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Background The widespread adoption of plant protection robots has brought intelligent technology and agricultural machinery into deep integration. However, with advances in robotic autonomy, the energy that robots can carry remains limited due to constraints on battery capacity and weight. This limitation restricts the robots’ ability to perform tasks continuously over extended periods. Methods To address the challenges of achieving low energy consumption and efficiency in path planning for plant protection robots operating in mountainous environments, a multi-objective path optimization approach was developed. This approach combines the improved A* algorithm with the Improved Whale Optimization Algorithm (A*-IWOA), utilizing a 2.5D elevation grid map. First, an energy consumption model was created to account for the robot’s energy use on slopes, based on its kinematic and dynamic models. Then, an improved A* search method was established by expanding to an 8-domain diagonal distance search and introducing a cost function influenced by cross-product decision values. Using the robot’s motion trajectory as a constraint, the IWOA algorithm was applied to optimize the vector cross-product factor (p) by dynamically adjusting population positions and inertia weights, to minimize both energy consumption and path curvature. Finally, in simulation and orchard scenarios, the application effects of the proposed algorithm were evaluated and compared against notable variants of the A* algorithm using the robot ROS 2 operating system. Results The experimental results show that the proposed algorithm substantially reduces the travel distance and enhances both path planning and computational efficiency. The improved approach meets the driving accuracy and energy consumption requirements for plant protection robots operating in mountainous environments. Discussion This algorithm offers significant advantages in terms of computational accuracy, convergence speed, and efficiency. Moreover, the resulting paths satisfy the stringent energy consumption and path planning requirements of robots in unstructured mountain terrain. This improved algorithm could also be replicated and applied to other fields, such as picking robots, factory inspection robots, and complex industrial environments, where robust and efficient path planning is required.

Objective The pedicle screw technique has been widely used in adolescent idiopathic scoliosis orthopedic surgery, but misplacement of screws may damage important structures such as blood vessels and nerves around the pedicle, resulting in serious consequences. Therefore, our research team has independently developed a surgical tool to assist in the placement of pedicle screws. This study aims to investigate the safety and accuracy of postural awareness tool assisted nail placement in orthopedic surgery for adolescent idiopathic scoliosis. Method A retrospective analysis was performed on 24 adolescent patients with idiopathic scoliosis admitted to our hospital from July 2019 to July 2022, including 10 males and 14 females, with an average age of 14.88 ± 2.36 years (10–19 years). The mean follow‐up was 15.67 ± 2.20 months (12–20 months). We divided the patients into postural awareness group (n = 12) and C‐arm group (n = 12) according to whether the postural awareness surgical tool was used during the operation. All patients were treated with posterior spinal orthopedic surgery. The postural awareness group was assisted by pedicle screw placement with a postural awareness surgical tool, while the C‐arm group was given a pedicle screw placement with freehand technique. The operative time, intraoperative blood loss, intraoperative fluoroscopy times, nail placement related complications, nail placement accuracy, and scoliosis correction rate were recorded and compared between the two groups. Results The operative time, intraoperative blood loss and fluoroscopy times in the postural awareness group were significantly lower than those in the C‐arm group, with statistical significance (p

AbstractThe complete mitogenome of the Slaty-backed Forktail (Enicurus schistaceus) was first sequenced using next-generation sequencing. It was 17,112 bp long, with a base composition of 14.17% G, 31.77% C, 30.73% A, and 23.33% T and an AT content of 54.06%. Similar to other mitochondrial genomes within the Muscicapidae family, E. schistaceus exhibited a relatively consistent mitogenome arrangement; it consisted of 22 tRNA genes, two rRNA genes, 13 protein-coding genes, and one control region. Notably, ND6 and eight tRNA genes were encoded on the light strand. Phylogenetic analysis of the 12 Muscicapidae mitogenomes substantiated the monophyly of all genera, including E. schistaceus. Furthermore, the analysis demonstrated a close relationship between Enicurus and Myophonus.

