一种轮式采花机器人设计——以黄蜀葵为例

针对黄蜀葵花朵特定采收的时间和人工采摘效率过低的问题,为实现各类花朵采摘机械化和智能化的需求,以黄蜀葵花朵为例并结合其生长特性,设计一种轮式采花机器人。采用工控机和嵌入式微控制器作为采花机器人的主控系统,执行机构采用电力驱动,以蓄电池供电,通过多个推杆电机、舵机和动态基座(基于航姿参考系统,可自动调节工作平台倾角的机构)构成轮式行走机构,采用两个摄像头分别同时获取黄蜀葵花朵图像,通过深度识别算法以筛选识别可采摘的目标,采用多个舵机配合带轮结构构成机械臂和夹爪的控制机构,以完成花朵的采摘与收集。试验结果表明,机器人对花朵定位的准确率可达75%,识别率高达100%。采花机器人通过主控制系统在试验田里能成功完成采摘作业,由机械臂配合其夹爪成功抓取花朵,上位机软件可以完成图像采集识别、机械臂控制和机器人工作路线的行驶等操作。该机器人适用于各地黄蜀葵和其他部分植物花朵的采集。

Rethinking neurodegenerative diseases:neurometabolic concept linking lipid oxidation to diseases in the central nervous system

Currently,there is a lack of effective medicines capable of halting or reve rsing the progression of neurodegenerative disorde rs,including amyotrophic lateral sclerosis,Parkinson s disease,multiple sclerosis,or Alzheimer s disease.Given the unmet medical need,it is necessary to reevaluate the existing para digms of how to to rget these diseases.When considering neurodegenerative diseases from a systemic neurometabolic perspective,it becomes possible to explain the shared pathological features.This innovative approach presented in this paper draws upon exte nsive research conducted by the authors and researchers worldwide.In this review,we highlight the importance of metabolic mitochondrial dysfunction in the context of neurodegenerative diseases.We provide an overview of the risk factors associated with developing neurodegenerative disorders,including genetic,epigenetic,and environmental fa ctors.Additionally,we examine pathological mechanisms implicated in these diseases such as oxidative stress,accumulation of misfolded proteins,inflammation,demyelination,death of neurons,insulin resistance,dysbiosis,and neurotransmitter disturbances.Finally,we outline a proposal for the restoration of mitochondrial metabolism,a crucial aspect that may hold the key to facilitating curative therapeutic interventions for neurodegenerative disorders in forthcoming advancements.

Enhancing Critical Path Problem in Neutrosophic Environment Using Python

In the real world,one of the most common problems in project management is the unpredictability of resources and timelines.An efficient way to resolve uncertainty problems and overcome such obstacles is through an extended fuzzy approach,often known as neutrosophic logic.Our rigorous proposed model has led to the creation of an advanced technique for computing the triangular single-valued neutrosophic number.This innovative approach evaluates the inherent uncertainty in project durations of the planning phase,which enhances the potential significance of the decision-making process in the project.Our proposed method,for the first time in the neutrosophic set literature,not only solves existing problems but also introduces a new set of problems not yet explored in previous research.A comparative study using Python programming was conducted to examine the effectiveness of responsive and adaptive planning,as well as their differences from other existing models such as the classical critical path problem and the fuzzy critical path problem.The study highlights the use of neutrosophic logic in handling complex projects by illustrating an innovative dynamic programming framework that is robust and flexible,according to the derived results,and sets the stage for future discussions on its scalability and application across different industries.

Sidewall influence of varying free stream Mach number in ramp induced shock wave boundary layer interactions

This study investigates the three-dimensional(3D)effects introduced by the end walls for an aspect ratio of1 in ramp-induced shock wave boundary layer interactions.The simulations are performed using a symmetry boundary condition in the spanwise direction at free-stream Mach numbers in 3D.The simulations are performed using an in-house compressible supersonic solver“Open SBLIFVM”.Two free stream Mach numbers 2.5,and3 are used in the current work,and the simulated results are compared with the aspect ratio 1 simulations by Mangalagiri and Jammy.The inflow is initialized with a similarity solution;its Reynolds number based on the boundary layer thickness is adjusted such that the Reynolds number at the start of the ramp is kept at 3×10^(5)for all simulations.From the results,it is evident that the introduction of sidewalls resulted in a shorter centerline separation length when compared with the two-dimensional(2D)simulations.This contradicts the results at Mach 2 by Mangalgiri and Jammy where the vortex observed at Mach 2 in the central separation region disappeared with increasing free-stream Mach number.Additionally,the topology of interaction shifted from owl-like separation of the second kind to the first kind when the freestream Mach number increased from2 to 2.5.It can be concluded that the interaction topology is crucial to the increase or decrease of the central separation length when compared to 2D simulations.

