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The fish gut microbiome is well known for its role in degrading nutrients to improve the host's digestion and absorption efficiency. In this study, we focused on the core physiological adaptability during the various reproductive stages of the black Amur bream (Megalobrama terminalis) to explore the interaction mechanisms among the fish host gut mucosal structure, gut enzyme activity, and gut microbial metabolism in the course of the host's reproductive cycle. Our findings showed that M. terminalis exhibited locomotion metabolic type (aids in sporting) in the reproductive stage, and a change to visceral metabolic type (aids in digestion) during non-reproductive and post-reproductive stage phases. The impact of metabolic type selection and energy demand during various reproductive stages on fish nutrition strategy and digestive function was substantial. Our resulted showed that mitochondria in intestinal epithelial cells of reproductive M. terminalis appeared autophagy phenomenon, and the digestive enzyme activities in the intestines of reproductive M. terminalis were lower than those in the non-reproductive and post-reproductive individuals. Moreover, these differences in nutrition strategy have a prominent impact on the gut microbiome of reproductive M. terminalis, compared to non-reproductive and post-reproductive samples. Our findings showed that reproductive females had lower levels of alpha diversity compared to non-reproductive and post-reproductive females. Our results also showed a greater functional variety and an increase in functional genes related to carbohydrate, lipid, amino acid, cofactors, and vitamin metabolic pathways in the NRS and PRS group. It is noteworthy that an enrichment of genes encoding putative enzymes implicated in the metabolism of taurine and hypotaurine was observed in the RS samples. Our findings illustrated that the stability and resilience of the gut bacterial community could be shaped in the wild fish host–microbiome interactions during reproductive life history. [ABSTRACT FROM AUTHOR]

The effective and comprehensive utilization of forest resources has become the theme of the global "dual-carbon strategy". Forestry restructured wood is a kind of wood-based panel made of wood-based fiber composite material by high-temperature and high-pressure restructuring–molding, and has become an important material in the field of construction, furniture manufacturing, as well as derivative processing for its excellent physical and mechanical properties, decorative properties, and processing performance. Taking Medium Density Fiberboard (MDF) as the recombinant material as the research object, an event-triggered synergetic control mechanism based on interventional three-way decision making is proposed for the viscoelastic multi-field coupling-distributed agile control of the "fixed thickness section" in the MDF continuous flat-pressing process, where some typical quality control problems of complex plate shape deviations including thickness, slope, depression, and bump tend to occur. Firstly, the idea of constructing the industrial event information of continuous hot pressing based on information granulation is proposed, and the information granulation model of the viscoelastic plate shape process mechanism is established by combining the multi-field coupling effect. Secondly, an FMEA-based cyber granular method for diagnosing and controlling the plate thickness diagnosis and control failure information expression of continuous flat pressing is proposed for the problems of plate thickness control failure and plate thickness deviation defect elimination that are prone to occur in the continuous flat-pressing process. The precise control of the plate thickness in the production process is realized based on event-triggered control to achieve the intelligent identification and processing of the various types of faults. The application test is conducted in the international mainstream production line of a certain type of continuous hot-pressing equipment for the production of 18 mm plate thickness; the synergistic effect is basically synchronized after 3 s, the control accuracy reaches 30%, and the average value of the internal bond strength is 1.40, which ensures the integrity of the slab. Practical tests show that the method in the actual production is feasible and effective, with detection and control accuracy of up to ±0.05 mm, indicating that in the production of E0- and E1-level products, the rate of superior products can reach more than 95%. [ABSTRACT FROM AUTHOR]

The hybrid space of robots is divided into task space and joint space, with task space focused on trajectory-tracking accuracy, while joint space considers dynamic responsiveness and synchronization. Therefore, the robot-motion control systems need to effectively integrate both aspects, ensuring precision in task trajectory while promptly responding to unforeseen environmental events. Hence, this paper proposes an online trajectory-generation method for robots in both joint and task spaces. In task space, a planning approach is presented for high-precision NURBS curves. The global NURBS curve is segmented into several rational Bezier curves, establishing local coordinate systems for control points. This ensures that all local control points meet the chord error constraint, guaranteeing trajectory accuracy. To address the feed rate dynamic planning issue for segmented curves, an improved online S-shape feed-rate scheduling framework is introduced. This framework dynamically adjusts the current execution speed to meet task requirements. In joint space, an offline velocity planning based on a time synchronization scheme and a multi-dimensional synchronization technique based on the principle of spatial-coordinate system projection are proposed. Building upon the offline scheme, it allows for the modification of the target state for any sub-dimension during the motion process, with the remaining dimensions adapting accordingly. Simulation and experimentation demonstrate that the two proposed online trajectory generations for robot motion spaces, while ensuring task trajectory accuracy, effectively handle external unexpected events. They ensure joint synchronization and smoothness, carrying significant practical implications and application value for the stability of robot systems. [ABSTRACT FROM AUTHOR]

The three-dimensional reconstruction of forest ecological environment by low-altitude remote sensing photography from Unmanned Aerial Vehicles (UAVs) provides a powerful basis for the fine surveying of forest resources and forest management. A stereo vision system, D-SLAM, is proposed to realize simultaneous localization and dense mapping for UAVs in complex forest ecological environments. The system takes binocular images as input and 3D dense maps as target outputs, while the 3D sparse maps and the camera poses can be obtained. The tracking thread utilizes temporal clue to match sparse map points for zero-drift localization. The relative motion amount and data association between frames are used as constraints for new keyframes selection, and the binocular image spatial clue compensation strategy is proposed to increase the robustness of the algorithm tracking. The dense mapping thread uses Linear Attention Network (LANet) to predict reliable disparity maps in ill-posed regions, which are transformed to depth maps for constructing dense point cloud maps. Evaluations of three datasets, EuRoC, KITTI and Forest, show that the proposed system can run at 30 ordinary frames and 3 keyframes per second with Forest, with a high localization accuracy of several centimeters for Root Mean Squared Absolute Trajectory Error (RMS ATE) on EuRoC and a Relative Root Mean Squared Error (RMSE) with two average values of 0.64 and 0.2 for trel and Rrel with KITTI, outperforming most mainstream models in terms of tracking accuracy and robustness. Moreover, the advantage of dense mapping compensates for the shortcomings of sparse mapping in most Smultaneous Localization and Mapping (SLAM) systems and the proposed system meets the requirements of real-time localization and dense mapping in the complex ecological environment of forests. [ABSTRACT FROM AUTHOR]