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This paper presents a robust and adaptive visual servoing-based landing control method for unmanned aerial vehicles (UAVs) equipped with a three-axis gimbal camera. To address the limitations of fixed-camera configurations, the proposed approach integrates pixel-level field-of-view (FOV) constraints and leverages the gimbal’s agility for enhanced visual tracking. The landing task is formulated as a constrained image-based control problem, where tracking errors of image features are rigorously bounded using prescribed performance functions. A velocity observer is incorporated to estimate the time-varying motion of the landing platform in real time, enabling accurate autonomous landing without relying on external communication or infrastructure. Lyapunov-based stability analysis confirms the theoretical soundness of the control strategy. Simulation results validate the effectiveness and robustness of the proposed method, demonstrating improved accuracy, adaptability, and practical applicability in UAV landing scenarios.

Gearboxes operate in challenging environments, which leads to a heightened incidence of failures, and ambient noise further compromises the accuracy of fault diagnosis. To address this issue, we introduce a fault diagnosis method that employs singular value decomposition (SVD) and graph Fourier transform (GFT). Singular values, commonly employed in feature extraction and fault diagnosis, effectively encapsulate various fault states of mechanical equipment. However, prior methods neglect the inter-relationships among singular values, resulting in the loss of subtle fault information concealed within. To precisely and effectively extract subtle fault information from gear vibration signals, this study incorporates graph signal processing (GSP) technology. Following SVD of the original vibration signal, the method constructs a graph signal using singular values as inputs, enabling the capture of topological relationships among these values and the extraction of concealed fault information. Subsequently, the graph signal undergoes a transformation via GFT, facilitating the extraction of fault features from the graph spectral domain. Ultimately, by assessing the Mahalanobis distance between training and testing samples, distinct defect states are discerned and diagnosed. Experimental results on bearing and gear faults demonstrate that the proposed method exhibits enhanced robustness to noise, enabling accurate and effective diagnosis of gearbox faults in environments with substantial noise.

Water inrush disasters pose a serious threat during tunnel construction. Accurately evaluating their evolution process is essential for timely prevention and risk mitigation. Given the staged nature of seepage-instability-induced inrushes and the sensitivity of borehole resistivity imaging to water-bearing anomalies, this study explores the use of borehole resistivity methods to monitor the evolution of such events. A four-stage geoelectrical evolution model is developed based on the characteristics of inclined fault-related water inrushes. A time-lapse evaluation method combining least squares inversion and resistivity ratio analysis is proposed to assess the inrush process. Numerical simulations show that this method achieves a localization error below 2 m for inclined water-conducting channels. Across the four stages, the resistivity ratio of the channel ranges from 0.65 to 1.40, capturing the three-dimensional expansion of the inrush pathway. These findings confirm that borehole resistivity imaging effectively characterizes the evolution of water inrush disasters and supports early warning and mitigation strategies.

Non-coding cis -regulatory variants in animal genomes are an important driving force in the evolution of transcription regulation and phenotype diversity. However, cistrome dynamics in plants remain largely underexplored. Here, we compare the binding of GOLDEN2-LIKE (GLK) transcription factors in tomato, tobacco, Arabidopsis , maize and rice. Although the function of GLKs is conserved, most of their binding sites are species-specific. Conserved binding sites are often found near photosynthetic genes dependent on GLK for expression, but sites near non-differentially expressed genes in the glk mutant are nevertheless under purifying selection. The binding sites’ regulatory potential can be predicted by machine learning model using quantitative genome features and TF co-binding information. Our study show that genome cis-variation caused wide-spread TF binding divergence, and most of the TF binding sites are genetically redundant. This poses a major challenge for interpreting the effect of individual sites and highlights the importance of quantitatively measuring TF occupancy. Unlike microbes and mammals, cistrome dynamics in plants remains unclear. Here, using GOLDEN2-LIKE (GLK) transcription factor as an example, the authors find that most GLK binding sites are species-specific and the binding divergence is caused by cis-variations through inter-species transformation experiment.

The liver is extremely active in oxidizing triglycerides (TG) for energy production. An imbalance between TG synthesis and hydrolysis leads to metabolic disorders in the liver, including excessive lipid accumulation, oxidative stress, and ultimately liver damage. Adipose triglyceride lipase (ATGL) is the rate-limiting enzyme that catalyzes the first step of TG breakdown to glycerol and fatty acids. Although its role in controlling lipid homeostasis has been relatively well-studied in the adipose tissue, heart, and skeletal muscle, it remains largely unknown how and to what extent ATGL is regulated in the liver, responds to stimuli and regulators, and mediates disease progression. Therefore, in this review, we describe the current understanding of the structure–function relationship of ATGL, the molecular mechanisms of ATGL regulation at translational and post-translational levels, and—most importantly—its role in lipid and glucose homeostasis in health and disease with a focus on the liver. Advances in understanding the molecular mechanisms underlying hepatic lipid accumulation are crucial to the development of targeted therapies for treating hepatic metabolic disorders.

Biologically, the WDR77 gene is implicated in the occurrence and development of various clinical malignant tumors. However, its precise role in glioma remains unclear. Therefore, in this study we aimed to perform a comprehensive analysis of the biological functions of WDR77 in glioma. Transcriptome data was obtained from CGGA (mRNAseq-693, mRNAseq-325) and TCGA databases for analysis. A total of 699 glioma samples from the TCGA database were used as the training cohort, while 1018 samples from CGGA were used as the validation cohort. Our analysis revealed that WDR77 was significantly overexpressed in high-grade gliomas and mesenchymal subtype gliomas. Survival analysis indicated that elevated WDR77 gene expression was associated with poor prognostic outcomes for high-grade gliomas, particularly Glioblastoma (GBM). Gene co-expression analysis demonstrated a high correlation between WDR77 and glioma cell cycle, metabolism, and immune processes. Overall, we identified WDR77 as a new biomarker closely associated with the malignant phenotype and poor prognostic outcomes for glioma, playing an important role in regulating the cell cycle and immune processes.

