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Summary: This article addresses the safe tracking control problem of quadrotor unmanned aerial vehicles (QUAV) considering uncertain aerodynamics and unknown external disturbances. First, a robust adaptive backstepping controller is designed, where the bias of the control variable, that is, the tracking error of the attitude subsystem, is considered in the design process of the position subsystem. Meanwhile, the safe obstacle avoidance objective is realized by the quadratic programming (QP) method that combines the tracking controller with the exponential control barrier function (ECBF). Furthermore, an event‐triggered mechanism is used for the QP process to conserve computing resources. Simulation validates the feasibility and superiority of the proposed control scheme in presence of multi‐obstacle. [ABSTRACT FROM AUTHOR]

After significant progress in stereo matching, the pursuit of robust and efficient ill-posed-region disparity refinement methods remains challenging. To further improve the performance of disparity refinement, in this paper, we propose the matchability and uncertainty-aware iterative disparity refinement neural network. Firstly, a new matchability and uncertainty decoder (MUD) is proposed to decode the matchability mask and disparity uncertainties, which are used to evaluate the reliability of feature matching and estimated disparity, thereby reducing the susceptibility to mismatched pixels. Then, based on the proposed MUD, we present two modules: the uncertainty-preferred disparity field initialization (UFI) and the masked hidden state global aggregation (MGA) modules. In the UFI, a multi-disparity window scan-and-select method is employed to provide a further initialized disparity field and more accurate initial disparity. In the MGA, the adaptive masked disparity field hidden state is globally aggregated to extend the propagation range per iteration, improving the refinement efficiency. Finally, the experimental results on public datasets show that the proposed model achieves a reduction up to 17.9% in disparity average error and 16.9% in occluded outlier proportion, respectively, demonstrating its more practical handling of ill-posed regions. [ABSTRACT FROM AUTHOR]

Developing efficient and stable oxygen evolution reaction (OER) and hydrogen evolution reaction (HER) catalysts is critical for realizing large-scale hydrogen production via electrochemical water splitting. Here, we report a facile one-step over-reduction method to fabricate IrCo aerogels as efficient and durable HER and OER catalysts. Multiple characterization revealed that, IrCo aerogels possess a nano-chain-like structure composed of interconnected Co@Ir core–shell nanosphere particles. The as-prepared IrCo aerogels especially the Ir7Co3 sample showed excellent HER performance, evidenced by a small overpotential of 20.5 mV@10 mA cm−2 and a low Tafel slope of 28.87 mV dec−1 in 1.0 M KOH, which are significantly superior to those of a commercial benchmark Pt/C catalyst, and its OER performance is also better than that of a benchmark RuO2 catalyst, manifested by an overpotential of 269 mV@10 mA cm−2 and a Tafel slope of 31 mV dec−1. Moreover, in the overall water splitting (OWS) test, an applied voltage of 1.55 V was able to achieve a current density of 10 mA cm−2. Furthermore, the Ir7Co3 sample demonstrated remarkable long-term stability and was able to function continuously in the HER, OER, and OWS processes, maintaining a negligible change in current density of 10 mA cm−2 for 35, 37, and 44 hours, respectively. Such superior electrocatalytic properties of the Ir7Co3 aerogel are mainly attributed to the alloying effect and the structural features, which can increase the exposed metal active sites, improve the electrical conductivity, and facilitate the electron shuttling and mass transport during the electrocatalytic process. This study provides a facile and efficient generic approach for fabricating a metallic aerogel for the HER, OER, OWS and beyond. [ABSTRACT FROM AUTHOR]

