This paper introduces a distributed online learning coverage control algorithm based on sparse Gaussian process regression for addressing the problem of multi-robot area coverage and source localization in unknown environments. Considering the limitations of traditional Gaussian process regression in handling large datasets, this study employs multiple robots to explore the task area to gather environmental information and approximate the posterior distribution of the model using variational free energy methods, which serves as the input for the centroid Voronoi tessellation algorithm. Additionally, taking into consideration the localization errors, and the impact of obstacles, buffer factors and centroid Voronoi tessellation algorithms with separating hyperplanes are introduced for dynamic robot task area planning, ultimately achieving autonomous online decision-making and optimal coverage. Simulation results demonstrate that the proposed algorithm ensures the safety of multi-robot formations, exhibits higher iteration speed, and improves source localization accuracy, highlighting the effectiveness of model enhancements.

This study employs volume-of-fluid-based computational fluid dynamics modelling to investigate the coupled effects of surface wettability and inflow vapour velocity on R134a ($p/p_{cri}=0.25$) condensation heat transfer in horizontal tubes. The results demonstrate that both the condensation heat transfer coefficient (HTC) and Nusselt number consistently increase with rising vapour velocity, indicating enhanced convective heat transfer at higher flow rates. Within this overall trend, the influence of surface wettability varies significantly across different velocity regimes. At moderate inlet velocities (10 m s−1), surface wettability demonstrates maximum impact, with the HTC enhancement exceeding 19.1% between peak and minimum values, optimising at contact angles of 120$^\circ$–140$^\circ$. As velocity increases to 20 m s−1, while surface wettability effects persist with $\gt$11.7 % enhancement, convective heat transfer becomes increasingly dominant, showing $\gt$38.8 % improvement in the maximum HTC compared with the 10 m s−1 case. At higher velocities (40 m s−1), the influence of surface wettability diminishes substantially, with the HTC variation reducing to $\gt$1.04 %. At extreme velocities (80 m s−1), surface tension effects become negligible compared with vapour shear forces, resulting in minimal (0.53 %) variation across different contact angles. The equivalent Reynolds number peaks at 20 m s−1, indicating optimal conditions for condensate formation and flow characteristics. These findings provide crucial insights for condensation system design, suggesting that while increasing velocity generally enhances heat transfer performance, surface wettability modifications are most effective at moderate velocities, while high-velocity applications should prioritise flow dynamics and system geometry optimisation.

Carbon storage in saline aquifers is a prominent geological method for reducing CO2 emissions. However, salt precipitation within these aquifers can significantly impede CO2 injection efficiency. This study examines the mechanisms of salt precipitation during CO2 injection into fractured matrices using pore-scale numerical simulations informed by microfluidic experiments. The analysis of varying initial salt concentrations and injection rates revealed three distinct precipitation patterns, namely displacement, breakthrough and sealing, which were systematically mapped onto regime diagrams. These patterns arise from the interplay between dewetting and precipitation rates. An increase in reservoir porosity caused a shift in the precipitation pattern from sealing to displacement. By incorporating pore structure geometry parameters, the regime diagrams were adapted to account for varying reservoir porosities. In hydrophobic reservoirs, the precipitation pattern tended to favour displacement, as salt accumulation occurred more in larger pores than in pore throats, thereby reducing the risk of clogging. The numerical results demonstrated that increasing the gas injection rate or reducing the initial salt concentration significantly enhanced CO2 injection performance. Furthermore, identifying reservoirs with high hydrophobicity or large porosity is essential for optimising CO2 injection processes.

We investigate the statistical properties of kinetic and thermal dissipation rates in two-dimensional/three-dimensional vertical convection of liquid metal ($Pr = 0.032$) within a square cavity. Two situations are specifically discussed: (i) classical vertical convection with no external forces and (ii) vertical magnetoconvection with a horizontal magnetic field. Through an analysis of dissipation fields and a reasonable approximation of buoyancy potential energy sourced from vertical heat flux, the issue of the ‘non-closure of the dissipation balance relation’, which has hindered the application of the GL theory in vertical convection, is partially resolved. The resulting asymptotic power laws are consistent with existing laminar scaling theories and even show certain advantages in validating simulations with large Prandtl number ($Pr$). Additionally, a full-parameter model and prefactors applicable to low-$Pr$ fluids are provided. The extension to magnetoconvection naturally introduces the approximate expression for total buoyancy potential energy and necessitates adjustments to the contributions of kinetic dissipation in both the bulk and boundary layer. The flow dimensionality and boundary layer thickness are key considerations in this analysis. The comprehension of Joule dissipation has been updated: the Lorentz force generates positive dissipation in the bulk by suppressing convection, while in the Hartmann layer, shaping the exponential boundary layer requires the fluid to perform positive work to accelerate, leading to negative dissipation. Finally, the proposed transport equations for magnetoconvection are supported by current direct numerical simulation (DNS) and literature data, and the applicability of the model is discussed.

