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Path planning for mobile robots by fusing ant colony optimization and dynamic window approach
To address the problems of low global optimization efficiency and insufficient safety in local obstacle avoidance when mobile robots perform path planning in dynamic and complex environments, this paper proposes a path planning method fusing the ant colony optimization (ACO) and dynamic window approach (DWA), namely the ACO-DWA-DPP algorithm. Firstly, the environment is modeled using a 2D grid map. A potential field force-based heuristic function is introduced to optimize the guidance of path search, and a pheromone reward-punishment strategy and an adaptive evaporation mechanism are designed to improve the algorithm’s convergence speed and global optimization capability. Then, the planned path is subjected to secondary optimization, where redundant turning points are eliminated through connectivity checks to reduce the path length. Secondly, a dynamic collision risk coefficient is incorporated into the dynamic window approach, and the local obstacle avoidance evaluation function is improved to enhance the algorithm’s real-time response capability to dynamic obstacles. Simulation results show that, compared with the traditional ant colony optimization, the improved algorithm reduces the final converged longest path length by 41.26% ~ 48.28%, shortens the shortest path by 10.68% ~ 12.64%, decreases the number of iterations by 83.37% ~ 89.51%, and reduces the number of turning points by 66.94% ~ 81.37%. Moreover, the fused algorithm demonstrates the capability to respond to unknown obstacles in real time within the simulation environment, successfully avoiding them and meeting the requirements for the safe driving of mobile robots. The fused algorithm achieves an effective combination of global path optimization and local dynamic obstacle avoidance, providing a feasible solution for mobile robot path planning in complex scenarios.
Integrating sentinel-1 SAR and AHP for flood susceptibility and agricultural impact assessment in the Awash River Basin, Ethiopia
Abstract Ethiopia’s economy is highly dependent on agriculture, yet recurring natural hazards continue to expose the country to significant vulnerability. This challenge is particularly severe in the Awash River Basin, where seasonal rainfall frequently triggers widespread flooding, threatening rural livelihoods and food security. Accurate flood monitoring is therefore essential for effective flood risk managment, disaster preparedness and mitigation. Although remote sensing images are widely used for large-scale flood detection, persistent wet-season cloud cover limits optical imagery. Sentinel-1 Synthetic Aperture Radar (SAR), processed in Google Earth Engine (GEE), provides a suitable alternative. However, in the complex terrain of the Awash Basin, conventional threshold-based SAR flood mapping produces substantial errors because terrain effects can be misinterpreted as flood signals. For the 2025 flood event examined in this study, the application of Height Above Nearest Drainage (HAND), Morphology, and SRTM DEM-derived slope masks reduced flood overestimation by an estimated 21.6%, eliminating approximately 199.44 km² of potentially misclassified areas from the initial SAR-derived flood extent and resulting in an estimated inundation area of 923.36 km². SAR-based flood mapping also identified a raw flooded cropland area of 84.62 km², which translates to an error-adjusted cropland exposure of 65.69 ± 7.98 km² with 95% confidence interval (CI). The Analytical Hierarchy Process (AHP) model identifies that the high-risk class covers 51.86% of the basin, while the very high-risk class accounts for 0.61%. To improve flood preparedness, this study integrates diagnostic SAR-based flood observations with a prognostic AHP flood susceptibility model. Spatial analysis shows strong agreement between the two approaches, with 89.25% of the mapped flood extent occurring within areas classified as “High” and “Very High” susceptibility, whereas only 0.25% occurred in low-risk zones, indicating agreement for this event rather than predictive proof. This suggests that the AHP model captures the spatial distribution of flood susceptibility for the studied event. The integrated framework achieves an overall accuracy of 81.5% ± 3.8% (Cohen’s Kappa = 0.630 ± 0.076) with 95% CI. Overall, the findings demonstrate the potential of combining terrain-corrected SAR flood mapping with AHP-based susceptibility assessment for flood risk analysis and climate-resilient planning in data-scarce regions.
