Search Results (2,612)

Time-series machine learning models represented by long short-term memory (LSTM) networks provide an effective way to obtain high-precision sound speed profiles (SSPs) quickly and at low cost, which can meet the practical application requirements of underwater sonar systems. However, in sea areas with frequent strong internal solitary waves, the large-amplitude sound speed anomalies caused by them will seriously interfere with model learning in the form of strong outlier features, resulting in a sharp drop in SSP prediction accuracy and significant degradation of the generalization stability and robustness of the model. To address this problem, this paper proposes a time-series SSP prediction method based on a bidirectional long short-term memory (Bi-LSTM) network. First, Empirical Orthogonal Function (EOF) decomposition is used to realize the low-dimensional feature representation of SSPs, and then the bidirectional time-series feature capture capability of Bi-LSTM is used to predict the SSP sequence with large disturbances caused by strong internal solitary waves. Multiple groups of comparative experiments based on the measured temperature chain data in the continental slope area of the South China Sea show that the Bi-LSTM model has a significant improvement in prediction accuracy and robustness compared with the classical LSTM model. Among them, the Bi-LSTM model with EOF decomposition achieves a correlation coefficient of 0.995 and an average Root Mean Square Error (RMSE) as low as 0.387 m/s. Under the condition of internal solitary wave disturbance, the classical LSTM is difficult to effectively capture the large abrupt change in sound speed, while the proposed Bi-LSTM model can still achieve accurate prediction of the SSP in the disturbance section, and has both the feature recognition and evolution prediction capabilities for the strongly nonlinear internal solitary wave process. This method provides effective technical support for the rapid and large-scale reconstruction of the sound speed field under the disturbance of strong internal solitary waves. Full article

Net primary productivity (NPP) and its response to global climate change are one of the hot topics in global change research. Based on Net primary productivity remote sensing data and meteorological data, this study analyzed the spatiotemporal variation in vegetation NPP in Maowusu sandy land by using Sen trend analysis, Mann–Kendall significance test, coefficient of variation stability analysis, partial correlation and complex correlation analysis, and quantitatively analyzed the response of vegetation NPP to climate factors. The results showed that from 2001 to 2023, the overall vegetation NPP showed a significant upward trend, and the annual average increased from 124.28 g·(m⁻²·a)⁻¹ to 221.41 g·(m⁻²·a)⁻¹. The Theil–Sen median slope of NPP was +3.87 g·(m⁻²·a)⁻¹ with a coefficient of variation (CV) of 0.19, suggesting a robust but spatially variable greening trend. In total, 98.53% of the area showed an upward trend, with a very significant and significant increase area. The overall stability of vegetation NPP was strong, with an average coefficient of variation (CV) of 0.19 and a CV< of 0.30 in 97.96% of the regions, but the local area from southwest to east was highly volatile and there was a risk of secondary desertification. The influence of climate factors on vegetation NPP had significant spatial heterogeneity: precipitation was the key driving factor, and most areas were positively correlated. Potential evapotranspiration was positively correlated in the central and northern regions, and negatively correlated in some southern areas. The overall temperature has a negative effect, and only the local area has a weak promoting effect. Multi-correlation analysis shows that vegetation NPP is the result of the synergy of multiple climatic factors, and the hydrothermal coupling mechanism plays a decisive role in its spatial pattern. This study can provide a scientific basis for the restoration of vegetation ecosystems, environmental protection policy formulation, ecological protection and high-quality development of the Yellow River Basin in Maowusu Sandy Land. Full article