Abstract Background Cooperation between China and Africa is deepening, and business, trade, and people-to-people exchanges are growing closer together, especially in the infrastructure construction field. At the same time, malaria has become a serious health concern for Chinese construction workers in Africa, who are at increased risk of infection and complications due to lack of immunity and exposure to high-transmission environments. One of the biggest challenges in fighting malaria is their lack of knowledge and misinterpretations about the disease, which can impact their need for interventions, adherence to treatments, and health services. This study aims to determine the perception and interpretation of malaria among Chinese construction workers in sub-Saharan Africa. Methods Semi-structured interviews were conducted with 20 Chinese construction workers in sub-Saharan Africa. Some early respondents initially made contact through two Chinese construction companies in Africa, while the rest of the participants were engaged via a snowball method by the early participants. NVivo10, a qualitative research data management software and a thematic approach, was used to analyze the data and create themes. In order to achieve the general study goals, an inductive content analysis was applied. Results The study classified participants' perceptions and interpretations of malaria into four categories: flu-like malaria, the rumors of malaria, the hard-to-explain confusion about malaria, and the special interpretation of malaria. Conclusion Malaria poses major health issues to Chinese construction workers in sub-Saharan Africa who lack immunity and live in an environment of high transmission. Their dearth of awareness and misunderstanding of malaria impacts their prevention and treatment behaviors and health outcomes. This study adopts qualitative methods to examine their perceptions and interpretations of malaria, which can serve as a source for future health management strategies.

Engineering constructions in coastal areas not only affect existing landslides, but also induce new landslides. Variation of the water level makes the coastal area a geological hazard-prone. Prediction of the slope displacement based on monitoring data plays an important role in early warning of potential landslide and slope failure, and supports the risk management of hazards. Given the complex characteristic of the slope deformation, we proposed a prediction model using random coefficient model under the frame of panel data analysis, so as to take the correlation among monitoring points into consideration. In addition, we classified the monitoring data using Gaussian mixture model, to take the temporal-spatial characteristics into consideration. Monitoring data of Guobu slope was used to validate the model. Results indicated that the proposed model have a better performance in prediction accuracy. We also compared the proposed model with the BP neural network model and temporal – temperature model, and found that the prediction accuracy of the proposed model is better than those of the two control models.

Objective: This study summarized and analyzed the clinical data, preoperative preparation, surgical process and postoperative recovery of patients, to explore the clinical effect of posture-aware surgical tool in adolescent idiopathic scoliosis orthopedic surgery. Methods: This study demonstrated the whole process of using posture-aware surgical tools to assist the placement of screws in orthopedic surgery of adolescent idiopathic scoliosis. A 14-year-old and 8-month-old male with height 166 ​cm and weight 60 ​kg was diagnosed as Lenke type 1A adolescent idiopathic scoliosis. The preoperative X-ray films of the patients showed that the Cobb angle was 66°, CSVL-C7PL (Central Sacral Vertical Line -C7 plumb line) was 4 ​mm, SVA (sagittal vertical axis) was 5 ​mm. The operative fixed segment was T5∼L3 vertebral body. Renaissance and other three-dimensional software were utilized for screw placement angle, entry point and other related information before operation. The use of posture-aware surgical tools during surgery can accurately select screw length, type and screw placement angle, as planned by using three-dimensional software before operation. Results: The entire operation process was smooth. The intraoperative blood loss was about 600 ​ml, and the operation time was about 445 ​min. A total of 18 screws were placed during the whole operation.The patient's Cobb Angle was 8.94°, CSVL-C7PL was 2 ​mm, and SVA was 3 ​mm on postoperative radiographs. Conclusion: The implantation of pedicle screw assisted by posture-aware surgical tool is safe and effective with a smooth operation process and favorable patient outcomes.

To study the instability mechanism of the slope of the widened highway roadbed during rainfall, a rainfall simulation device was developed for geotechnical centrifugal model testing. Settlement and widening tests for the old roadbed, and settlement and simulation rain tests for the widened roadbed were performed in sequence. During the test, the settling process of the old and the new roadbeds and the instability process of the embankment slope by rainfall were observed by the settling monitoring device installed on the centrifuge manipulator system. The test results showed that the major consolidation of the old roadbed was completed in the first year of operation; after the roadbed was widened, the new settlement of the old roadbed was much smaller than the new settlement of the widened roadbed, resulting in the differential settlement between the new and old roadbeds. Longitudinal cracks formed by the differential settlement on the road surface provided infiltration channels for rainwater. After rainfall, the rainwater first infiltrates downward at the foot of the slope and expands the vertical joints of the loess to form vertical infiltration channels, causing settlement at the foot of the slope. After that, the rainwater infiltrated laterally into the interior of the roadbed and beyond the slope toe, increasing further settlement. The settlement area expanded continuously, eventually causing the roadbed slope to become unstable. According to the research results, the key to preventing rainfall damage to the subgrade was to protect the slope foot, block the rainfall infiltration channel, and reduce the settlement of the foundation.

