OBJECTIVE: To compare the efficacy and safety of relocating the lower pole stones to a favorable pole during flexible ureteroscopy with in situ lithotripsy for the treatment of 10-20 mm lower pole stone (LPS).
METHODS: This study was a prospective analysis of patient outcomes who underwent an FURS procedure for the treatment of 10-20 mm lower pole renal stones from January 2020 to November 2022. The patients were randomized into a relocation group or in situ group. The LPSs were relocated into a calyx, during lithotripsy in the relocation group was performed, whereas the in situ group underwent FURS without relocation. All the procedures were performed by the same surgeon. The patients\' demographic data, stone characteristics, perioperative parameters and outcomes, stone-free rate (SFR), complications, and overall costs were assessed retrospectively.
RESULTS: A total of 90 patients were enrolled and analyzed in this study (45 per group) with no significant differences between the two groups in terms of age, gender, BMI, diabetes, hypertension, stone size, number, laterality, composition, and density. The mean operation time, total energy consumption, postoperative stay, and complications were similar between the groups. Both groups had similar SFR at 1 day postoperative follow-up (p = 0.091), while the relocation group achieved significantly higher SFR 3 months later (97.8% vs 84.4%, p = 0.026). The relocation group also had a significantly higher WisQol score than the in situ group (126.98 vs 110.18, p < 0.001).
CONCLUSIONS: A satisfactory SFR with a relatively low complication rate was achieved by the relocation technique during the FURS procedure.

Dynamic objects bring about a large number of error accumulations in pose estimation of mobile robots in dynamic scenes, and result in the failure to build a map that is consistent with the surrounding environment. Along these lines, this paper presents a robust semi-direct 3D simultaneous localization and mapping (SLAM) algorithm for mobile robots based on dense optical flow. First, a preliminary estimation of the robot\'s pose is conducted using the sparse direct method and the homography matrix is utilized to compensate for the current frame image to reduce the image deformation caused by rotation during the robot\'s motion. Then, by calculating the dense optical flow field of two adjacent frames and segmenting the dynamic region in the scene based on the dynamic threshold, the local map points projected within the dynamic regions are eliminated. On this basis, the robot\'s pose is optimized by minimizing the reprojection error. Moreover, a high-performance keyframe selection strategy is developed, and keyframes are inserted when the robot\'s pose is successfully tracked. Meanwhile, feature points are extracted and matched to the keyframes for subsequent optimization and mapping. Considering that the direct method is subject to tracking failure in practical application scenarios, the feature points and map points of keyframes are employed in robot relocation. Finally, all keyframes and map points are used as optimization variables for global bundle adjustment (BA) optimization, so as to construct a globally consistent 3D dense octree map. A series of simulations and experiments demonstrate the superior performance of the proposed algorithm.

The precise localization of unmanned ground vehicles (UGVs) in industrial parks without prior GPS measurements presents a significant challenge. Simultaneous localization and mapping (SLAM) techniques can address this challenge by capturing environmental features, using sensors for real-time UGV localization. In order to increase the real-time localization accuracy and efficiency of UGVs, and to improve the robustness of UGVs\' odometry within industrial parks-thereby addressing issues related to UGVs\' motion control discontinuity and odometry drift-this paper proposes a tightly coupled LiDAR-IMU odometry method based on FAST-LIO2, integrating ground constraints and a novel feature extraction method. Additionally, a novel maintenance method of prior maps is proposed. The front-end module acquires the prior pose of the UGV by combining the detection and correction of relocation with point cloud registration. Then, the proposed maintenance method of prior maps is used to hierarchically and partitionally segregate and perform the real-time maintenance of the prior maps. At the back-end, real-time localization is achieved by the proposed tightly coupled LiDAR-IMU odometry that incorporates ground constraints. Furthermore, a feature extraction method based on the bidirectional-projection plane slope difference filter is proposed, enabling efficient and accurate point cloud feature extraction for edge, planar and ground points. Finally, the proposed method is evaluated, using self-collected datasets from industrial parks and the KITTI dataset. Our experimental results demonstrate that, compared to FAST-LIO2 and FAST-LIO2 with the curvature feature extraction method, the proposed method improved the odometry accuracy by 30.19% and 48.24% on the KITTI dataset. The efficiency of odometry was improved by 56.72% and 40.06%. When leveraging prior maps, the UGV achieved centimeter-level localization accuracy. The localization accuracy of the proposed method was improved by 46.367% compared to FAST-LIO2 on self-collected datasets, and the located efficiency was improved by 32.33%. The z-axis-located accuracy of the proposed method reached millimeter-level accuracy. The proposed prior map maintenance method reduced RAM usage by 64% compared to traditional methods.