Background: Hippotherapy, a sensorimotor-rich intervention proposed for children with Autism Spectrum Disorder (ASD), is suggested to influence executive function (EF). However, the underlying electrophysiological mechanisms, particularly changes observed in resting-state Electroencephalography (EEG), remain underexplored. Methods: A total of forty-eight children with ASD, aged 9–12 years, participated in this quasi-experimental, non-randomized pre-test–post-test study. Participants were assigned to either a standardized 12-session hippotherapy program (n = 24) or a waitlist Control group (n = 24). EF was evaluated pre- and post-intervention using validated measures: the Wisconsin Card Sorting Test, Stroop Color–Word Test, Corsi Block-Tapping Task, and Tower of London. Resting-state EEG data (19 channels, 250 Hz) were recorded before and after the intervention and analyzed for spectral power, pairwise Pearson correlation, phase-based functional connectivity using the Phase Lag Index (PLI), and directed effective connectivity using Phase Transfer Entropy (PTE). EEG effects were tested with linear mixed models in MATLAB (fitlme), with the measured values in each ROI as the dependent variable, group and time as fixed effects, and SubjectID included as a random intercept; EF outcomes were analyzed with ANCOVA/MANCOVA, adjusting post-test scores for baseline. The assumptions of homogeneity of slopes, Levene’s test, and the Shapiro–Wilk test were examined, and the Holm–Bonferroni correction together with partial η² effect sizes were reported. Results: Following baseline adjustment, the hippotherapy group showed substantial and statistically significant improvements across all EF measures compared with controls partial η² range = 0.473–0.855; all adjusted p < 0.001; e.g., Stroop Incongruent Reaction Time (F(1,45) = 265.80, p < 0.001, ηp² = 0.855). EEG analyses revealed localized Group × Time interaction effects involving frontal delta power as well as selected alpha-, theta-, and beta-band connectivity measures within frontally anchored networks. In addition to these focal interaction effects, the hippotherapy group exhibited a narrower distribution of pre–post EEG changes across spectral power and connectivity metrics compared with controls, indicating greater temporal consistency in resting-state electrophysiological dynamics across sessions. Because group allocation was non-random (based on scheduling feasibility and parental preference), results should be interpreted as associations rather than causal effects. While the hippotherapy group exhibited significant EF improvements and relative stabilization in EEG spectral and connectivity metrics, particularly in frontal delta/theta/alpha/beta bands, a direct mapping between individual EEG changes and behavioral gains was not observed. Conclusions: A standardized 12-session hippotherapy program was associated with substantial improvements in EF and with relative stabilization of resting-state electrophysiological dynamics in children with ASD. However, the direct mechanistic link between these EEG and behavioral changes warrants further investigation. Larger randomized trials employing active control conditions, task-evoked electrophysiological measures, and extended longitudinal follow-up are needed to confirm efficacy, clarify mechanisms, and establish the durability of effects. Full article

High Andean lagoons in southern Peru have critical hydrological and ecological functions; however, long-term time series integrating trophic, integral quality, and metal contamination metrics to support adaptive management are lacking. A total of 1846 records (2015–2024) from four systems (3100–4600 m a.s.l.) were analyzed using seven indices assessing trophic status (TSItsr, TRIX), general water quality (OWQI, WQIHA, CCME-WQI), and metal contamination (HPI, CD). Temporal trends were assessed using Mann–Kendall and Theil–Sen slope; spatial heterogeneity using Kruskal–Wallis and Dunn–Bonferroni comparisons; controlling factors using distance-based redundancy analysis (999 permutations); and functional typology using Ward’s hierarchical clustering on Z-standardized data. 93% of the series lacked monotonic trends (52/56 lagoon–stratum × index combinations), demonstrating high interannual stability; spatial variance was marked (ε² = 0.73 in CCME-WQI). Distance-based redundancy analysis (db-RDA) explained 24.6% of total variability, with lake identity as the dominant driver (~45%), followed by temporal change (~8%). Four functional archetypes emerged, including a metal-eutrophic hotspot (HPI ≈ 213; CD ≈ 19) and recovering reservoirs with intermediate water quality indicators. Joint thresholds (TSItsr ≥ 60 + HPI ≥ 100) establish early-warning criteria, with Paucarani (HPI = 213) approaching the critical domain where metal-driven stress may facilitate cyanobacterial dominance. Systems show temporal resilience but strong spatial divergence induced by local pressures. The proposed typology and thresholds provide an operational basis for early warnings and prioritization of remediation actions in high-mountain ecosystems subject to increasing anthropogenic stress. Full article

