Environmental filtering, spatial processes and biotic interactions jointly shape different traits communities of stream macroinvertebrates

The metacommunity concept has been widely used to explain the biodiversity patterns at various scales. It considers the influences of both local (e.g., environmental filtering and biotic interactions) and regional processes (e.g., dispersal limitation) in shaping community structures. Compared to environmental filtering and spatial processes, the influence of biotic interactions on biodiversity patterns in streams has received limited attention. We investigated the relative importance of three ecological processes, namely environmental filtering (including local environmental and geo-climatic factors), spatial processes and biotic interactions (represented by interactions of macroinvertebrates and diatom), in shaping different traits of macroinvertebrate communities in subtropical streams, Eastern China. We applied variance partitioning to uncover the pure and shared effects of different ecological processes in explaining community variation. The results showed that environmental filtering, spatial processes, and biotic interactions jointly determined taxonomic and trait compositions of stream macroinvertebrates. Spatial processes showed a stronger influence in shaping stream macroinvertebrate communities than environmental filtering. The contribution of biotic interactions to explain variables was, albeit significant, rather small, which was likely a result of insufficient representation (by diatom traits) of trophic interactions associated with macroinvertebrates. Moreover, the impact of three ecological processes on macroinvertebrate communities depends on different traits, especially in terms of environmental filtering and spatial processes. For example, spatial processes and environmental filtering have the strongest effect on strong dispersal ability groups; spatial processes have a greater effect on scrapers than other functional feeding groups. Overall, our results showed that the integration of metacommunity theory and functional traits provides a valuable framework for understanding the drivers of community structuring in streams, which will facilitate the development of effective bioassessment and management strategies.Peer Reviewe

Environmental filtering, spatial processes and biotic interactions jointly shape different traits communities of stream macroinvertebrates

The metacommunity concept has been widely used to explain the biodiversity patterns at various scales. It considers the influences of both local (e.g., environmental filtering and biotic interactions) and regional processes (e.g., dispersal limitation) in shaping community structures. Compared to environmental filtering and spatial processes, the influence of biotic interactions on biodiversity patterns in streams has received limited attention. We investigated the relative importance of three ecological processes, namely environmental filtering (including local environmental and geo-climatic factors), spatial processes and biotic interactions (represented by interactions of macroinvertebrates and diatom), in shaping different traits of macroinvertebrate communities in subtropical streams, Eastern China. We applied variance partitioning to uncover the pure and shared effects of different ecological processes in explaining community variation. The results showed that environmental filtering, spatial processes, and biotic interactions jointly determined taxonomic and trait compositions of stream macroinvertebrates. Spatial processes showed a stronger influence in shaping stream macroinvertebrate communities than environmental filtering. The contribution of biotic interactions to explain variables was, albeit significant, rather small, which was likely a result of insufficient representation (by diatom traits) of trophic interactions associated with macroinvertebrates. Moreover, the impact of three ecological processes on macroinvertebrate communities depends on different traits, especially in terms of environmental filtering and spatial processes. For example, spatial processes and environmental filtering have the strongest effect on strong dispersal ability groups; spatial processes have a greater effect on scrapers than other functional feeding groups. Overall, our results showed that the integration of metacommunity theory and functional traits provides a valuable framework for understanding the drivers of community structuring in streams, which will facilitate the development of effective bioassessment and management strategies

Multisatellite Task Allocation and Orbit Planning for Asteroid Terminal Defence

Near-Earth asteroids are a great threat to the Earth, especially potential rendezvous and collision asteroids. To protect the Earth from an asteroid collision, it is necessary to investigate the asteroid defence problem. An asteroid terminal defence method based on multisatellite interception was designed in this study. For an asteroid intruding in the sphere of the gravitational influence of the Earth, multiple interceptor satellites are used to apply a kinetic energy impulse to deflect the orbit of the asteroid. First, the effects of planned interception time and planned interception position on the required impulse velocity increment applied to the asteroid are assessed for interception opportunity selection. Second, multiple interceptor satellites are selected to perform the defence task from the on-orbit available interceptor satellite formation. An improved contract net protocol algorithm considering the Lambert orbital manoeuvre is designed to fulfil the task allocation and satellite orbit planning. Finally, simulation experiments demonstrate the rationale and effectiveness of the proposed method, which provides support for asteroid terminal defence technology

Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction

Flexible endoscopes are widely used in minimally invasive surgical robot systems. Various kinematic models have been developed for describing the deformation of such endoscopes. For joint-type flexible endoscopes, most existing models neglect the effect of internal friction and cannot precisely show the shape. In this paper, we propose a new nonlinear bending model. The rubber tube and metal net at each joint are approximated as a tube under elastic deformation and are assigned an equivalent bending stiffness. The internal friction force is also taken into account to build the moment balance equation at each joint. Groups of experiments were performed to validate the nonlinear model. The results closely confirm the model's predictions. The model's tip position error during the bending and unbending phases are 1.48 +/- 0.99 mm and 1.68 +/- 0.91 mm respectively; the bending angle errors are -5.50 +/- 2.54 degrees and 1.68 +/- 3.66 degrees, respectively The model can also take account of the hysteresis effect of the bending, which is quite common for cable-driven flexible robots. Moreover, the model has good computational efficiency, making it suitable for real-time control

