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The fracture-cave reservoirs of weathering crust on the top of Middle-Lower Ordovician in the Tahe Oil Field of Tarim Basin are the major production layer, and large scale reservoirs are also developed underneath the reservoirs. In order to discuss the genetic mechanism of formation of these reservoirs, carbon and oxygen isotope, strontium isotope, rare earth elements and cathodoluminescence were tested in the well A area. The δ18O and δ13C values of calcite in caves and structural fractures are obviously negative than those in limestone background. The mean value of δ18OPDB is -14.74‰, showing a trend of constant δ18O and variable δ13C, which are the calcite lines of atmospheric water formed by degassing. The 87Sr/86Sr ratios of calcites from caves and structures range from 0.709 622 to 0.709 968, which are obviously higher than the background values, and are mainly affected by crustal strontium. There are no positive anomalies in Ce and Eu elements, indicating that there is no hydrothermal fluid involved. The cathodoluminescence of calcites are mainly orange and dark brown, which represents weak oxidation-reduction environment. The results showed that the fracture-cave reservoirs of the Midde-Lower Ordovician Yingshan Formation in the well A area were formed in the deep slow flow zone of atmospheric water during the Early Hercynian, showing the characteristics of pressure bearing, slow flow and not controlled by the karst drainage base level.

Increasing the dimensionality of the configuration space quickly makes trajectory planning computationally intractable. This paper presents an efficient motion planning approach that exploits the heterogeneous low-dimensional structures of a given planning problem. These heterogeneous structures are obtained via a Dirichlet process (DP) mixture model and together cover the entire configuration space, resulting in more dimensionality reduction than single-structure approaches from the existing literature. Then, a unified low-dimensional trajectory optimization problem is formulated based on the obtained heterogeneous structures and a proposed transversality condition which is further solved via SQP in our implementation. The positive results demonstrate the feasibility and efficiency of our trajectory planning approach on an autonomous underwater vehicle (AUV) and a high-dimensional intervention autonomous underwater vehicle (I-AUV) in cluttered 3D environments.

Using single transponder ranging (STR) information to aid positioning satisfies the needs of frogman autonomous positioning in waters emergency rescue, where miniaturized and low-cost devices are preferred. On this basis, a frogman self-navigation method based on virtual transponder array (VTA) and dead reckoning (DR) is proposed in this article, to solve the problem that calculation results of DR still accumulate with time when STR information is taken as the external measurement. In the proposed method, firstly, by constructing the VTA with depth information constraint, frogman autonomous positioning under the condition of single transponder configuration is realized. Then, to combine the characteristics that DR positioning data is smooth and short-term stable, and that VTA positioning error is not cumulative, the DR navigation system is used to describe frogman's motion law, the frogman positioning coordinates that calculated by VTA are taken as external measurement and the Kalman filter is designed, which solves the problem of DR accumulated errors. Compared to traditional STR-DR method, the proposed VTA-DR method further improves the accuracy and stability of frogman navigation and positioning. Finally, based on the high-precision three-dimensional motion capture system, the semi-physical simulation experimental environment is built to verify the proposed method. The experimental results under different tracks indicate that the average total location error of VTA-DR method is 0.149m, which is reduced by 53.5% compared with STR-DR method. The proposed VTA-DR method can better suppress the accumulation of positioning errors and has better positioning accuracy and robustness.

A total of 43 seafloor surface sediment samples collected from the offshore region surrounding the Leizhou Peninsula were analyzed in terms of the total organic carbon content (TOC), total nitrogen (TN), organic carbon isotope (δ13Corg) and sediment grain size. Our results showed that the organic carbon content in the samples ranged from 0.12 to 0.79%, with an average of 0.42% which was lower compared with other offshore regions of China, whereas the δ13Corg was in the range of −22.47‰ to −19.18‰. The total nitrogen content ranged from 0.011 to 0.100% which was also low. The combination of δ13Corg and TOC/TN ratio (5.1–14.3) suggested that the organic matter is dominant by marine authigenic source input, as marine sourced organic matter accounts for 71%, 82%, and 75% in the sediments from the offshore areas of the east side, west side and the south (Qiongzhou Strait) of the Leizhou Peninsula, respectively. The weak/poor correlations between the organic carbon and clay, silt content, the pH and Eh value suggested that organic matter abundance and distribution were influenced by the source input of organic matter, the seafloor sediments’ redox status, and seawater’s hydrodynamic condition.

