Plant–soil interactions have bottom–up and top–down effects within a plant community. Heavy metal pollution can change plant–soil interactions, directly influence bottom–up effects and indirectly affect herbivores within the community. In turn, herbivores can affect plant–soil interactions through top–down effects. However, the combined effects of heavy metals and herbivores on soil enzymes, plants and herbivores have rarely been reported. Therefore, the effects of lead (Pb), Spodoptera litura and their combined effects on soil enzyme activities, pakchoi nutrition, defence compounds and S. litura fitness were examined here. Results showed that Pb, S. litura and their combined effects significantly affected soil enzymes, pakchoi and S. litura. Specifically, exposure to double stress (Pb and S. litura) decreased soil urease, phosphatase and sucrase activities compared with controls. Furthermore, the soluble protein and sugar contents of pakchoi decreased, and the trypsin inhibitor content and antioxidant enzyme activity increased. Finally, the S. litura development period was extended, and survival, emergence rates and body weight decreased after exposure to double stress. The combined stress of Pb and S. litura significantly decreased soil enzyme activities. Heavy metal accumulation in plants may create a superposition or synergistic effect with heavy metal-mediated plant chemical defence, further suppressing herbivore development. Pb, S. litura and their combined effects inhibited soil enzyme activities, improved pakchoi resistance and reduced S. litura development. The results reveal details of soil–plant–herbivore interactions and provide a reference for crop pest control management in the presence of heavy metal pollution.

Autonomous exploration in unknown environments has become a critical capability of mobile robots. Many methods often suffer from problems such as exploration goal selection based solely on information gain and inefficient tour optimization. Recent reinforcement learning-based methods do not consider full area coverage and the performance of transferring learned policy to new environments cannot be guaranteed. To address these issues, a dual-stage exploration method has been proposed, which combines spatial clustering of possible exploration goals and Traveling Salesman Problem (TSP) based tour planning on both local and global scales, aiming for efficient full-area exploration in highly convoluted environments. Our method involves two stages: exploration and relocation. During the exploration stage, we introduce to generate local navigation goal candidates straight from clusters of all possible local exploration goals. The local navigation goal is determined through tour planning, utilizing the TSP framework. Moreover, during the relocation stage, we suggest clustering all possible global exploration goals and applying TSP-based tour planning to efficiently direct the robot toward previously detected but yet-to-be-explored areas. The proposed method is validated in various challenging simulated and real-world environments. Experimental results demonstrate its effectiveness and efficiency. Videos and code are available at https://github.com/JiatongBao/exploration.

This study investigates the impact of molecular thermal fluctuations on compressible decaying isotropic turbulence using the unified stochastic particle (USP) method, encompassing both two-dimensional (2-D) and three-dimensional (3-D) scenarios. The findings reveal that the turbulent spectra of velocity and thermodynamic variables follow the wavenumber (k) scaling law of ${k}^{(d-1)}$ for different spatial dimensions $d$ within the high wavenumber range, indicating the impact of thermal fluctuations on small-scale turbulent statistics. With the application of Helmholtz decomposition, it is found that the thermal fluctuation spectra of solenoidal and compressible velocity components (${\boldsymbol {u}}_{s}$ and ${\boldsymbol {u}}_{c}$) follow an energy ratio of 1 : 1 for 2-D cases, while the ratio changes to 2 : 1 for 3-D cases. Comparisons between 3-D turbulent spectra obtained through USP simulations and direct numerical simulations of the Navier–Stokes equations demonstrate that thermal fluctuations dominate the spectra at length scales comparable to the Kolmogorov length scale. Additionally, the effect of thermal fluctuations on the spectrum of ${\boldsymbol {u}}_{c}$ is significantly influenced by variations in the turbulent Mach number. We further study the impact of thermal fluctuations on the predictability of turbulence. With initial differences caused by thermal fluctuations, different flow realizations display significant disparities in velocity and thermodynamic fields at larger scales after a certain period of time, which can be characterized by ‘inverse error cascades’. Moreover, the results suggest a strong correlation between the predictabilities of thermodynamic fields and the predictability of ${\boldsymbol {u}}_{c}$.

