within VAN and positively correlated with the connectivity value of AUD-VAN in dPD patients, respectively. Further analysis showed that the area under the curve (AUC) for dPD prediction was 0.863 when combining the intranetwork connectivity in VAN and internetwork connectivity in AUD-DMN and AUD-VAN.ConclusionOur results demonstrated that early dPD may be associated with abnormality of attention bias and especially auditory attention processing. Altered neural network connectivity is expected to be a potential neuroimaging biomarker to predict depression in PD.

In order to develop 960MPa grade high strength steel, the effects of cooling rate and austenite deformation on the hardness and the microstructure of high strength steel has been studied by Scanning Electron microscope (SEM), Transmission Electron Microscope (TEM), Gleeble-3500 thermal simulation testing machine and T2500 Vickers hardness tester. The results show that only when the cooling rate was higher than 10∘C/s and the final cooling temperature was lower than 250∘C, the microstructure mainly consists of martensite, and the strength of high strength steel could be above 960MPa; and austenite deformation could effectively refine the width of martensite lath, thus improving the strength and toughness.

Additional file 1.

Additional file 1: Supplementary Table 1. The demographic characteristics of subjects according to midpoint of sleep. Supplementary Table 2. Comparison of bedtime, wake-up time and sleep duration across 3 categories of the midpoint of sleep. Supplementary Table 3. Subgroup analysis of the association of midpoint of sleep and night sleep duration with T2DM.

Additional file 1: Fig. S1. The PCR analysis of the reconstructed E. coli strains. (a) PCR analysis of the constructed E. coli strains with a single copy of the HPV type 11 L1 gene expression cassette integrated at the lpxM, lpxP, pagP, lpxL, eptA, kdsD or gutQ locus of the parental E. coli ER2566 strain. (b) Expression cassettes were constructed for the production ofthe L1 protein from 8 HPV genotypes, and were separately integrated in the kdsD locus of the E. coli ER2566 strain. (c) and (d) The lpxL, lpxM, lpxP, eptA, pagP and gutQ loci were evaluated for the integrated expression of HPV type 18 and 52 L1 genes. The reconstructed E. coli strains were analyzed by PCR. Fig. S2. SDS-PAGE and western blotting analysis of the HPV L1 protein (produced at the shake-flask level). Lanes marked with ���M��� indicate the protein marker. Lanes marked with ���+��� indicate the HPV type 16 L1 protein with high purity, which was used as a positive control. Lanes marked with ���P��� indicate the HPV L1 protein expressed by the E. coli strain utilizing a plasmid-based strategy. Lanes marked with ���Cgene locus��� indicate the HPV L1 protein expressed by the E. coli strain utilizing chromosomally integrated expression strategy. (a) The HPV type 11 L1 protein was, respectively, expressed from the cassette integrated into 7 loci of the ER2566 strain. (b) L1 protein from HPV types 6, 16, 18, 31, 33, 45, 52, and 58 were, respectively, expressed from the cassette integrated into the kdsD locus of the ER2566 strain. (c) and (d) L1 protein from HPV types 18 and 52 were, respectively, expressed from the cassette integrated into 6 loci (as indicated above) of the ER2566 strain. Fig. S3. Evaluation of plasmid maintenance during the three-stage fermentation process. Fig. S4. SDS-PAGE and western blotting analysis of the HPV type 16 L1 protein expressed by the constructed E. coli strains bearing multiple copies of the integrated expression cassette. Lanes marked with ���M��� indicate the protein marker. Lanes marked with ���+��� indicate the HPV type 16 L1 protein with high purity, which was used as a positive control. Fig. S5. Growth curves (a) and transcript levels (b) of the recombinant E. coli strains bearing multiple copies of the HPV16 target gene during large-scale fermentation. The time points were set as 0, 1, and 6 h post-IPTG induction.