Mechanisms to explain soil liquefaction triggering,development,and persistence during an earthquake

Mechanisms have been proposed to explain the triggering,development,and persistence of soil liquefaction.The mechanism explaining the horizontal failure plane(triggering)and its depth below the phreatic surface is governed by the flux properties and effective stress at that plane.At the failure plane,the pore water pressure was higher than the effective stress,and the volume change was the highest.The pore water pressure is a function of the soil profile features(particularly the phreatic zone width)and bedrock motion(horizontal acceleration).The volume change at the failure plane is a function of the intrinsic permeability of the soil and bedrock displacement.The failure plane was predicted to occur during the oscillation with the highest amplitude,disregarding further bedrock motion,which was consistent with low seismic energy densities.Two mechanisms were proposed to explain the persistence of soil liquefaction.The first is the existence of low-permeability layers in the depth range in which the failure planes are predicted to occur.The other allows for the persistence and development of soil liquefaction;it is consistent with homogeneous soils and requires water inflow from bedrock water springs.The latter explains many of the features of soil liquefaction observed during earthquakes,namely,surficial effects,“instant”liquefaction,and the occurrence of short-and long-term changes in the level of the phreatic surfaces.This model(hypothesis),the relationship between the flux characteristics and loss of soil shear strength,provides self-consistent constraints on the depth below the phreatic surfaces where the failure planes are observed(expected to occur).It requires further experimental and observational evidence.Similar reasoning can be used to explain other saturated soil phenomena.

Advances in Polar Science:climate change,global communication and sharing

One of the most pressing crises facing the world today is climate change and its impact on the Earth’s ecosystems and human societies.Climate change is currently progressing most rapidly in the polar regions,and its effects are already evident,making the polar regions an early indicator of global climate change.Changes in these areas affect sea level rise,ecosystems,weather patterns,and feedback mechanisms that influence global climate.Thus,understanding the polar regions is critical for predicting future changes and developing strategies for mitigation and adaptation(IPCC,2023).The IPCC Special Report on the Ocean and Cryosphere in a Changing Climate also emphasizes the interconnectedness of the polar cryosphere,ocean,and human societies,underscoring that climate action is not just an environmental issue but a matter of human survival(IPCC,2019).Given the urgent need for international collaboration to address the impacts of climate change in the polar regions,it is crucial that scientific findings are effectively shared across borders and disciplines.The International Polar Year 2032-33(Interim IPY Secretariat,2024),currently being planned,underscores this need by encouraging international cooperation and effective knowledge exchange across polar research communities.

The significance of NO_(2) dimerization in plasma-based NO_(x) synthesis for nitrogen fixation

Plasma-based NO_(x) synthesis has been considered as a sustainable alternative to the conventional HaberBosch process.Despite the advancements in research achieved in recent years,limited attention has been paid to the reversible dimerization reaction of NO_(2) to N_(2)O_(4).This reaction can significantly alter the parameters considered with the process’output,such as the concentration or volume fraction of products and the energy consumption.This work aims to investigate the significance of dimerization through theoretical analysis and experimentation.Experiments were conducted with a 2D-gliding arc reactor to evaluate the influence of dimerization in the case of plasma reactor operation.It was observed that the dimerization reaction reached equilibrium in microseconds,resulting in a maximum hypothetical NO_(2) equilibrium conversion of 48.8%.For plasma experiments,the dimerization could cause a maximum error of 14.1%in product detection,which needs to be carefully considered along with the influence of temperature variations on the measurement.

