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Utilizing reliable and accurate positioning and navigation systems is crucial for saving the lives of rescue personnel and accelerating rescue operations. However, Global Navigation Satellite Systems (GNSSs), such as GPS, may not provide stable signals in dense forests. Therefore, integrating multiple sensors like GPS and Inertial Measurement Units (IMUs) becomes essential to enhance the availability and accuracy of positioning systems. To accurately estimate rescuers' positions, this paper employs the Adaptive Unscented Kalman Filter (AUKF) algorithm with measurement noise variance matrix adaptation, integrating IMU and GPS data alongside barometric altitude measurements for precise three-dimensional positioning in complex environments. The AUKF enhances estimation robustness through the adaptive adjustment of the measurement noise variance matrix, particularly excelling when GPS signals are interrupted. This study conducted tests on two-dimensional and three-dimensional road scenarios in forest environments, confirming that the AUKF-algorithm-based integrated navigation system outperforms the traditional Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), and Adaptive Extended Kalman Filter (AEKF) in emergency rescue applications. The tests further evaluated the system's navigation performance on rugged roads and during GPS signal interruptions. The results demonstrate that the system achieves higher positioning accuracy on rugged forest roads, notably reducing errors by 18.32% in the north direction, 8.51% in the up direction, and 3.85% in the east direction compared to the EKF. Furthermore, the system exhibits good adaptability during GPS signal interruptions, ensuring continuous and accurate personnel positioning during rescue operations. [ABSTRACT FROM AUTHOR]

The palladium‐catalyzed asymmetric carboamination reaction is one of the most significant transformations in organic chemistry. Herein, we report the first palladium‐catalyzed asymmetric alleneamination of β,γ‐unsaturated hydrazones with propargylic acetates. This protocol enables the efficient installation of various multisubstituted allene groups onto dihydropyrazoles in good yields with excellent enantioselectivities. The chiral sulfinamide phosphine ligand Xu‐5 exhibits highly efficient stereoselective control in this protocol. The salient features of this reaction include the readily available starting materials, a broad substrate scope, an easy scale‐up, mild reaction conditions and versatile transformations. [ABSTRACT FROM AUTHOR]

The existing form of an ionizable organic compound can simultaneously affect its soil adsorption and plant bioactivity. In this experiment, the adsorption and bioactivity of two weak acid herbicides (WAHs), imazethapyr and 2,4-D, were studied to explore the predominant mechanism by which the soil pH and the addition of biochar can influence the phytotoxicity of WAHs in soil. Then, the WAH concentration extracted by hollow fiber-based liquid-phase microextraction (C HF-LPME ), the in situ pore water concentration (C IPW ) and the added concentration (C AC ) were employed to estimate the phytotoxicity. The results showed that with increased pH from 5.5 to 8.5, the phytotoxicity of the WAHs to rice increased about 1-fold in the soil, but decreased in aqueous solutions, the IC 50 values for imazethapyr and 2,4-D at pH 5.0 were 3- and 2-fold higher than that at pH 8.0. In addition, the soil adsorption decreased, indicating that the adsorption process was the dominant factor for the variation of the phytotoxicity of the WAHs in the tested soil instead of the decreasing bioactivity. The concentration that inhibits plant growth by 50% (IC 50 ) calculated by the C AC in different pH and biochar soils ranged from 0.619 to 3.826 mg/kg for imazethapyr and 1.871–72.83 mg/kg for 2,4-D. The coefficient of variation (CV) of the IC 50 values reached 65.61% for imazethapyr and 130.0% for 2,4-D. However, when IC 50 was calculated by C IPW and C HF-LPME , the CVs of the IC 50 values decreased to 23.51% and 36.23% for imazethapyr and 40.21% and 50.93% for 2,4-D, respectively. These results suggested that C IPW and C HF-LPME may be more appropriate than C AC for estimating the phytotoxicity of WAHs. [ABSTRACT FROM AUTHOR]

The multiferroic rare-earth-substituted BiFeO_{3} has emerged as a promising candidate to achieve ultralow-energy-dissipation logic or memory devices, but the fundamental details of the switching mechanism involving the electrical, structural, and magnetic degrees of freedom is not fully understood, in particular, in its single-phase form. Here, a first-principles-based computational scheme is used to study Nd-doped BiFeO_{3} as a model system. The structure that yields a reduced P-E hysteresis loop is found to be ferrielectric with modulated octahedral tiltings, and it is shown that both the in-plane and out-of-plane ferromagnetization can be controlled by an applied electric field. The switching behaviors can be well interpreted by a Landau-type model, in which the magnetoelectric coupling is indirect and mediated by octahedral tiltings. The effects of varied composition and temperature are further discussed, revealing important correlations between the polarization switching and the robustness of the control of magnetization.

The palladium-catalyzed asymmetric carboamination reaction is one of the most significant transformations in organic chemistry. Herein, we report the first palladium-catalyzed asymmetric alleneamination of β,γ-unsaturated hydrazones with propargylic acetates. This protocol enables the efficient installation of various multisubstituted allene groups onto dihydropyrazoles in good yields with excellent enantioselectivities. The chiral sulfinamide phosphine ligand Xu-5 exhibits highly efficient stereoselective control in this protocol. The salient features of this reaction include the readily available starting materials, a broad substrate scope, an easy scale-up, mild reaction conditions and versatile transformations., (© 2023 Wiley-VCH GmbH.)

Background: Triazole resistance in the human fungal pathogen Aspergillus fumigatus has been a growing challenge in clinic treatment with triazole drugs such as itraconazole. The fast evolvement of triazole resistance in A. fumigatus in the ecosystem has drawn great attention, and there has been a possible link between the application of triazole fungicides in agriculture and triazole resistance in A. fumigatus. The change in susceptibility of A. fumigatus exposed to the new chiral triazole fungicide mefentrifluconazole was investigated in this study., Results: The results indicated that triazole resistance in A. fumigatus was acquired with exposure to mefentrifluconazole at a level of greater than or equal to 2 mg L -1 in liquid medium and soil (not at 0.4 nor 1 mg L -1 ). Interestingly, stereoselectivity was found in the acquisition of triazole resistance in A. fumigatus when exposed to mefentrifluconazole. R-mefentrifluconazole, which is very active on plant pathogens, exhibited stronger possibility in the development of the resistance in A. fumigatus than its antipode. Overexpression of cyp51A, AtrF, AfuMDR1 and AfuMDR4 were associated with the acquired resistance in A. fumigatus with hereditary stability., Conclusion: The results suggest that triazole resistance in A. fumigatus could be resulted from the selection of mefentrifluconazole at concentrations larger than 2 mg L -1 . Mefentrifluconazole should be applied within the dosage recommended by good agricultural practice to avoid the resistance in A. fumigatus in soil. This also may be applicable to other triazole fungicides. © 2022 Society of Chemical Industry., (© 2022 Society of Chemical Industry.)