Abstract Silicon carbide (SiC) device has become the primary choice for high‐efficiency power electronic equipment due to its excellent performance. However, its higher switching frequency and faster switching speed have also incurred new challenges, such as low parasitic inductance packaging. Despite a significant amount of literature to overview the low parasitic inductance packages, most of them focus on total parasitic inductance from different packaging technology. Here, from the viewpoint of partial inductance which includes gate loop, power loop and common source, the designs for different inductances are surveyed. The power loop is further discussed from power terminals, bonding wires and direct bonded copper (DBC) conductor traces. The effects and sources of these inductances are analyzed. Furthermore, the typical design solutions to reduce the inductances are summarized. Finally, the challenges of SiC packages are presented.

This study describes a novel species of Gekko (Squamata: Gekkonidae) based on its distinct morphological features and molecular evidence, which was identified in the Dabie Mountains on the border of Anhui and Henan provinces of Central China. Gekko kaiyai sp. nov. could be distinguished from its congeners owing to its morphological characteristics, such as being a medium body sized gecko species (snout–vent length, 56.98–64.99 mm, n = 4, females; 50.03–61.56 mm, n = 11, males); nostrils scale in contact with rostral scale; tubercles on the dorsal and limb, while the upper forelimb is smooth with no tubercles; 22–33 interorbital scales between the anterior corners of the eyes; 157–209 ventral scales between mental and cloacal slit; 90–121 midbody scale rows; 30–43 ventral scale rows; 7–9 sub-digital lamellae on first fingers, 8–13 fourth fingers, 7–9 first toes, and 7–11 fourth toes; free of webbing in the fingers and toes; 9–12 pre-cloacal pores in males, which are absent in females; post-cloacal unilateral tubercles 1 (few 2); and a dorsum that is greyish white to dark brown, with 6–7 brown markings between the nape and sacrum. The phylogenetic tree based on the mitochondrial DNA sequences (16S, CYTB, and COI) indicated that Gekko kaiyai sp. nov. form an independent clade with strong support (100/1) and are a sister group to G. hokouensis. At the inter-species level, the genetic distances were all large, further confirming that an independent species had been identified. The discovery of this species implies that there are now 87 identified species in the genus Gekko, 22 of which can be found within China.

Objective: To investigate the accuracy and repeatability of the software that we developed in measuring the adolescent idiopathic scoliosis (AIS) Cobb angle. Methods: Fifty patients with AIS were included in the study. Three independent surveyors measured the Cobb angle of coronal main curve, thoracic kyphosis angle (TK), thoracolumbar kyphosis angle (TLK) and lumbar kyphosis angle (LL) by using protractor, scoliosis screening software and picture archiving and communication system (PACS). The measurement was repeated after an interval of 2 weeks. The measurement time of software method and protractor method were compared by Paired t-test. Taking the Cobb angle measurement results of the PACS as the reference standard. The repeatability of the surveyor and the consistency between the surveyors are compared by the intraclass correlation coefficient (ICC). Results: Among the 50 patients, there were 18 males and 32 females, aged from 10 to 18 years (mean age of 14.4 years). The time of measuring Cobb angle by software method was significantly shorter than that by protractor method (94.7 ​± ​8.5s versus 217.9 ​± ​24.1s, t ​= ​−60.536, P ​ ​0.05). The reliability analysis showed that the three surveyors used software to measure the Cobb angle of the coronal main curve, TK, TLK and LL were all in good consistency (ICC>0.90). The repeatability and consistency of the software method used by the three surveyors were higher than that of the protractor method (ICC> 0.90). Conclusions: Compared with traditional protractor, the smartphone scoliosis screening software has shorter time, higher efficiency, higher accuracy and repeatability in measuring Cobb angle of AIS, so as to widely screen the diagnosis of scoliosis patients.