城市绿色基础设施建设潜力与效益研究

在高度发达的城市环境中,城市绿色基础设施(UGI)的扩建受到诸多限制,亟待发掘可用于UGI建设的潜力空间,以应对日益突显的社会和环境挑战。本研究创新了UGI潜力空间的识别方法,系统性识别了UGI的潜力空间,并引入生态系统调节服务价值的概念,以评估UGI潜力空间建设所带来的效益;研究识别出了可改造裸地、待腾退小区、潜在屋顶绿化和可绿化桥墩四类UGI的潜力空间,此外,进一步估算了潜力空间建设后对深圳市生态系统调节服务价值的贡献。研究结果表明,深圳市2021年的UGI潜力空间共计6241.78 hm^(2),占深圳市总面积的3.12%;若将UGI潜力空间全部建成,将使深圳市生态系统调节服务价值增加19.97亿元,占当年总生态系统调节服务价值的3.97%。本研究识别出的UGI潜力空间将为决策者提供有针对性的实施UGI的方案,以补充并完善现有的绿色基础设施网络。

Recent Advancements in the Development of Self Healing Concrete-A Systematic Review

Mechanical as well as durability properties are pivotal for any type of concrete which gets adversely affected due to cracks that may form due to loading beyond its capacity.Concrete has the intrinsic property to heal itself to some extent but not fully as the passive form of autogenous healing plays an inferior role for a complete repair of a cementitious material.The self-healing capabilities can be enhanced by adding chemical admixtures,polymers,and bacteria strains induced calcium carbonate precipitation,etc.In this paper,the advancements in the development and performance of self-healing concrete using chemical admixtures,polymers,and bacteria strains are reviewed.This systematic review includes the available experimental tests and methodologies investigating self-healing efficiency over the last decade.Further,this review focussed on self-healing materials,the ideology,and opinions of those in the construction field on the direction of self-healing concrete for future applications.It is yet not possible to predict the most appropriate technique,however,a generalized opinion about the effectiveness of the different approaches has been illustrated.

IoT Task Offloading in Edge Computing Using Non-Cooperative Game Theory for Healthcare Systems

In this paper,we present a comprehensive system model for Industrial Internet of Things(IIoT)networks empowered by Non-Orthogonal Multiple Access(NOMA)and Mobile Edge Computing(MEC)technologies.The network comprises essential components such as base stations,edge servers,and numerous IIoT devices characterized by limited energy and computing capacities.The central challenge addressed is the optimization of resource allocation and task distribution while adhering to stringent queueing delay constraints and minimizing overall energy consumption.The system operates in discrete time slots and employs a quasi-static approach,with a specific focus on the complexities of task partitioning and the management of constrained resources within the IIoT context.This study makes valuable contributions to the field by enhancing the understanding of resourceefficient management and task allocation,particularly relevant in real-time industrial applications.Experimental results indicate that our proposed algorithmsignificantly outperforms existing approaches,reducing queue backlog by 45.32% and 17.25% compared to SMRA and ACRA while achieving a 27.31% and 74.12% improvement in Qn O.Moreover,the algorithmeffectively balances complexity and network performance,as demonstratedwhen reducing the number of devices in each group(Ng)from 200 to 50,resulting in a 97.21% reduction in complexity with only a 7.35% increase in energy consumption.This research offers a practical solution for optimizing IIoT networks in real-time industrial settings.

A new approach to pedestal differentiation for soil loss estimation-a case study from a burnt area in north-central Portugal

