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Due to the subterranean scene’s poor lighting conditions and variability of the environment, real-time localizing and meshing in complex underground scenes present a challenging task, with high-potential applications in mining and tunnel protection. In this work, we propose a method that combines SLAM and NeRF for mesh reconstruction in the underground environment with a wearable device. First, a LiDAR-Inertial odometry is used for pose estimation. The resulting poses and sequential laser frames are synchronized to generate a novel data structure, scan-block, which is crucial for improving efficiency and ensuring local precision. This structure is designed to enhance efficiency and ensure local precision. Finally, the generated scan-blocks are passed to the backend NeRF for real-time mesh reconstruction. The experiments are carried out in a complex underground space. The experimental results proved that this method achieved good results. The demo video can be found at https://youtu.be/_y1vbaW06EM?si= hFnAl12u-ffU933h.

Friction is a complex nonlinear behavior and a significant factor that limits the performance improvement of servo systems. Drawing inspiration from the particular prestiction friction phenomenon exhibited by direct-drive systems upon sudden emergency stops, this paper introduces a dynamic and continuous friction model that includes pre-sliding and gross-sliding regimes. By analyzing the friction dynamics when the system velocity briefly reaches zero, a concave function related to the previous state of the system is used to describe the transition of friction in the pre-sliding regime. The Stribeck model is employed to represent the friction behavior in the gross-sliding regime, ensuring stationarity during friction regime switching. Based on the established friction model, a friction compensation method is developed in velocity control mode. The superior performance of this proposed friction compensation method is confirmed through sine-tracking experiments. Compared with the proportional integral controller and the Stribeck friction compensation method, the peak-to-peak value of the proposed method is reduced by up to 61.1 %, and the root-mean-square (rms) value is reduced by up to 81 %, with the smallest rms value reaching 0.13 mrad, significantly improving the dynamic tracking performance of the system.

While aqueous-phase processing is known to contribute to the formation of nitrogen-containing organic compounds (NOCs), the specific pathways involved remain poorly understood. In this study, we aimed to characterize the NOCs present in both pre-fog aerosols and fog water collected at a suburban site in northern China. Fourier-transform ion cyclotron resonance mass spectrometry was utilized to analyze the molecular composition of NOCs in both negative and positive modes of electrospray ionization (ESI− and ESI+). In both pre-fog aerosols and fog water samples, NOCs constituted a significant portion, accounting for over 60 % of all assigned formulas in ESI− and more than 80 % in ESI+. By comparing the molecular composition of NOCs originating from biomass burning, coal combustion, and vehicle emissions, we identified that 72.3 % of NOCs in pre-fog aerosols were attributed to primary anthropogenic sources (pNOCs), while the remaining NOCs were categorized as secondary NOCs formed within the aerosols (saNOCs). Unique NOCs found in fog water were classified as secondary NOCs formed within the fog water (sfNOCs). Through a comprehensive “precursor–product pair” screening involving 39 reaction pathways, we observed that the nitration reaction, the amine pathway, and the intramolecular N-heterocycle pathway of NH3 addition reactions contributed 43.6 %, 22.1 %, and 11.6 % of saNOCs, respectively. In contrast, these pathways contributed 26.8 %, 28.4 %, and 29.7 % of sfNOCs, respectively. This disparity in formation pathways is likely influenced by the diverse precursors, the aqueous acidity, and the gas-phase species partitioning. Correspondingly, saNOCs were found to contain a higher abundance of carbohydrate-like and highly oxygenated compounds with two nitrogen atoms compared to pNOCs. Conversely, sfNOCs exhibited a higher content of lipid-like compounds with fewer oxygen atoms. These results underscore the distinct secondary processes contributing to the diversity of NOCs in aerosols and fog water, which may lead to their different climate effects.

In this paper, we present a novel matching method tailored for unmanned aerial vehicle (UAV) thermal infrared images of photovoltaic (PV) panels characterized by highly repetitive textures. This method capitalizes on the integration of point and line features within the image to obtain reliable corresponding points. Furthermore, it employs multiple constraints to eliminate mismatched features and get rid of the interference of repetitive textures on feature matching. To verify the effectiveness of the proposed method, we used an UAV equipped with the DJI Zenmuse H20T thermal infrared gimbal to capture 3767 images of a PV power station in Guangzhou, China. Experiments demonstrate that, for UAV thermal infrared images of PV panels, our method outperforms the state-of-the-art techniques in terms of the density of matching points, matching success rate and matching reliability, consequently leading to robust aerial triangulation results.