Motivated by practical applications of inspection and maintenance, we have developed a wall-climbing robot with passive compliant mechanisms that can autonomously adapt to curved surfaces. At first, this paper presents two failure modes of the traditional wall-climbing robot on the variable curvature wall surface and further introduces the designed passive compliant wall-climbing robot in detail. Then, the motion mechanism of the passive compliant wall-climbing robot on the curved surface is analyzed from stable adsorption conditions, parameter design process, and force analysis. At last, a series of experiments have been carried out on load capability and curved surface adaptability based on a developed principle prototype. The experimental results indicated that the wall-climbing robot with passive compliant mechanisms can effectively promote both adsorption stability and adaptability to variable curvatures.

A compact high-power ultra-wideband bipolar pulse generator based on a modified Marx circuit is designed, which is mainly composed of a primary power supply, Marx generator, sharpening and cutoff subnanosecond spark gap switches, and coaxial transmission lines. The Marx generator with modified circuit structure has thirty-two stages and is composed of eight disk-like modules. Each module consists of four capacitors, two spark gap switches, four charging inductors, and a mechanical support. To simplify the design of the charging structure and reduce the number of switches, four groups of inductors are used to charge the capacitors of the Marx generator, two of which are used for positive voltage charging and the other two for negative voltage charging. When the capacitor of each stage is charged to 35 kV, the maximum output peak voltage can reach 1 MV when the Marx generator is open circuit. The high-voltage pulse generated by the Marx generator charges the transmission line and forms a bipolar pulse through sharpening and cutoff switches. All transmission lines used for bipolar pulse generation have an impedance of 10 Ω. When the 950 kV pulse voltage generated by the Marx generator is fed into the transmission line, the bipolar pulse peak voltage can reach 390 kV, the center frequency of the pulse is about 400 MHz, and the output peak power is about 15.2 GW.

The aim of the work was to study the effect of organo-montmorillonite (OMt) on the properties of hydrogenated nitrile rubber (HNBR)/OMt nanocomposites. The nanocomposites were prepared by a melt intercalation method. The structure of the composites was studied by transmission electron microscopy (TEM) and X-ray diffraction (XRD). The behavior of stress-strain, aging resistance, solvent resistance, and the dynamic mechanical properties of HNBR/OMt nanocomposites were investigated. The TEM and XRD results showed that the OMt layers were dispersed homogeneously in the HNBR matrix. The HNBR/OMt nanocomposites showed excellent mechanical properties which were attributed to the nanometer scale dispersion and strong interaction between the HNBR and OMt. The composites possessed excellent aging resistance and oil resistance, which improved with OMt content. Dynamic mechanical analysis showed that the glass-transition temperature, Tg, of the HNBR/OMt nanocomposites was increased and the nanocomposites had a good rolling resistance in comparison to pure HNBR. The composites displayed better dynamic mechanical properties.

Schistosomiasis, a parasite infectious disease caused by Schistosoma japonicum, often leads to egg granuloma and fibrosis due to the inflammatory reaction triggered by egg antigens released in the host liver. This study focuses on the role of the egg antigens CP1412 protein of S. japonicum (SjCP1412) with RNase activity in promoting liver fibrosis. In this study, the recombinant egg ribonuclease SjCP1412, which had RNase activity, was successfully prepared. By analysing the serum of the population, it has been proven that the anti-SjCP1412 IgG in the serum of patients with advanced schistosomiasis was moderately correlated with liver fibrosis, and SjCP1412 may be an important antigen associated with liver fibrosis in schistosomiasis. In vitro, the rSjCP1412 protein induced the human liver cancer cell line Hep G2 and liver sinusoidal endothelial cells apoptosis and necrosis and the release of proinflammatory damage-associated molecular patterns (DAMPs). In mice infected with schistosomes, rSjCP1412 immunization or antibody neutralization of SjCP1412 activity significantly reduced cell apoptosis and necroptosis in liver tissue, thereby reducing inflammation and liver fibrosis. In summary, the SjCP1412 protein plays a crucial role in promoting liver fibrosis during schistosomiasis through mediating the liver cells apoptosis and necroptosis to release DAMPs inducing an inflammatory reaction. Blocking SjCP1412 activity could inhibit its proapoptotic and necrotic effects and alleviate hepatic fibrosis. These findings suggest that SjCP1412 may be served as a promising drug target for managing liver fibrosis in schistosomiasis japonica.

