Search Results (2,689)

To enhance road-testing safety for autonomous driving robotic vehicles (ADRVs), collision avoidance with sudden obstacles is essential during testing processes. This paper proposes an upper-level collision avoidance strategy integrating model predictive control (MPC) and improved artificial potential field (APF). The kinematic model of the driving robot is established, and a vehicle dynamics model considering road curvature is used as the foundation for vehicle control. The improved APF constraints are constructed. The boundary constraint uses a three-circle vehicle shape suitable for roads with arbitrary curvatures. A unified obstacle potential field constraint is designed for static/dynamic obstacles to generate collision-free trajectories. An auxiliary attractive potential field is designed to ensure stable trajectory recovery after obstacle avoidance completion. A multi-objective MPC framework coupled with artificial potential fields is designed to achieve obstacle avoidance and trajectory tracking while ensuring accuracy, comfort, and environmental constraints. Results from Carsim-Simulink and semi-physical experiments validate that the proposed strategy effectively avoids various obstacles under different road conditions while maintaining reference trajectory tracking. Full article

Improving outdoor thermal comfort is a critical objective in urban design, particularly in densely built urban environments. Elevated semi-open spaces—outdoor areas located beneath raised building structures—have been recognized for enhancing pedestrian comfort by improving airflow and shading. However, previous studies primarily focused on warm or temperate climates, leaving a significant research gap regarding their thermal performance in cold climate zones characterized by extreme seasonal variations. Specifically, few studies have investigated how these spaces perform under conditions typical of northern Chinese cities like Xi’an, which is explicitly classified within the Cold Climate Zone according to China’s national standard GB 50176-2016 and experiences both severe summer heat and cold winter conditions. To address this gap, we conducted field measurements and numerical simulations using the ENVI-met model (v5.0) to systematically evaluate the microclimatic performance of elevated ground-floor spaces in Xi’an. Key microclimatic parameters—including air temperature, mean radiant temperature, relative humidity, and wind velocity—were assessed during representative summer and winter conditions. Our findings indicate that the height of the elevated structure significantly affects outdoor thermal comfort, identifying an optimal elevated height range of 3.6–4.3 m to effectively balance summer cooling and winter sheltering needs. These results provide valuable design guidance for architects and planners aiming to enhance outdoor thermal environments in cold climate regions facing distinct seasonal extremes. Full article

Sodium p-perfluorous nonenoxybenzenesulfonate (OBS) has been proposed as a substitute for perfluorooctanesulfonic acid (PFOS), yet it has garnered increasing attention due to its environmental persistence and potential toxicity. Despite these concerns, the neurotoxic mechanisms of OBS remain unclear. This study investigates and compares the neurotoxic effects and mechanisms of OBS and PFOS in Caenorhabditis elegans. L4-stage worms were exposed to OBS (0.1–100 μM) or PFOS (100 μM) for 24 h. Neurobehavioral analysis showed that OBS exposure induced concentration-dependent neurobehavioral deficits, with 100 μM OBS significantly reducing pharyngeal pumping rate (29.8%), head swing frequency (23.4%), and body bending frequency (46.6%), surpassing the effects of PFOS. Both compounds decreased the fluorescence intensity of dopaminergic, glutamatergic, and γ-aminobutyric acid neurons and downregulated neurotransmitter-associated genes. They also increased ROS generation and inhibited antioxidant gene expression. Molecular docking revealed that OBS had a stronger binding affinity to p38 MAPK key protein (PMK-1) than PFOS. OBS and PFOS upregulated pmk-1 and skn-1, modulating oxidative stress and neuronal function. pmk-1 mutation differentially affected OBS-induced neurobehavioral changes and gene expression alterations. Our findings indicate that OBS exhibits stronger neurotoxicity than PFOS in Caenorhabditis elegans, mediated through the PMK-1 pathway. These results highlight the need for further investigation into the safety of OBS as a PFOS alternative. Full article