This paper investigated the unsteady axisymmetric stagnation-point flow, heat and mass transfer of Oldroyd-B hybrid nanofluid over a vertical cylinder by using Caputo time fractional derivatives for the first time, with the consideration of second-order velocity slip conditions. Improved Buongiorno's model was adopted to build the governing equations and finite difference combined with L1-algorithm was employed to solve the numerical solutions. Effects of key physical parameters on velocity, heat and mass transfer were presented graphically and discussed in detail. Outcomes show that the fractional derivatives are capable to describe the memory effect and thermoelasticity of viscoelastic nanofluids. Both Brownian motion and thermophoresis, especially Brownian motion, improve the heat transfer on the cylinder wall. In addition, the sensitivity of average Nusselt (or Sherwood) number to velocity fractional derivates α and β rises with increasing α and β, while the sensitivity to temperature fractional derivate γ declines with increasing γ. When γ increases from 0.2 to 0.3, the relative growth rate of average Nusselt number is about 9.26 %. This study provides a reference for exploring the stationary-point flow of fractional order nanofluids on vertical cylinders.

Cycloalkanes are important trace hydrocarbons existing in the atmosphere, and they are considered a major class of intermediate volatile organic compounds (IVOCs). Laboratory experiments showed that the yields of secondary organic aerosols (SOAs) from oxidation of cycloalkanes are higher than acyclic alkanes with the same carbon number. However, measurements of cycloalkanes in the atmosphere are still challenging at present. In this study, we show that online measurements of cycloalkanes can be achieved using proton transfer reaction time-of-flight mass spectrometry with NO+ chemical ionization (NO+ PTR-ToF-MS). Cyclic and bicyclic alkanes are ionized with NO+ via hydride ion transfer, leading to major product ions of CnH2n-1+ and CnH2n-3+, respectively. As isomers of cycloalkanes, alkenes undergo association reactions with major product ions of CnH2n ⚫ (NO)+, and concentrations of 1-alkenes and trans-2-alkenes in the atmosphere are usually significantly lower than cycloalkanes (about 25 % and %, respectively), as a result inducing little interference with cycloalkane detection in the atmosphere. Calibrations of various cycloalkanes show similar sensitivities associated with small humidity dependence. Applying this method, cycloalkanes were successfully measured at an urban site in southern China and during a chassis dynamometer study of vehicular emissions. Concentrations of both cyclic and bicyclic alkanes are significant in urban air and vehicular emissions, with comparable cyclic alkanes / acyclic alkanes ratios between urban air and gasoline vehicles. These results demonstrate that NO+ PTR-ToF-MS provides a new complementary approach for the fast characterization of cycloalkanes in both ambient air and emission sources, which can be helpful to fill the gap in understanding the importance of cycloalkanes in the atmosphere.

Probing fundamental quantum systems and their phase change is interesting. Here the authors demonstrate the existence of mobile quantum solid phase composed of dimerized 3He atoms and topology-induced vacancies using 3He adsorbed on carbon nanotube.

Organosulfur compounds (OrgSs), especially organosulfates, have been widely reported to be present in large quantities in particulate organic matter found in various atmospheric environments. Despite hundreds of organosulfates and their formation mechanisms being previously identified, a large fraction of OrgSs remain unexplained at the molecular level, and a better understanding of their formation pathways and critical environmental parameters is required to explain the variations in their concentrations. In this study, the abundance and molecular composition of OrgSs in fine particulate samples collected in Guangzhou were reported. The results revealed that the ratio of the annual average mass of organic sulfur to total particulate sulfur was 33 ± 12 %, and organic sulfur had positive correlations with SO2 (r=0.37, p) and oxidant (NOx + O3, r=0.40, p). A Fourier transform ion cyclotron resonance mass spectrometry (FT-ICR MS) analysis revealed that more than 80 % of the sulfur-containing formulas detected in the samples had the elemental composition of o/(4s+3n)≥1, indicating that they were largely in the form of oxidized organosulfates or nitrooxy organosulfates. Many OrgSs that were previously tentatively identified as having biogenic or anthropogenic origins were also present in freshly emitted aerosols derived from combustion sources. The results indicated that the formation of OrgSs through an epoxide intermediate pathway could account for up to 46 % of OrgSs from an upper bound estimation, and the oxidant levels could explain 20 % of the variation in the mass of organic sulfur. The analysis of our large dataset of FT-ICR MS results suggested that relative humidity, oxidation of biogenic volatile organic compounds via ozonolysis, and NOx-related nitrooxy organosulfate formation were the major reasons for the molecular variation of OrgSs, possibly highlighting the importance of the acid-catalyzed ring-opening of epoxides, oxidation processes, and heterogeneous reactions involving either the uptake of SO2 or the heterogeneous oxidation of particulate organosulfates into additional unrecognized OrgSs.