The effect of direct quenched (DQ) and tempering temperature on the microstructure and mechanical properties of high strength steel were studied by means of SEM, EBSD, TEM and mechanical properties test. The results showed that in DQ state, the tensile strength could reach 1420 Mpa, the yield strength could be 1050 Mpa, and the elongation was about 9.0%, impact energy at −20 °C was 59 J. High density entangled dislocation was distributed inside the lath and at the boundary. A small amount of Nb and Ti carbide was precipitated at the dislocation and lath boundary, and a small amount (about 2.15%) of residual austenite distributed between the lath. With the tempering temperature rising from 500 °C to 720 °C, the tensile strength of the experimental steel decreased from 1220 MPa to 840 MPa, the yield strength decreased from 1190 MPa to 780 MPa, the elongation increased from 10% to 13%, and the impact energy at −20 °C increased from 84 J to 153 J. When the tempering temperature rised from 500 °C to 640 °C, the structure was mainly composed of lath martensite and a large number of dislocations were still distributed inside the lath. The size of carbides precipitated inside and on the boundary of the lath was about 20–30 nm. When tempered at 680 °C, the structure was mainly composed of martensite and a small amount of polygonal ferrite. There were still a large number of entangled dislocations inside and on the boundary of martensite. The carbide precipitate at the matrix boundary and dislocation line was obviously coarsening (70–80 nm). When tempered at 720 °C, the microstructure was mainly polygonal ferrite, the dislocation density in the matrix significantly decreased, and the carbide precipitated at the matrix boundary and dislocation line significantly coarsened (about 100 nm). With the tempering temperature rising from 500 °C to 720 °C, the proportion of small-angle grain boundary was gradually decreased from 88.64% to 70.50%.

Dense 3D graphene macroforms with nanotuned pore sizes have been synthesized using graphene oxide as the precursor and aqueous H2SO4 as the mediator by coupling the hydrothermal method with an evaporation drying process. Depending on the contents of concentrated H2SO4 trapped in the resultant carbons, the pore size of graphene macroforms in the range of about 0.5–4.8 nm can be obtained. The results indicate that liquid H2SO4 trapped in graphene macroforms can act as the spacer of wrinkled graphene sheets, the catalyst of the dehydration, and the electrolyte of the supercapacitor. The pore sizes of the carbons play an important role in the electrochemical performances when used as the supercapacitor electrodes. The graphene macroform with an average pore size of 4.8 nm is an excellent electrode material in H2SO4 electrolyte. Its specific capacitance is up to 230 F g–1 at the current density of 0.1 A g–1, and the specific energy density and power density are up to 8.3 Wh kg–1 and 1000 W kg–1 in a two-electr...

The association between growth differentiation factor 5 (GDF5), single nucleotide polymorphism (SNP) rs143383 and lumbar disc degeneration (LDD) was investigated. A total of 210 patients with LDD (observation group) and 320 patients without lumbar diseases (control group) diagnosed in Shanghai General Hospital of Nanjing Medical University from August 2013 to March 2017 were randomly selected. Then, deoxyribonucleic acid (DNA) was extracted from the blood of each patient, and Taq-man fluorescent quantitative polymerase chain reaction (qPCR) technique was used to detect rs143383 in GFD5 gene. The frequency of different genotypes in observation group and control group was counted, and the associations between different SNP genotypes and the incidence of LDD were analyzed. Good genotyping results were found in both LDD patient group and control group. There were no significant differences in distribution frequency of TT and TC genotypes at site rs143383 between LDD patient group and control group (P>0.05), but the distribution frequency of CC genotype at site rs143383 in LDD patient group had a statistically significant difference from that in control group (P 0.05). In conclusion, CC mutant type at rs143383 in GDF5 gene has a strong association with the incidence of LDD, and a high prevalence risk, but it has no evident correlation with pathological grades.

Biomass-derived hydrochar (HC) was used as the precursor to synthesize porous and nitrogen-rich carbons for supercapacitor electrodes. Porous carbon (HC/KOH) activated by potassium hydroxide was used to prepare nitrogen-rich porous carbon (HC/KOH/N) by subsequent calcination in melamine. Similarly, HC/N/KOH was obtained from nitrogen-rich carbon (HC/N) calcined in melamine by subsequent KOH activation. It is found that KOH plays an important role on the creation of porous structures and selective production of active pyridinic and pyrrolic nitrogen species. HC/KOH samples with abundant pores are excellent as supercapacitor electrodes in basic medium, whereas HC/N/KOH samples enriched with nitrogen functionalities are especially applicable in acidic medium. Typically, HC/KOH and HC/N/KOH show the highest specific capacitance of 279 and 492 F g−1 at the current density of 0.1 A g−1 in KOH and H2SO4 electrolytes, respectively. Their specific energy density and power density are up to 8.1–12 Wh kg−1 and about 24 W kg−1 at 0.05 A g−1 in two-electrode cell. The excellent electrochemical properties of as-made carbons may be attributed to the high specific surface (1197 m2 g−1) for the former, and to the synergistic effect of combined accessible specific surface area (566 m2 g−1) and doped nitrogen (4.38 wt.%) for the latter. This research provides a new routine for the development of high-performance electrochemical supercapacitors with carbonaceous electrodes derived from biomass precursors.

