This paper proposes an improved 3D-Vector Field Histogram (3D-VFH) algorithm for autonomous flight and local obstacle avoidance of multi-rotor unmanned aerial vehicles (UAVs) in a confined ...environment. Firstly, the method employs a target point coordinate system based on polar coordinates to convert the point cloud data, considering that long-range point cloud information has no effect on local obstacle avoidance by UAVs. This enables UAVs to effectively utilize obstacle information for obstacle avoidance and improves the real-time performance of the algorithm. Secondly, a sliding window algorithm is used to estimate the optimal flight path of the UAV and implement obstacle avoidance control, thereby maintaining the attitude stability of the UAV during obstacle avoidance flight. Finally, experimental analysis is conducted, and the results show that the UAV has good attitude stability during obstacle avoidance flight, can autonomously follow the expected trajectory, and can avoid dynamic obstacles, achieving precise obstacle avoidance.
'Huangguogan' (Citrus reticulata × C. sinensis) is a new cultivar of mandarin citrus in China, and the research on fertilization of 'Huangguogan' is very limited. In this study, the effect of N ...fertilization on 'Huangguogan' fruit quality was determined at ripening. Sugars (sucrose, fructose, and glucose), organic acids (pyruvic, oxalic, citric acid, etc.), and vitamin components were measured at six stages of fruit development, and eight enzymes related to the glycolytic and Krebs cycle were assessed. The 1.81 kg N y-1 treatment group showed the highest total soluble solids concentration and total soluble solids/titratable acidity ratio but the lowest titratable acidity (acid content) at ripening, while the N1 treatment (0 kg N y-1) showed the opposite trend. Sucrose and citric acid accumulated to the largest extent during fruit development. Sucrose and ascorbic acid content increased (8.46 to 50.97 mg g-1 and 8.16 to 27.39 mg g-1, respectively), while citric acid content decreased (90.81 to 0.02 mg g-1). Aconitase was the key enzyme responsible for the observed changes in citric acid. The N concentrations in ripening fruit ranged from 2.25% to 4.15%. Curve estimation and principal component analysis revealed that fruit N was positively correlated with the sugars and vitamin components and negatively correlated with the organic acids. The accumulation of these metabolites seemed closely related to the dynamic changes in fruit N concentration at the five N levels tested. In conclusion, we suggest that the 1.81 kg N y-1 treatment represents the most suitable N fertilizer treatment for 'Huangguogan' citrus fruit.
Abstract Ankylosing spondylitis (AS) stands as a persistent inflammatory ailment predominantly impacting the axial skeleton, with the immune system and inflammation intricately entwined in its ...pathogenesis. This study endeavors to elucidate gender-specific patterns in immune cell infiltration and diverse forms of cell demise within the AS milieu. The aim is to refine the diagnosis and treatment of gender-specific AS patients, thereby advancing patient outcomes. In the pursuit of our investigation, two datasets (GSE25101 and GSE73754) pertinent to ankylosing spondylitis (AS) were meticulously collected and normalized from the GEO database. Employing the CIBERSORT algorithm, we conducted a comprehensive analysis of immune cell infiltration across distinct demographic groups and genders. Subsequently, we discerned differentially expressed genes (DEGs) associated with various cell death modalities in AS patients and their healthy counterparts. Our focus extended specifically to ferroptosis-related DEGs (FRDEGs), cuproptosis-related DEGs (CRDEGs), anoikis-related DEGs (ARDEGs), autophagy-related DEGs (AURDEGs), and pyroptosis-related DEGs (PRDEGs). Further scrutiny involved discerning disparities in these DEGs between AS patients and healthy controls, as well as disparities between male and female patients. Leveraging machine learning (ML) methodologies, we formulated disease prediction models employing cell death-related DEGs (CDRDEGs) and identified biomarkers intertwined with cell death in AS. Relative to healthy controls, a myriad of differentially expressed genes (DEGs) linked to cell death surfaced in AS patients. Among AS patients, 82 FRDEGs, 29 CRDEGs, 54 AURDEGs, 21 ARDEGs, and 74 PRDEGs were identified. In male AS patients, these numbers were 78, 33, 55, 24, and 94, respectively. Female AS patients exhibited 66, 41, 40, 17, and 82 DEGs in the corresponding categories. Additionally, 36 FRDEGs, 14 CRDEGs, 19 AURDEGs, 10 ARDEGs, and 36 PRDEGs exhibited differential expression between male and female AS patients. Employing machine learning techniques, LASSO, RF, and SVM-RFE were employed to discern key DEGs related to cell death (CDRDDEGs). The six