Bioaccumulation, Trophic Transfer, and Biotransformation of Polychlorinated Diphenyl Ethers in a Simulated Aquatic Food Chain.

Polychlorinated diphenyl ethers (PCDEs) are detected in aquatic environments and demonstrate adverse effects in aquatic organisms. However, data regarding the environmental behavior of PCDEs in aquatic ecosystems are lacking. In the present study, a simulated aquatic food chain (Scenedesmus obliquus-Daphnia magna-Danio rerio) was constructed in a lab setting, and the bioaccumulation, trophic transfer, and biotransformation of 12 PCDE congeners were quantitatively investigated for the first time. The log-transformed bioaccumulation factors (BCFs) of PCDEs in S. obliquus, D. magna, and D. rerio were in the range of 2.94-3.77, 3.29-4.03, and 2.42-2.89 L/kg w.w., respectively, indicating the species-specific bioaccumulation of PCDE congeners. The BCF values increased significantly with the increasing number of substituted Cl atoms, with the exception of CDE 209. The number of Cl atoms at the para and meta positions were found to be the major positive contributing factors for BCFs in the case of the same number of substituted Cl. The lipid-normalized biomagnification factors (BMFs) of S. obliquus to D. magna, D. magna to D. rerio, and the whole food chain for the 12 PCDE congeners ranged at 1.08-2.27, 0.81-1.64, and 0.88-3.64, respectively, suggesting that some congeners had BMFs comparable to PBDEs and PCBs. Dechlorination was the only metabolic pathway observed for S. obliquus and D. magna. For D. rerio, dechlorination, methoxylation, and hydroxylation metabolic pathways were observed. 1H nuclear magnetic resonance (NMR) experiments and theoretical calculations confirmed that methoxylation and hydroxylation occurred at the ortho position of the benzene rings. In addition, reliable quantitative structure-property relationship (QSPR) models were constructed to qualitatively describe the relationships between molecular structure descriptors and BCFs for PCDEs. These findings provide insights into the movement and transformation of PCDEs in aquatic ecosystems.

A Method of Calibration for the Distortion of LiDAR Integrating IMU and Odometer.

To improve the motion distortion caused by LiDAR data at low and medium frame rates when moving, this paper proposes an improved algorithm for scanning matching of estimated velocity that combines an IMU and odometer. First, the information of the IMU and the odometer is fused, and the pose of the LiDAR is obtained using the linear interpolation method. The ICP method is used to scan and match the LiDAR data. The data fused by the IMU and the odometer provide the optimal initial value for the ICP. The estimated speed of the LiDAR is introduced as the termination condition of the ICP method iteration to realize the compensation of the LiDAR data. The experimental comparative analysis shows that the algorithm is better than the ICP algorithm and the VICP algorithm in matching accuracy.

Using In Vitro and Machine Learning Approaches to Determine Species-Specific Dioxin-like Potency and Congener-Specific Relative Sensitivity among Birds for Brominated Dioxin Analogues.

There is a paucity of experimental data regarding dioxin-like toxicity of polybrominated dibenzo-p-dioxins/dibenzofurans (PBDD/Fs) and non-ortho polybrominated biphenyls (PBBs). In this study, avian aryl hydrocarbon receptor 1 (AHR1)-luciferase reporter gene assays were used to determine their species-specific dioxin-like potencies (DLPs) and congener-specific interspecies relative sensitivities in birds. The results suggested that DLPs of the brominated congeners for chicken-like (Ile324_Ser380) species did not always follow World Health Organization toxicity equivalency factors of their chlorinated analogues. For ring-necked pheasant-like (Ile324_Ala380) and Japanese quail-like (Val324_Ala380) species, the difference in DLP for several congeners was 1 or even 2 orders of magnitude. Moreover, molecular docking and molecular dynamics simulation were performed to explore the interactions between the brominated congeners and AHR1-ligand-binding domain (LBD). The molecular mechanics energy (EMM) between each congener and each individual amino acid (AA) residue in AHR1-LBD was calculated. These EMM values could finely characterize the final conformation of species-specific AHR1-LBD for each brominated congener. Based on this, mechanism-driven generalized linear models were successfully built using machine learning algorithms and the spline approximation method, and these models could qualitatively predict the complex relationships between AHR1 conformations and DLPs or avian interspecies relative sensitivity to brominated dioxin-like compounds (DLCs). In addition, several AAs conserved among birds were found to potentially interact with species-specific AAs, thereby inducing species-specific interactions between AHR1 and brominated DLCs. The present study provides a novel strategy to facilitate the development of mechanism-driven computational prediction models for supporting safety assessment of DLCs, as well as a basis for the ecotoxicological risk assessment of brominated congeners in birds.