An evaluation of a breastfeeding peer support service in North East England: A qualitative study with service users, practitioners and volunteers
Background Breastfeeding has health benefits for women and infants. Although the WHO recommends that infants are breastfed exclusively for the first six months, exclusive breastfeeding rates remain low in the UK, with many women stopping breastfeeding within six weeks of their infant’s birth. Many women face challenges initiating and continuing breastfeeding, including low confidence, limited support and misinformation. Breastfeeding peer support (BPS) services play a vital role in supporting women to continue to breastfeed by connecting new mothers with trained volunteers who offer advice, emotional encouragement and reliable information. Methods This study aimed to undertake a formative evaluation of the BPS service in Newcastle upon Tyne from the perspective of those who deliver the services, the wider healthcare team and mothers’ experiences of utilising the service. This evaluation used a qualitative design, consisting of one-to-one semi-structured interviews with practitioners, volunteers, healthcare professionals and service users. Recruitment took place between 28 th March – 14 th May 2025. Recorded interview data were transcribed verbatim and analysed using Braun and Clarke’s coding reliability thematic analysis. Results Twenty-two interviews were conducted (n = 11 practitioners, volunteers and healthcare professionals and n = 11 service users). Analysis identified four themes: mechanisms of the service; support offered by the service; outcomes of the service, and challenges to service delivery. Overall, the BPS was considered a supportive service by participants. Conclusions The normalisation of breastfeeding was seen as crucial to the service, while service users described that the emotional support provided helped to increase their confidence in breastfeeding. Challenges were identified for the service, including engaging those aged under 25 years and those for whom English is a second language. These findings will be used to inform the future development of the service.
Catalytic degradation of ciprofloxacin via peroxymonosulfate activation using a UiO66 and amino functionalized silica coated magnetite composite
The effectiveness of a knowledge graph-based lifestyle intervention recommendation system in improving body composition, muscle strength, and physical function in sarcopenic obesity: Study protocol for a randomized controlled trial
Background Sarcopenic obesity (SO) is a complex condition characterized by the coexistence of sarcopenia and obesity, with pathophysiological mechanisms extending beyond the additive effects of either condition alone. Lifestyle intervention is considered an effective management strategy for SO; however, substantial interindividual variability in physiological status and behavioral preferences limits the implementation of personalized intervention. This study aims to evaluate the effectiveness of a knowledge graph-based lifestyle recommendation system in improving skeletal muscle mass and related outcomes in patients with SO. Methods This randomized controlled trial will recruit 208 patients with SO, who will be randomly assigned in a 1:1 ratio to an intervention or control group. In addition to routine lifestyle guidance, the intervention group will receive a 24-week personalized intervention delivered through the Sarcopenic Obesity-Knowledge Graph Care System (SO-KGCS), whereas the control group will receive routine health education and lifestyle advice only. The intervention period is defined as the 24-week intervention period from baseline to week 24. The primary outcome measure is skeletal muscle mass. Secondary outcome measures include grip strength, skeletal muscle mass index, body fat percentage, physical function, and quality of life. Outcomes will be assessed at baseline before randomization and at weeks 8, 16, and 24 during the 24-week intervention period. The intervention will end at week 24, after which participants will enter a 24-week post-intervention follow-up period without systematic intervention. Follow-up outcome data will be collected at week 48. Discussion This study will evaluate the effectiveness of a knowledge graph-based recommendation system in enhancing body composition, muscle strength, physical function, and quality of life in patients with SO. If effective, the SO-KGCS may provide a feasible intelligent approach for personalized chronic disease management. Trial registration ChiCTR, ChiCTR2500111882.
High intragenotypic diversity, serogroup heterogeneity, and recombination of African swine fever virus strains circulating in sylvatic and domestic hosts
Understanding the underuse: Barriers to vacuum-assisted birth among clinicians in Tanzania: An exploratory qualitative study
Background Vacuum-assisted birth (VAB) is a critical obstetric intervention for saving the lives of the mothers and newborns, particularly in cases of prolonged second-stage labor, maternal exhaustion, or fetal distress. Despite its proven benefits, VAB remains underutilized, contributing to an increased rate of unnecessary cesarean sections, some of which could be avoided with timely vacuum extraction. This study aimed to explore the barriers to the use of VAB among clinicians at a tertiary hospital in Tanzania. Materials and Methods An exploratory qualitative study using in-depth interviews (IDIs) was employed. Twelve clinicians with relevant experience in vacuum-assisted birth were recruited purposively into the study. A semi-structured IDI guide was used to facilitate the interviews. Data were analyzed inductively using thematic analysis to identify key patterns and categories related to barriers in the use of VAB. Results Organizational and individual barriers were identified as key challenges to the use of VAB. Organizational barriers included insufficient availability of VAB equipment, ineffectiveness of the available devices, and poor team dynamics that hindered collaborative decision-making regarding VAB use. Individual barriers centered on clinicians’ apprehension about potential adverse outcomes, along with limited skills and practical experience in performing VAB procedures. Conclusion The utilization of VAB by clinicians is hindered by both organizational and individual barriers. Addressing these challenges through improved availability of functional equipment, enhanced training to build clinicians’ skills, and improving working conditions has the potential to increase the use of VAB. Strengthening these areas could help reduce the rate of unnecessary caesarean deliveries.