pivotal CDRDDEGs in AS patients, healthy controls, were identified as CLIC4, BIRC2, MATK, PKN2, SLC25A5, and EDEM1. For male AS patients, the three crucial CDRDDEGs were EDEM1, MAP3K11, and TRIM21, whereas for female AS patients, COX7B, PEX2, and RHEB took precedence. Furthermore, the trio of DDX3X, CAPNS1, and TMSB4Y emerged as the key CDRDDEGs distinguishing between male and female AS patients. In the realm of immune correlation, the immune infiltration abundance in female patients mirrored that of healthy controls. Notably, key genes exhibited a positive correlation with T-cell CD4 memory activation when comparing male and female patient samples. This study engenders a more profound comprehension of the molecular underpinnings governing immune cell infiltration and cell death in ankylosing spondylitis (AS). Furthermore, the discernment of gender-specific disparities among AS patients underscores the clinical significance of these findings. By identifying DEGs associated with diverse cell death modalities, this study proffers invaluable insights into potential clinical targets for AS patients, taking cognizance of gender-specific nuances. The identification of gender-specific biological targets lays the groundwork for the development of tailored diagnostic and therapeutic strategies, heralding a pivotal step toward personalized care for AS patients.
Great efforts have been devoted to the development of high-energy-density lithium-ion batteries (LIBs) to meet the requirements of emerging technologies such as electric cars, large-scale energy ...storage, and portable electronic devices. To this end, silicon-based electrodes have been increasingly regarded as promising electrode materials by virtue of their high theoretical capacity, low costs, environmental friendliness, and high natural abundance. It has been noted that during repeated cycling, severe challenges such as huge volume change remain to be solved prior to practical application, which boosts the development of advanced cross-linked binders via chemical bonds (CBCBs) beyond traditional PVDF binder. This is because CBCBs can effectively fix the electrode particles, inhibit the volume expansion of Si particles, and stabilize the solid electrolyte interface and thus can enable good cycling stability of silicon anode-based batteries. In light of these merits, CBCBs hence arouse much attention from both industry and academia. In this review, we present chemical/mechanical characteristics of CBCBs and systematically discuss the recent advancements of cross-linked binders via chemical bonding for silicon-based electrodes. Focus is placed on the cross-linking chemistries, construction methods and structure–performance relationships of CBCBs. Finally, the future development and performance optimization of CBCBs are proposed. This discussion will provide good insight into the structural design of CBCBs for silicon-based electrodes.
Highlights
The double-network binder shows excellent adhesive and self-healing abilities, which help suppress electrode volume expansion and stabilize the electrode interface upon cycling.
This ...binder induces a Li
3
N/LiF-rich solid electrolyte interface layer, which can suppress continuous electrolyte decomposition.
Superior electrochemical performance can be achieved in Si/Li half cells and LiNi
0.8
Co
0.1
Mn
0.1
O
2
/Si full cells, even with a high loading of Si electrode.
Silicon (Si) has been regarded as an alternative anode material to traditional graphite owing to its higher theoretical capacity (4200 vs. 372 mAh g
−1
). However, Si anodes suffer from the inherent volume expansion and unstable solid electrolyte interphase, thus experiencing fast capacity decay, which hinders their commercial application. To address this, herein, an endotenon sheath-inspired water-soluble double-network binder (DNB) is presented for resolving the bottleneck of Si anodes. The as-developed binder shows excellent adhesion, high mechanical properties, and a considerable self-healing capability mainly benefited by its supramolecular hybrid network. Apart from these advantages, this binder also induces a Li
3
N/LiF-rich solid electrolyte interface layer, contributing to a superior cycle stability of Si electrodes. As expected, the DNB can achieve mechanically more stable Si electrodes than traditional polyacrylic acid and pectin binders. As a result, DNB delivers superior electrochemical performance of Si/Li half cells and LiNi
0.8
Co
0.1
Mn
0.1
O
2
/Si full cells, even with a high loading of Si electrode, to traditional polyacrylic acid and pectin binders. The bioinspired binder design provides a promising route to achieve long-life Si anode-assembled lithium batteries.
Nitrate transporter (
NRT
) genes that participate in nitrate transport and distribution are indispensable for plant growth, development, and stress tolerance.