Respiratory syncytial virus (RSV) hijacks cholesterol or autophagy pathways to facilitate optimal replication. However, our understanding of the associated molecular mechanisms remains limited. Here, we show that RSV infection blocks cholesterol transport from lysosomes to the endoplasmic reticulum by downregulating the activity of lysosomal acid lipase, activates the SREBP2–LDLR axis, and promotes uptake and accumulation of exogenous cholesterol in lysosomes. High cholesterol levels impair the VAP-A-binding activity of ORP1L and promote the recruitment of dynein–dynactin, PLEKHM1, or HOPS VPS39 to Rab7–RILP, thereby facilitating minus-end transport of autophagosomes and autolysosome formation. Acidification inhibition and dysfunction of cholesterol-rich lysosomes impair autophagy flux by inhibiting autolysosome degradation, which promotes the accumulation of RSV fusion protein. RSV-F storage is nearly abolished after cholesterol depletion or knockdown of LDLR. Most importantly, the knockout of LDLR effectively inhibits RSV infection in vivo. These findings elucidate the molecular mechanism of how RSV co-regulates lysosomal cholesterol reprogramming and autophagy and reveal LDLR as a novel target for anti-RSV drug development. RSV hijacks cholesterol or autophagy pathways to facilitate optimal replication. Here, the authors show that RSV-mediated changes in lysosomal cholesterol metabolism promote RSV-F accumulation in lysosomes by blocking autophagy flux, thereby facilitating viral replication. [ABSTRACT FROM AUTHOR]

Background Large and long ears are regarded as symbols of wealth and health in East Asian culture, and people with lying ears often want their ears to be more exposed and prominent. Surgeries to correct lying ears have been documented. Objectives The aim of this study was to report the correction of lying ears and the aesthetic modification of helix and ear lobule with hyaluronic acid (HA) injections. Methods HA injections were performed at the auriculocephalic sulcus to increase the cranioauricular angle (CA) and correct lying ears. The injections at helix and lobule were case specific. The CA was measured and photographs were taken at baseline and at 1-, 3-, 6-, and 10-month follow-ups. Efficacy was assessed with the 5-point Global Aesthetic Improvement Scale (GAIS). Adverse events were recorded. Results Forty-six patients (92 ears) received HA injections and completed follow-ups. Instant correction outcomes were observed. Sixteen (34.8%) patients received 1 touch-up injection, the clinical efficacy of which persisted for 1 to 1.5 years. For over 90% of cases with touch-up treatment the GAIS was "very much improved" or "much improved" at all follow-ups. The GAIS for over 70% of cases without touch-up treatment was "very much improved" or "much improved" at 1-, 3-, and 6-month follow-ups. CA increased significantly compared with the baseline. Patients also reported "more V-shaped face shape" and "lifted jawline" effects. No serious adverse events occurred. Conclusions As an alternative technique to surgeries, HA filler injections at the auriculocephalic sulcus effectively corrected lying ears. This technique produced immediate, long-lasting, and aesthetically pleasing results. The side effects and downtime were minimal. Level of Evidence: 3 [ABSTRACT FROM AUTHOR]

Summary: Background: Esophagogastroduodenoscopy (EGD) is required to screen for high‐risk varices (HRV) in patients with hepatocellular carcinoma (HCC), especially since overall survival rates have dramatically improved with new systemic therapies. Aim: To assess the Baveno VI and Baveno VII algorithms' ability to rule out HRV in hepatitis B virus (HBV)‐related HCC Methods: We prospectively enrolled consecutive patients with HBV related, compensated cirrhosis and newly diagnosed HCC who underwent liver stiffness measurement, spleen stiffness measurement (SSM) using a 100‐Hz shear wave frequency, and EGD. Results: From September 2021 to August 2023, we enrolled 219 patients with HCC, with 107 (48.9%) Barcelona Clinic Liver Cancer (BCLC) A, 28 (12.8%) BCLC B and 84 (38.3%) BCLC C, respectively. HRV prevalence was 28.8% (63/219). Baveno VI criteria safely (HRV missing rate, 3.2%) avoided 27.4% unnecessary EGDs, while the Baveno VII algorithm avoided 49.3% with HRV missing rate at 7.9% (5/63). The SSM ≤40 kPa avoided 47.5% of EGDs safely (HRV missing rate, 4.8%), significantly better than the Baveno VI criteria (p < 0.001) and comparable to the Baveno VII algorithm (p = 0.390). The SSM ≤40 kPa safely avoided EGDs in patient subgroups within Milan criteria, with portal vein tumour thrombosis or BCLC B/C or candidates for systemic therapy. Conclusions: We validated that the SSM ≤40 kPa using a 100‐Hz probe could safely eliminate more unnecessary EGDs than the Baveno VI criteria in patients with HBV‐related HCC. However, the efficacy of the Baveno VII algorithm in patients with HCC requires further investigation. [ABSTRACT FROM AUTHOR]