Soil pedestals have long been used as qualitative indicators of soil splash erosion.In rangelands,plant-capped pedestals,generally grass tussocks,have also been used to quantitatively estimate soil loss since the first half of the twentieth century.In agricultural lands,forests,and bad-lands,stone-capped pedestals have been used as qualitative and semi-quantitative indicators of active,'extreme'erosion.Little work has been reported on using capstone pedestal data for quantifying soil loss.We postulate that three distinct capstone pedestal types may be present in any given location and that a detailed analysis of a pedestal height histogram may be used to recognize their populations.This analysis can subsequently inform if soil loss can be reliably estimated and if so,which of the existing methods using pedestal height data will provide more accurate results.The three proposed capstone pedestal types are:(1)neo-pedestals formed underneath surface stones exposed by(partial)removal of the soil surface cover;(2)endo-pedestals formed underneath stones that were buried in the soil but have been exposed by erosion;and(3)phoenix-pedestals formed underneath stones from collapsed pedestals.In the pedestal height histogram of any given location,a skew to smaller heights may indicate the existence of endo-and/or phoenix-pedestals,which may be revealed as a bi-(or tri)modal distribution when using a smaller bin size.This concept was applied to a case study where soil loss had been monitored for control plots and mulched plots during a 5-year period following wildfire in a eucalypt plantation.We measured pedestal heights and used methods to quantitatively assess soil loss from soil pedestal data in the available literature.Soil pedestal data at the end of the 5-year period under or overestimated soil loss in the control treatment,with results ranging from 60 to 115%of measured soil loss,depending on the method.It is postulated that phoenix-and endo-pedestals may be a driving factor behind the observed discrepancies.We discuss how future research may provide more insight into dominant processes,and how frequency distributions may be used to select the best methods for estimating soil loss from pedestals.

Correlation between non-alcoholic fatty liver disease and metabolic parameters in persons with newly diagnosed type 2 diabetes mellitus

BACKGROUND There are limited studies investigating the association between type 2 diabetes mellitus(T2DM)and non-alcoholic fatty liver disease(NAFLD)in the region of Bihar,India.AIM To estimate the prevalence of NAFLD in persons with newly diagnosed T2DM in the population of North Bihar,India.METHODS This single centre cross-sectional study was undertaken in the Research Centre for Diabetes Hypertension and Obesity,Samastipur,Bihar,India.Data were collected from persons newly diagnosed with T2DM or those diagnosed within 6 months of when the study was conducted between December 2022 to May 2023.RESULTS A total of 148 people with newly diagnosed T2DM were included(median age 47 years,46.6%female)and 109 patients with liver disease on ultrasound evaluation.The persons with liver disease consumed more fats and oils(88.1%vs 74.4%,P=0.042)and they had significantly greater body mass index(27.4 vs 23.0,P<0.001),waist circumference(37 vs 33,P<0.001),and waist-to-hip ratio(1.00 vs 0.70,P=0.025).Females were associated with greater liver disease[odds ratio(OR):3.09,95%confidence interval(CI):1.09-8.80,P=0.32].Waist circumference(OR:1.42,95%CI:1.22-1.66,P<0.001)and low-density lipoprotein cholesterol(OR:1.01,95%CI:1.01-1.02,P=0.048)were associated with any liver disease.The factors most associated with grade 2/3 liver disease was right upper quadrant pain or heaviness(OR:5.22,95%CI:1.40-19.41,P=0.14),greater income(OR:3.58,95%CI:1.28-10.04,P=0.015)and waist circumference(OR:1.31,95%CI:1.02-1.69,P=0.036).CONCLUSION NAFLD is common in new/recently diagnosed T2DM and disease burden is high and common among patients who are either high consumers of fats and oils or have obesity-associated markers.

Residents’attitudes and behaviours on private green spaces in the suburban areas of Central European countries

Green spaces in urban and suburban areas play a significant role in helping settlements adapt to climate change.The design,quantity,quality,and location of green spaces influence their ability to provide benefits to people and enhance the quality of life.Private green spaces,if adequately managed,can enhance the environmental quality.This study,based on a questionnaire survey and the Motivation/Attitude-Driven Behaviour(MADB)model,investigated how the attitudes and behaviours of residents shape private green spaces in 12 settlements of the 4 city regions(Cluj region,Nitra region,Kecskemét region,and Györ region)in 3 Central European countries(Hungary,Slovakia,and Romania).The results showed that beautiful natural environment,abundance of green spaces,beautiful settlement and streetscape,and village atmosphere were mentioned most often,along with good quality of life,with a mention rate of over 70.00%in the four city regions.Convenience also played a significant role in the management of green spaces,showing that convenience factors(less work,less waste,and cheaper management)more important for those who live in settlements nearer to the cities.The importance of biodiversity and ecology was positively correlated with socio-economic status such as education and financial situation.However,the importance of the utility of green spaces was less prevalent among original villagers and settlers.Moreover,we found that the percentage of green spaces of settlers is slightly higher than that of original villagers.The results of factor analysis revealed that socio-economic status can influence respondents’attitudes towards green spaces.It suggests to increase ecological awareness of residents,especially for new settlers,and promote good management techniques for green spaces.This study can improve the awareness of urban planners about the importance of green spaces in suburban areas.