Neocinnamomum plants are evergreen shrubs or small trees belonging to the Neocinnamomeae tribe of the Lauraceae family. Their seeds are rich in fatty acids, and their leaves are often used in traditional Chinese medicine. Presently, only a few studies have been performed on Neocinnamomum plants; therefore, the genome-based phylogeny among Neocinnamomum species has not been determined, which limits the germplasm innovation of this genus. In this study, by the Illumina (next-generation sequencing) and third-generation sequencing technologies, the whole genomes of seven Neocinnamomum species samples were sequenced, their nuclear DNA (nrDNA) sequences were assembled and characterized, and their phylogeny was reconstructed. The results revealed four hypervariable regions (i.e. transcribed spacer regions) in the nrDNA sequences, among which the highest degree of variation was observed in the external transcribed spacer (ETS) region localized behind the 26S gene. A total of 27 insertions/deletions and 184 single-nucleotide polymorphisms, both localized mainly in the ETS and internal transcribed spacer regions, were identified. Phylogenetic trees were constructed based on the nrDNA sequences using the maximum likelihood (ML) and Bayesian inference (BI) methods with Caryodaphnopsis henryi as the outgroup. The ML tree divided the seven Neocinnamomum species into four clades. Clade I consisted of Neocinnamomum caudatum var. macrocarpum and Neocinnamomum caudatum, clade II included Neocinnamomum delavayi and Neocinnamomum mekongense, clade III included Neocinnamomum fargesii and a branch species of N. delavayi and clade IV included Neocinnamomum lecomtei, constituting a monophyletic and basal group. The BI tree shared the same topological structure as the ML tree, and all the support values of the BI tree were one except for that of one Neocinnamomum species (0.98). The results of this study provide new evidence regarding the phylogenetic evolution of the Neocinnamomum plants.

Sedimentary records from the Kumtag (also known as Kumtagh) Desert (KMD) in northwestern China are investigated to better understand Late Quaternary paleoenvironmental changes in this hyper-arid region. Presented here are the results of probably the first systematic survey of sedimentary sequences from the KMD, with the chronology determined by the optically stimulated luminescence dating. The variation of sedimentary facies, supported by granular and geochemical paleoenvironmental proxies, is used to decipher the history of Late Quaternary environment changes. The results demonstrate that a constantly dry condition characterized the eastern KMD since the last glacial maximum, but with occurrences of wetter periods. From ca. 17 to 15 ka, fluvial activity was probably triggered by melting of glaciers in mountains located south of the KMD. A distinctly drier stage (ca. 13–7 ka) was recognized due to the prominent occurrence of aeolian sands. A wetter environment likely persisted between ca. 4.4 and 2.2 ka, consistent with evidence of human activities. While the causes of paleoenvironmental changes in the eastern KMD are still a matter of debate, the melting of glaciers in the Altyn-Tagh Mountains in the south must be considered as an important factor.

We show that demand effects generated by institutional frictions can influence systematic return predictability patterns in stocks and mutual funds. Identification relies on a reform to the Morningstar rating system, which we show caused a structural break in style-level positive feedback trading by mutual funds. As a result, momentum-related factors in stocks, as well as performance persistence and the “dumb money effect” in mutual funds, experienced a sharp decline. Consistent with the proposed channel, return predictability declined right after the reform, was limited to the U.S. market, and was concentrated in factors and mutual funds most exposed to the mechanism.

We document and explain the sharp performance deterioration of smart beta indexes after the corresponding exchange-traded funds (ETFs) are launched for investment. While smart beta is purported to deliver excess returns through factor exposures, the market-adjusted return of smart beta indexes drops from about 3% “on paper” before ETF listings to about −0.50% to −1% after ETF listings. This performance decline cannot be explained by variation in factor premia, strategic timing, or diminishing returns to scale. Instead, we find strong evidence of data mining in the construction of smart beta indexes, which helps ETFs attract flows, as investors respond positively to backtests.

