Globally,coastal regions are vital areas of human activities and, as such, are centres of population growth and urban and economic development. Long-term human development has had a major impact on the ecological environment of coastal zones. Therefore, exploring the distribution and provenance of marine sediment types in coastal areas heavily influenced by human activities can provide scientific evidence and references for the current and future ecological management of these sensitive environments. For this reason, we have conducted an analysis on the sediment grain size, Endmember, organic matter content and geochemical elements in the Lu’erhuan River‒Malan Island‒Sandun Island area in the eastern part of Qinzhou Bay, a region heavily influenced by human activities. Sediment grain size clearly differs throughout the study site and the material provenances and hydrodynamic conditions are also varied, likely due to the local environmental conditions and the significant impact human activities have had on the area. The finest-grained sediment is imported from either inland or coastal areas via rivers and weak tidal currents, the next finest component is input from coastal areas through weak tidal currents, and the moderately coarse component mainly originates from nearby beaches. The two coarsest-grained sediment components are influenced by the combination of human activities, tidal currents and waves and enter the water via erosion. Organic matter provenance resembles that of the sediment components, exhibiting varied characteristics. This is due to the combination of natural and human activities in the bay. The organic matter in the upper reaches of the Lu’erhuan River originates from the river and coastal paddy fields, with obvious terrigenous characteristics; the organic matter in northern Malan Island mainly comes from external sources related to oyster farming; while organic matter in eastern Sandun Island is mainly produced endogenously by marine plankton. Al, Ti, Fe, Mg, K, Ga and other elements indicate that terrestrial sediments are significantly disturbed by human activities. However，Mn reflects the marine distribution of terrestrial sediments from the Lu’erhuan River to Jishuimen. Ca and Sr, indicators of marine sediments, are distributed in the eastern offshore area of Sandun Island, which is connected to the open waters. Due to the influence of human activities, As and Cd are highly enriched in the study area, while Cu is less affected by human activities.

The multidrug resistance transporter NorM is an important drug resistance pump and plays a critical role in multidrug resistance in bacteria and mammals. In this study we carried out molecular dynamics simulation to study the mechanism of Na+ binding and dynamical structures of two long loops in the substrate-releasing process in substrate binding NorM. Our simulation study identified several key residues (D41, E261 D377) along the Na+ binding pathway and a multi-state ion-binding mechanism is proposed based on the simulation study. In this proposed model, the transport of Na+ is a multi-stage process with D41 being the first station for binding to Na+, followed by Na+ binding to the second station E262 and finally to the cation-binding site of E262 and D377. During the transport of Na+, the transmembrane components TM1, TM7 and TM2 are rearranged to facilitate the ion transport as well conformational changes of NorM to a closed state. Further, substrate-bound simulation revealed that Loop3-4 and Loop9-10 control the substrate-releasing process.

This paper proposes a solution for the problem of mobile robot navigation and trajectory interpolation in dynamic environments with large scenes. The solution combines a semantic laser SLAM system that utilizes deep learning and a trajectory interpolation algorithm. The paper first introduces some open-source laser SLAM algorithms and then elaborates in detail on the general framework of the SLAM system used in this paper. Secondly, the concept of voxel is introduced into the occupation probability map to enhance the ability of local voxel maps to represent dynamic objects. Then, in this paper, we propose a PointNet++ point cloud semantic segmentation network combined with deep learning algorithms to extract deep features of dynamic point clouds in large scenes and output semantic information of points on static objects. A descriptor of the global environment is generated based on its semantic information. Closed-loop completion of global map optimization is performed to reduce cumulative error. Finally, T-trajectory interpolation is utilized to ensure the motion performance of the robot and improve the smooth stability of the robot trajectory. The experimental results indicate that the combination of the semantic laser SLAM system with deep learning and the trajectory interpolation algorithm proposed in this paper yields better graph building and loop closure effects in large scenes at SIASUN large scene campus. The use of T-trajectory interpolation ensures vibration-free and stable transitions between target points.