Integrated network pharmacology and metabolomics to explore the mechanisms of Shenzao dripping pill against chronic myocardial ischemia

Background:Shenzao dripping pill(SZDP)is empirically prescribed for treating cardiac diseases.Nevertheless,there is a lack of comprehensive knowledge regarding the underlying mechanisms contributing to its therapeutic effects.The objective of this study is to investigate the underlying mechanism of SZDP against chronic myocardial ischemia(CMI)in a rat model.Methods:In this study,we utilized electrocardiographic and echocardiographic detection along with pathological tissue analysis to evaluate the efficacy of SZDP.The integration of network pharmacology and metabolomics was conducted to investigate the mechanisms.Molecular docking and molecular dynamics simulations were used to validate the binding energy between the compounds of SZDP and the associated targets.Results:The results showed that SZDP was able to improve T wave voltage,reverse CMI abnormalities in ejection fraction and fractional shortening,and restore histopathological heart damage.Metabolomics results indicated that disturbances of metabolic profile in CMI rats were partly corrected after SZDP administration,mainly affecting purine metabolism.13-Docosenamide may be the potential metabolic biomarker of the therapeutic application of SZDP for CMI.Integrating network pharmacology and metabolomics,thiopurine S-methyltransferase(TPMT),xanthine dehydrogenase/oxidase(XDH),bifunctional purine biosynthesis protein ATIC(ATIC),and cytochrome p4501A1(CYP1A1)were identified as possible targets of SZDP to exert therapeutic effects by enhancing the metabolic levels of L-Tryptophan,Deoxyribose 1-phosphate and Phosphoribosyl formamidocarboxamide.Conclusion:SZDP has a therapeutic effect on CMI by regulating metabolite levels,acting on the targets of TMPT,XDH,ATIC,and CYP1A1,and reducing cardiomyocyte injury and myocardial fibrosis.

高压处理对牛肉肌红蛋白及颜色变化的影响

室温下不同压力(200、400、600和800MPa),20min处理对绞碎牛肉颜色及肌红蛋白的影响进行了研究。结果显示:随压力的上升,L值增加、a值下降,肌肉逐渐失去红色变为灰棕色。同时,肌红蛋白总量显著降低,高铁肌红蛋白的比例在压力400MPa以上时显著增加。真空包装不能减轻压力导致的变色,而添加亚硝酸钠能对色泽起到稳定作用。压力处理导致色泽变化的原因可能是由于二价铁的肌红蛋白氧化成三价铁的高铁肌红蛋白、球蛋白的变性及结构的变化所致,可通过处理前腌制形成亚硝基肌红蛋白来稳定色泽。

乌司他丁对双侧全膝关节置换术后患者炎性反应和急慢性疼痛的影响

目的观察乌司他丁对充气式止血带下接受双侧全膝关节置换术(TKA)的患者的围术期炎性反应、术后急性疼痛和慢性疼痛、以及膝关节功能康复速度的影响。方法在大腿止血带下接受双侧TKA的患者40例,随机分为对照组(C组)和试验组(U组),U组静脉给予乌司他丁。所有患者全身麻醉、术后镇痛和功能康复方案均相同。在不同时间点用酶联免疫吸附(ELISA)法测定IL-6、TNF-α和IL-10浓度,观察静息和活动时VAS疼痛的评分,阿片类药消耗量,膝关节主动屈膝角度和持续被动运动角度及步行30 m所需时间。结果两组患者的一般情况没有差异。U组的部分时间点的炎性因子水平低于C组(P<0.05)。U组术后4 h的静息疼痛评分和舒芬太尼用量显著低于C组(P<0.05)。术后各时间点的功能康复指标均无差异。结论乌司他丁可以减轻围术期炎性反应,降低术后早期的静息疼痛评分,减少阿片类药物用量。