Traditional unmanned aerial vehicle (UAV) detection and tracking methods have long faced the twin challenges of high cost and poor efficiency. In real-world battlefield environments with complex backgrounds, occlusions, and varying speeds, existing techniques struggle to track small UAVs accurately and stably. To tackle these issues, this paper presents an enhanced YOLOv8N-Drone-based algorithm for improved target tracking of small UAVs. Firstly, a novel module named C2f-DSFEM (Depthwise-Separable and Sobel Feature Enhancement Module) is designed, integrating Sobel convolution with depthwise separable convolution across layers. Edge detail extraction and multi-scale feature representation are synchronized through a bidirectional feature enhancement mechanism, and the discriminability of target features in complex backgrounds is thus significantly enhanced. For the feature confusion problem, the improved lightweight Context Anchored Attention (CAA) mechanism is integrated into the Neck network, which effectively improves the system’s adaptability to complex scenes. By employing a position-aware weight allocation strategy, this approach enables adaptive suppression of background interference and precise focus on the target region, thereby improving localization accuracy. At the level of loss function optimization, the traditional classification loss is replaced by the focal loss (Focal Loss). This mechanism effectively suppresses the contribution of easy-to-classify samples through a dynamic weight adjustment strategy, while significantly increasing the priority of difficult samples in the training process. The class imbalance that exists between the positive and negative samples is then significantly mitigated. Experimental results show the enhanced YOLOv8 boosts mean average precision (Map@0.5) by 12.3%, hitting 99.2%. In terms of tracking performance, the proposed YOLOv8 N-Drone algorithm achieves a 19.2% improvement in Multiple Object Tracking Accuracy (MOTA) under complex multi-scenario conditions. Additionally, the IDF1 score increases by 6.8%, and the number of ID switches is reduced by 85.2%, indicating significant improvements in both accuracy and stability of UAV tracking. Compared to other mainstream algorithms, the proposed improved method demonstrates significant advantages in tracking performance, offering a more effective and reliable solution for small-target tracking tasks in UAV applications. Full article

Appropriate carriers or templates are crucial for maintaining the stability, biological activity, and bioavailability of selenium nanoparticles (SeNPs). Selecting suitable templates remains challenging for fully utilizing SeNPs functionalities and developing applicable products. Exosome-like nanoparticles (ELNs) have gained importance in drug delivery systems, yet research on selenium products prepared using exosomes remains limited. To address this gap, we utilized Cyperus bean ELNs to deliver SeNPs, investigated three preparation methods for SeNPs-ELNs, identified the optimal approach, and performed characterization studies. Notably, all three methods successfully loaded SeNPs. Ultrasonic cell fragmentation is the optimal approach, achieving significant increases in selenium loading (5.59 ± 0.167 ng/μg), enlargement of particle size (431.17 ± 10.78 nm), and reduced absolute zeta potential (−4.1 ± 0.43 mV). Moreover, both exosome formulations demonstrated enhanced stability against aggregation during storage at 4 °C, while their stability varied with pH conditions. In vitro digestibility tests showed greater stability of SeNP-ELNs in digestive fluids compared to ELNs alone. Additionally, neither ELNs nor SeNP-ELNs exhibited cytotoxicity toward LO₂ cells, and the relative erythrocyte hemolysis remained below 5% at protein concentrations of 2.5, 7.5, 15, 30, and 60 μg/mL. Overall, ultrasonic cell fragmentation effectively loaded plant-derived exosomes with nano-selenium at high capacity, presenting new opportunities for their use as functional components in food and pharmaceutical applications. Full article

Given the harsh working conditions of underwater pan-tilt systems, their energy consumption management is particularly crucial. This study proposes an underwater pan-tilt operation method with an automatic wake-up mechanism, which activates only upon target detection, replacing conventional timer-based triggering. Furthermore, departing from fixed-duration observation strategies, we introduce a Q-learning algorithm to optimize operational modes. The algorithm dynamically adjusts working modes based on surrounding biological activity frequency: employing a low-power mode (reduced energy consumption with lower monitoring intensity) during periods of sparse biological presence and switching to a high-performance mode (extended observation duration, higher energy consumption, and enhanced monitoring intensity) during frequent biological activity. Simulation results demonstrate that compared to fixed-duration observation schemes, the proposed optimization strategy achieves a 11.11% improvement in monitoring effectiveness while achieving 16.21% energy savings. Full article

Banana de-handing is a critical yet labor-intensive step in postharvest processing, with current manual methods resulting in high costs and occupational risks. This study addresses the automation of de-handing point localization by integrating high-resolution 3D scanning and morphometric analysis of banana crowns with machine learning techniques. A total of 210 crown samples were analyzed to extract key morphological features, including inner arc length (L_i), inner arc radius (R_i), outer arc radius (R_o), and the distance between inner and outer arcs (D_oi), among others. Four machine learning algorithms, namely, Multi-Layer Perceptron (MLP), Gradient Boosted Decision Trees (GBDT), Extreme Gradient Boosting (XGBoost), and Random Forest (RF), were developed to predict the target radius (R_t) and target distance (D_ti) of the de-handing point. The RF models achieved the optimal predictive performance on the testing set, with the following results: for R_t, R² = 0.95, MAE = 1.50, and RMSE = 1.94; for D_ti, R² = 0.91, MAE = 1.33, and RMSE = 1.66. A Shapley Additive Explanations (SHAP) analysis revealed that L_i, R_i, and R_o were the most influential features for R_t, while D_oi was the most important for D_ti. Notably, feature threshold effects were observed, with limited gains in prediction accuracy beyond specific morphological values. These results provide a quantitative foundation for vision-guided automated de-handing systems, advancing intelligent and efficient banana postharvest management. Full article

