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Trajectory optimization for wall-building robots in accordance with nonlinear viscoelastic cement mortar environment
Abstract To address the issue of suboptimal masonry quality in wall-building robots operating within the viscoelastic contact environment of cement mortar, a multi-objective trajectory optimization method is proposed based on Kriging surrogate modeling and the Fractal Evolutionary Particle Swarm Optimization (FEPSO) algorithm in this paper. First, orthogonal experimental design is employed to obtain design variable values, with corresponding objective function values derived experimentally. A Kriging surrogate model linking the objective function to design variables is established to overcome the difficulty in constructing a viscoelastic mechanical model for cement mortar. Subsequently, integrating the Kriging surrogate model, a multi-objective trajectory optimization model for bricklaying is developed. The FEPSO algorithm is employed to solve this model, simultaneously enhancing masonry quality while optimizing other performance metrics. The FEPSO algorithm is compared with NSGA-II and MOPSO optimization algorithms, demonstrating its superiority. Then, the TOPSIS algorithm is applied to derive a compromise solution from the Pareto solution set, which is adopted as the optimal masonry scheme. Finally, the optimal masonry scheme is contrasted with the standard door-shaped trajectory planning method. Results indicate that trajectory optimization increased the wall-building robot’s efficiency by 23.66%, reduced energy consumption by 29.33%, and improved trajectory smoothness by 90.47%. Concurrently, environmental contact force decreased by 7.03%, and masonry error decreased from 2.57 to 0.14 mm. The proposed method enhances bricklaying quality and provides theoretical references and practical guidance for trajectory planning and construction quality control of similar intelligent construction robots.
Extreme mass-independent fractionation of mercury isotopes driven by atmospheric plasma-induced chemical process
The influence of beverages on the esthetics of orthodontic ligatures: in vitro study
Methanotrophy under extreme alkalinity in a serpentinizing system
Abstract Serpentinization produces hyperalkaline, H₂- and CH₄-rich fluids that support microbial life and serve as analogs for ocean worlds such as Enceladus. While methane production in these systems has been well studied, methane consumption —especially under high pH—remains poorly understood. Here, we present isotopic, geochemical, and genomic evidence for hyperalkaliphilic (pH > 11) methanotrophy in the Samail ophiolite of Oman. Using models that account for fluid mixing and gas exsolution, we identify δ¹³CH₄ enrichment that cannot be explained by abiotic processes alone. The enrichment of 13 CH 4 co-occurs with methanotroph 16S rRNA gene sequences, particularly in fluids formed by mixing CH₄-rich, reduced fluids with oxidant-rich waters. Shotgun metagenome sequencing reveals a metagenome-assembled genome affiliated with Methylovulum , encoding a complete methane oxidation pathway, multiple carbon assimilation routes, and Na⁺/H⁺ antiporters—adaptations likely enabling growth above pH 11. Our findings highlight the viability of methanotrophy under extreme high pH conditions and provide a framework for interpreting δ¹³CH₄ signals in serpentinizing environments on Earth and beyond.
Occurrence and human health risk assessment of organochlorine pesticides in irrigated and non-irrigated agricultural soils of Wondogenet District, Ethiopia
53BP1-independent Shieldin-BRCA1 antagonism at replication-coupled double-strand breaks
Identification and validation of biomarkers associated with mitochondria and glycometabolism in gestational diabetes mellitus
Gas-phase unfolding assay rapidly predicts structure-function relationships in engineered antibodies with tuned flexibilities
Plasma COL3A1 propeptide as a promising prognostic marker in oral squamous cell carcinoma
Abstract In this study, we aimed to evaluate the prognostic significance of collagens in patients with oral squamous cell carcinoma (OSCC). Plasma proteomics data from 40 OSCC patients and 33 healthy controls, generated using the Olink Explore 3072 platform, along with microarray gene expression data from 29 OSCC tumours, 21 clinically normal tissues contralateral to tumour (NTCT), and 14 healthy controls, were analysed to assess expression levels of collagens and their associations with clinicopathological variables and survival outcomes. Eleven collagen peptides were detected in plasma. Higher circulating levels of collagen type III alpha 1 chain (COL3A1) propeptides were associated with improved overall survival and longer disease-free time (p < 0.05). Penalised Cox regression using the least absolute shrinkage and selection operator (LASSO) supported COL3A1 propeptide as a survival-associated feature. Comparison of protein profiles between COL3A1-low and COL3A1-high patients identified neutrophil degranulation as the most significantly enriched pathway. Microarray differential expression analysis showed COL3A1 mRNA to be significantly upregulated in tumour tissues compared with NTCT and healthy controls (FDR < 0.05). Circulating COL3A1 propeptide shows potential as a prognostic biomarker for OSCC and may reflect systemic immune-related alterations.
Household mobility responses to weather extremes in Kyrgyzstan
Abstract Weather extremes increasingly shape human mobility, yet their effects differ across households and locations. We advance understanding of climate-related mobility by distinguishing among four outcomes: domestic mobility, international mobility, combined domestic-international mobility, and immobility, rather than treating mobility as a simple binary choice. Focusing on Kyrgyzstan, a climate-vulnerable mountainous country in Central Asia, we combine nationally representative household panel data from 2013–2022 with high-resolution climate data. Here, we show that weather extremes, both within districts and in neighboring districts, are more strongly associated with international mobility and immobility than with domestic and combined domestic-international mobility. Responses differ substantially across households’ socioeconomic position, with immobility more common among households with lower socioeconomic position and more diverse mobility patterns observed among households with higher socioeconomic position. Our findings suggest that mobility responses to weather extremes in Kyrgyzstan are shaped by both geographic context and household socioeconomic position.
