The three research topics, ship collision risk assessment, ship traffic hotspot detection and prediction, and collision-avoidance based ship path planning, are vital for next-generation vessel traffic management and monitoring systems. The system development is closely related to big data analytics and artificial intelligence for restricted waters. This study, therefore, aims to analyse the state-of-the art of these three topics over the latest decade, identify research gaps, and shed light on future research avenues. To achieve these three objectives, we critically and systematically review related articles that were published during the period between 2011 and 2021. We believe that this comprehensive and critical literature review would have a significant and profound impact on the formal safety assessment and vessel traffic management, and monitoring studies because it is not only an extension but also an essential continuity work of the literature review on maritime waterway risk assessment and prediction, as well as ship path guidance for ship collision risk mitigation in accordance with current automation vessels development and modern intelligent port construction.

In “Risky choice framing: Task versions and a comparison of prospect theory and fuzzy-trace theory”, Kühberger and Tanner (2010) examined the impacts of removing stated zero/non-zero complements of risky options on the gain/loss framing effect. They also tested two rival theoretical explanations for this effect: prospect theory and fuzzy-trace theory. The present study aimed to examine the reliability and robustness of the evidence provided by Kühberger and Tanner by precise replication in Study 1. The original findings were reported for conditions in which the probability of the risky option was fixed, and the expected value of the two alternatives was approximately equivalent. The present study also aimed to examine the generality of their findings under additional conditions in which large, medium and small probabilities of the risky option were assigned, and the expected value of the certain or risky options differed. The main findings of Kühberger and Tanner (2010) were successfully replicated and confirmed under the original and additional conditions. The implications of these findings are discussed.

Everyone faces uncertainty on a daily basis. Two kinds of probability expressions, verbal and numerical, have been used to characterize the uncertainty that we face. Because our cognitive concept of living things differs from that of non-living things, and distinguishing cognitive concepts might have linguistic markers, we designed four studies to test whether people use different probability expressions when faced with animate or inanimate uncertainty. We found that verbal probability is the preferred way to express animate uncertainty, whereas numerical probability is the preferred way to express inanimate uncertainty. The “verbal-animate” and “numerical-inanimate” associations were robust enough to persist when tested with forced-choice response patterns regardless of the information (e.g., equally likely outcomes, frequencies, or personal beliefs) used to construct probabilities of events. When the response pattern was changed to free-responses, the associations were evident unless the subjects were asked to write their own probability predictions for vague uncertainty. Given that the world around us consists of both animate (i.e., living) and inanimate (i.e., non-living) things, “verbal-animate” and “numerical-inanimate” associations may play a major role in risk communication and may otherwise be useful for practitioners and consultants.

Recently, Scholten and Read (2014) found new violations of dominance in intertemporal choice. Although adding a small receipt before a delayed payment or adding a small delayed receipt after an immediate receipt makes the prospect objectively better, it decreases the preference for that prospect (better is worse). Conversely, although adding a small payment before a delayed receipt or adding a small delayed payment after an immediate payment makes the prospect objectively worse, it increases the preference for that prospect (worse is better). Scholten and Read explained these violations in terms of a preference for improvement. However, to produce violations such as these, we find that the temporal sequences need not be constructed as Scholten and Read suggested. In this study, adding a small receipt before a dated receipt (thus constructed as improving) or adding a receipt after a dated payment (thus constructed as improving) decreases preferences for those prospects. Conversely, adding a small payment after a dated receipt (thus constructed as deteriorating) or adding a small payment before a delayed payment (thus constructed as deteriorating) increases preferences for those prospects.

The northern Alxa region is located in the central segment of the southern Central Asian Orogenic Belt. Many controversies and deficiencies still exist regarding the magma source characteristics, petrogenesis and tectonic regimes during the late Palaeozoic – early Mesozoic period within this region. This study presents whole-rock compositions and zircon U–Pb and Lu–Hf isotopic data for three early Mesozoic I- and A-type granitic plutons occurring in the northern Alxa region. The Haerchaoenji and Chahanhada I-type granitoids yielded zircon 206Pb–238U ages of 245 ± 5 Ma and 245 ± 2 Ma, respectively. The variable positive zircon ϵHf(t) values between +1.8 and +11.8, with young TDM ages of 425–837 Ma, indicate that these I-type granitoids were mainly derived from juvenile crustal materials. The Wulantaolegai pluton has a zircon 206Pb–238U age of 237 ± 2 Ma and is classified as having high-K calc-alkaline A-type affinity. Furthermore, the positive zircon ϵHf(t) values of the Wulantaolegai granite range from +3.3 to +8.7 with young TDM ages of 545–778 Ma, suggesting the involvement of a juvenile crustal source as well. Furthermore, the major-element compositions of the Chahanhada and Wulantaolegai granites suggest the input of metasedimentary components. Geochemically, the Haerchaoenji and Chahanhada I-type granitoids show an arc affinity, while the Wulantaolegai granite exhibits a post-collisional affinity. However, with regional data, we suggest that the Haerchaoenji and Chahanhada I-type granitoids were also emplaced in a post-collisional setting, and the arc affinity was probably inherited from recycled subduction-related materials. These lines of evidence obtained in this study enable us to argue that the Palaeo-Asian Ocean in the central segment of the Central Asian Orogenic Belt closed before Middle Triassic time.