Global transmission pathways and adaptive molecular evolution of avian infectious bronchitis GI-23 (Variant 2)
Abstract The infectious bronchitis virus (IBV) causes significant losses in commercial poultry egg and meat production. Since its first emergence, the genotype GI-23 (Variant 2) has progressively increased its geographical distribution, shown a significant virulence, and challenged the vaccine efficacy. Global viral transmission could be attributed to multiple factors including human related activities such as poultry and vaccine trades while other contributing factors such as the role of wild birds cannot be neglected. Therefore, A total 260 full S1 GI-23 sequences were obtained from Genebank, structured and intensively analyzed. The recombination analyses were conducted using RDP5 and GARD on the total dataset to identify the possible recombinant events. The recombinant-free dataset (214 sequences) was phylogeographically analyzed using BEAST 1.10, then selection pressure analyses to identify the possible migration routes and selection pressure markers, respectively. Recombination analyses showed multiple internal recombination events in 17.6% of the sequences. Phylogeographic analysis suggested Central and Eastern European (CEE) countries (i.e., particularly Poland and Romania) as likely sources of American GI-23-like virus outbreaks. Interestingly, the selection pressure analyses indicated positive selection signals, identifying five codons in some previously distinguished critical positions such as 61, 94, 119, 127, and 197. The virus extended geographical spread as well as molecular evolution through recombination and positive selection in the spike gene poses a major concern for increased adaptation and enhanced pathogenicity in susceptible domesticated and probably wild birds. Further studies on the impact of both recombination events and the identified positive selection codons are highly recommended to elucidate the molecular evolution mechanisms of IBV GI-23.
Pilot study: The effect of eight weeks of aerobic training in the two phases of light and dark circadian rhythm on genes (OCT4, NANOG, SOX2, REX1) in bone tissue of diabetic mice
Introduction Diabetes mellitus impairs bone metabolism through chronic hyperglycemia, oxidative stress, and inflammation, leading to reduced osteoblast activity and downregulation of key pluripotency genes such as Octamer-binding transcription factor 4 (OCT4), Nanog homeobox (NANOG), SRY-box transcription factor 2 (SOX2), and Reduced expression protein 1 (REX1).The present study investigated whether the timing of aerobic exercise (morning vs. evening) influences the expression of pluripotency genes in the bone tissue of diabetic mice. Methods Eighteen male NMRI mice were assigned to healthy control, diabetic control, or diabetic exercise groups. Diabetes was induced using a high-fat diet combined with low-dose streptozotocin. Aerobic training was performed for eight weeks at either ZT3 (morning) or ZT15 (evening), five sessions per week, at 50–60% Vmax. Blood glucose, insulin, HOMA-IR, and maximum running speed were assessed, and gene expression in bone tissue was measured using qRT-PCR. Data were analyzed using one-way ANOVA with Tukey post hoc testing (p < 0.05). Results Diabetic mice exhibited significant increases in glucose, insulin, and HOMA-IR, along with marked reductions in pluripotency gene expression, particularly at ZT3. Aerobic exercise significantly improved metabolic parameters and partially restored gene expression, with the greatest enhancement observed at ZT15. SOX2 and REX1 showed the most robust recovery under evening training conditions. Conclusion The findings indicate that circadian timing modulates the beneficial effects of aerobic exercise on pluripotency gene expression in diabetic bone tissue. Evening exercise (ZT15) exerts superior restorative effects, suggesting that chronobiology aligned training may serve as an effective strategy for improving bone regenerative potential in diabetes.