The taxonomy and evolutionary history of Sophora L., a genus with high economic and medicinal value, remain uncertain due to the absence of genetic resource (especially in China) and low polymorphism of molecular markers. Our aim was to elucidate the molecular evolution and phylogenetic relationships in chloroplast genomes of Sophora species in the early-diverging legume subfamily Papilionoideae (Fabaceae). We reported nine Sophora chloroplast genome from China using Illumina sequencing. We performed a series of analyses with previously published genomes of Sophora species to investigate their genomic characteristics, identified simple sequence repeats, large repeat sequences, tandem repeats, and highly polymorphic loci. The genomes were 152,953-158,087 bp in length, and contained 111-113 unique genes, including 76-78 protein coding, 31 tRNA, and 4 rRNA. The expansion of inverted repeat boundary of Sophora resulted in rps12 entering into the LSC region and loss of trnT-CGU gene in some species. Also, we found an approximately 23 kb inversion between trnC-GCA and trnF-GAA within the genus. In addition, we identified seven highly polymorphic loci (pi (π) > 0.035) suitable for inferring the phylogeny of Sophora species. Among these, three regions also co-occurred with large repeat sequences and support use of repeats as a proxy for the identification of polymorphic loci. Based on whole chloroplast genome and protein-coding sequences data-set, a well-supported phylogenetic tree of Sophora and related taxa showed that this genus is monophyletic, but sect. Disamaea and sect. Sophora, are incongruent with traditional taxonomic classifications based on fruit morphology. Our finding provides significant genetic resources to support further investigation into the phylogenetic relationship and evolution of the genus Sophora.

Non-visual information is important for navigation in limited visibility conditions. We designed a haptic-based relocation task to examine blindfolded adults\' use of geometric cues. Forty-eight participants learned to locate a corner in a parallelogram frame. They were then tested in different transformed frames: (a) a reverse-parallelogram, in which locations predicted by original length information and angle information conflicted, (b) a rectangle, which retained only length information, and (c) a rhombus, which retained only angle information. Results show that access to the environment\'s geometry through haptic modality is sufficient for relocation. However, adults\' performances in the current task were different from that in visual tasks in previous findings. First, compared to previous findings in visual-based tasks, length information lost its priority. Approximately half of the participants relied on angle information in the conflict test and the other half relied on length. Second, though participants encoded both length and angle information in the learning phase, only one cue was relied on after the conflict test. Finally, though participants encoded the target location successfully, they failed to represent the global shape of the environment. We attribute adults\' different performances in haptic-based and visual-based tasks to the high cognitive demands in encoding and using haptic spatial cues, especially length information.

The chloroplast genome (plastome) of angiosperms (particularly photosynthetic members) is generally highly conserved, although structural rearrangements have been reported in a few lineages. In this study, we revealed Corydalis to be another unusual lineage with extensive large-scale plastome rearrangements. In the four newly sequenced Corydalis plastomes that represent all the three subgenera of Corydalis, we detected (1) two independent relocations of the same five genes (trnV-UAC-rbcL) from the typically posterior part of the large single-copy (LSC) region to the front, downstream of either the atpH gene in Corydalis saxicola or the trnK-UUU gene in both Corydalis davidii and Corydalis hsiaowutaishanensis; (2) relocation of the rps16 gene from the LSC region to the inverted repeat (IR) region in Corydalis adunca; (3) uniform inversion of an 11-14 kb segment (ndhB-trnR-ACG) in the IR region of all the four Corydalis species (the same below); (4) expansions (>10 kb) of IR into the small single-copy (SSC) region and corresponding contractions of SSC region; and (5) extensive pseudogenizations or losses of 13 genes (accD, clpP, and 11 ndh genes). In addition, we also found that the four Corydalis plastomes exhibited elevated GC content in both gene and intergenic regions and high number of dispersed repeats. Phylogenomic analyses generated a well-supported topology that was consistent with the result of previous studies based on a few DNA markers but contradicted with the morphological character-based taxonomy to some extent. This study provided insights into the evolution of plastomes throughout the three Corydalis subgenera and will be of value for further study on taxonomy, phylogeny, and evolution of Corydalis.