Industrial robots are widely used in the painting industry, such as automobile manufacturing and solid wood furniture industry. An important problem is how to improve the efficiency of robot programming, especially in the current furniture industry with multiple products, small batches and increasingly high demand for customization. In this work, we propose an outer loop adaptive control scheme, which allow users to realize the practical application of the zero-moment lead-through teaching method based on dynamic model without opening the inner torque control interface of robots. In order to accurately estimate the influence of joint friction, a friction model is established based on static, Coulomb and viscous friction characteristics, and the Sigmoid function is used to represent the transition between motion states. An identification method is used to quickly identify the dynamic parameters of the robot. The joint position/speed command of the robot’s inner joint servo loop is dynamically generated based on the user-designed adaptive control law. In addition, the zero-moment lead-through teaching scheme based on the dynamic model is applied to a spray-painting robot with closed control system. In order to verify our method, CMA GR630ST is used to conduct experiments. We identified the parameters of the dynamic model and carried out the zero-moment lead-through teaching experiment to track the target trajectory. The results show that the proposed method can realize the application of modern control methods in industrial robot with closed control systems, and achieve a preliminary exploration to improve the application scenarios of spray-painting robots.

Copy number variation (CNV) is a very common type of gene variation with high frequency. In recent years, CNV has been paid more attention in various fields, especially in livestock and poultry breeding, which has promoted the progress of breeding. WW domain binding protein 1-like (WBP1L) is a protein coding gene, which plays an important role in cattle populations, and its function has been extensively studied, but it is not clear whether the copy number of the gene can affect the growth and development of cattle populations. In this study, CNV of WBP1L gene was detected in 732 cattle of seven breeds (Qinchuan cattle, QC; Pinan cattle, PN; Yuengling cattle, YL; Xianan cattle, XN; Jiaxian cattle, JX; natural Guyuan cattle, NGY; Jian cattle, JA). In addition, the relationship between CNV and growth phenotype of cattle was studied. The experimental data indicate that the copy number of WBP1L was obviously correlated with heart girth of PN cattle (**P < 0.01), rump length (RL) and body weight (BW) of PN cattle (*P < 0.05), withers height (WH), RL, body length, chest depth and BW of JX cattle (*P < 0.05), WH of NGY cattle (*P < 0.05) and WH of JA cattle (*P < 0.05). It was proved that CNV of WBP1L gene could be used as molecular marker locus for genetic breeding of the above four cattle breeds.

The treatment of water containing heavy metals has attracted increasing attention because the ingestion of such water poses risks to human health. Due to their relatively large specific surface areas and surface charges, clay minerals play a significant role in the adsorption of heavy metals in water. However, the major factors that influence the adsorption rates of clay minerals are not well understood, and thus methods to predict the sorption of heavy metals by clay minerals are lacking. A method that can identify the most appropriate clay minerals for removal of a given heavy metal, based on the predicted sorption of the clay minerals, is required. This paper presents a widely applicable deep learning neural network approach that yielded excellent predictions of the influence of the sorption ratio on the adsorption of heavy metals by clay minerals. The neural network model was based on datasets of heavy-metal parameters that are available generally. It yielded highly accurate predictions of the adsorption rate based on training data from the dataset and was able to account for a wide range of input parameters. A Pearson sensitivity analysis was used to determine the contributions of individual input parameters to the adsorption rates predicted by the neural network. This newly developed method can predict the major factors influencing heavy-metal adsorption rates. The model described here could be applied in a wide range of scenarios.