Conversion of natural environments to human-modified landscapes is continuing at an unprecedented rate, exerting fundamental influences on global biodiversity. Understanding how wildlife communities respond to landscape modifications is critical to improve biodiversity conservation in human-dominated landscapes. In this study, we surveyed bird communities in three common habitats (i.e., farmland, village, and forest) in the southern Anhui Mountainous Area during summer (August 2019) and winter (December 2020). The diversity metrics and species compositions of the avian communities were compared among the habitats, and the effects of land use composition in these habitats were tested. During the field surveys, we recorded 7599 birds of 120 species along 45 line transects of 1 ​km in length. The land use compositions differed among habitats, and land use diversity was the highest in villages and lowest in forests. The species richness and bird abundance in the two human-dominated habitats (i.e., farmland and village) were higher than those in forest in both seasons. Bird species composition also differed across habitat types in both seasons. Bird species feeding on vertebrates, fish and carrion, and species feeding on plants and seeds were mainly found in habitats with less construction lands and lower land use diversity, while omnivorous species and species feeding on fruits and nectar or on invertebrates were less affected by these two variables. The indicator species analysis showed that most species associated with forest feed on invertebrates, while species feeding on plants and seeds were more correlated with farmland and village. The results indicated that the conversion of natural habitats to human-dominated landscapes has pronounced impacts on bird communities in the study area. Human-dominated habitats harboured more avian species that deserve conservation attention. Meanwhile, bird conservations should not be relaxed in forests because there were more than 20 species that had a high specificity for forests.

Because the genomic information of lingonberry (Vaccinium vitis-idaea L.) is not available, the mechanism underlying the flavonoid metabolism in the fruits of this species is still unknown. The objective of this study was to obtain a comprehensive transcriptome assembly during lingonberry fruit development and characterize the key genes associated with the flavonoid metabolism in lingonberry. Our transcriptome data of lingonberry was obtained with next-generation sequencing technology. The expression patterns of key genes were analysed by quantitative reverse transcription polymerase chain reaction (qRT-PCR). The results showed that the total flavonoid content and the total anthocyanin content gradually increased during the lingonberry fruit development process. In total, about 169 million sequencing raw reads were obtained and de novo assembled into 67,836 unigenes, and 38,460 unigenes had been annotated from public databases. The average size of unigenes was 1040 nt, and the N50 value was 1718 nt. Among the unigenes mapped to KEGG pathways, 2697 (10.95%) were assigned to the category of ‘Biosynthesis of secondary metabolites’, 1533 unigenes were predicted to be associated with flavonoid biosynthesis, transport and regulation. We also found 10,022 candidate genes expressed differentially between green and white fruits, with 5335 differentially expressed genes uncovered between white and red fruits and 14,364 ones between green and red fruits. A comprehensive transcriptome assembly of lingonberry was generated, with data representing gene expression profiles throughout fruit development and ripening processes in lingonberry. Our results provide further insights into the molecular mechanisms of flavonoid metabolism.

Species belonging to the genus Microhyla are small-sized frogs that are widely distributed in southern, eastern, and south-eastern Asia. In China, the genus harbors many cryptic species, on two of which—M. beilunensis and M. fanjinshanensis—studies were recently published. In this study, we collected specimens from the Dabie Mountain range, which is at the junction of Anhui, Henan and Hubei Provinces, East China; these specimens belonged to a species previously identified as M. mixtura. Based on phylogenetic analyses, species delimitation analyses, morphological comparisons and advertisement calls comparisons, we found they were significantly different from other known congeners, and thus we describe them as a new species. This study enriches the diversity of Microhylidae, and clarifies the species of the genus Microhyla in the Dabie Mountains.

In this study, a data analysis method for the relaxation test was proposed under step loading by conducting creep and stress relaxation tests of dentate discontinuity poured by cement mortar using biaxial creep machine under step loading and single-stage loading. First, a superposition method for the stress relaxation curve was deduced based on the data processing method of creep test by considering the effect of loading history on the relaxation curve and the characteristic of relaxation was analyzed. Second, this superposition method was verified by testing data under step loading and single-stage loading. Finally, this paper indicate the accurate way for the processing of relaxation test data under step loading. The results show that under the same stress level, the values of relaxation curve after the superposition are different from that under the single-stage loading test. Furthermore, the relaxation curves in the step loading test under different stress levels are similar to those in single-stage loading under the same stress level. Furthermore, creep deformation increase monotonically during the creep, but stress do not exhibit such a trend during relaxation, which is inconsistent with the Boltzmann superposition principle. The relaxation curve in the step loading test under different shear stress could reflect the relaxation properties of the single-stage loading test under the same shear stress, and unlike the data processing method of step loading creep test, superimposition is not needed.