GBOA_SR-ShuffleNet: an explainable federated learning framework for privacy-preserving intrusion detection in IoT
Accurate trajectory inference in time-series spatial transcriptomics with structurally-constrained optimal transport
Acute fatigue and recovery responses to resistance training performed to momentary muscular failure: an exploratory multimodal physiological study
Abstract This study compared the effects of a full-body resistance training session performed to momentary muscular failure (RTF) or non-failure (RTNF) on mechanical, perceptual, metabolic, neuromuscular, cardiovascular, and autonomic responses in trained men. In a randomized crossover design, six men (25.5 ± 3.3 years; 77.8 ± 6.2 kg; 174.5 ± 5.1 cm) completed two sessions of six exercises. RTF sets were performed to failure at 100% 10-repetition maximum (10RM), while RTNF sets consisted of 10 repetitions at 85% 10RM. Perceptual, metabolic, hormonal, cardiovascular, and autonomic responses, alongside markers of tissue damage and neuromuscular function, were monitored for 72 h post-RT. Data were analyzed via Generalized Estimating Equations. RTF induced greater perceived exertion ( p < 0.001) with fewer repetitions per set and reduced volume in specific movements ( p < 0.05), despite similar total session volume ( p > 0.05). RTF elicited higher lactate ( p = 0.003) and cortisol ( p < 0.001). RTF exacerbated tissue damage markers (creatine kinase and lactate dehydrogenase, p < 0.001) and soreness ( p < 0.05), leading to delayed countermovement jump recovery ( p < 0.001) through 72 h. Conversely, RTNF demonstrated faster perceived recovery ( p < 0.001) and similar autonomic preservation ( p > 0.05). Acute cardiovascular strain was higher in RTF ( p < 0.05), with no residual effects. Although the small sample size warrants cautious interpretation of inferential statistics, RTF delays recovery without acute functional benefits. Since proximity-to-failure drives physiological stress, RTNF proves to be more efficient and sustainable.
Single-crystal, 4-inch and ultrathin gallium oxide for sundial-inspired high-dimensional solar-blind photodetection metasystem
Acquired resistance to first-line osimertinib is heterogeneous in EGFR-mutant advanced non-small cell lung cancer
Hydrogen reduced interstitial-vacancy cluster recombination in metals
Internal structure evaluations of the fatigue severity scale among Japanese workers with pain in the musculoskeletal regions
Abstract Fatigue/low energy is recognized as one of the most important outcome domains in individuals with musculoskeletal diseases. The Fatigue Severity Scale (FSS) is a promising short patient-reported outcome measure in terms of perceived disability due to fatigue. This study aimed to investigate the internal structure of the FSS among workers with musculoskeletal pain. A secondary analysis of an anonymous web survey for Japanese workers with pain in the musculoskeletal regions was conducted. In addition to the 9-item FSS, 39 outcomes from the following five domains were included: (1) fundamental domain, (2) work-related domain, (3) cognitive-emotional domain, (4) lifestyle domain, and (5) disability domain. For the FSS, the Rasch analysis was conducted, and internal consistency was assessed with the Person Separation Reliability (PSR). For construct validity evaluation, 55 hypotheses were tested, and construct validity was assumed if ≥ 75% of the hypotheses were accepted. Consequently, data from 2663 workers were analyzed. The Rasch analysis demonstrated unidimensionality. The PSR was 0.90, indicating acceptable internal consistency. For the hypothesis testing, 50/53 (94.3%) hypotheses were satisfied, indicating the construct validity. In conclusion, the FSS was found to have sufficient unidimensional internal structure in Japanese workers with pain in the musculoskeletal regions.
Development of efficient genetic toolkits and heterologous chassis for bioprospecting of myxobacteria
Abstract Myxobacteria are renowned producers of structurally diverse bioactive natural products. Motivated by a comprehensive inventory of myxobacterial biosynthetic gene clusters (BGCs), we develop efficient genetic toolkits and construct a robust heterologous expression chassis. We identify a pair of Myxococcus -derived recombinases, designated MxRecET, that enables efficient genome editing in the model strain Myxococcus xanthus DK1622. The synergistic combination of MxRecET recombineering with the transposon-associated nuclease TnpB (ISDra2) enables versatile genetic manipulations, including seamless deletion of large DNA fragments (up to 200 kb), tandem editing of dual loci, and flexible single-nucleotide substitutions within a streamlined two-week workflow. This integrated technology, termed MxDIRECT, facilitates the rational engineering of DK1622 into a plug-and-play chassis designated MxPKS, featuring enhanced growth properties, elimination of competing pathways, an improved precursor supply, and increased robustness. The effectiveness of MxPKS is demonstrated through heterologous expression of four polyketide synthase BGCs, leading to the discovery of multiple unknown polyketides. This work establishes a foundation for accelerated bioprospecting of myxobacteria.