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Path planning is an essential technology for lunar rover to achieve safe and efficient autonomous exploration mission, this paper proposes a learning-based end-to-end path planning algorithm for lunar rovers with safety constraints. Firstly, a training environment integrating real lunar surface terrain data was built using the Gazebo simulation environment and a lunar rover simulator was created in it to simulate the real lunar surface environment and the lunar rover system. Then an end-to-end path planning algorithm based on deep reinforcement learning method is designed, including state space, action space, network structure, reward function considering slip behavior, and training method based on proximal policy optimization. In addition, to improve the generalization ability to different lunar surface topography and different scale environments, a variety of training scenarios were set up to train the network model using the idea of curriculum learning. The simulation results show that the proposed planning algorithm can successfully achieve the end-to-end path planning of the lunar rover, and the path generated by the proposed algorithm has a higher safety guarantee compared with the classical path planning algorithm.

In order to provide better monitoring for the elderly or patients, we developed an integrated wireless wearable sensor system that can realize posture recognition and indoor localization in real time. Five designed sensor nodes which are respectively fixed on lower limbs and a standard Kalman filter are used to acquire basic attitude data. After the attitude angles of five body segments (two thighs, two shanks and the waist) are obtained, the pitch angles of the left thigh and waist are used to realize posture recognition. Based on all these attitude angles of body segments, we can also calculate the coordinates of six lower limb joints (two hip joints, two knee joints and two ankle joints). Then, a novel relative localization algorithm based on step length is proposed to realize the indoor localization of the user. Several sparsely distributed active Radio Frequency Identification (RFID) tags are used to correct the accumulative error in the relative localization algorithm and a set-membership filter is applied to realize the data fusion. The experimental results verify the effectiveness of the proposed algorithms.

Many cockroach species have adapted to urban environments, and some have been serious pests of public health in the tropics and subtropics. Here, we present the 3.38-Gb genome and a consensus gene set of the American cockroach, Periplaneta americana . We report insights from both genomic and functional investigations into the underlying basis of its adaptation to urban environments and developmental plasticity. In comparison with other insects, expansions of gene families in P. americana exist for most core gene families likely associated with environmental adaptation, such as chemoreception and detoxification. Multiple pathways regulating metamorphic development are well conserved, and RNAi experiments inform on key roles of 20-hydroxyecdysone, juvenile hormone, insulin, and decapentaplegic signals in regulating plasticity. Our analyses reveal a high level of sequence identity in genes between the American cockroach and two termite species, advancing it as a valuable model to study the evolutionary relationships between cockroaches and termites. The American cockroach ( Periplaneta americana ) is an hemimetabolous insect with rapid growth, high fecundity, and remarkable tissue-regeneration capability. Here Li et al sequence its 3.38-Gb genome and perform the functional studies, yielding insights into its environmental adaptation and developmental plasticity.

Nurse cell (NC) dumping, a process essential for oocyte development, involves the rapid cytoplasmic transfer from germline-derived NCs into the oocyte. However, its regulatory mechanism remains unclear. Here, we report that ecdysone signaling in stretch follicle cells (SFCs) regulates NC dumping through dumpless1 , a ZAD-C 2 H 2 zinc finger transcription factor, in Drosophila . Ecdysone induced dumpless1 expression in SFCs, and CRISPR/Cas9-mediated knockout of dumpless1 or its functional domain ZAD suppresses NC dumping. Depletion of dumpless1 upregulates integrin βPS expression in SFC plasma membrane, while reducing cortical enrichment of Rho1 signaling-dependent phosphorylated myosin light chain (p-MLC) and disrupting actin cables organization in NCs. SFC-specific overexpression of integrin βPS reduces p-MLC enrichment in the NC cortex, whereas its knockdown in SFCs of dumpless1 -/- mutants partially rescues NC dumping defect. Our findings identify dumpless1 as a critical effector of ecdysone signaling, bridging somatic-germline communication through the integrin βPS-Rho1-p-MLC axis, revealing a multicellular regulatory mechanism in Drosophila oogenesis. Li et al. identify a previously uncharacterized transcription factor dumpless1 as a critical effector of ecdysone signaling in stretch follicle cell, bridging somatic-germline communication through the integrin βPS-Rho1-p-MLC axis to facilitate dumping.