Aims: Oxidative stress reflected by elevated reactive oxygen species (ROS) in the tumor ecosystem, is a hallmark of human cancers. The mechanisms by which oxidative stress regulate the metastatic ecosystem and resistance remain elusive. This study aimed to dissect the oxidative stress-sensing machinery during the evolvement of early dissemination and acquired drug resistance in breast cancer., Methods: Here, we constructed single-cell landscape of primary breast tumors and metastatic lymph nodes, and focused on RGS5 + endothelial cell subpopulation in breast cancer metastasis and resistance., Results: We reported on RGS5 as a master in endothelial cells sensing oxidative stress. RGS5 + endothelial cells facilitated tumor-endothelial adhesion and transendothelial migration of breast cancer cells. Antioxidant suppressed oxidative stress-induced RGS5 expression in endothelial cells, and prevented adhesion and transendothelial migration of cancer cells. RGS5-overexpressed HLECs displayed attenuated glycolysis and oxidative phosphorylation. Drug-resistant HLECs with RGS5 overexpression conferred acquired drug resistance of breast cancer cells. Importantly, genetic knockdown of RGS5 prevented tumor growth and lymph node metastasis., Conclusions: Our work demonstrates that RGS5 in lymphatic endothelial cells senses oxidative stress to promote breast cancer lymph node metastasis and resistance, providing a novel insight into a potentially targetable oxidative stress-sensing machinery in breast cancer treatment., Competing Interests: Declaration of Competing Interest The authors declare no conflicts of interest., (Copyright © 2024 Elsevier Ltd. All rights reserved.)

Objective: To understand the current status of occupational stress, occupational burn-out and sleep quality among ambulance drivers in Hengyang, China and to analyse the relationship between occupational stress, occupational burn-out and sleep quality of ambulance drivers., Design: A cross-sectional study., Setting: Prehospital emergency centre of third-class hospital in Hengyang, China., Participants: From October 2023 to December 2023, a cross-sectional survey was conducted, with 213 ambulance drivers from Hengyang, China, selected as participants., Methods: General demographic questionnaires, the Chinese Occupational Stress Inventory, the Maslach Burnout Inventory and the Pittsburgh Sleep Quality Index were used for data collection and analysis., Results: Occupational stress among ambulance drivers was positively correlated with occupational burn-out and sleep quality (r=0.528, 0.447, both p<0.01) while occupational burn-out was positively correlated with sleep quality (r=0.394, p<0.01). Occupational burn-out partially mediated the relationship between occupational stress and sleep quality among ambulance drivers, with a mediation effect value of 0.168, accounting for 26.09% of the total effect., Conclusion: The sleep quality of ambulance drivers in Hengyang, China is suboptimal, with occupational stress directly predicting sleep quality. Occupational burn-out plays a partial positive mediating role between occupational stress and sleep quality among ambulance drivers. Reducing occupational stress and burn-out is beneficial for improving the sleep quality of ambulance drivers., Competing Interests: Competing interests: None declared., (© Author(s) (or their employer(s)) 2024. Re-use permitted under CC BY-NC. No commercial re-use. See rights and permissions. Published by BMJ.)

