China has taken significant steps to combat corruption since the 18th National Congress of the Chinese Communist Party (CCP). However, whether and how the anti-corruption efforts influence the public's evaluation of local government performance remain understudied. Using multiple data sources, including panel survey data taken from the China Family Panel Studies from 2010 to 2018, this research examines how anti-corruption efforts improve evaluations of local government performance by reducing public perception of existing corruption. Additional analysis reveals that anti-corruption efforts reduce perceived corruption primarily when the public trusts officials or has had positive experiences with them. The positive impact on local government evaluations has been more pronounced in provinces with high levels of pre-existing corruption and since the 18th CCP National Congress in 2012. Moreover, the effectiveness of anti-corruption efforts has remained consistent across all time periods since 2012.

In this paper, we present and evaluate a novel Bayesian regime-switching zero-inflated multilevel Poisson (RS-ZIMLP) regression model for forecasting alcohol use dynamics. The model partitions individuals’ data into two phases, known as regimes, with: (1) a zero-inflation regime that is used to accommodate high instances of zeros (non-drinking) and (2) a multilevel Poisson regression regime in which variations in individuals’ log-transformed average rates of alcohol use are captured by means of an autoregressive process with exogenous predictors and a person-specific intercept. The times at which individuals are in each regime are unknown, but may be estimated from the data. We assume that the regime indicator follows a first-order Markov process as related to exogenous predictors of interest. The forecast performance of the proposed model was evaluated using a Monte Carlo simulation study and further demonstrated using substance use and spatial covariate data from the Colorado Online Twin Study (CoTwins). Results showed that the proposed model yielded better forecast performance compared to a baseline model which predicted all cases as non-drinking and a reduced ZIMLP model without the RS structure, as indicated by higher AUC (the area under the receiver operating characteristic (ROC) curve) scores, and lower mean absolute errors (MAEs) and root-mean-square errors (RMSEs). The improvements in forecast performance were even more pronounced when we limited the comparisons to participants who showed at least one instance of transition to drinking.

As a natural clay mineral, halloysite (Hal) possesses a distinctive nanotubular morphology and surface reactivity. Hal calcined at 750°C (Hal750°C; 0.0, 1.0, 2.0, 4.0, 6.0, 8.0 wt.%) was used to replace ground granulated blast furnace slag (GGBFS; 50.0, 49.5, 49.0, 48.0, 47.0, 46.0 wt.%) and fly ash (FA; 50.0, 49.5, 49.0, 48.0, 47.0, 46.0 wt.%) for the preparation of geopolymer in this study. The effects of the replacement ratio of Hal750°C on setting time, compressive strength, flexural strength, chemical composition and microstructure of the geopolymer were investigated. The results indicated that Hal750°C did not significantly alter the setting time. The active SiO2 and Al2O3 generated from Hal750°C participated in the geopolymerization, forming additional geopolymer gel phases (calcium (aluminate) silica hydrate and sodium aluminosilicate hydrate), improving the 28 day compressive strength of the geopolymers. When the amount of Hal750°C was 2.0 wt.%, the 28 day compressive strength of the ternary (GGBFS-FA-Hal750°C-based) geopolymer was 72.9 MPa, 34.8% higher than that of the geopolymer without the addition of Hal750°C. The special nanotubular morphology of residual Hal750°C mainly acted like reinforcing fibres, supplementing the flexural strength of the geopolymer. However, excessive Hal750°C addition (>4.0 wt.%) reduced compressive and flexural strength values due to the low degrees of geopolymerization and the porous microstructure in the ternary geopolymer. These findings demonstrate that the appropriate addition of Hal750°C improved the compressive strength of geopolymers prepared using GGBFS/FA, which provides essential data for future research and supports the utilization of low-value Hal-containing clays in geopolymer preparation.

The seminal Bolgiano–Obukhov (BO) theory established the fundamental framework for turbulent mixing and energy transfer in stably stratified fluids. However, the presence of BO scalings remains debatable despite their being observed in stably stratified atmospheric layers and convective turbulence. In this study, we performed precise temperature measurements with 51 high-resolution loggers above the seafloor for 46 h on the continental shelf of the northern South China Sea. The temperature observation exhibits three layers with increasing distance from the seafloor: the bottom mixed layer (BML), the mixing zone and the internal wave zone. A BO-like scaling $\alpha =-1.34\pm 0.10$ is observed in the temperature spectrum when the BML is in a weakly stable stratified ($N\sim 0.0018$ rad s$^{-1}$) and strongly sheared ($Ri\sim 0.0027$) condition, whereas in the unstably stratified convective turbulence of the BML, the scaling $\alpha =-1.76\pm 0.10$ clearly deviated from the BO theory but approached the classical $-$5/3 scaling in isotropic turbulence. This suggests that the convective turbulence is not the promise of BO scaling. In the mixing zone, where internal waves alternately interact with the BML, the scaling follows the Kolmogorov scaling. In the internal wave zone, the scaling $\alpha =-2.12 \pm 0.15$ is observed in the turbulence range and possible mechanisms are provided.