Introduction: Porcine reproductive and respiratory syndrome virus (PRRSV) is a highly prevalent and endemic swine pathogen that causes significant economic losses to the global swine industry. Selenium nanoparticles (SeNPs) have attracted increasing attention in the biomedical field, given their antiviral effects. This study aimed to investigate the inhibitory effect of chitosan- coated SeNPs (CS-SeNPs) on PRRSV replication. Methods: In this study, CS-SeNPs were synthesized by chemical reduction and characterized by assessing the morphology, size distribution, zeta potential, and element composition. Marc-145 cells were infected with r-PRRSV-EGFP (0.1 MOI) and inoculated with CS-SeNPs (10 [micro]M). Subsequently, the concentrations of hydrogen peroxide ([H.sub.2][O.sub.2]) and glutathione (GSH), and glutathione peroxidase (GSH-Px) activity were measured using specific commercial assay kits. ORF5 RNA expression, viral titer, and nucleocapsid (N) protein expression were assessed using qRT-PCR, TCID50, and Western blot. ROS generation, apoptosis rates, and JNK / caspase-3/PARP protein expression were evaluated using dihydroethidium staining, flow cytometry, and Western blot. Results: The results showed that CS-SeNPs treatment significantly suppressed oxidative stress induced by r-PRRSV-EGFP infection by increasing GSH-Px activity, promoting GSH production, and inhibiting [H.sub.2][O.sub.2] synthesis. CS-SeNPs treatment significantly inhibited ORF5 gene expression, viral titers, and N protein of r-PRRSV-EGFP at 24 and 48 hours post-infection (hpi) in Marc-145 cells. The increase in apoptosis rates induced by r-PRRSV-EGFP infection was significantly decreased by CS-SeNPs inoculation through inhibiting ROS generation, JNK phosphorylation levels, and cleavage of caspase-3 and PARP mainly at 48 hpi. Conclusion: These results demonstrated that CS-SeNPs suppress PRRSV-induced apoptosis in Marc-145 cells via the ROS/JNK signaling pathway, thereby inhibiting PRRSV replication, which suggested the potential antiviral activity of CS-SeNPs that deserves further investigation for clinical applications. Keywords: chitosan-coated selenium nanoparticles, PRRSV, apoptosis, ROS, JNK signaling pathways

Pacific white shrimp (Litopenaeus vannamei), the major species of farmed shrimps in the world, has been attracting extensive studies, which require more and more genome background knowledge. The now available transcriptome data of L. vannamei are insufficient for research requirements, and have not been adequately assembled and annotated. This is the first study that used a next-generation high-throughput DNA sequencing technique, the Solexa/Illumina GA II method, to analyze the transcriptome from whole bodies of L. vannamei larvae. More than 2.4 Gb of raw data were generated, and 109,169 unigenes with a mean length of 396 bp were assembled using the SOAP denovo software. 73,505 unigenes (>200 bp) with good quality sequences were selected and subjected to annotation analysis, among which 37.80% can be matched in NCBI Nr database, 37.3% matched in Swissprot, and 44.1% matched in TrEMBL. Using BLAST and BLAST2Go softwares, 11,153 unigenes were classified into 25 Clusters of Orthologous Groups of proteins (COG) categories, 8171 unigenes were assigned into 51 Gene ontology (GO) functional groups, and 18,154 unigenes were divided into 220 Kyoto Encyclopedia of Genes and Genomes (KEGG) pathways. To primarily verify part of the results of assembly and annotations, 12 assembled unigenes that are homologous to many embryo development-related genes were chosen and subjected to RT-PCR for electrophoresis and Sanger sequencing analyses, and to real-time PCR for expression profile analyses during embryo development. The L. vannamei transcriptome analyzed using the next-generation sequencing technique enriches the information of L. vannamei genes, which will facilitate our understanding of the genome background of crustaceans, and promote the studies on L. vannamei.

