A three-dimensional robust nonlinear cooperative guidance law is proposed to address the challenge of multiple missiles intercepting manoeuvering targets under stringent input constraints and thruster failure. The finite-time convergence theory is used to design a distributed nonlinear sliding mode guidance law, ensuring that the system converges in finite time, with the upper limit of convergence time related to the initial state. A nonlinear sliding surface is adopted to mitigate actuator saturation issues. Then, considering thruster failure, a robust cooperative guidance law is further introduced, ensuring mission completion through the reconstruction of the guidance law. The closed-loop system is proven to be stable using Lyapunov theory, and the influence of hyperparameters on the cooperative guidance law is analysed. Additionally, the results of numerical simulations and hardware-in-the-loop experiments demonstrate the effectiveness and robustness of the proposed algorithm in dealing with stringent input saturation and various disturbances.

Phylogenetic analysis demonstrates that Kuamaia lata, a helmetiid euarthropod from the lower Cambrian (Series 2, Stage 3) Chengjiang Konservat-Lagerstätte, nests robustly within Artiopoda, the euarthropod clade including trilobitomorphs. Microtomography of new specimens of K. lata reveals details of morphology, notably a six-segmented head and raptorial frontal appendages, the latter contrasting with filiform antennae considered to be a diagnostic character of Artiopoda. Phylogenetic analyses demonstrate that a raptorial frontal appendage is a symplesiomorphy for upper stem-group euarthropods, retained across a swathe of tree space, but evolved secondarily in K. lata from an antenna within Artiopoda. The phylogenetic position of K. lata adds support to a six-segmented head being an ancestral state for upper stem- and crown-group euarthropods.

Log-multiplicative association (LMA) models, which are special cases of log-linear models, have interpretations in terms of latent continuous variables. Two theoretical derivations of LMA models based on item response theory (IRT) arguments are presented. First, we show that Anderson and colleagues (Anderson & Vermunt, 2000; Anderson & Böckenholt, 2000; Anderson, 2002), who derived LMA models from statistical graphical models, made the equivalent assumptions as Holland (1990) when deriving models for the manifest probabilities of response patterns based on an IRT approach. We also present a second derivation of LMA models where item response functions are specified as functions of rest-scores. These various connections provide insights into the behavior of LMA models as item response models and point out philosophical issues with the use of LMA models as item response models. We show that even for short tests, LMA and standard IRT models yield very similar to nearly identical results when data arise from standard IRT models. Log-multiplicative association models can be used as item response models and do not require numerical integration for estimation.

A Bayes estimation procedure is introduced that allows the nature and strength of prior beliefs to be easily specified and modal posterior estimates to be obtained as easily as maximum likelihood estimates. The procedure is based on constructing posterior distributions that are formally identical to likelihoods, but are based on sampled data as well as artificial data reflecting prior information. Improvements in performance of modal Bayes procedures relative to maximum likelihood estimation are illustrated for Rasch-type models. Improvements range from modest to dramatic, depending on the model and the number of items being considered.

Metabolic enzymes are the catalysts that drive the biochemical reactions essential for sustaining life. Many of these enzymes are tightly regulated by feedback mechanisms. To fully understand their roles and modulation, it is crucial to investigate the relationship between their structure, catalytic mechanism, and function. In this perspective, by using three examples from our studies on Mycobacterium tuberculosis (Mtb) isocitrate lyase and related proteins, we highlight how an integrated approach combining structural, activity, and biophysical data provides insights into their biological functions. These examples underscore the importance of employing fast-fail experiments at the early stages of a research project, emphasise the value of complementary techniques in validating findings, and demonstrate how in vitro data combined with chemical, biochemical, and physiological knowledge can lead to a broader understanding of metabolic adaptations in pathogenic bacteria. Finally, we address the unexplored questions in Mtb metabolism and discuss how we expand our approach to include microbiological and bioanalytical techniques to further our understanding. Such an integrated and interdisciplinary strategy has the potential to uncover novel regulatory mechanisms and identify new therapeutic opportunities for the eradication of tuberculosis. The approach can also be broadly applied to investigate other biochemical networks and complex biological systems.

We present the Pilot Survey Phase 2 data release for the Wide-field ASKAP L-band Legacy All-sky Blind surveY (WALLABY), carried-out using the Australian SKA Pathfinder (ASKAP). We present 1760 H i detections (with a default spatial resolution of 30′′) from three pilot fields including the NGC 5044 and NGC 4808 groups as well as the Vela field, covering a total of $\sim 180$ deg$^2$ of the sky and spanning a redshift up to $z \simeq 0.09$. This release also includes kinematic models for over 126 spatially resolved galaxies. The observed median rms noise in the image cubes is 1.7 mJy per 30′′ beam and 18.5 kHz channel. This corresponds to a 5$\sigma$ H i column density sensitivity of $\sim 9.1\times10^{19}(1 + z)^4$ cm$^{-2}$ per 30′′ beam and $\sim 20$ km s$^{-1}$ channel and a 5$\sigma$ H i mass sensitivity of $\sim 5.5\times10^8 (D/100$ Mpc)$^{2}$ M$_{\odot}$ for point sources. Furthermore, we also present for the first time 12′′ high-resolution images (“cut-outs”) and catalogues for a sub-sample of 80 sources from the Pilot Survey Phase 2 fields. While we are able to recover sources with lower signal-to-noise ratio compared to sources in the Public Data Release 1, we do note that some data quality issues still persist, notably, flux discrepancies that are linked to the impact of side lobes associated with the dirty beams due to inadequate deconvolution. However, in spite of these limitations, the WALLABY Pilot Survey Phase 2 has already produced roughly a third of the number of HIPASS sources, making this the largest spatially resolved H i sample from a single survey to date.