Pork is a major global source of animal protein, and improving both its production efficiency and meat quality is a central goal in modern animal agriculture and food systems. This study investigated post-inflection-point growth patterns in two genetically distinct pig breeds—the lean-type Yorkshire pig (YP) and the fatty-type Qingyu pig (QYP)—with the aim of elucidating breed-specific characteristics that influence pork quality and yield. Comprehensive evaluations of carcass traits, meat quality attributes, nutritional composition, and gene expression profiles were conducted. After the growth inflection point, carcass traits exhibited greater variability than meat quality traits in both breeds, though with distinct patterns. YPs displayed superior muscle development, with the longissimus muscle area (LMA) increasing rapidly before plateauing at ~130 kg, whereas QYPs maintained more gradual but sustained muscle growth. In contrast, intramuscular fat (IMF)—a key determinant of meat flavor and texture—accumulated faster in YPs post inflection but plateaued earlier in QYPs. Correlation and clustering analyses revealed more synchronized regulation of meat quality traits in QYPs, while YPs showed greater trait variability. Gene expression patterns aligned with these phenotypic trends, highlighting distinct regulatory mechanisms for muscle and fat development in each breed. In addition, based on the growth curves, we calculated the peak age at which the growth rate declined in lean-type and fat-type pigs, which was approximately 200 days for YPs and around 270 days for QYPs. This suggests that these ages may represent the optimal slaughter times for the respective breeds, balancing both economic efficiency and meat quality. These findings provide valuable insights for enhancing pork quality through precision management and offer theoretical guidance for developing breed-specific feeding strategies, slaughter timing, and value-added pork production tailored to consumer preferences in the modern food market. Full article

Pinus massoniana Lamb. is an economically important conifer native to China. However, it is highly susceptible to the pine wood nematode (Bursaphelenchus xylophilus, PWN), the causal agent of pine wilt disease (PWD), resulting in substantial ecological and economic losses. To elucidate potential molecular defense mechanisms, 50 NAC (NAM, ATAF1/2, and CUC2) transcription factors (PmNACs) were identified in the P. massoniana genome. Phylogenetic analysis divided these PmNACs into seven subfamilies, and motif analysis identified ten conserved motifs associated with stress responses. Twenty-three genes were selected for expression analysis in various tissues and under exogenous salicylic acid (SA), methyl jasmonate (MeJA), and PWN infection. Six genes (PmNAC1, PmNAC8, PmNAC9, PmNAC17, PmNAC18, and PmNAC20) were significantly up-regulated by both hormonal treatment and PWN infection, implying their involvement in JA/SA-mediated immune pathways. Functional characterization showed PmNAC8 is a nuclear-localized transcription factor with autoactivation activity. Furthermore, transient overexpression of PmNAC8 in Nicotiana benthamiana induced reactive oxygen species (ROS) accumulation and necrotic lesions. Collectively, these results elucidate NAC-mediated defense responses to PWN infection in P. massoniana and identify candidate genes for developing PWD-resistant pine varieties. Full article

The unique characteristics of desert vegetation, such as different leaf morphology, discrete canopy structures, sparse and uneven distribution, etc., pose significant challenges for remote sensing-based estimation of fractional vegetation cover (FVC). The Unmanned Aerial Vehicle (UAV) system can accurately distinguish vegetation patches, extract weak vegetation signals, and navigate through complex terrain, making it suitable for applications in small-scale FVC extraction. In this study, we selected the floodplain fan with Caragana korshinskii Kom as the constructive species in Hatengtaohai National Nature Reserve, Bayannur, Inner Mongolia, China, as our study area. We investigated the remote sensing extraction method of desert sparse vegetation cover by placing samples across three gradients: the top, middle, and edge of the fan. We then acquired UAV multispectral images; evaluated the applicability of various vegetation indices (VIs) using methods such as supervised classification, linear regression models, and machine learning; and explored the feasibility and stability of multiple machine learning models in this region. Our results indicate the following: (1) We discovered that the multispectral vegetation index is superior to the visible vegetation index and more suitable for FVC extraction in vegetation-sparse desert regions. (2) By comparing five machine learning regression models, it was found that the XGBoost and KNN models exhibited relatively lower estimation performance in the study area. The spatial distribution of plots appeared to influence the stability of the SVM model when estimating fractional vegetation cover (FVC). In contrast, the RF and LASSO models demonstrated robust stability across both training and testing datasets. Notably, the RF model achieved the best inversion performance (R² = 0.876, RMSE = 0.020, MAE = 0.016), indicating that RF is one of the most suitable models for retrieving FVC in naturally sparse desert vegetation. This study provides a valuable contribution to the limited existing research on remote sensing-based estimation of FVC and characterization of spatial heterogeneity in small-scale desert sparse vegetation ecosystems dominated by a single species. Full article