While researchers often study message features like moral content in text, such as party manifestos and social media posts, their quantification remains a challenge. Conventional human coding struggles with scalability and intercoder reliability. While dictionary-based methods are cost-effective and computationally efficient, they often lack contextual sensitivity and are limited by the vocabularies developed for the original applications. In this paper, we present an approach to construct “vec-tionaries” that boost validated dictionaries with word embeddings through nonlinear optimization. By harnessing semantic relationships encoded by embeddings, vec-tionaries improve the measurement of message features from text, especially those in short format, by expanding the applicability of original vocabularies to other contexts. Importantly, a vec-tionary can produce additional metrics to capture the valence and ambivalence of a message feature beyond its strength in texts. Using moral content in tweets as a case study, we illustrate the steps to construct the moral foundations vec-tionary, showcasing its ability to process texts missed by conventional dictionaries and to produce measurements better aligned with crowdsourced human assessments. Furthermore, additional metrics from the vec-tionary unveiled unique insights that facilitated predicting downstream outcomes such as message retransmission.

Based on a 4f system, a 0° reflector and a single laser diode side-pump amplifier, a new amplifier is designed to compensate the spherical aberration of the amplified laser generated by a single laser diode side-pump amplifier and enhance the power of the amplified laser. Furthermore, the role of the 4f system in the passive spherical aberration compensation and its effect on the amplified laser are discussed in detail. The results indicate that the amplification efficiency is enhanced by incorporating a 4f system in a double-pass amplifier and placing a 0° reflector only at the focal point of the single-pass amplified laser. This method also effectively uses the heat from the gain medium (neodymium-doped yttrium aluminium garnet) of the amplifier to compensate the spherical aberration of the amplified laser.

This study aims to investigate the effects of the vine of Lonicera japonica Thunb (VLT) and marine-derived Bacillus amyloliquefaciens-9 (BA-9) supplementation on the growth performance, antioxidant capacity, and gut microbiota of goat kids. A total of 32 4-week-old kids were randomly assigned into four groups: a control group (CON), a group supplemented with 0.3% BA-9 (BA-9), a group supplemented with 2% VLT (VLT), and a group supplemented with both 0.3% BA-9 and 2% VLT (MIX). The results indicated that VLT supplementation significantly increased both average daily (P < 0.001) and total weight gain (TWG) (P < 0.001), while BA-9 alone had no significant effect (P > 0.05) on the average daily and TWG. Biomarker analysis of oxidative stress revealed that supplementation of VLT or BA-9 alone enhanced antioxidant capacity. The MIX group showing a higher total antioxidant capacity (T-AOC) compared with the CON, VLT, and BA-9 groups (P < 0.05). Plasma albumin (ALB) levels were significantly increased in the both VLT and BA-9 groups. Microbiota analysis revealed significant differences in α-diversity and β-diversity between the MIX and CON groups, with specific genera such as Prevotellaceae_UCG.004 and Rikenellaceae_RC9_gut_group negatively correlated with average daily gain (ADG), while Alistipes was positively correlated with T-AOC. These findings suggest that the combined supplementation of VLT and BA-9 can significantly enhance growth performance and antioxidant capacity in goat kids by modulating the composition of gut microbiota and reducing oxidative stress.

The nonlinear waves in a sheared liquid film on a horizontal plate at small Reynolds numbers are examined by theoretical and numerical approaches. The analysis employs the long-wave approximation along with finite difference schemes. The results show that the surface tension can suppress disturbances and prevent the occurrence of singularities. While the film flow is driven by the shear stress on the interface, its instability highly depends on the magnitude and direction of gravity. Specifically, when the direction of gravity is opposite to the wall-normal direction, perturbations are stabilized by gravity. In contrast, when these two directions are the same, the gravitational force is destabilizing, and stationary travelling waves can exist if a balance is reached between the effects of gravity and surface tension. For the steady solitary waves, there are quasi-periodic oscillations occurring between two stationary points, indicating the presence of heteroclinic trajectories. For periodic waves, the evolutions are sensitive to several parameters and initial disturbances, while one steady-state wave exhibits a sine function-like behaviour.