In this paper, a brand-new adaptive fault-tolerant non-affine integrated guidance and control method based on reinforcement learning is proposed for a class of skid-to-turn (STT) missile. Firstly, considering the non-affine characteristics of the missile, a new non-affine integrated guidance and control (NAIGC) design model is constructed. For the NAIGC system, an adaptive expansion integral system is introduced to address the issue of challenging control brought on by the non-affine form of the control signal. Subsequently, the hyperbolic tangent function and adaptive boundary estimation are utilised to lessen the jitter due to disturbances in the control system and the deviation caused by actuator failures while taking into account the uncertainty in the NAIGC system. Importantly, actor-critic is introduced into the control framework, where the actor network aims to deal with the multiple uncertainties of the subsystem and generate the control input based on the critic results. Eventually, not only is the stability of the NAIGC closed-loop system demonstrated using Lyapunov theory, but also the validity and superiority of the method are verified by numerical simulations.

Scanning, transmission, and analytical electron microscopy studies of shales from the Salton Sea geothermal field revealed that phyllosilicates progress through zones of illite-muscovite (115°−220°C), chlorite (220°−310°C), and biotite (310°C). These phyllosilicates occur principally as discrete, euhedral to subhedral crystals which partly fill pore space. The structural and chemical heterogeneity, which is typical of phyllosilicates in shales subject to diagenesis, is generally absent. Textures and microstructures indicate that the mineral progression involves dissolution of detrital phases, mass transport through interconnecting pore space, and direct crystallization of phyllosilicates from solution.

Phyllosilicate stability relations indicate that either increase in temperature or changing ion concentrations in solutions with depth are capable of explaining the observed mineral zoning. Textural and compositional data suggest that the observed mineral assemblages and the interstitial fluids approach equilibrium relative to the original detrital suites. The alteration process may have occurred in a single, short-lived, episodic hydrothermal event in which the original detrital phases (smectite, etc.) reacted directly to precipitate illite, chlorite, or biotite at different temperatures (depths) without producing intermediate phases.

Wyoming bentonite, Fithian illite, and basalt from the Umtanum Formation, Washington, were treated hydrothermally at 200° to 460°C and 260 to 500 bars for 71 to 584 days. No change was detected for the bentonite and basalt, except for the loss of calcite and exchange of Ca for K in the smectite and the growth of a small amount of smectite (presumably from a glass phase) in the basalt. Calcite in the initial bentonite may have stabilized the smectite by Ca/K exchange; thus, if the latter is used as a packing material in a nuclear waste repository, limestone should be added. No change was detected in the illite samples treated <300°C; however, at 360°C, euhedral crystals of berthierine and illite grew at the expense of original illite/smectite, apparently by a solution-crystallization process. Significant changes involving the dissolution of starting phases and the formation of illite and chlorite were also detected in mixtures of basalt and bentonite at 400°C; at temperatures <400°C, no changes were observed.

The newly formed mineral phases (berthierine, illite, and chlorite) observed by transmission electron microscopy showed euhedral to subhedral shapes. These shapes are the same as those observed in hydrothermally altered sediments from the Salton Sea field and different from those from burial metamorphic environments, such as Gulf Coast sediments. The reaction mechanism is apparently the dissolution of reactants followed by the crystallization of products from solution, without conservation of structural elements of the reactants. Reactions apparently required temperatures greater than those for analogous changes in nature, suggesting that the degree of reaction was controlled by kinetics. The lack of dissolution in experimental runs at low temperatures, however, does not necessarily imply long-term stabilities of these clay minerals.

There are two kinds of time bias: near bias and future bias. While philosophers typically hold that near bias is rationally impermissible, many hold that future bias is rationally permissible. Call this normative hybridism. According to arbitrariness objections, certain patterns of preference are rationally impermissible because they are arbitrary. While arbitrariness objections have been leveled against both near bias and future bias, the kind of arbitrariness in question has been different. In this article we investigate whether there are forms of arbitrariness that are common to both kinds of preferences and, hence, whether there are versions of the arbitrariness objection that are objections to both near bias and future bias. If there are, then this might go some way toward undermining normative hybridism and to defending thoroughgoing time-neutralism.

Molecular dynamics simulations were performed of the adsorption of methylene blue (MB) on model beidellite, montmorillonite, and muscovite mica surfaces, using a previously determined empirical force field developed for dioctahedral clays. The simulations show that the adsorption of MB on mineral surfaces can result in a variety of configurations, including single and double layers of MB parallel to the basal surface, and irregular clusters. The d(001) values of ~12.3 and ~15.7 Å are assigned to dry phases with parallel single and double layers of MB, respectively, in agreement with X-ray studies. At intermediate MB loadings, stacks inclined to basal surfaces are formed. The stacks of MB ions inclined by 65–70° relative to the (001) plane of muscovite are not found on dry surfaces, in contrast to previous studies. Configurations similar to those proposed by others form spontaneously in the presence of H2O, but the ions in the model systems are not quite as ordered and not ordered in exactly the same way as the ones previously described, and they display a mobility that is not compatible with strict atomic order. The formation of a triple layer of H2O interspersed with ions may occur in the interlayer. Overall, the results of the simulations confirm that the MB-ion method must be used with great caution in surface-area determinations, because of the multiplicity of possible configurations. At the same time, the ability for adsorption to occur as either single or multiple MB layers is useful to determine cation-exchange capacity over a wide range of surface-charge densities.