中国花生小核心种质与ICRISAT微核心种质的SSR遗传多样性比较

明确花生种质资源的遗传多样性和分布规律,对于发掘优良种质资源,选配优良亲本,拓宽育成品种的遗传基础具有重要意义。核心种质为种质资源的研究、评价和鉴定带来了方便。本研究从206对SSR引物中筛选26对引物对我国花生小核心种质和ICRISAT微核心种质共466份资源进行了遗传多样性分析,相似系数为0.49～0.99,鉴定出遗传差异最大的种质L2刚果(中国花生资源)与ICG12625(ICRISAT资源),相似系数为0.49。分析结果表明,多粒型花生的多态性信息量(0.761)和遗传多样性指数(0.97～1.11)均最大(平均相似系数最小,0.73～0.76),其次是普通型花生。中国花生种质资源与ICRISAT资源存在较大差异,尤其是ICRISAT的赤道型材料ICG12625,与中国花生资源的差异最大。相似系数和遗传多样性指数的分析结果均表明,我国花生种质资源的遗传多样性比ICRISAT资源丰富。

利用核心种质发掘及评价花生抗黄曲霉资源

黄曲霉菌极大地限制全世界的花生生产和产业发展,且生产上抗性品种较少,我国花生育种和生产中的抗性资源缺乏,迫切需要发掘抗黄曲霉种质。本研究以中国花生核心种质561份和ICRISAT微核心种质155份为材料,鉴定了黄曲霉侵染和产毒抗性,发掘出抗黄曲霉侵染和产毒种质各8份,包括具优良农艺性状的抗黄曲霉产毒种质51002-6。鉴定结果表明,ICRISAT花生微核心种质中抗黄曲霉侵染和产毒种质的频率高于中国花生核心种质;普通型花生资源中抗黄曲霉侵染种质的频率较高,龙生型资源中抗黄曲霉产毒种质的频率较高。根据SSR分析,鉴定出与生产上推广应用的优良品种中花5号、中花6号、中花12和远杂9102遗传距离较远的抗黄曲霉产毒种质ICG12625和抗侵染种质ICG4750,拓宽了我国花生品种改良的遗传基础。根据抗病基因产物的NBS类型保守域设计简并引物对抗黄曲霉种质的DNA进行PCR扩增、克隆、测序和分析,获得了1条RGA片段。

SARS继发曲菌感染死亡1例临床病理学观察

目的 探讨重症急性呼吸综合征 (SARS)的死因和病变特征。方法 常规HE染色 ,组织化学Macchiavello法、MSB、网状纤维、PAS染色法进行观察。结果 SARS增生修复期改变 ;继发性肺曲菌病伴双肺广泛化脓性炎 ,严重的肺组织破坏 ,肺水肿 ,肺出血 ,气管、支气管、小支气管血液吸入 ;霉菌性败血症伴全身器官播散性、多发性曲菌性脓肿、局部组织坏死及出血伴纤维素性坏死性血管炎、血栓及霉菌菌栓形成 ;免疫器官抑制 :脾红髓及白髓等淋巴组织严重减少 ,淋巴组织灶状坏死 ;纤维组织增生 ;淋巴结淋巴滤泡减少 ,生发中心消失 ,间质纤维化 ;骨髓粒细胞系、巨核细胞系减少 ,红细胞系灶状增生。结论 患者死于免疫功能抑制继发感染性多器官衰竭。提示对SARS的皮质激素治疗要适时视情慎用。

重组人类生长激素治疗儿童X-连锁低血磷性佝偻病

目的评价重组人类生长激素rhGH治疗儿童X-连锁低血磷性佝偻病(XLH)的临床疗效与安全性。方法检查Cochrane囊性纤维化及遗传性疾病工作组建立的先天性代谢缺陷数据库。手检相关骨和矿物质代谢的杂志和会议摘要。纳入所有单独采用重组人类生长激素或联合传统疗法与安慰剂或单用传统疗法治疗儿童XLH作比较的随机对照试验或半随机对照试验。2个评价员独立选择纳入的试验、评价试验的方法学质量及提取数据。结果只有1个研究符合该系统评价的纳入标准,且样本量小。rhGH治疗可能改善XLH患儿身高增长,并可因暂时减少尿磷的排出而提高血磷水平。结论尚没有足够的证据显示rhGH是否对患儿的身高增长、矿物质代谢、内分泌、肾功能、骨矿密度和上下部量比例有影响。