The Development and Synthesis of a CdZnS @Metal–Organic Framework ZIF-8 for the Highly Efficient Photocatalytic Degradation of Organic Dyes

The development of photocatalysts for organic degradation is a hot research topic. In this study, CdZnS was selected as the carrier, and ZIF-8 was combined with it to explore the photocatalytic performance of the composite. In addition, the compound material, CdZnS@ZIF-8, was used as a photocatalyst for the decomposition of methylene blue dye, and the performance of pure CdZnS and pure ZIF-8 was compared. The photocatalytic efficiency of CdZnS@ZIF-8 was significantly higher than that of the other two. In the experimental reaction, the amount of catalyst was 0.04 g, the pH value was 7, the initial concentration of methylene blue aqueous solution was 20 mg/L, and the degradation of methylene blue in 50 mL aqueous solution could reach 99.5% under visible light irradiation for 90 min, showing excellent photocatalytic efficiency in the visible light range. It demonstrated excellent photocatalytic function in the visible light region, and the electron transfer phenomenon at the interface occurred in the het-junction and the separation of the photo-generating electron–hole as an electron acceptor of ZIF-8 further promoted the photocatalytic effect

Place recognition using line-junction-lines in urban environments

Place recognition plays a vital role in eliminating accumulated drift from visual odometry in SLAM system. Bag- of-Words (BoW) -based approach is the most popular solution due to its efficiency and robustness. We propose to use Line- Junction-Line (LJL) to build a BoW for place recognition in urban environments. LJL is a simple structure of two lines with their intersection. Different from point features which are detected based on pixel intensity patterns, it represents structure with physical existence, which is more robust to challenging scenarios. Moreover, its descriptor is distinctive and encodes the relationship between the two lines. Experiments on KITTI dataset show the effectiveness of the proposed method compared to loop detection using BoW trained with either point or line features.NRF (Natl Research Foundation, S’pore)Accepted versio

Jitter-Robust Phase Retrieval Wavefront Sensing Algorithms

Phase retrieval wavefront sensing methods are now of importance for imaging quality maintenance of space telescopes. However, their accuracy is susceptible to line-of-sight jitter due to the micro-vibration of the platform, which changes the intensity distribution of the image. The effect of the jitter shows some stochastic properties and it is hard to present an analytic solution to this problem. This paper establishes a framework for jitter-robust image-based wavefront sensing algorithm, which utilizes two-dimensional Gaussian convolution to describe the effect of jitter on an image. On this basis, two classes of jitter-robust phase retrieval algorithms are proposed, which can be categorized into iterative-transform algorithms and parametric algorithms, respectively. Further discussions are presented for the cases where the magnitude of jitter is unknown to us. Detailed simulations and a real experiment are performed to demonstrate the effectiveness and practicality of the proposed approaches. This work improves the accuracy and practicality of the phase retrieval wavefront sensing methods in the space condition with non-ignorable micro-vibration

3D direct printing of mechanical and biocompatible hydrogel meta-structures

Direct Ink Writing (DIW) has demonstrated great potential as a versatile method to 3D print multifunctional structures. In this work, we report the implementation of hydrogel meta-structures using DIW at room temperature, which seamlessly integrate large specific surface areas, interconnected porous characteristics, mechanical toughness, biocompatibility, and water absorption and retention capabilities. Robust but hydrophobic polymers and weakly crosslinked nature-origin hydrogels form a balance in the self-supporting ink, allowing us to directly print complex meta-structures without sacrificial materials and heating extrusion. Mechanically, the mixed bending or stretching of symmetrical re-entrant cellular lattices and the unique curvature patterns are combined to provide little lateral expansion and large compressive energy absorbance when external forces are applied on the printed meta-structures. In addition, we have successfully demonstrated ear, aortic valve conduits and hierarchical architectures. We anticipate that the reported 3D meta-structured hydrogel would offer a new strategy to develop functional biomaterials for tissue engineering applications in the future

Magnolol Loaded Polydopamine-Chitosan Coated pH-responsive Nanoparticles for Alleviation of Ulcerative Colitis

This study designed and developed a novel three-layer electrostatic, slow-releasing nanoparticle drug delivery system for the treatment of ulcerative colitis. The nanoparticles were composed of layers of zein-based polydopamine, chitosan and cellulose acetate phthalate to form a polyelectrolyte multilayer core−shell nanoparticle structure. The anti-inflammatory natural product magnolol was chosen to be the model drug for the study. The nanoparticles (260.50 ± 23.90 nm) were prepared with layer-by-layer coating and then assessed in vitro and in vivo using a mouse model of ulcerative colitis. The in vitro data confirmed the slow-releasing and pH-dependent characteristics of particles. Quantitative analysis of the in vivo distribution of Mag in mice showed significantly higher concentrations in colonic tissue than in the upper gastrointestinal tract (854.6 ng/g vs 291.5–351.1 ng/g, respectively). Histological and pro-inflammatory cytokine analysis indicated that the nanoparticles had a significant anti-inflammatory effect and were protective against DSS-induced structural damage of the colonic mucosal structure. These results confirm that this nano-delivery system could increase the levels of Mag reaching the colon, resulting in greater efficacy than free Mag in treating UC in this mouse model