Asymmetric deformation law and differentiated control technique for the roadway of an isolated working face in an extra-thick coal seam
Impact of semaglutide withdrawal on cardiometabolic profile and physiology of energy balance: Recovery effects after semaglutide termination – The REST trial study protocol
Background Glucagon-like peptide-1 (GLP-1) receptor agonists such as semaglutide have been shown to induce substantial weight loss and improve cardiometabolic risk factors in patients living with obesity. However, most individuals regain weight after abrupt withdrawal of semaglutide, with reversal of its beneficial cardiometabolic effects. Methods We propose a randomized controlled trial to determine whether a gradual dose reduction of semaglutide prior to complete discontinuation is associated with differential changes in weight and cardiometabolic profile as compared to immediate treatment cessation. Individuals living with obesity without preexisting cardiovascular disease who are receiving semaglutide for weight management and have achieved prior weight reduction of at least 10% with no further weight loss over past 12 weeks will be randomized to either gradual dose reduction over 16 weeks or abrupt treatment discontinuation. The primary outcome will be the difference in body weight change (%) between the study groups. Secondary outcomes will include 24-hour ambulatory blood pressure and fasting ghrelin levels. Discussion We hypothesize that gradual reduction of semaglutide will be associated with less weight regain and cardiometabolic deterioration compared with immediate cessation. This study addresses an important real-world problem regarding treatment discontinuation strategies and may inform future approaches for long-term obesity management. Trial registration NCT07294950 (ClinicalTrials.gov).
The phenology of the European flat oyster (Ostrea edulis) and its environmental drivers
Abstract The European flat oyster ( Ostrea edulis ) is an ecosystem engineer that structures reef habitats and is a major focus of restoration efforts across Europe, yet its biological rhythms in its habitat remain unknown. These rhythms synchronize physiology with environmental cycles, indicating ecological adaptation. Here, we investigated behavioral, physiological, and molecular rhythms in O. edulis , as well as their environmental drivers. Using high-resolution valvometry, we monitored valve activity and shell growth over 540-days in the German Bight (Helgoland), along with environmental variables such as photoperiod, temperature, underwater sound, and food availability. Monthly gene expression profiling of clock-related genes was also performed. O. edulis displayed coordinated daily, tidal, lunar, semilunar, and annual rhythms, mainly driven by photoperiod and temperature. This integrative chronobiological approach reveals a multiple rhythm system in O. edulis , highlighting both adaptive capacity and vulnerability to anthropogenic pressures, and providing key indicators for the conservation and restoration of oyster reef habitats.
Model-free predictive control for PMSM based on a nonlinear autoregressive exogenous model and an adaptive recursive least squares algorithm
This paper proposes a novel nonlinear autoregressive with exogenous input-based adaptive recursive least squares model-free predictive control (NARX-ARLS-MFPC) strategy for permanent magnet synchronous motor (PMSM) drives. The core challenge addressed is the performance degradation of conventional model predictive control (MPC) under inevitable motor parameter mismatches. The proposed method integrates the NARX model with an ARLS algorithm featuring a variable forgetting factor to dynamically track system changes. Comprehensive simulation studies validate the superior robustness of the strategy. Under significant inductance and flux linkage mismatches, the proposed method reduces current total harmonic distortion (THD) by 28.3% and 12.3% compared to conventional finite-control-set model predictive control (FCS-MPC) and a baseline control method, respectively. It maintains stable performance under moderate sensor noise with appropriate tuning. During load transients combined with resistance and inductance mismatches, it achieves THD reductions of 24.1% and 15.7% versus the two benchmark methods, respectively. Statistical analysis under parameter perturbations confirms its overall superior performance across key dynamic and steady-state metrics. The results demonstrate that the synergistic integration of the nonlinear model and adaptive identification effectively suppresses current harmonics caused by model inaccuracies while enhancing dynamic performance.