Characterizing the molecular composition of cloud water could provide unique insights into aqueous chemistry. Field measurements were conducted at Mt. Tianjing in southern China in May, 2018. There are thousands of formulas (C5–30H4–55O1–15N0–2S0–2) identified in cloud water by Fourier transform ion cyclotron resonance mass spectrometry (FT-ICR MS). CHON formulas (formulas containing C, H, O, and N elements; the same is true for CHO and CHOS) represent the dominant component (43.6 %–65.3 % of relative abundance), followed by CHO (13.8 %–52.1%). S-containing formulas constitute ∼5 %–20 % of all assigned formulas. Cloud water has a relative-abundance-weighted average O/C of 0.45–0.56, and the double bond equivalent of 5.10–5.70. Most of the formulas (>85 %) are assigned as aliphatic and olefinic species. No statistical difference in the oxidation state is observed between cloud water and interstitial PM2.5. CHON with aromatic structures are abundant in cloud water, suggesting their enhanced in-cloud formation. Other organics in cloud water are mainly from biomass burning and oxidation of biogenic volatile organic compounds. The cloud water contains more abundant CHON and CHOS at night, which are primarily contributed by −N2O5 function and organosulfates, demonstrating the enhanced formation in dark aqueous or multi-phase reactions. While more abundant CHO is observed during the daytime, likely due to the photochemical oxidation and photolysis of N- or S-containing formulas. The results provide an improved understanding of the in-cloud aqueous-phase reactions.

Although the anthropogenic emissions of SO2 have decreased significantly in China, the decrease in SO42- in PM2.5 is much smaller than that of SO2. This implies an enhanced formation rate of SO42- in the ambient air, and the mechanism is still under debate. This work investigated the formation mechanism of particulate sulfate based on statistical analysis of long-term observations in Shijiazhuang and Beijing supported with flow tube experiments. Our main finding was that the sulfur oxidation ratio (SOR) was exponentially correlated with ambient RH in Shijiazhuang (SOR = 0.15+0.0032×exp⁡(RH/16.2)) and Beijing (SOR = -0.045+0.12×exp⁡(RH/37.8)). In Shijiazhuang, the SOR is linearly correlated with the ratio of aerosol water content (AWC) in PM2.5 (SOR = 0.15+0.40×AWC/PM2.5). Our results suggest that uptake of SO2 instead of oxidation of S(IV) in the particle phase is the rate-determining step for sulfate formation. NH4NO3 plays an important role in the AWC and the change of particle state, which is a crucial factor determining the uptake kinetics of SO2 and the enhanced SOR during haze days. Our results show that NH3 significantly promoted the uptake of SO2 and subsequently the SOR, while NO2 had little influence on SO2 uptake and SOR in the presence of NH3.

Unlike the deep understanding of highly oxygenated organic molecules (HOMs) driving continental new particle formation (NPF), little is known about the organic compounds involved in coastal and open-ocean NPF. On the coastline of China we observed intense coastal NPF events initiated by iodine nucleation, but particle growth to cloud condensation nuclei (CCN) sizes was dominated by organic compounds. This article reveals a new group of C18,30HhOoNn and C20,24,28,33HhOo compounds with specific double-bond equivalents and oxygen atom numbers in new sub 20 nm coastal iodine particles by using ultrahigh-resolution Fourier transform–ion cyclotron resonance mass spectrometry (FT-ICR-MS). We proposed these compounds are oxygenated or nitrated products of long-chain unsaturated fatty acids, fatty alcohols, nonprotein amino acids or amino alcohols emitted mutually with iodine from coastal biota or biologically active sea surface. Group contribution method estimated that the addition of –ONO2, –OH and –C=O groups to the precursors reduced their volatility by 2–7 orders of magnitude and thus made their products condensable onto new iodine particles in the coastal atmosphere. Nontarget MS analysis also provided a list of 440 formulas of iodinated organic compounds in size-resolved aerosol samples during the iodine NPF days, which facilitates the understanding of unknown aerosol chemistry of iodine.