Exploring Embodied Intelligence in Soft Robotics: A Review.

Soft robotics is closely related to embodied intelligence in the joint exploration of the means to achieve more natural and effective robotic behaviors via physical forms and intelligent interactions. Embodied intelligence emphasizes that intelligence is affected by the synergy of the brain, body, and environment, focusing on the interaction between agents and the environment. Under this framework, the design and control strategies of soft robotics depend on their physical forms and material properties, as well as algorithms and data processing, which enable them to interact with the environment in a natural and adaptable manner. At present, embodied intelligence has comprehensively integrated related research results on the evolution, learning, perception, decision making in the field of intelligent algorithms, as well as on the behaviors and controls in the field of robotics. From this perspective, the relevant branches of the embodied intelligence in the context of soft robotics were studied, covering the computation of embodied morphology; the evolution of embodied AI; and the perception, control, and decision making of soft robotics. Moreover, on this basis, important research progress was summarized, and related scientific problems were discussed. This study can provide a reference for the research of embodied intelligence in the context of soft robotics.

Polychlorinated Diphenyl Ethers in the Environment: A Review and Future Perspectives.

Polychlorinated diphenyl ethers (PCDEs) are a class of synthetic halogenated aromatic compounds, which have gradually attracted widespread attention due to potential environmental risks to humans and ecosystems. This paper presents a literature review of research on PCDEs using PubMed, Web of Science and Google Scholar as search engines/databases with no constraints on publishing year or number. A total of 98 publications on the sources, environmental levels, environmental behavior and fate, synthesis and analysis and toxicology of PCDEs were retrieved. Existing studies have shown that PCDEs widely exist in the environment with the ability of long-range transport, bioaccumulation and biomagnification, which are almost comparable to polychlorinated biphenyls. They can elicit adverse effects including hepatic oxidative stress, immunosuppression, endocrine disorders, growth retardation, malformations, reduced fertility and increased mortality in organisms, among which some seem to be related to the activation of the aryl hydrocarbon receptor. PCDEs can be metabolized into other organic pollutants, such as hydroxylated and methoxylated PCDEs and even polychlorinated dibenzo-p-dioxins and furans through biotransformation, photolysis and pyrolysis reactions in the environment. Compared with reviews on PCDEs published previously, some new information and findings are summarized in this review, such as new sources, current environmental exposure levels, main metabolism pathways in aquatic organisms, acute toxicity data for more species and relationships between structural parameters and toxicity and bioaccumulation potentials of PCDE congeners. Finally, current research deficiencies and future research perspectives are proposed to facilitate the assessment of health and ecological risks of PCDEs.

Evaluation method of motor unit number index based on optimal muscle strength combination.

Repeatability is an important attribute of motor unit number index (MUNIX) technology. This paper proposes an optimal contraction force combination for MUNIX calculation in an effort to improve the repeatability of this technology. In this study, the surface electromyography (EMG) signals of the biceps brachii muscle of eight healthy subjects were initially recorded with high-density surface electrodes, and the contraction strength was the maximum voluntary contraction force of nine progressive levels. Then, by traversing and comparing the repeatability of MUNIX under various combinations of contraction force, the optimal combination of muscle strength is determined. Finally, calculate MUNIX using the high-density optimal muscle strength weighted average method. The correlation coefficient and the coefficient of variation are utilized to assess repeatability. The results show that when the muscle strength combination is 10, 20, 50 and 70% of the maximum voluntary contraction force, the repeatability of MUNIX is greatest, and the correlation between MUNIX calculated using this combination of muscle strength and conventional methods is high (PCC > 0.99), the repeatability of the MUNIX method improved by 11.5-23.8%. The results indicate that the repeatability of MUNIX differs for various combinations of muscle strength and that MUNIX, which is measured with a smaller number and lower-level contractility, has greater repeatability.

Occurrence and removal of conventional pollutants, estrogenicities, and fecal coliform in village sewage treatment plants along the Yangtze River, China.

The present study investigated the occurrence and removal efficiency of some conventional pollutants, estrogenic effects, and fecal coliform in influents and/or effluents of village sewage treatment plants (STPs) in the upper, middle, and lower reaches of the Yangtze River Basin. The water quality of sewage from the village STPs showed significant seasonal and spatial variability. The removal rates of conventional pollutants by the village STPs were mostly lower than urban STPs, thereby resulting in that the water quality compliance rate of the effluents was only 33.3%. In addition, the average removal rate of estrogenic compounds was only 22.2%, which caused the estrogenicity of effluent to exceed the safety threshold. And E2 was determined to be the main estrogenic component. Moreover, ultraviolet (UV) disinfection, as the main disinfection treatment process of sewage along the Yangtze River Basin, was unable to meet the discharge standard of fecal coliform. The sequential chlorine (10 mg L-1)-UV (20 mJ cm-2) disinfection was found to both achieve up-to-standard discharge of fecal coliform and increase the removal rate of estrogenic effect from 3.78 to 9.86%. Overall, the present study provides valuable information on the conventional pollutants, estrogenic effects, and fecal coliform in sewage from village STPs along the Yangtze River Basin, and practical suggestions for basin-wide pollution control.