With the over-use of tetracycline (TC) and its ultimate accumulation in aquatic systems, the demand for TC removal from contaminated water is increasing due to its severe threat to public health. Clay minerals have attracted great attention as low-cost adsorbents for controlling water pollution. The objective of the present study was to measure the adsorption behavior and mechanisms of TC on allophane, a nanosized clay mineral with a hollow spherical structure; to highlight the advantage of the allophane nanostructure, a further objective was to compare allophane with halloysite and montmorillonite, which have nanostructures that differ from allophane. Structural features and surface physicochemical properties were characterized by transmission electron microscopy (TEM), Fourier-transform infrared spectroscopy (FTIR), X-ray diffraction (XRD), zeta potential, N2-physisorption, and acid–base titration. The adsorption data showed that TC adsorption followed the pseudo-second order and Langmuir models. The adsorption was pH dependent, as all three clay minerals performed better under neutral to weakly alkaline conditions and maintained high adsorption performance in the presence of co-existing Na+/K+/Ca2+/Mg2+ cations. Regeneration of the adsorbent was excellent, with efficiencies exceeding 75% after five recycles. By comparison, allophane always exhibited the greatest adsorption capacity, up to 796 mg g–1 at ~pH 9. The TC adsorption on allophane and halloysite was dominated by inner-sphere complexation, together with a small amount of electrostatic adsorption, while that on montmorillonite involved mainly interlayer cation exchange. The findings provide insights into the effects of nanostructures of clay minerals on their TC adsorption performance and highlight the huge potential of allophane as an efficient and inexpensive adsorbent for TC removal.

Accurate dynamic model is essential for the model-based control of robotic systems. However, on the one hand, the nonlinearity of the friction is seldom treated in robot dynamics. On the other hand, few of the previous studies reasonably balance the calculation time-consuming and the quality for the excitation trajectory optimization. To address these challenges, this article gives a Lie-theory-based dynamic modeling scheme of multi-degree-of-freedom (DoF) serial robots involving nonlinear friction and excitation trajectory optimization. First, we introduce two coefficients to describe the Stribeck characteristics of Coulomb and static friction and consider the dependency of friction on load torque, so as to propose an improved Stribeck friction model. Whereafter, the improved friction model is simplified in a no-load scenario, a novel nonlinear dynamic model is linearized to capture the features of viscous friction across the entire velocity range. Additionally, a new optimization algorithm of excitation trajectories is presented considering the benefits of three different optimization criteria to design the optimal excitation trajectory. On the basis of the above, we retrieve a feasible dynamic parameter set of serial robots through the hybrid least square algorithm. Finally, our research is supported by simulation and experimental analyses of different combinations on the seven-DoF Franka Emika robot. The results show that the proposed friction has better accuracy performance, and the modified optimization algorithm can reduce the overall time required for the optimization process while maintaining the quality of the identification results.

Thanks to its real-time computation efficiency, deep reinforcement learning (DRL) has been widely applied in motion planning for mobile robots. In DRL-based methods, a DRL model computes an action for a robot based on the states of its surrounding obstacles, including other robots that may communicate with it. These methods always assume that the environment is attack-free and the obtained obstacles’ states are reliable. However, in the real world, a robot may suffer from obstacle localization attacks (OLAs), such as sensor attacks, communication attacks, and remote-control attacks, which cause the robot to retrieve inaccurate positions of the surrounding obstacles. In this paper, we propose a robust motion planning method ObsGAN-DRL, integrating a generative adversarial network (GAN) into DRL models to mitigate OLAs in the environment. First, ObsGAN-DRL learns a generator based on the GAN model to compute the approximation of obstacles’ accurate positions in benign and attack scenarios. Therefore, no detectors are required for ObsGAN-DRL. Second, by using the approximation positions of the surrounding obstacles, ObsGAN-DRL can leverage the state-of-the-art DRL methods to compute collision-free motion commands (e.g., velocity) efficiently. Comprehensive experiments show that ObsGAN-DRL can mitigate OLAs effectively and guarantee safety. We also demonstrate the generalization of ObsGAN-DRL.

We establish some inequalities that arise from truncating Lerch sums and derive uniform asymptotic formulae for the spt-crank of ordinary partitions. The uniform asymptotic formulae improve upon a result of Mao [‘Asymptotic formulas for spt-crank of partitions’, J. Math. Anal. Appl. 460(1) (2018), 121–139].

Dilatational motions in the shape of travelling wave packets have been identified recently to be dynamically significant in hypersonic turbulent boundary layers. The present study investigates the mechanisms of their generation and their association with the solenoidal motions, especially the well-recognized near-wall self-sustaining process of the regeneration cycle between the velocity streaks and quasi-streamwise vortices. By exploiting the direct numerical simulation databases and orchestrating numerical experiments, we explore systematically the near-wall flow dynamics in the processes of the formation and transient growth of low-speed streaks. We conclude via theoretical ansatz that the nonlinearity related to the parallel density and pressure gradients close to the wall due to the restriction of the isothermal boundary condition is the primary cause of the generation of the dilatational structures at small scales. In fully developed turbulence, the formation and the existence of healthy dilatational travelling wave packets require the participation of the turbulence at scales larger than those of the near-wall regeneration cycles, especially the occurrence of the bursting events that generate vortex clusters. This is proven by the less intensified dilatational motions in the numerical experiments in which the Orr mechanism is alleviated and the vortical structures and turbulent bursts are weakened.