Herein we report a one-step approach to the highly efficient synthesis of graphene oxide/Mn3O4 (GO/Mn3O4) hybrids with superior catalytic activities for decomposition of methylene blue (MB) in water. This method exploits the pristine graphene oxide/manganese sulfate (GO/MnSO4) suspension produced by the modified Hummers method as the raw materials, in which GO/MnSO4 has been in situ converted into GO/Mn3O4 hybrid in combination with KOH and air. This atom-economic reaction produces only K2SO4 crystal as the by-product which meets the standard of green chemistry. For catalystic degradation of MB dye at room temperature, the as-prepared GO/Mn3O4 catalysts result in a significant enhancement in the reaction rate compared to that of the bare Mn3O4 particles with the assistance of H2O2. Typically, 50 mL of MB (50 mg L−1) can be 100% decolorized and 77% mineralized with 10 mg of the GO/Mn3O4 hybrid. Such excellent catalytic performance of the GO/Mn3O4 hybrid is mainly attributed to the synergistic effects of GO, Mn3O4, H2O2 and MB molecules. Based on the hydroxyl radical experiments, the catalytic activity of GO/Mn3O4 hybrids for degradation of MB is closely related with the amount of the reactive •OH species generated from H2O2.

Vibration is a very important characteristic of inverter compressor, and it’s critical for refrigerator running speeds selection. First, the reasons why the compressor vibrates are discussed, unbalanced forces of comprssor moving parts are the source of the vibration. The flexible parts in the vibration transmission route are also very critical, they are inner discharge tube, suspension springs, rubber grommets, and so on. When the natural frequencies of the system are similar to the source excitation frequencies, resonance will happen, vibrations will be very large. Second, one inverter compressor vibrations were tested, and the results show that the vibrations varied a lot in different speeds and directions. Then the reasons why the inverter compressor vibrations are very large in some speeds are analyzed in the third part. The natural frequencies of shell and grommets system and inner discharge tube were got by experiment or simulation. The results show that those natural frequencies are too close to the soure excitation frequencies in some speeds, that is the reason why the compressor vibrates so large. By the grommets and inner discharge tube redesigns, the natural frequecies are moved far away from excitation frequencies, the compressor vibrations are reduced. The methods suggested in this research are helpful in reducing inverter compressor vibrations.

Algorithms for computing game-theoretic solutions have recently been applied to a number of security domains. However, many of the techniques developed for compact representations of security games do not extend to {\em Bayesian} security games, which allow us to model uncertainty about the attacker's type. In this paper, we introduce a general framework of {\em catcher-evader} games that can capture Bayesian security games as well as other game families of interest. We show that computing Stackelberg strategies is NP-hard, but give an algorithm for computing a Nash equilibrium that performs well in experiments. We also prove that the Nash equilibria of these games satisfy the {\em interchangeability} property, so that equilibrium selection is not an issue.

This paper presents a novel robust dynamic feedback control algorithm, using a hybrid extended Kalman filter based fusion of distance from odometer and attitude from IMU developed for the all-terrain, skid-steered and six-wheeled drive vehicle. The vehicle is a teleoperated unmanned ground vehicle custom fitted with an inertial measurement unit, motor encoders and a GPS. In order to enable the vehicle for autonomous application, the proposed dynamic control algorithm is combined with the vehicle's sensor measurements to compute key parameters for the vehicle. The control inputs are respectively the linear velocity and the yaw. Simulation results are presented in this paper to prove the effectiveness of our proposed control algorithm.

This paper analyzes flaws of activity-based costing and ERP management system in application, and proposes to combine the two methods in cost calculation, and raises the corresponding measures. The combination of activity-based costing and ERP management system will not only improve the accuracy of cost calculation, but also raise the enterprise management level, and enhance the competition power of enterprise in current economic environment.