Hospitals rank among the most energy-intensive public building typologies and offer substantial potential for carbon mitigation. However, their construction phase has received limited scholarly attention within China’s ‘dual carbon’ agenda. To address this research gap, this study develops and empirically validates an integrated Technology Acceptance Model and Technology-Organization-Environment framework tailored for hospital construction projects. The study not only identifies 12 critical adoption factors but also offers recommendations and discusses the relevance to multiple Sustainable Development Goals. This research provides both theoretical and practical insights for promoting sustainable hospital construction practices. Full article

Compared with biocompatibility, osteoconductivity, and mechanical properties, the poor injectability of calcium phosphate bone cements (CPCs) is always ignored, which actually hinders the development of CPC clinical transfer in minimally invasive orthopedic surgeries. Moreover, currently, CPC preparation in the clinic is labor-intensive and requires well-trained technicists, which might also result in the unstable quality of CPCs. In this work, we focused on three research objectives: (i) introducing a standardized preparation method for CPCs; (ii) studying the effects of preparation parameters on CPC injectability and compressive strength; and (iii) studying the injecting condition effects on CPC injectability, aiming to overcome CPCs’ disadvantages in minimally invasive surgeries. Firstly, two strategies, named “variable mixing barrel control (VMBC)” and the “nested blade–baffle stirring rod (NBBSR)”, were proposed in this study to solve the problems in the preparation of CPCs, which involved blending CPC powder and an agent to generate a paste, by enhancing the mixing performance and mimicking human manual stirring actions. Secondly, although the grinding parameter could significantly generate differences in the microstructure of CPCs, the compressive strength remained relatively stable. However, it was found to significantly affect the injectability of CPCs, leading to the inefficient injection of CPCs. Finally, the effects of syringe design, dimensions, and injecting conditions on CPC injectability were studied, and the results showed that the optimization of these factors enables the injection of CPCs, which has otherwise always been infeasible to implement in minimally invasive orthopedic surgeries. Full article

With the rapidly increasing penetration of new energy resources, the power grid faces significant threats from harmonics. To measure and suppress these harmonics, numerous harmonic measurement methods have been proposed. However, accurately identifying the parameters of harmonics and interharmonics remains challenging. To address this issue, we propose a new method that combines two-fold convolution windows and ZoomFFT. This method leverages the advantages of low side lobe peaks and high side lobe attenuation rates of compound convolution windows to suppress spectral leakage. Additionally, a six-spectral-line interpolation method is employed to correct the calculation results. Furthermore, ZoomFFT is utilized to locally amplify the spectrum, enabling the distinction between interharmonics and harmonics with closely spaced frequencies. The simulation results demonstrate that the proposed algorithm effectively identifies interharmonics with similar frequencies, outperforming single-window functions and ZoomFFT in terms of accuracy. Full article

Immunotherapy has revolutionized cancer treatments but still faces challenges, particularly with response rates plateauing around 20–40%. This is primarily due to the immunosuppressive nature of the tumor microenvironment (TME) and the lack of required antigen availability. This emphasizes finding agents that can improve these response rates, and curcumin has emerged as a promising natural compound with the potential to reengineer the TME by establishing its anti-inflammatory, antioxidant, pro-apoptotic, and anti-angiogenic effects. This review synthesizes the mechanisms by which curcumin affects major oncogenic pathways to synergize with immunotherapies, including immune checkpoint inhibitors, adoptive cell therapies, and cancer vaccinations. Finally, we discuss future directions, current clinical trials, and bioavailability issues with utilizing curcumin clinically. Full article

Developing stretchable strain sensors that combine both high sensitivity and a wide linear range is a critical requirement for health electronics, yet it remains challenging to meet the practical demands of daily health monitoring. This study proposes a novel heterogeneous surface strategy by in situ silver deposition on modified PDMS followed by MXene spray coating, constructing a multilevel microcrack strain sensor (MAP) using silver nanoparticles and MXene. This innovative multilevel heterogeneous microcrack structure forms a dual conductive network, which demonstrates excellent detection performance within GF_max = 487.3 and response time ≈65 ms across various deformation variables. And the seamless integration of the sensor arrays was designed and employed for the detection of human activities without sacrificing biocompatibility and comfort. Furthermore, by adopting advanced deep learning technology, these sensor arrays could identify different joint movements with an accuracy of up to 95%. These results provide a promising example for designing high-performance stretchable strain sensors and intelligent recognition systems. Full article