Decimetre-scale carbonaceous macrofossils from the Mesoproterozoic Gaoyuzhuang Formation in the Yanshan Range are known as the current oldest unambiguous evidence of macroscopic multicellular eukaryotes. Here, we reported a new SIMS zircon age of 1588.8 ± 6.5 Ma from a volcanic tuff in the Qianxi County of Hebei Province, about 11 m above the macrofossil’s horizon. This new age provides a direct age constraint on the macroscopic eukaryotic fossils from the Gaoyuzhuang Formation. It indicates that macroscopic life with the moderate diversity and certain morphological complexity had already evolved at the beginning of the Mesoproterozoic, and implies a possibility of discovering macroscopic eukaryotes in earlier rocks. This study also calls for a stratigraphic framework to integrate biological and environmental studies in different regions for a better understanding of the evolution of multicellular organisms and environmental change during this important period.

This study proposes a novel super-resolution (or SR) framework for generating high-resolution turbulent boundary layer (TBL) flow from low-resolution inputs. The framework combines a super-resolution generative adversarial neural network (SRGAN) with down-sampling modules (DMs), integrating the residual of the continuity equation into the loss function. The DMs selectively filter out components with excessive energy dissipation in low-resolution fields prior to the super-resolution process. The framework iteratively applies the SRGAN and DM procedure to fully capture the energy cascade of multi-scale flow structures, collectively termed the SRGAN-based energy cascade reconstruction framework (EC-SRGAN). Despite being trained solely on turbulent channel flow data (via ‘zero-shot transfer’), EC-SRGAN exhibits remarkable generalization in predicting TBL small-scale velocity fields, accurately reproducing wavenumber spectra compared to direct numerical simulation (DNS) results. Furthermore, a super-resolution core is trained at a specific super-resolution ratio. By leveraging this pretrained super-resolution core, EC-SRGAN efficiently reconstructs TBL fields at multiple super-resolution ratios from various levels of low-resolution inputs, showcasing strong flexibility. By learning turbulent scale invariance, EC-SRGAN demonstrates robustness across different TBL datasets. These results underscore the potential of EC-SRGAN for generating and predicting wall turbulence with high flexibility, offering promising applications in addressing diverse TBL-related challenges.

In 2017, Brosseau & Vlahovska (Phys. Rev. Lett, vol. 119, no. 3, 2017, p. 034501) found that, in a strong electric field, a weakly conductive, low-viscosity droplet immersed in a highly conductive, high-viscosity medium formed a lens shape, and liquid rings continuously detached from its equatorial plane and subsequently broke up into satellite droplets. This fascinating multiphase electrohydrodynamic (EHD) phenomenon is known as droplet equatorial streaming. In this paper, based on the unified lattice Boltzmann method framework proposed by Luo et al. (Phil. Trans. R. Soc. A Math. Phys. Engng Sci, vol. 379, no. 2208, 2021, p. 20200397), a novel lattice Boltzmann (LB) model is constructed for multiphase EHD by coupling the Allen–Cahn type of multiphase LB model and two new LB equations to solve the Poisson equation of the electric field and the conservation equation of the surface charge. Using the proposed LB model, we successfully reproduced, for the first time, the complete process of droplet equatorial streaming, including the continuous ejection and breakup of liquid rings on the equatorial plane. In addition, it is found that, under conditions of high electric field strength or significant electrical conductivity contrast, droplets exhibit fingering equatorial streaming that was unknown before. A power-law relationship is discovered for droplet total charge evolution and a theoretical model is then proposed to describe the droplet radius and height over time. The breakup of liquid rings is found to be dominated by capillary instability, while the breakup of liquid fingers is governed by the end-pinching mechanism. Finally, a phase diagram is constructed for fingering equatorial streaming and ring equatorial streaming, and a criterion equation is established for the phase boundary.

This paper proposes an air-filled substrate integrated waveguide (AFSIW) bandpass filter with a miniaturized non-resonant node (NRN). The NRN structure is introduced between the three resonators, and its size is smaller than the resonator size, which can realize the NRN structure’s miniaturization and reduce the model’s size. The NRN size of this filter is 41% of the NRN size of the existing AFSIW filter. This filter also introduces a transmission zero (TZ) above the passband. The measured results show that the filter’s center frequency is 20.73 GHz, and the bandwidth is 0.86 GHz. The insertion loss in the passband is 0.95 dB, and the return loss is better than 23 dB. Due to the TZ in the upper stopband, the AFSIW filter obtained good selectivity.