The subduction of the Bangong–Nujiang Ocean is important in the geological evolution of the Tibetan Plateau. In this paper, we report new zircon U-Pb age and Lu-Hf isotopic data and whole-rock elemental and Sr-Nd-Pb isotopic data for Early Cretaceous dacites from the Rena-Co area (RCA) in the southern Qiangtang Terrane (QT), central Tibet and use these data to better understand the tectonic evolution of the Bangong–Nujiang suture. LA–ICP-MS dating of zircons yields ages of 109.5 ± 0.6 Ma to 109.6 ± 0.8 Ma for the dacites from the RCA. Geochemically, these dacites are medium-K calc-alkaline and show high SiO2 contents of 64.79–70.37 wt.%, high Sr contents of 517–598 ppm and low Y contents of 8.45–10.7 ppm, similar to those of typical adakites. Additionally, all the rocks are strongly enriched in light rare earth elements and some large ion lithophile elements (e.g. Rb, U, K and Cs) but significantly depleted in high-field-strength elements (e.g. Nb, Ta and Ti), consistent with the geochemical characteristics of arc-type magmas formed in the subduction zone. Moreover, these adakite-like dacites show whole-rock initial (87Sr/86Sr)i ratios of 0.705119 to 0.705491, (206Pb/204Pb)i ratios of 18.489 to 18.508, (207Pb/204Pb)i ratios of 15.591 to 15.612, (208Pb/204Pb)i ratios of 38.599 to 38.686, ϵNd(t) values of −0.28 to +1.25 and single-stage Nd model ages of 642 to 818 Ma, as well as significantly positive zircon ϵHf(t) values of 3.9–13.1, with young Hf-depleted mantle ages of 331 to 923 Ma. These geochemical and isotopic data indicate that they are most likely derived from the juvenile thickened mafic lower continental crust, which contains partial melts of metasomatized peridotite and subduction-related fluids in the magma source region. Based on previous studies and our new data, we propose that the RCA adakite-like dacites are most likely a result of the northwards subduction of the Bangong–Nujiang Ocean lithosphere beneath the southern QT during the Early Cretaceous and that a slab rollback model could explain the formation of the RCA adakite-like dacites.

In this paper, we study almost proximal extensions of minimal flows. Let $\pi : (X,T)\rightarrow (Y,T)$ be an extension of minimal flows. Then $\pi $ is called an almost proximal extension if there is some $N\in {\mathbb N}$ such that the cardinality of any almost periodic subset in each fiber is not greater than N. When $N=1$, $\pi $ is proximal. We will give the structure of $\pi $ and give a dichotomy theorem: any almost proximal extension of minimal flows is either almost finite to one, or almost all fibers contain an uncountable strongly scrambled subset. Using the category method, Glasner and Weiss showed the existence of proximal but not almost one-to-one extensions [On the construction of minimal skew products. Israel J. Math. 34 (1979), 321–336]. In this paper, we will give explicit such examples, and also examples of almost proximal but not almost finite to one extensions.

Using one-dimensional branching Brownian motion in a periodic environment, we give probabilistic proofs of the asymptotics and uniqueness of pulsating traveling waves of the Fisher–Kolmogorov–Petrovskii–Piskounov (F-KPP) equation in a periodic environment. This paper is a sequel to ‘Branching Brownian motion in a periodic environment and existence of pulsating travelling waves’ (Ren et al., 2022), in which we proved the existence of the pulsating traveling waves in the supercritical and critical cases, using the limits of the additive and derivative martingales of branching Brownian motion in a periodic environment.

A method is presented for configuration selection to obtain the best tip-over stability of a modular reconfigurable mobile manipulator (MRMM) under various application situations. The said MRMM consists of a modular reconfigurable robot (MRR) mounted on a mobile platform. The MRR in different configurations creates different wrenches onto the mobile platform, leading to different tip-over moments of the MRMM, even though the joint speeds or tip speeds remain the same. The underlying problem pertains to selecting one configuration of MRR for reconfiguration that would obtain the best tip-over stability under a given application. First, all the permissible configurations are identified through an enumeration method. Then, the feasible configurations are determined based on application-oriented workspace classifications. At last, two workspace indices, vertical reach and horizontal reach, are used to select an optimal configuration. The tip-over stability analysis and evaluation of MRMM are carried out for verification for three cases including vertical, horizontal, and general 3D space applications. The results demonstrate the effectiveness of the proposed method.