The rapid advancement of high-technology industries critically depends on the supply of rare earth elements (REEs), which constitute strategic raw materials for knowledge-intensive sectors. This study proposes an integrated methodological framework for the development of the Kundybay REE deposit, combining geomechanical substantiation of open-pit slope stability with beneficiation optimization of weathering-crust ores. The novelty of the research lies in the justification of rational pit-wall parameters based on a coupled 3D geological–geotechnical model implemented in the Micromine environment. Structurally disturbed zones were identified and subjected to detailed stability analysis using numerical modeling techniques. Particular emphasis was placed on the delineation of geotechnical domains and factor-of-safety evaluation in Slide2, which enabled refinement of design solutions and optimization of slope geometry. Simultaneously, the study addresses processing challenges of refractory weathering-crust ores through the application of ultrasonic aerohydraulic desliming combined with a vibro-centrifugal separation device. Optimization of slope parameters resulted in a 30 Mt reduction in stripping volume, corresponding to a 16.7% economic gain. The proposed flowsheet achieved a concentrate grade of 948.89 g/t REEs with an overall recovery of 45.66%. The results confirm that integrating geomechanical design with process engineering provides a technically robust and economically efficient basis for REE deposit development. Full article

Sub-harmonic oscillations are a key stability concern in fast-switched inductor power supplies using clocked constant-period peak/valley-current loops. Using generalized models, IC designers can predict and suppress sub-harmonic oscillations with minimal overhead. This work presents an insightful, generalized, and comprehensive time-domain analysis of sub-harmonic oscillation propagation and suppression via slope compensation in constant-period peak/valley-current control. Since it is unstated and unvalidated in the literature, an exact, easy-to-apply expression for the slope compensation boundary is derived in terms of basic circuit operating parameters, showing that it is half of the difference in the drain and energize slopes in peak mode, and half of the difference in the energize and drain slopes in valley mode, lying beyond the conventionally accepted half drain (peak) and energize (valley) slope criteria. The prior literature also does not account for the impact of parasitic resistances on the duty-cycle-based stability boundary beyond which sub-harmonic oscillations begin. We address these gaps and establish a theoretical basis for the absence of sub-harmonic oscillations in DCM. Additionally, existing approaches to slope selection ensure stability but do not target the rate of suppression. We address this by proposing a compensation slope that achieves 90% suppression of the initial imbalance within three switching periods. Full article

Utilizing excavated waste soil to level gullies offers significant advantages in terms of engineering economy and construction efficiency. However, the stability and deformation risks of high-fill embankments in mountainous gullies under rainfall conditions have attracted significant attention, particularly when such structures are located adjacent to residential areas. This study compares two design schemes for highway high-fill embankments, Scheme 1: high-fill slope supported by stabilizing piles and prestressed anchors, and Scheme 2: ordinary waste soil as the core, foamed lightweight soil (EPS) as the edge band, and reinforcement by a micro-pile retaining wall system. Finite element analysis was used to evaluate the Factor of Safety (FOS), displacements of retaining structures, and characteristic slope points under three conditions (no rainfall, heavy rainfall, and heavy rainfall with soil strength deterioration). The results show that Scheme 2 reduces total costs by 3.5%, shortens the construction period by 14%, and cuts maintenance costs by 65%, with a minimum FOS of 1.56 under extreme rainfall. Further parametric analysis of Scheme 2 optimized key design parameters, and field monitoring data over 6 months verified the reliability of the numerical simulation. This study provides a transferable design-verification pathway for combining lightweight and conventional fills in high embankments, offering technical support for similar projects in complex mountainous areas. Full article