Abstract The GERmanium Detector Array (Gerda) is a low background experiment located at the Laboratori Nazionali del Gran Sasso in Italy, which searches for neutrinoless double-beta decay of $$^{76}$$ 76 Ge into $$^{76}$$ 76 Se+2e$$^-$$ - . Gerda has been conceived in two phases. Phase II, which started in December 2015, features several novelties including 30 new 76Ge enriched detectors. These were manufactured according to the Broad Energy Germanium (BEGe) detector design that has a better background discrimination capability and energy resolution compared to formerly widely-used types. Prior to their installation, the new BEGe detectors were mounted in vacuum cryostats and characterized in detail in the Hades underground laboratory in Belgium. This paper describes the properties and the overall performance of these detectors during operation in vacuum. The characterization campaign provided not only direct input for Gerda Phase II data collection and analyses, but also allowed to study detector phenomena, detector correlations as well as to test the accuracy of pulse shape simulation codes.

An increased trend in aerosol concentration has been observed in the Himalayas in recent years, but the understanding of the chemical composition and sources of aerosol remains poorly understood. In this study, molecular chemical composition of water-soluble organic matter (WSOM) from two filter samples collected during two high aerosol loading periods (denoted as P1 and P2) at a high-altitude station (Qomolangma Station, QOMS; 4276 m a.s.l.) in the northern Himalayas was identified using electrospray ionization Fourier transform ion cyclotron resonance mass spectrometry (ESI-FTICR MS). More than 4000 molecular formulas were identified in each filter sample which were classified into two compound groups (CHO and CHON) based on their elemental composition, with both accounting for nearly equal contributions in number (45 %–55 %). The relative abundance weighted mole ratio of O∕Cw for P1 and P2 was 0.43 and 0.39, respectively, and the weighted double bond equivalents (DBEw), an index for the saturation of organic molecules, were 7.12 and 7.87, respectively. Although the O∕Cw mole ratio was comparable for CHO and CHON compounds, the DBEw was significantly higher in CHON compounds than CHO compounds. More than 50 % molecular formulas in the Van Krevelen (VK) diagram (H∕C vs. O∕C) were located in 1–1.5 (H∕C) and 0.2–0.6 (O∕C) regions, suggesting potential lignin-like compounds. The distributions of CHO and CHON compounds in the VK diagram, DBE vs. number of C atoms, and other diagnostic diagrams showed high similarities among each other, suggesting their similar source and/or atmospheric processes. Many formulas formed from biogenic volatile organic compounds (e.g., ozonolysis of α-pinene products) and biomass-burning-emitted compounds (e.g., phenolic compounds) were found in the WSOM, suggesting the important contribution of these two sources in the Himalayas. The high DBE and high fraction of nitrogen-containing aerosol can potentially impact aerosol light absorption in this remote region. Further comprehensive study is needed due to the complexity of organic aerosol and limited molecular number identified in this study.

Source apportionment analysis was conducted with positive matrix factorization (PMF) and principal component analysis (PCA) methods using concentrations of speciated mercury (Hg), i.e., gaseous elemental mercury (GEM), gaseous oxidized mercury (GOM), and particulate-bound mercury (PBM), and other air pollutants collected at Kejimkujik National Park, Nova Scotia, Canada, in 2009 and 2010. The results were largely consistent between the 2 years for both methods. The same four source factors were identified in each year using PMF method. In both years, factor photochemistry and re-emission had the largest contributions to atmospheric Hg, while the contributions of combustion emission and industrial sulfur varied slightly between the 2 years. Four components were extracted with air pollutants only in each year using PCA method. Consistencies between the results of PMF and PCA include (1) most or all PMF factors overlapped with PCA components, (2) both methods suggest strong impact of photochemistry but little association between ambient Hg and sea salt, and (3) shifting of PMF source profiles and source contributions from one year to another was echoed in PCA. Inclusion of meteorological parameters led to identification of an additional component, Hg wet deposition in PCA, while it did not affect the identification of other components. The PMF model performance was comparable in 2009 and 2010. Among the three Hg forms, the agreements between model-reproduced and observed annual mean concentrations were excellent for GEM, very good for PBM, and acceptable for GOM. However, on a daily basis, the agreement was very good for GEM but poor for GOM and PBM. Sensitivity tests suggest that increasing sample size by imputation is not effective in improving model performance, while reducing the fraction of concentrations below method detection limit, by either scaling GOM and PBM to higher concentrations or combining them to reactive mercury, is effective. Most of the data treatment options considered had little impact on the source identification or contribution.