A Theoretical Study of the Interactions between Persistent Organic Pollutants and Graphene Oxide.

Persistent organic pollutants (POPs) have adverse effects on the human health and ecosystem functioning. Graphene oxide (GO) has been developed to remove trace levels of POPs from wastewater samples. However, many questions involved in these processes are still unresolved (e.g., the role of π-π interaction, the effect of GO on the degradation of POPs, and so on). Revealing the microscopic interactions between GO and POPs is of benefit to resolve these questions. In the present study, a quantum chemical calculation was used to calculate the molecular doping and adsorption energy between eight representative POPs and GO. The influences of GO on the thermodynamic parameters, such as the Gibbs free energy and the highest occupied molecular orbital (HOMO)-lowest unoccupied molecular orbital (LUMO) gap, were also reported. We found the molecular doping is dependent on the species of POPs. The adsorption energy of the majority of POPs on GO is between 7 and 8 kJ/mol. Consequently, the GO may make degradation of POPs in wastewater more productive and lead to a change of kinetics of the degradation of POPs.

Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus.

The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus's tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus's tentacle, a cable-driven soft arm is designed and fabricated, which can motion flexibly in three-dimensional space. Based on the TensorFlow framework, a data-driven model is established, and the data-driven model is trained using deep reinforcement learning strategy to realize posture control of a single soft arm. Finally, two trained soft arms are assembled into an octopus-inspired biped walking robot, which can go forward and turn around. Experimental analysis shows that the robot can achieve an average speed of 7.78 cm/s, and the maximum instantaneous speed can reach 12.8 cm/s.

Acute toxicity of polychlorinated diphenyl ethers (PCDEs) in three model aquatic organisms (Scenedesmus obliquus, Daphnia magna, and Danio rerio) of different trophic levels.

The frequent detection of polychlorinated diphenyl ethers (PCDEs) in aquatic systems has aroused widespread concerns, however, their potential hazard to aquatic ecosystems has been poorly understood. Here the acute toxicity of 12 PCDE congeners was evaluated in three model aquatic organisms representing different trophic levels following OECD test guidelines, including green algae (Scenedesmus obliquus), water flea (Daphnia magna), and zebrafish (Danio rerio). Dose-dependent increases in growth inhibition and mortality were observed for all tested PCDE congeners. Most of the PCDE congeners, in particular 3,3',4,4'-tetra-CDE, were highly toxic to the three aquatic organisms with EC50 or LC50 values below 1 mg L-1. Their toxicities were generally comparable with those of certain polychlorinated biphenyls (PCBs) and polybrominated diphenyl ethers (PBDEs). Moreover, D. magna was the most sensitive species among the three aquatic organisms. In addition, the EC50 or LC50 values had an extremely significant correlation with the n-octanol-water partition coefficient (logKow) of the PCDE congeners. The established quantitative structure-property relationship (QSPR) models indicated that the molecular polarizability (α) could significantly influence the acute toxicity of PCDEs on Daphnia magna and Danio rerio, and the energy of the lowest unoccupied molecular orbital (ELUMO) is the key factor of the acute toxicity of PCDEs in Scenedesmus obliquus. In addition, even at environmental levels, 3,3',4,4'-tetra-CDE could induced seveve oxidative damages in the three aquactic species. These findings would contribute to the understanding of adverse effects of PCDEs in aquatic organisms.

A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus.

In order to increase the compatibility between underwater robots and the underwater environment and inspired by the coconut octopus's underwater bipedal walking, a method was proposed for bipedal walking for an underwater soft robot based on a spring-loaded inverted pendulum (SLIP) model. Using the characteristics of octopus tentacles rolling on the ground, a wrist arm was designed using the cable-driven method, and an underwater SLIP bipedal walking model was established, which makes an underwater soft robot more suitable for moving on uneven ground. An underwater bipedal walking soft robot based on coconut octopus was then designed, and a machine vision algorithm was used to extract the motion information for analysis. Experimental analysis shows that the underwater bipedal walking robot can achieve an average speed of 6.48 cm s-1, and the maximum instantaneous speed can reach 8.14 cm s-1.