The great demographic pressure brings tremendous volume of beef demand. The key to solve this problem is the growth and development of Chinese cattle. In order to find molecular markers conducive to the growth and development of Chinese cattle, sequencing was used to determine the position of copy number variations (CNVs), bioinformatics analysis was used to predict the function of ZNF146 gene, real-time fluorescent quantitative polymerase chain reaction (qPCR) was used for CNV genotyping and one-way analysis of variance was used for association analysis. The results showed that there exists CNV in Chr 18: 47225201-47229600 (5.0.1 version) of ZNF146 gene through the early sequencing results in the laboratory and predicted ZNF146 gene was expressed in liver, skeletal muscle and breast cells, and was amplified or overexpressed in pancreatic cancer, which promoted the development of tumour through bioinformatics. Therefore, it is predicted that ZNF146 gene affects the proliferation of muscle cells, and then affects the growth and development of cattle. Furthermore, CNV genotyping of ZNF146 gene was three types (deletion type, normal type and duplication type) by Real-time fluorescent quantitative PCR (qPCR). The association analysis results showed that ZNF146-CNV was significantly correlated with rump length of Qinchuan cattle, hucklebone width of Jiaxian red cattle and heart girth of Yunling cattle. From the above results, ZNF146-CNV had a significant effect on growth traits, which provided an important candidate molecular marker for growth and development of Chinese cattle.

At the end of the Palaeozoic Era, most species on Earth disappeared completely and the global sedimentary environment and biology changed dramatically. The Permian–Triassic boundary (PTB) was studied in three sections of the middle Upper Yangtze Platform, SW China: Xingwen well and Zhijin and Shangsi sections. These sections are characterized by carbonate-platform, toe-of-slope and basin facies, respectively. Detailed analysis of 100 closely spaced thin-sections revealed a total of 24 microfacies and 11 microfacies associations based on the dominant carbonate grain size and the skeletal material (type and proportion). Six bioassemblages are documented for the first time, spanning c. 1 Ma across the boundary succession, including normal, resurrected and miniaturized Permian biota, and cyanobacteria-dominated, survival post-crisis and neonatal Triassic biota. The Xingwen well indicated sedimentary evolution from a rimmed carbonate platform to a homoclinal carbonate ramp, as well as a sharp fall in sea level just prior to the PTB in the study area. The Zhijin section revealed a slope setting, in which toe-of-slope and middle-ramp microfacies are identified. The Shangsi section showed a complete evolution of basin and outer-ramp microfacies and bioassemblages. Fossil evidence showed that the Permian biota (trilobites, gastropods and phylloid algae) occurred in the uppermost Changhsingian stage and was overlain by biomicrites with miniaturized ostracods (< 0.2 mm in size). This indicated that the major extinction horizon is located up to 14 cm below the PTB, which lies in the middle–lower segments of the miniaturized ostracod layer.

We report non-monotonic wettability effects on displacement efficiency in heterogeneous porous structures at the post-breakthrough stage, in contrast to the monotonic ones in homogeneous porous structures. Experiments on designed microfluidic chips show that there exists a critical wettability to attain the highest efficiency of displacement in the porous matrix structure combined with a preferential flow pathway, while a stronger wettability of the displacing fluid leads to a higher displacement efficiency on the same matrix structure only. The porous structure with or without a preferential flow pathway results in totally different topological characteristics of phase distribution during displacement. Pore-scale mechanisms are identified to elucidate the formation of this non-monotonic wettability rule: cooperative pore filling under weakly water-wet conditions yields the best displacement; corner flow under strongly water-wet conditions and Haines events under strongly oil-wet conditions decrease the displacement efficiency. The pore-scale findings may provide unique insights into the joint effects of both wettability and flow heterogeneity on fluid displacement in porous media.

Based on the measurements conducted over the landfast sea ice in Prydz Bay, East Antarctica during the sea-ice growth season in 2016, various parameterization schemes in the high-resolution thermodynamic snow/ice model HIGHTSI are evaluated. The parameterization scheme of turbulent fluxes produces the largest errors compared with the parameterization schemes for other surface heat fluxes. However, the sea-ice thickness simulation is most sensitive to the differences in upward longwave radiation at the surface. In addition, the sea-ice thickness simulation during the growth season is highly sensitive to the oceanic heat flux, and a new oceanic heat flux parameterization scheme based on the bulk method is proposed. The new parameterization scheme is tested in a second year, and it significantly improves the model performance relative to the standard configuration when compared against observations. Finally, the seasonal variation in the heat budget and its influence on the sea-ice thickness variation are analyzed. The net shortwave radiation, sensible heat flux and conductive heat flux (the net longwave radiation and latent heat flux) are found to be the surface heat sources (heat sinks) during the growth season. The larger conductive heat flux and the smaller oceanic heat flux can intensify the growth of sea ice.