Spirodela polyrhiza
has the smallest ...genome among monocotyledon plants, and it has strong nitrate absorbance and phytoremediation abilities. However, the evolutionary history, expression patterns, and functions of the
NRT
gene family in
S. polyrhiza
are not well understood. Here, we identified 29 NRT members in the
S. polyrhiza
genome. Gene structure and phylogeny analyses showed that
S. polyrhiza
nitrate transporter (SpNRTs) genes were divided into eight clades without gene expansion compared with that in
Arabidopsis
. Transcriptomic analysis showed that
SpNRT
genes have spatiotemporal expression patterns and respond to abiotic stress. Functional analysis revealed that in
S. polyrhiza, SpNRT1.1
expression was strongly induced by treatment with nitrate and ammonium. Overexpression of
SpNRT1.1
significantly repressed primary root length, and the number and total length of lateral roots. This was more pronounced in high ammonium concentration medium. Overexpressed
SpNRT1.1
in
Arabidopsis
significantly improved biomass and delayed flowering time, indicating that the nitrate transport ability of SpNRT1.1 differs from AtNRT1.1. In conclusion, our results provide valuable information about the evolution of the NRT family in higher plants and the function of SpNRT1.1.
Conventional liquid electrolytes based sodium metal batteries suffer from severe safety hazards owing to electrolyte leakage, inflammability and dendritic sodium deposition. Herein, we report a ...flame-retardant quasi-solid polymer electrolyte with poly(methyl vinyl ether-alt-maleic anhydride) (P(MVE-alt-MA)) as host, bacterial cellulose (BC) as reinforcement, and triethyl phosphate/vinylene carbonate/sodium perchlorate (TEP/VC/NaClO
4
) as plasticizer for highly safe sodium metal batteries. The as-obtained quasi-solid polymer electrolyte exhibits superior flame retardancy (self-extinguish within 1 s), complete non-leakage property and wide electrochemical windows (4.4 V). More importantly, Na
3
V
2
(PO
4
)
3
/Na metal batteries using such polymer electrolyte delivers superior long-term cycling stability (84.4% capacity retention after 1000 cycles) which is significantly better than that (only 2% after 240 cycles) of liquid electrolyte. In addition, this flame-retardant quasi-solid polymer electrolyte provides favorable cycle performance (80.2% capacity retention after 70 cycles at 50 °C and 84.8% capacity retention after 50 cycles at −10 °C) for Na
3
V
2
(PO
4
)
3
/Na metal batteries. And this battery also displayed a normal charge/discharge property even at −15 °C. These fascinating cycle properties are mainly ascribed to the effective protective layers formed on Na
3
V
2
(PO
4
)
3
cathode and sodium metal anode. More thorough investigation elucidates that such flame-retardant quasi-solid polymer electrolyte plays a multifunctional role in the advanced sodium metal batteries: (1) Being involved in the formation of a favorable cathode electrolyte interface (CEI) to inhibit the dissolution of vanadium and maintain the structure integrity of the Na
3
V
2
(PO
4
)
3
; (2) Participating in building a stable solid electrolyte interface (SEI) to suppress the growth of Na dendrites; (3) Integrating flame-retardance into polymer sodium batteries to enhance flame-resistance, eliminate electrolyte leakage, and thus improve safety of sodium batteries. Based on these results, we further assembled Na
3
V
2
(PO
4
)
3
/MoS
2
pouch cell which can withstand harsh conditions (bended or cut off a corner), confirming the obtained polymer electrolyte with superior non-leakage property. In all, these outstanding characteristics would endow this flame-retardant quasi-solid polymer electrolyte a very promising candidate for highly-safe sodium metal batteries.