Deep-seated landslide complexes are widespread in soft-rock hill-country landscapes, yet their regional morphometric organisation and controlling factors remain insufficiently quantified. This study uses high-resolution (1 m) airborne LiDAR-derived terrain data integrated with geological and drainage-network datasets to investigate landslide complexes in the eastern Tararua District, New Zealand. A relative, unit-based morphometric framework is applied to compare terrain derivatives (including slope, aspect, and multi-scale relative relief) between mapped landslides and their host geological units. To isolate intrinsic lithological controls from geomorphic influences, the analysis is restricted to landslides occurring entirely within a single geological unit. The results indicate that lithology exerts first-order control on landslide morphometry, while fluvial incision and valley confinement regulate landslide initiation and persistence. Landslides are preferentially associated with low- to mid-order channels, indicating strong hillslope–channel coupling within a young, actively uplifting landscape. A conceptual threshold framework is proposed, showing that landslides develop where lithological susceptibility and relief amplification jointly exceed stability thresholds. By integrating geological information with LiDAR-based morphometric analysis, this study provides a transferable framework for distinguishing instability regimes and improving understanding of sediment dynamics and landscape evolution in soft-rock terrains. Full article

Submarine canyon-channel systems play a critical role as potential conduits for warm-water upwelling around Antarctica, potentially influencing ice-sheet stability. Integrating multibeam bathymetry, seismic profiles, and morphometric analysis, this study identifies 29 canyon-channel systems along the Adélie Land margin and reveals clear morphological contrasts between the Adélie Depression and the Adélie Bank. Systems in the Depression are elongated, slightly sinuous, and dendritic, with downstream increases in width-to-depth ratio, whereas those on the Bank are shorter, isolated, and single-branched, with irregular along-thalweg variations. Mann–Whitney U tests show significant differences in sinuosity and thalweg gradient (p < 0.01). These contrasts reflect the combined effects of shelf-slope topography, sediment supply, and ice-sheet dynamics. In the Depression, steep slopes, focused glacial sediment input from the Wilkes Subglacial Basin, and associated progradational wedges and mass transport deposits promote mass failures and turbidity-current incision. Strong correlations among canyon-channel length, width, and depth indicate coherent scaling under concentrated sediment supply. In contrast, gentler slopes and lower sediment input on the Bank produce simpler systems. These results highlight how glaciated-margin canyon morphology records coupled sedimentary and ice-sheet–ocean processes. Full article

Electric unmanned vehicles applied in complex terrains such as agricultural, forestry, and deep-space exploration scenarios are often required to travel on uneven roads. In particular, during climbing processes, their driving stability and terrain adaptability are of critical importance. To address the above challenges, an electric unmanned vehicle with variable-diameter wheels is proposed. By adjusting the wheel diameter, the vehicle can modify its pitch and roll angles to adapt to uneven terrains. The core research focuses on the relationship between quasi-static stability and wheel diameter variation. First, the configuration and working principle of the electric unmanned vehicle with variable-diameter wheels are introduced, with particular emphasis on the mechanism principle of the novel variable-diameter wheel. A kinematic model between the electric cylinder input and wheel diameter in the variable-diameter wheel is established. On this basis, based on the FASM (Force-Angle Stability Margin)—a stable cone theory, the relationships between stability and wheel diameter variation were investigated separately under lateral, longitudinal, and 45° steering composite conditions on a slope. The results indicate that the unmanned vehicle can achieve omnidirectional attitude adjustment. Finally, the relationship between the electric cylinder input and stability is derived, which can provide a theoretical basis for the quasi-static stability control of outdoor electric unmanned vehicles. Full article