Agricultural intensification has contributed greatly to the sustained food supply of China's population of 1.3 billion over the 30-year period from 1982 to 2011. Intensification has several and widely recognized negative environmental impacts including depletion of water resources, pollution of water bodies, greenhouse gas emissions and soil acidification. However, there have been few studies over this period on the impacts of intensification on soil organic carbon (SOC) at the regional level. The present study was conducted in Huantai County, a typical intensive farming region in northern China, to analyze the temporal dynamics of SOC influenced by climate and farming practices. The results indicate that from 1982 to 2011, SOC content and density in the 0–20 cm layer of the cropland increased from 7.8 ± 1.6 to 11.0 ± 2.3 g kg−1 (41%) and from 21.4 ± 4.3 to 33.0 ± 7.0 Mg ha−1 (54%), respectively. The SOC stock (0–20 cm) of the farmland for the entire county increased from 0.75 to 1.2 Tg (59%). Correlation analysis revealed that incorporation of crop residues significantly increased SOC, while an increase in the mean annual temperature decreased the SOC level. Therefore, agricultural intensification has increased crop productivity and contributed to SOC sequestration in northern China. In the near future, more appropriate technologies and practices must be developed and implemented for a maintenance or enhancement of SOC in this region and elsewhere in northern China, which also reduce non-CO2 greenhouse gas emissions, since the climate benefit from the additional SOC storage is estimated to be smaller than the negative climate impacts of N2O from N fertilizer additions.

Background: Most data on mortality and prognostic factors in patients with heart failure come from North America and Europe, with little information from other regions. Here, in the International Congestive Heart Failure (INTER-CHF) study, we aimed to measure mortality at 1 year in patients with heart failure in Africa, China, India, the Middle East, southeast Asia and South America; we also explored demographic, clinical, and socioeconomic variables associated with mortality. Methods: We enrolled consecutive patients with heart failure (3695 [66%] clinic outpatients, 2105 [34%] hospital in patients) from 108 centres in six geographical regions. We recorded baseline demographic and clinical characteristics and followed up patients at 6 months and 1 year from enrolment to record symptoms, medications, and outcomes. Time to death was studied with Cox proportional hazards models adjusted for demographic and clinical variables, medications, socioeconomic variables, and region. We used the explained risk statistic to calculate the relative contribution of each level of adjustment to the risk of death. Findings: We enrolled 5823 patients within 1 year (with 98% follow-up). Overall mortality was 16·5%: highest in Africa (34%) and India (23%), intermediate in southeast Asia (15%), and lowest in China (7%), South America (9%), and the Middle East (9%). Regional differences persisted after multivariable adjustment. Independent predictors of mortality included cardiac variables (New York Heart Association Functional Class III or IV, previous admission for heart failure, and valve disease) and non-cardiac variables (body-mass index, chronic kidney disease, and chronic obstructive pulmonary disease). 46% of mortality risk was explained by multivariable modelling with these variables; however, the remainder was unexplained. Interpretation: Marked regional differences in mortality in patients with heart failure persisted after multivariable adjustment for cardiac and non-cardiac factors. Therefore, variations in mortality between regions could be the result of health-care infrastructure, quality and access, or environmental and genetic factors. Further studies in large, global cohorts are needed. Funding: The study was supported by Novartis.

Objective. This study was designed to compare the effects of metformin and repaglinide on the fasting plasma glucose (FPG) and glycated haemoglobin (HbA1c) in newly diagnosed type 2 diabetes in China. Methods. A total of 107 newly diagnosed type 2 diabetic patients (46 women and 61 men) participated in the study. All patients received 3-month treatment of metformin or repaglinide. Fasting blood glucose and HbA1c were determined at baseline and at the end of the 3-month of treatment. Results. FPG and HbA1c decreased in both metformin and repaglinide groups after 3 months treatment (P