Background and objectives Major Depressive Disorder (MDD) is one of the most prevalent and debilitating health conditions worldwide. Previous studies have reported a link between metabolic ...dysregulation and MDD. However, evidence for a causal relationship between blood metabolites and MDD is lacking. Methods Using a two-sample bidirectional Mendelian randomization analysis (MR), we assessed the causal relationship between 1,400 serum metabolites and Major Depressive Disorder (MDD). The Inverse Variance Weighted method (IVW) was employed to estimate the causal association between exposures and outcomes. Additionally, MR-Egger regression, weighted median, simple mode, and weighted mode methods were used as supplementary approaches for a comprehensive appraisal of the causality between blood metabolites and MDD. Pleiotropy and heterogeneity tests were also conducted. Lastly, the relevant metabolites were subjected to metabolite function analysis, and a reverse MR was implemented to explore the potential influence of MDD on these metabolites. Results After rigorous screening, we identified 34 known metabolites, 13 unknown metabolites, and 18 metabolite ratios associated with Major Depressive Disorder (MDD). Among all metabolites, 33 were found to have positive associations, and 32 had negative associations. The top five metabolites that increased the risk of MDD were the Arachidonate (20:4n6) to linoleate (18:2n6) ratio, LysoPE(18:0/0:0), N-acetyl-beta-alanine levels, Arachidonate (20:4n6) to oleate to vaccenate (18:1) ratio, Glutaminylglutamine, and Threonine to pyruvate ratio. Conversely, the top five metabolites that decreased the risk of MDD were N6-Acetyl-L-lysine, Oleoyl-linoleoyl-glycerol (18:1 to 18:2) 2 to linoleoyl-arachidonoyl-glycerol (18:2 to 20:4) 2 ratio, Methionine to phosphate ratio, Pregnanediol 3-O-glucuronide, and 6-Oxopiperidine-2-carboxylic acid. Metabolite function enrichment was primarily concentrated in pathways such as Bile Acid Biosynthesis (FDR=0.177), Glutathione Metabolism (FDR=0.177), Threonine, and 2-Oxobutanoate Degradation (FDR=0.177). In addition, enrichment was noted in pathways like Valine, Leucine, and Isoleucine Biosynthesis (p=0.04), as well as Ascorbate and Aldarate Metabolism (p=0.04). Discussion Within a pool of 1,400 blood metabolites, we identified 34 known metabolites and 13 unknown metabolites, as well as 18 metabolite ratios associated with Major Depressive Disorder (MDD). Additionally, three functionally enriched groups and two metabolic pathways were selected. The integration of genomics and metabolomics has provided significant insights for the screening and prevention of MDD.
Nitrogen metabolism in citrus has received increased attention due to its effects on plant growth and productivity. However, little is known about the effects of nitrogen fertilization on nitrogen ...metabolism in young trees of citrus cultivar 'Huangguogan' (Citrus reticulata × Citrus sinensis). Here, genes encoding nitrate reductase (NR), nitrite reductase (NiR), glutamine synthetase (GS), glutamate dehydrogenase (GDH), and asparagine synthetase (AS), represented as HgNR, HgNiR, HgGS, HgGDH, and HgAS, respectively, were cloned from Huangguogan. Deduced protein sequences were analyzed and proteins were confirmed to be localized in their respective cellular organelles. Moreover, pot-cultured 'Huangguogan' seedlings were fertilized with 0 (N1), 1.36 (N2), 1.81 (N3), 2.26 (N4), or 2.72 (N5) kg N/year, for 12 months. Enzyme activity and enzyme-gene expression were studied in roots, leaves, and fruits at different stages. Finally, the effects of N application rate on root activity, leaf N, soluble protein, yield, and fruit quality at the ripening stage were measured. The results showed that: 1) HgNR, HgNiR, HgGDH, and HgAS gene products were found mainly in the cytoplasm and plasma membrane, while HgGS gene product was found mainly in cytoplasm and mitochondria. 2) Gene expression and enzyme activity differed among plant organs. As the root is in permanent direct contact with the soil we suggest that root gene expression and enzyme activity can be used as reference to determine N application rate. 3) Yield, fruit quality, enzyme activity, and enzyme-related gene expression were considerably lower at low than at high-N supply. However, they were all inhibited by excess nitrogen (i.e., 2.72 kg/year). Therefore, we recommend 1.81 kg N/year as the optimal N application rate for young 'Huangguogan' trees.
This paper addresses the issue of dynamic instability in quadrotor caused by changes in load mass during flight. To tackle this problem, the Lyapunov exponent method is adopted to study the dynamics ...and motion stability of the system. This approach resolves the challenge of constructing system eigenvalues due to the nonlinearity and high order of the quadrotor. To enhance the reliability of stability analysis, a quantitative relationship between system dynamics parameters and motion stability is established by combining the dynamic model with the Lyapunov exponent method. This approach compensates for inaccuracies in theoretical modeling analysis caused by factors such as load mass changes. The experiments demonstrate that changing the wheelbase and load mass improves flight motion stability, ensuring the reliability of the quadrotor flight system. Overall, this paper provides an in-depth analysis of the motion stability of a quadrotor and proposes a reliable method for stability analysis that accounts for changes in load mass during flight.
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