Electrochemical NO3- reduction reaction (NO3RR) represents a green and sustainable way to produce valuable NH3 for both NH3 production and nitrate contaminant removal, and developing efficient, durable, highly selective catalyst is the key. Herein, we report a facile method to fabricate a catalyst composed of ultrafine Cu nanowires (Cu NWs) encapsulated by ZIF67, namely, CuNW@ZIF67, for efficient NH3 electrosynthesis from nitrate. The CuNW@ZIF67 catalyst exhibited excellent catalytic performance toward NO3RR in alkaline electrolyte, manifested by a large NH3 Faradaic efficiency of 93.7% at -0.5 V versus reversible hydrogen electrode (RHE), a high energy efficiency over 30% at -0.7 V, and robust long-term stability. Such intriguing catalytic properties are mainly ascribed to its structural merits and the strong electronic interaction between Cu NWs and ZIF67. DFT calculations revealed that, the Cu site can easily convert NO3- into NO2-, while the Co site plays a critical role in catalyzing the NO2--to-NH3 process. The study can shed light on rational design of efficient, durable, and highly selective catalysts for NO3RR and beyond., (© 2024 Wiley‐VCH GmbH.)

Background: The most prevalent benign skin tumor is a melanocytic nevus, which can potentially turn cancerous and frequently impair a patient's appearance., Objective: To find a standardized surgical procedure for the removal of tiny skin pigmented nevis and to look into the effectiveness of the SF technique for doing so., Methods: A retrospective study was conducted on 723 patients with small-sized pigmented nevi between June 2022 and June 2023. The nevi were removed using the SF method, and the patients' overall health and the duration of the procedure were recorded. Three months following the procedure, the patients completed a questionnaire to assess the effectiveness, recurrence, complications, and degree of satisfaction with the surgical outcome., Results: Compared with the normal method, SF method had shorter operation time, higher effective rate, no recurrence and other postoperative complications after 6 months, less scar hyperplasia, and good evaluation satisfaction of all patients. No patient was rated as average or poor. No recurrence., Conclusion: The standardized surgical approaches for the small-size excision of melanocytic nevuses may be easily mastered by primary practitioners using the SF method, making it a valuable tool for practical use., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (© 2024 Zhang, Tan, Tang, Xiao, Yang and Chen.)

The Sichuan-Yunnan region is the main production area of yaks in southwestern China, with rich genetic resources of Yaks. Nevertheless, there have been limited study on the genetic characteristics of the entire yak populations in Tibet and southwestern China. In this study, we performed whole-genome resequencing to identify genetic variation information in a total of 198 individuals from six yak breeds (populations) in Sichuan (Muli yak, Jinchuan yak, Changtai yak, Maiwa yak), Yunnan (Zhongdian yak), and Tibet (Tibetan yak). The aim was to investigate the whole-genome genetic diversity, population genetic structure, and genome selection signatures. We observed that all six populations exhibit abundant genetic diversity. Except for Tibetan yaks, which showed low nucleotide diversity (0.00104), the remaining yak populations generally displayed high nucleotide diversity (0.00129-0.00153). Population genetic structure analysis revealed that, among the six yak populations, Muli yak exhibited greater differentiation from other yak populations and formed a distinct cluster independently. The Maiwa yak population displayed a complex genetic structure and exhibited gene exchange with Jinchuan and Changtai yaks. Positive selection signals were detected in candidate genes associated with growth ( GNB4 , HMGA2 , TRPS1 , and LTBP1 ), reproduction ( PI4KB , DYNC1I1 , and GRIP1 ), immunity ( CD200 and IL1RAP ), lactation ( SNX13 and CPM ), hypoxia adaptation ( NDUFB6 , PRKN , and MRPS9 ), hair ( KRT24 , KRT25 , and KRT26 ), meat quality ( SUCLG2 ), digestion and absorption ( CLDN1 ), and pigment deposition ( OCA2 ) using the integrated Pi and F ST methods. This study provides significant insights into understanding the whole-genome genetic characteristics of yak populations in Tibet and southwestern China., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2024 Zhang, Li, Zhao, Tang, Li, Song, An, Guan, Li and Zhang.)