In previous research, several computational methods have been proposed to analyse the navigation, transportation safety and collision risks of maritime vessels. The objective of this study is to use Automatic Identification System (AIS) data to assess the collision risk between two vessels before an actual collision occurs. We introduce the concept of an angle interval in the model to enable real-time response to vessel collision risks. When predicting collision risks, we consider factors such as relative distance, relative velocity and phase between the vessels. Lastly, the collision risk is divided into different regions and represented by different colours. The green region represents a low-risk area, the yellow region serves as a cautionary zone and the red region indicates a high-alert zone. If a signal enters the red region, the vessel's control system will automatically intervene and initiate evasive manoeuvres. This reactive mechanism enhances the safety of vessel operations, ensuring the implementation of effective collision avoidance measures.

For dissolving active oil droplets in an ambient liquid, it is generally assumed that the Marangoni effect results in repulsive interactions, while the buoyancy effects caused by the density difference between the droplets, diffusing product and the ambient fluid are usually neglected. However, it has been observed in recent experiments that active droplets can form clusters due to buoyancy-driven convection (Krüger et al., Eur. Phys. J. E, vol. 39, 2016, pp. 1–9). In this study we numerically analyse the buoyancy effect, in addition to the propulsion caused by Marangoni flow (with its strength characterized by the Péclet number $Pe$). The buoyancy effects have their origin in (i) the density difference between the droplet and the ambient liquid, which is characterized by the Galileo number $Ga$; and (ii) the density difference between the diffusing product (i.e. filled micelles) and the ambient liquid, which can be quantified by a solutal Rayleigh number $Ra$. We analyse how the attracting and repulsing behaviour of neighbouring droplets depends on the control parameters $Pe$, $Ga$ and $Ra$. We find that while the Marangoni effect leads to the well-known repulsion between the interacting droplets, the buoyancy effect of the reaction product leads to buoyancy-driven attraction. At sufficiently large $Ra$, even collisions between the droplets can take place. Our study on the effect of $Ga$ further shows that with increasing $Ga$, the collision becomes delayed. Moreover, we derive that the attracting velocity of the droplets, which is characterized by a Reynolds number $Re_d$, is proportional to $Ra^{1/4}/( \ell /R)$, where $\ell /R$ is the distance between the neighbouring droplets normalized by the droplet radius. Finally, we numerically obtain the repulsive velocity of the droplets, characterized by a Reynolds number $Re_{rep}$, which is proportional to $PeRa^{-0.38}$. The balance of attractive and repulsive effect leads to $Pe\sim Ra^{0.63}$, which agrees well with the transition curve between the regimes with and without collision.

The Ediacaran–Cambrian (E-C) transition (∼542–517 Ma) witnessed the rapid evolution of Cambrian animals, which was accompanied by carbon cycling anomalies and a significant increase in the concentration of oxygen in Earth’s atmosphere. The mechanisms stimulating the evolution of complex eukaryotes, however, remain problematic, especially concerning the link between biological evolution and contemporaneous changes in the oceanic environment. In this study, integrated δ13Ccarb–δ13Corg–δ15N compositions were analysed from the YD-4 core samples to understand redox fluctuations and nitrogen cycling of the middle Yangtze Block across the E-C transition. Two negative δ13Ccarb excursions (N1 and N2) and a positive δ13Ccarb excursion (P1) are identified from the studied samples and are supposedly of primary origin. Constrained by of the U-Pb age, biolithology and pattern of isotopic variation, N1, P1 and N2 are comparable to the Basal Cambrian Carbon Isotope Excursion (BACE), Zhujiaqing Carbon Isotope Excursion (ZHUCE) and Shiyantou Carbon Isotope Excursion (SHICE). We interpreted the decreased δ15N values in this study as resulting from intensified atmospheric nitrogen fixation driven by enhanced denitrification associated with expanded marine anoxia, as well as partial ammonium assimilation, while increased δ15N values suggest weakened denitrification associated with an amplified oxic water mass. The temporal coincidence of N1 and N2, with two episodes of negative δ15N excursions, and of P1, with a positive δ15N excursion, suggests that variable oceanic redox conditions and nitrogen bioavailability may have influenced the evolution of the Cambrian eukaryote-dominated community.