In response to the complex erosion environment caused by periodic water level fluctuations, dry–wet cycles, and long-term water flow scouring on the Yangtze River bank, three typical soil-fixing and bank-protecting plants, Cynodon dactylon, Carex breviculmis, and Digitaria sanguinalis, which can adapt to both aquatic and terrestrial conditions, were selected for planting experiments. Tests on root–soil composite shear strength, disintegration, and water flow scouring were conducted to investigate the effects of different bank-protecting plants on bank stabilization. The results show that: 1. The root systems of the three plants significantly enhance the soil shear strength at various soil depths, but the reinforcing effect decreases with increasing soil depth. The cohesion strength of the root–soil composites ranks as Carex breviculmis > Digitaria sanguinalis > Cynodon dactylon, with maximum increases of 54.83 kPa, 20.66 kPa, and 6.5 kPa, respectively, equivalent to 3.16, 1.82, and 1.26 times that of bare soil. 2. Under dry–wet cycling, the water stability of the root–soil composites is significantly higher than that of bare soil. The disintegration residual rate of Cynodon dactylon and Digitaria sanguinalis decreased from 81.76% to 38.23% and from 80.18% to 34.34%, respectively, whereas Carex breviculmis showed only a slight decrease from 80.41% to 75.1%. Carex breviculmis exhibits the strongest stability and is least affected by dry–wet cycles, while the water stability of Cynodon dactylon and Digitaria sanguinalis declines noticeably with increasing cycle numbers. The plants’ ability to improve soil water stability ranks as Carex breviculmis > Cynodon dactylon > Digitaria sanguinalis. 3. The enhancement of bank erosion resistance is mainly attributed to the formation of a root-reinforced network, which strengthens the soil through root–soil interlocking and anchorage, thereby increasing resistance to flow-induced shear stress and reducing particle detachment under hydraulic action. The bank erosion resistance index ranks as Carex breviculmis > Cynodon dactylon > Digitaria sanguinalis, and decreasing with increasing runoff velocity. Compared to bare soil slopes, the maximum enhancement effects on bank erosion resistance are 75.1%, 63.3%, and 54.2% respectively. Full article

Lunar quadruped robots face landing challenges including weak gravity, large mass variations, uncertain sloped terrain, and strict payload acceleration limits, requiring effective impact mitigation and rapid post-landing stabilization. This paper presents a novel end-to-end reinforcement learning-based landing controller with three key novelties: (i) a phase-structured yet implicitly encoded formulation that distinguishes contact preparation, energy dissipation, and stabilization without explicit phase switching; (ii) a terrain-agnostic state and control representation using equivalent support direction construction and contact-gated modulation to decouple normal–tangential dynamics; and (iii) an extremum oriented learning strategy that directly captures peak impact suppression and buffering sufficiency, addressing limitations of cumulative rewards in hybrid, peak-dominated tasks. A hybrid control model for lunar quadruped landing dynamics is established, incorporating variable mass, low impact, and full stroke as key constraints during training. Simulation and full-scale experimental prototypes are built to validate the controller. Simulation results demonstrate robust landing buffering and stability control under varying mass, landing velocity, and slope conditions, with favorable robustness against parameter variations. Experimental verification is conducted under diverse conditions including different masses (200 kg, 250 kg), vertical/horizontal landing velocities (0.8 m/s, 0.2 m/s), and slopes (0, 8). The deviation between simulation and experimental results does not exceed 30%, confirming the effectiveness and transferability of the proposed approach. Full article

To address the problems of uneven stubble height and high missed-cutting rate caused by the insufficient profiling capability of traditional forage harvesters in complex hilly terrain, this paper designs a three-degrees-of-freedom (DOF) profiling header primarily for typical hilly terrain with gentle slopes of 8–15°. Through pitch, roll, and height adjustments, it stably maintains stubble height at 150 mm. Subsequently, geometric analysis and structural optimization achieved kinematic decoupling among all degrees of freedom, thereby overcoming the inherent limitations of the two-DOF header, such as poor adaptability to longitudinal slope and strong adjustment coupling. Three-dimensional modeling was completed in SolidWorks, multibody dynamics simulation was performed in ADAMS, and a profiling control system incorporating a hydraulic system, multi-source sensor fusion, and a fuzzy PID controller was built. The dynamics simulation results show that under the working conditions of 15° longitudinal and 10° transverse slopes, the stubble height error of the header is controlled within 10%, the attitude angle adjustment error is less than 0.5°, and the dynamic response is excellent. Prototype field tests showed that, compared with the two-DOF header, the three-DOF profiling header improved the stubble height stability by about 35%, reduced the missed-cutting rate by about 5%, and increased the operating efficiency by about 15%. No cutting blade contact with the soil occurred, verifying the rationality of the mechanism design and its adaptability to terrain. This study provides an effective technical solution for improving the mechanization level of forage harvesting in hilly and mountainous areas. Full article