This paper proposes a novel floating high-voltage level shifter (FHV-LS) with the pre-storage technique for high speed and low deviation in propagation delay. With this technology, the transmission paths from input to output are optimized, and thus the propagation delay of the proposed FHV-LS is reduced to as low as the sub-nanosecond scale. To further reduce the propagation delay, a pull-up network with regulated strength is introduced to reduce the fall time, which is a crucial part of the propagation delay. In addition, a pseudosymmetrical input pair is used to improve the symmetry of FHV-LS structurally to balance between the rising and falling propagation delays. Moreover, a start-up circuit is developed to initialize the output state of FHV-LS during the VDDH power up. The proposed FHV-LS is implemented using 0.3-µm HVCMOS technology. Post-layout simulation shows that the propagation delays and energy per transition of the proposed FHV-LS are 384 ps and 77.7 pJ @VH = 5 V, respectively. Finally, the 500-points Monte Carlo are performed to verify the performance and the stability.

This paper presents a model test, used on the tunnels on Xi’an Metro Line 2, as the prototype for evaluating the reinforcing effect of the anchor rod in tunnel construction in loess areas. An independently designed fiber Bragg grating (FBG) sensor was used to monitor the seven strain conditions of the rock bolts during the construction. The result shows that the axial stress of the rock bolt changes after the excavation and increases steadily with the growing pressure in the wall rock. Results additionally show that the anchor rods at the tunnel vault are subjected to a compressive stress that remains relatively constant after the primary and the secondary lining, while those at the spandrel and the corner of the tunnel are subjected to increased tensile stress. This paper demonstrates the feasibility and the superiority of FBG technology for tunnel model tests.

Summary: Electrical stimulation has been used to strengthen microbial extracellular electron transfer (EET), however, the deep-seated reasons remain unclear. Here we reported that Bacillus subtilis, a typical gram-positive bacterium capable of extracellular respiration, obtained a higher EET capacity after the electrical domestication. After the electrical domestication, the current generated by the EET of B. subtilis was 23.4-fold that of the control group without pre-domestication. Multiple lines of evidence in bacterial cells of B. subtilis, their cell walls, and a model tripeptide indicated that the polarization of amide groups after the electrical stimulation forwarded the H-bonds recombination and radical generation of protein-like substances to develop extracellular electron transfer via the proton-coupled pattern. The improved electrochemical properties of protein-like substances benefited the trans-cell-wall electron transfer and strengthen extracellular respiration. This study was the first exploration to promote microbial extracellular respiration by improving the electrochemical properties of protein-like substances in cell envelopes.

The symbol grounding problem (SGP) proposed by Stevan Harnad in 1990, originates from Searle’s “Chinese Room Argument” and refers to the problem of how a pure symbolic system acquires its meaning. While many solutions to this problem have been proposed, all of them have encountered inconsistencies to different extents. A recent approach for resolving the problem is to divide the SGP into hard and easy problems echoing the distinction between hard and easy problems for resolving the enigma of consciousness. This however turns out not to be an ideal strategy: Everything related to consciousness that cannot be well-explained by present theories can be categorized as a hard problem which as a consequence would doom the SGP to irresolvability. We therefore argue that the SGP can be regarded as a general problem of how an AI system can have intentionality, and develop a theoretical direction for its solution.

Federated learning technology solves the problems of data islands and privacy leakage to a certain extent.However it has shortcomings such as high communication cost,unstable communication,and uneven distribution of participant performance.In order to overcome these shortcomings and achieve a balance between model effectiveness,fairness,and communication costs,an improved NSGA-III algorithm for multi-objective optimization of federated learning is proposed.First,a federated learning multi-objective optimization model is constructed to maximize the accuracy of the global model,minimize the variance of the global mo-del accuracy distribution and minimize the communication cost of participant,and an improved NSGA-III algorithm based on fast greedy initialization is proposed,which improves the efficiency of NSGA-III for multi-objective optimization of federated learning.Experimental results show that the proposed optimization method can obtain a better Pareto solution than the classical multi-objective evolutionary algorithm.Compared with the standard model of federated learning,the optimized model can effectively lower the communication cost and the variance of the global model accuracy distribution while ensuring the accuracy of the global model.