BACKGROUND: An ageing population has resulted in increased numbers of older adults moving to a nursing home, and the challenges triggered by relocation are highlighted. Various factors are identified to be associated with relocation and psychological adjustment to living in a nursing home. However, no systematic review has synthesised the evidence, and its associated factors remain unclear.
OBJECTIVE: To examine and synthesise the best available evidence on the factors associated with adjustment to living in a care facility.
METHODS: Systematic review.
METHODS: Nine electronic databases were searched from database inception to March 2020: Pubmed, Embase, CINAHL, PsycINFO, Cochrane library, China National Knowledge Infrastructure, China Wanfang Database, Chinese Biomedical Literature Database, Chinese Periodical Full-text Database.
METHODS: The references listed in the included studies were manually checked. The quality of the eligible studies was assessed using the 11-item checklist of the Agency for Healthcare Research and Quality.
RESULTS: A total of 20 studies were included in this review, with 17 cross-sectional studies, and three longitudinal study. 19 studies were rated as moderate quality and the other one was high quality. 17 measures were used to assess nursing home adjustment. Six distinct categories of the associated factors for nursing home adjustment were identified: demographic characteristics (n = 11), physiological factors (n = 3), psychological factors (n = 9), social factors (n = 9), relocation factors (n = 6), and facility factors (n = 5).
CONCLUSIONS: Decision-making control, self-efficacy, social support, activities of daily living, and length of stay should all be taken into account when assisting resident scoping with a relocation to a nursing home. Infuture research, multiple areas can be considered when improving the level of nursing home adjustment, as well as interventions and health policies.
UNASSIGNED: PROSPERO CRD 42018115935.
UNASSIGNED: A systematic review of the factors associated with adjustment to living in a care facility.

This study focuses on patterns and influences of return migration behavior in mainland China, (n = 468 individuals ages 50 and above) from a life-course perspective, using the 2011 China Health and Retirement Longitudinal Study (CHARLS). Utilizing spatial analysis, we found return migration geographic patterns mainly from the frontier and urban centers to central provinces, involving migrant workers returning to their rural homes. We used logistic linear modeling to examine the correlations between personal attributes (e.g., age, gender, marital status), environmental aspects (e.g., community characteristics, housing conditions, geographic attributes), and return migration. Historical and socioeconomic factors affected return migration, including availability parents to provide care, declining personal health, improved housing infrastructures, and better access to community services. Our findings also show the productive social role of caregiving as a reason for migration, calling for flexible policies in China\'s social welfare system, comprehensive senior living facilities, and adequate support systems in rural communities.

This research aims to explore the life experiences of relocated earthquake survivors with PTSD and develop a conceptual framework for understanding their life experiences.
Interviews were conducted with twenty-three participants. The participant selection, data collection and analysis were based on grounded theory methodology. A theoretical model called \"loss of homeland\" was developed.
Loss of homeland was the most important condition that influenced the relocated participants\' self-identity, social connections, and meaning system. These aspects were categorized into existential changes, lost connections, and changes in identity. Post-disaster relocation threatens individuals\' sense of meaning, integrity of self, and sense of belonging, affects every aspect of everyday life and shatters their inner and outer harmony.
Further research guided by this theoretical model is needed to inform post-disaster mental health services and relocation policy. Mental health professionals and policy makers can make more informed decisions in terms of disaster relocation policy and manage post-disaster psychological disturbances by focusing on both places and people.

Beijing has been experiencing population ageing and rapid urbanization processes. Older people\'s living environment has changed dramatically. This research aims to understand the older people\'s perception of the changes in their living environment, the determinants of age-friendly living environment, and the impact path before and after their relocation in Beijing. The quantitative analysis is based on 353 valid questionnaires collected in four sample communities in Beijing. By using descriptive analysis and structure equation modeling (SEM), the results show that the living environment gets improved after relocation except accessibility to health care facilities. The cultural environment of the communities has significant impacts on the age-friendliness of the living environment. The physical environment of communities is able to improve the living environment indirectly through promoting the community cultural environment. This study sheds light on future research on age-friendly living environment for the ageing population in Beijing.