Neurological injuries and disorders affecting hand motor control can severely impair the ability to perform activities of daily living and substantially reduce quality of life. Technologies such as virtual reality (VR) are increasingly used to address fundamental challenges in therapy, including motivation and engagement; further, programmable features of digital interfaces offer additional opportunities to personalize and optimize motor training. In this proof-of-concept study, we developed and evaluated a novel VR-based training framework to support improved dexterity and hand function using physiological (sensory-driven) and cognitive (memory) cues designed to promote greater task-relevant neural engagement. The proposed approach leverages the integration of augmented sensory feedback (ASF) with memory-anchored cues for motor learning of target hand gestures. Using a within-subjects design, thirteen neurotypical adults completed four training conditions: (1) control (baseline gesture-matching in VR), (2) visual ASF (enhanced visualization and feedback of gesture accuracy), (3) memory-anchored cues (associating gestures with semantically meaningful entities, loosely analogous to American Sign Language), and (4) hybrid multimodal (visual ASF + memory-anchored cues). Training with the hybrid condition produced the fastest skill acquisition (9.3 trials to reach an 80% accuracy threshold) and the steepest initial learning slope (1.86 ± 0.12%/trial), with all conditions differing significantly in initial slope (all p < 0.002). Post-training assessment showed that the hybrid condition achieved the highest gesture accuracy (95.2%), greatest normalized post-training accuracy gain (14.3% above baseline), fastest execution time to target gesture (1.14 s), and lowest variability in gestural kinematics (SD = 3.9%). Both ASF and memory-anchored cue conditions each also independently outperformed the control condition on gesture accuracy (both p ≤ 0.002), with omnibus ANOVAs indicating significant condition effects across metrics. Together, these findings suggest that pairing ASF cues with memory-based cognitive scaffolding can yield additive benefits for motor skill acquisition and stability. Pending validation in clinical populations, such approaches may inform the design of VR-based motor training frameworks for rehabilitation. Full article

Arsenic (As)-enriched soils in abandoned mining areas pose persistent environmental risks, yet the temporal evolution of remediation is rarely evaluated. In this study, a two-year field monitoring program was conducted at a severely As-contaminated abandoned gold mine in Guangdong Province, China, to examine the temporal dynamics of soil properties and As behavior under different remediation strategies. Three representative slopes were investigated: slope A (slope reshaping and revegetation), slope B (terraced engineering interception), and slope C (an area influenced by acidic water bodies). The results showed that both total and available As at slopes A and B exhibited a similar pattern of initial increase followed by decline and stabilization, indicating a clear temporal scale for remediation effects. Slope A exhibited greater spatial variability, whereas slope B showed relatively minor fluctuations, suggesting that terraced engineering measures contributed to enhanced As stability. In contrast, slope C had lower total As but a higher proportion of available As prior to remediation due to the acidic conditions. Following remediation, both total and available As at slope C decreased markedly and remained stable for about six months; however, a rebound trend was observed after approximately 1.5 years, indicating the time-limited effectiveness of passivation treatments. Specifically, total As at slope C decreased from 22,916 to 4011 mg·kg⁻¹, accompanied by a 65–85% reduction in available As. Meanwhile, soil pH, soil organic matter, and cation exchange capacity exhibited pronounced non-linear variations, with an overall tendency to recover toward pre-remediation conditions. These findings underscore the importance of long-term monitoring for evaluating remediation effectiveness and periodic assessments (e.g., semiannual monitoring of soil As and nutrient status) to support adaptive environmental management and optimization of remediation strategies. Full article