RNA interference (RNAi) is a simple and rapid method for silencing genes in various organisms, and it is widely used in gene function and genetics research. RNAi has been developed as a novel pest management strategy. Double-stranded RNAs (dsRNAs) delivered via microinjection, ingestion, or soaking are effective for silencing genes in insect pests, whereas oral and topical delivery methods are feasible for field applications. Here, we summarize oral and topical delivery, in pests, of dsRNA target genes, including those involved in energy metabolism, synthesis of essential cellular components, hormone homeostasis, chitin metabolism, the digestive system, immunity, detoxification, insecticide resistance, and other processes. RNAi pesticides have been developed in the form of genetically modified (GM) crops expressing dsRNAs as well as applied as foliar sprays. In this review, RNAi-based products are also summarized.

The increasing incidence of thyroid tumors, combined with patients’ growing emphasis on cosmetic outcomes, has fueled advancements in endoscopic thyroidectomy techniques. This study aims to evaluate the safety, feasibility, and aesthetic outcomes of trans-submental endoscopic thyroidectomy (TSET), a novel approach designed to overcome the limitations of the oral vestibular route. Clinical data from 95 patients who underwent TSET at our institution between May 2022 and December 2024 were retrospectively analyzed. Inclusion criteria were benign thyroid nodules ≤ 4 cm or papillary thyroid carcinoma (PTC) ≤ 3 cm without lateral neck or distant metastasis. Surgical outcomes, complications, and patient satisfaction were systematically assessed. Of the 96 patients initially enrolled, one required conversion to open thyroidectomy due to intraoperative bleeding. The remaining 95 patients successfully completed TSET, including 48 unilateral partial thyroidectomies, 6 bilateral partial thyroidectomies, 38 lobectomies with unilateral central neck dissection (UCND), and 3 total thyroidectomies with UCND. The mean operative time was 158.3 ± 40.1 min. No permanent complications, such as recurrent laryngeal nerve (RLN) injury or hypoparathyroidism, were observed. Transient RLN palsy occurred in 2 patients and resolved with conservative management. Aesthetic outcomes were highly satisfactory, with hidden submental scars and no postoperative infections reported. During the follow-up period (mean: 14.0 ± 7.7 months), no tumor recurrence was observed. TSET is a safe and feasible surgical approach with good cosmetic results and shows promising development prospects.

Purpose To evaluate the clinical efficacy of immediate breast reconstruction with free or pedicled laparoscopically harvested omental flaps (LHOFs). Methods Between March 2011 and 2021, 82 patients who underwent immediate breast reconstruction with free or pediculated omental flaps were enrolled. Breast total or partial mastectomy, laparoscopic greater omentum harvest, and breast reconstruction were carried out in an orderly manner. Postoperative operative results, cosmetic outcomes, and complications were investigated. Results Seventeen cases of free LHOF and 65 cases of pedicled LHOF were performed. Cosmetic results were mostly satisfactory (61% excellent, 35% good), with a soft breast that was natural in appearance. Satisfaction investigation showed that 96.2% of patients were satisfied with the reconstructed breast. Uneventful follow-up showed no abdominal complications at the donor site, and the surface skin displayed no swelling. No major complications were found, except for three cases of necrosis. One patient developed slight hematoma. Two patients were found to have local recurrence, and one had distant metastasis. Twenty-four patients accepted radiotherapy, but no size reduction was noted after radiotherapy. We followed the patients to determine their survival status. All patients were alive, except for 1 in the free LHOF group who died 31.2 months after surgery. Conclusion Immediate breast reconstruction with LHOF provides a soft reconstructed breast with relatively little donor-site deformity and is useful for breast tumor-specific immediate reconstruction.