The current LiDAR-inertial odometry is prone to cumulative Z-axis error when it runs for a long time. This error can easily lead to the failure to detect the loop-closing in the correct scenario. In this paper, a ground-constrained LiDAR-inertial SLAM is proposed to solve this problem. Reasonable constraints on the ground motion of the mobile robot are incorporated to limit the Z-axis drift error. At the same time, considering the influence of initial positioning error on navigation, a keyframe selection strategy is designed to effectively improve the flatness and accuracy of positioning and the efficiency of loop detection. If GNSS is available, the GNSS factor is added to eliminate the cumulative error of the trajectory. Finally, a large number of experiments are carried out on the self-developed robot platform to verify the effectiveness of the algorithm. The results show that this method can effectively improve location accuracy in outdoor environments, especially in environments of feature degradation and large scale.

A series of organoclays with monolayers, bilayers, pseudotrilayers, paraffin monolayers and paraffin bilayers were prepared from montmorillonite by ion exchange with hexadecyltrimethylammonium bromide (HDTMAB). The HDTMAB concentrations used for preparing the organoclays were 0.5, 0.7, 1.0, 1.5, 2.0 and 2.5 times the montmorillonite cation exchange capacity (CEC). The microstructural parameters, including the BET-N2 surface area, pore volume, pore size, and surfactant loading and distribution, were determined by X-ray diffraction, N2 adsorption-desorption and high-resolution thermogravimetric analysis (HRTG). The BET-N2 surface area decreased from 55 to 1 m2/g and the pore volume decreased from 0.11 to 0.01 cm3/g as surfactant loading was increased from Na-Mt to 2.5CEC-Mt. The average pore diameter increased from 6.8 to 16.3 nm as surfactant loading was increased. After modifying montmorillonite with HDTMAB, two basic organoclay models were proposed on the basis of HRTG results: (1) the surfactant mainly occupied the clay interlayer space (0.5CEC-Mt, 0.7CEC-Mt, 1.0CEC-Mt); and (2) both the clay interlayer space and external surface (1.5CEC-Mt, 2.0CEC-Mt, 2.5CEC-Mt) were modified by surfactant. In model 1, the sorption mechanism of p-nitrophenol to the organoclay at a relatively low concentration involved both surface adsorption and partitioning, whereas, in model 2 it mainly involved only partitioning. This study demonstrates that the distribution of adsorbed surfactant and the arrangement of adsorbed HDTMA+ within the clay interlayer space control the efficiency and mechanism of sorption by the organoclay rather than BET-N2 surface area, pore volume, and pore diameter.

We show theoretically that the usual estimated investment strategies will not achieve the optimal Sharpe ratio when the dimensionality is high relative to sample size, and the $ 1/N $ rule is optimal in a 1-factor model with diversifiable risks as dimensionality increases, which explains why it is difficult to beat the $ 1/N $ rule in practice. We also explore conditions under which it can be beaten, and find that we can outperform it by combining it with the estimated rules when $ N $ is small, and by combining it with anomalies or machine learning portfolios, conditional on the profitability of the latter, when $ N $ is large.

In the present study, we investigate the compressibility effects in supersonic and hypersonic turbulent boundary layers under the influence of wall disturbances by exploiting direct numerical simulation databases at Mach numbers up to 6. Such wall disturbances enforce extra Reynolds shear stress on the wall and induce mean streamline curvature in rough wall turbulence that leads to the intensification of turbulent motions in the outer region. The turbulent and fluctuating Mach numbers, the density and the velocity divergence fluctuation intensities suggest that the compressibility effects are enhanced by the increment of the free-stream Mach number and the implementation of the wall disturbances. The differences between the Reynolds and Favre average due to the density fluctuations constitute approximately $9\,\%$ of the mean velocity close to the wall and $30\,\%$ of the Reynolds stress near the edge of the boundary layer, indicating their non-negligibility in turbulent modelling strategies. The comparatively strong compressive events behaving as eddy shocklets are observed at the free-stream Mach number of $6$ only in the cases with wall disturbances. By further splitting the velocity into the solenoidal and dilatational components with the Helmholtz decomposition, we found that the dilatational motions are organized as travelling wave packets in the wall-parallel planes close to the wall and as forward inclined structures in the form of radiated waves in the vertical planes. Despite their increased magnitudes and higher portion in the Reynolds normal and shear stresses, the dilatational motions show no tendency of contributing significantly to the skin friction and the production of turbulent kinetic energy due to their mitigation by the cross-correlation between the solenoidal and dilatational velocity components.