Dual-channel graph neural network for dental 3D point cloud model segmentation
Chiral Phosphoric Acid-Catalyzed Asymmetric Hydrogenolysis of C–O Bonds
Experimental emergence of conventions in human dyads
Conventions can be defined as arbitrary and self-sustaining practices that emerge in a population and facilitate solving coordination problems. A recent study traced the formation of simple conventions in captive baboons in a touch-screen-based color-matching ‘game’. We replicated this task with human pairs under different conditions (with/without visual access to the partner’s screen; with/without prior information on the task structure) to assess their effects on the formation and stability of conventions. We found that more information delayed the formation of conventions (arbitrary rankings of colors that determined choices in any given color pairing). Analysis of self-reported strategies did not reveal a clear effect of condition on levels of elicited strategic behavior. Interestingly, pairs maintained their conventions even when given visual access to their partner’s screen, despite the availability of an alternative, potentially simpler, cognitive strategy. In a follow-up variant of the task that paired up experienced subjects with a naïve partner, conventions emerged faster but did not replicate the color hierarchy convention of the experienced player, demonstrating the transmission of “know-how” but not “know-what” information. We discuss the implications of our results for understanding the cognitive mechanisms necessary to support the formation, maintenance, and transmission of conventions.
VARUNA: verifiable adaptive resilient unified framework against byzantine attacks in federated learning-based IDS
Abstract The integration of Federated Learning (FL)-based Intrusion Detection Systems (IDS) in Internet of Things (IoT) faces significant challenges due to the statistical heterogeneity of distributed datasets. The IDS datasets are often highly imbalanced and biased toward majority classes, leading to degraded IDS performance. To mitigate this, Generative Adversarial Network (GAN) models are deployed at central server nodes to balance datasets and maintain system heterogeneity. However, the security of FL systems remains vulnerable to adversarial attacks, which can manipulate model updates and compromise system integrity. This research introduces the Multi-Agent GAN Network Exploitation Tactic (MAGNET), leveraging actor-critic-based reinforcement learning to manipulate GAN models. MAGNET distributes these compromised models to selected clients, enabling the simulation of complex adaptive attacks. Additionally, we propose the Coordinated Model Attack Network System (CMANS), which disrupts global model convergence through malicious gradient manipulation techniques such as Gaussian noise injection, gradient scaling, and inversion. These attacks significantly impact the performance of FL environments applied to IDS datasets. We present a robust Verifiable Adaptive Resilient Unified (VARUNA) Framework for trustworthy IDS in resilient FL systems to address these vulnerabilities. This approach employs an adaptive trust score to detect and eliminate Byzantine activities, effectively neutralizing over 99% of malicious clients in scalable FL environments. VARUNA achieves consistent error rate reductions of up to 9.4% across all attack classes, restoring model performance from an average error increase of 0.03 under CMANS and MAGNET attacks back to the pre-attack baseline across all four aggregation methods (FedAvg, Krum, Trimmed Mean, and Median). Our solution ensures a secure, efficient, and trustworthy IDS, outperforming undefended FL baselines by a statistically significant margin on all three evaluated benchmark IDS datasets.
Trimethylammonium-Substituted Amphiphilic Pillar[ <i>n</i> ]arene Channels for Selective Water Permeation
In vivo changes in zebrafish anesthetic sensitivity in response to the loss of kif5Aa are associated with the alteration of mitochondrial motility
Anesthetic and sedative drugs are small compounds known to bind to hundreds of proteins. One intriguing binding partner of propofol is the motor domain of a neuronal mitochondrial transport kinesin, kif5A. Here, we used zebrafish wild type (WT) and kif5Aa knockout (KO) larval behavioral assays to assess anesthetic sensitivity and combined that with zebrafish primary neuronal cell culture to probe for alterations in mitochondrial motility. We found that the loss of kif5Aa increases behavioral sensitivity to propofol and etomidate, with etomidate hypersensitivity greater than propofol. In contrast, kif5Aa KO animals were resistant to the behavioral effects of dexmedetomidine. Finally, WT and kif5Aa KO larvae responded similarly to the behavioral effects of ketamine. Propofol inhibited the anterograde motility of mitochondria in WT zebrafish neurons, while etomidate inhibited mitochondrial motility in both anterograde and retrograde directions; neither drug altered mitochondrial motility in the kif5Aa knockout (KO) neurons. In contrast, dexmedetomidine enhanced retrograde mitochondrial motility in both WT and kif5Aa KO animals. Finally, ketamine had little significant effect on mitochondrial motility in either mutant or WT animals. These data demonstrate that each anesthetic/sedative drug affects the motor protein machinery uniquely and is associated with unique changes in behavior. Understanding how different anesthetic compounds alter neuron motor proteins will be important in defining how anesthetics alter neuronal signaling and energetic dynamics.