There is a continuing need to develop effective materials for the environmental remediation of copper-contaminated sites. Nano-MnO2–biochar composites (NMBCs) were successfully synthesized through the reduction of potassium permanganate by ethanol in a biochar suspension. The physicochemical properties and morphology of NMBCs were examined, and the Cu(II) adsorption properties of this material were determined using various adsorption isotherms and kinetic models. The adsorption capacity of NMBCs for Cu(II), which was enhanced by increasing the pH from 3 to 6, was much larger than that of biochar or nano-MnO2. The maximum adsorption capacity of NMBCs for Cu(II) was 142.02 mg/g, which was considerably greater than the maximum adsorption capacities of biochar (26.88 mg/g) and nano-MnO2 (93.91 mg/g). The sorption process for Cu(II) on NMBCs fitted very well to a pseudo-second-order model (R2 > 0.99). Moreover, this process was endothermic, spontaneous, and hardly influenced by ionic strength. The mechanism of Cu(II) adsorption on NMBCs mainly involves the formation of complexes between Cu(II) and O-containing groups (e.g., COO–Cu and Mn–O–Cu). Thus, NMBCs may serve as effective adsorbents for various environmental applications, such as wastewater treatment or the remediation of copper-contaminated soils.

Lead (Pb) contamination in environment has been identified as a threat to human health and ecosystems. In an effort to reduce the health and ecological risks associated with Pb mining wastes, a field study was conducted to stabilize Pb using phosphate (P)-enriched biosolid amendments in the contaminated mining wastes (average of 1004 mg Pb kg −1 ) located within the Jasper County Superfund Site, southwest Missouri. Experiments consisted of six biosolid amendment treatments, including Mizzou Doo compost (MD); Spent mushroom compost (SMC); Turkey litter compost (TLC); Composted chicken litter (CCL); Composted sewage sludge (CSS); and Triple superphosphate (TSP). Kentucky tall fescue seeds were planted following the treatments, and soil and plant samples were collected and analyzed 8–10 years post treatment. Results indicated that, in all cases, the biosolid treatments resulted in significant reductions in bioaccessible Pb (96.5 to 97.5%), leachable Pb (95.0 to 97.1%) and plant tissue Pb (45.5 to 90.1%) in the treated wastes, as compared with the control. The treatments had no significantly toxicological effect to soil microbial community. Analysis of the Pb fractionation revealed that the Pb risk reduction was accomplished by transforming labile Pb fractions to relatively stable species through the chemical stabilization reactions as induced by the treatments. The solid-phase microprobe analysis confirmed the formation of pyromorphite or pyromorphite-like minerals after the treatment. Among the six biosolid amendments examined, SMC and MD treatments were shown most effective in the context of Pb stabilization and risk reduction. This field study demonstrated that the treatment effectiveness of Pb stabilization and risk reduction in mining wastes by P-enriched biosolid amendments was long-term and environmental-sound, which could be potentially applied as a cost-effective remedial technology to restore contaminated mining site and safeguard human health and ecosystems from Pb contamination.

In response to the growing importance of AI-driven residential design and the lack of dedicated evaluation metrics, we propose the Residential Floor Plan Assessment (RFP-A), a comprehensive framework tailored to architectural evaluation. RFP-A consists of multiple metrics that assess key aspects of floor plans, including room count compliance, spatial connectivity, room locations, and geometric features. It incorporates both rule-based comparisons and graph-based analysis to ensure design requirements are met. A comparison of RFP-A and existing metrics was conducted both qualitatively and quantitatively, and it was revealed that RFP-A provides more robust, interpretable, and computationally efficient assessments of the accuracy and diversity of generated plans. We evaluated the performance of six existing floor plan generation models using RFP-A, showing that, surprisingly, only HouseDiffusion and FloorplanDiffusion achieved accuracies above 90%, while other models scored below or around 60%. We further conducted a quantitative comparison of diversity, revealing that FloorplanDiffusion, HouseDiffusion, and HouseGAN each demonstrated strengths in different aspects—graph structure, spatial location, and room geometry, respectively—while no model achieved consistently high diversity across all dimensions. In addition, existing metrics can not reflect the quality of generated designs well, and the diversity of the generated designs depends on both the model input and structure. Our study not only enhances the assessment of generated floor plans but also aids architects in utilizing numerous generated designs effectively.

Glioblastoma multiforme (GBM) is the most lethal primary brain tumor with a poor median survival of less than 15 months. However, clinical strategies and effective therapies are limited. Here, we found that the second-generation small molecule multi-CDK inhibitor AT7519 is a potential drug for GBM treatment according to high-throughput screening via the Approved Drug Library and Clinical Compound Library (2718 compounds). We found that AT7519 significantly inhibited the cell viability and proliferation of U87MG, U251, and patient-derived primary GBM cells in a dose-dependent manner. Furthermore, AT7519 also inhibited the phosphorylation of CDK1/2 and arrested the cell cycle at the G1-S and G2-M phases. More importantly, AT7519 induced intrinsic apoptosis and pyroptosis via caspase-3-mediated cleavage of gasdermin E (GSDME). In the glioblastoma intracranial and subcutaneous xenograft assays, tumor volume was significantly reduced after treatment with AT7519. In summary, AT7519 induces cell death through multiple pathways and inhibits glioblastoma growth, indicating that AT7519 is a potential chemical available for GBM treatment.