Existing belief space motion planning methods are not efficient for underwater robots that are subject to spatially varying motion and sensing uncertainties arising from the non-uniform current disturbances and landmark populations, respectively. Based on a closed-loop stochastic control framework, we propose a fast Gaussian belief space planning approach for coupled optimization of trajectory, localization and control, resulting in a non-linear programming problem (NLP). In particular, as opposed to advancing the covariance by a Kalman filter in the existing literature, we utilize an upper bound of the trace propagation of the covariance, thereby avoiding to solve Riccati equations and thus, reducing the computational complexity. The NLP is then efficiently solved by sequential quadratic programming based on the initial solutions obtained from RRT-connect. These initials lie in multiple homotopy classes guaranteed by H-signature discrimination, leading to global optimality with probability one as the number of samples in RRT-connect goes to infinity. Numerical simulations on holonomic and non-holonomic autonomous underwater vehicles (AUVs) and an Intervention-AUV with a manipulator in cluttered underwater environments demonstrate that optimal and collision-free trajectories with low localization uncertainty are obtained efficiently.

Total organic carbon (TOC), total nitrogen (TN) and multi-biomarker indexes were analyzed for two sediment cores from the eastern coastal area of the Beibu Gulf (core 45, AMS 14C dated) and Qiongzhou Strait (core 29), South China Sea. The results showed that the TOC and TN content of the samples studied were 0.32–0.62% and 0.02–0.07%, respectively. The hydrocarbons in offshore sediments of Leizhou Peninsula were consisted of biogenic hydrocarbons and petrogenic hydrocarbons. The Core 29 sediments contain more terrigenous organic matter than that of sediments in core 45 due to the difference in hydrodynamic conditions. The composition and distribution of various lipid biomarkers indicate the presence of petrogenic hydrocarbons in the sediments of the whole profile of two sediment cores. There are multiple natural sources of hydrocarbons that could potentially contribute to the petroleum background through oil seeps and erosion of carbon-rich rock outcrops or bitumen deposits. Deep sourced hydrocarbon inputs from the submarine hydrocarbon seepage cannot be excluded. Further study is needed to resolve the specific sources for the petrogenic hydrocarbons and may be significant to petroleum exploration in the study area.

Asaia is a bacterial symbiont of sugar-feeding insects that has been shown to be vertically transmitted by maternal transmission and paternal transmission mechanism, and to be horizontally transmitted via co-feeding artificial diet and venereal routes. Here, the first case of plant-mediated horizontal transmission of Asaia between white-backed planthoppers (WBPH), Sogatella furcifera, was reported. In Asaia-infected WBPH, Asaia was detected mostly in salivary glands and to a less extent in stylets. The rice leaf sheaths fed by Asaia-infected WBPH for 12 h were all positive with Asaia, where Asaia persisted for at least 30 d but was localized in the feeding sites only. When confined to Asaia-infected leaf sheaths for 7 d at the sites pre-infested by the Asaia-infected WBPH, all Asaia-free WBPH became infected with Asaia and the acquired Asaia could be vertically transmitted to their offspring. Phylogenetic analysis confirmed an identical Asaia strain in the Asaia-infected donor WBPH, the Asaia-infected leaf sheaths, and the newly infected recipient WBPH. Our findings provide direct evidence for the first time that rice plant can mediate horizontal transmission of Asaia between WBPH, which may contribute to the spread of Asaia in the field WBPH populations.

Abstract Plant resistance to herbivores is a key component in integrated pest management. In most cases, silicon (Si) amendment to plants enhances resistance to herbivorous insects. The increase of plant physical barrier and altered insect behaviors are proposed as mechanisms for the enhanced resistance in Si-amended plants, but our understanding of the induced mechanisms involved in Si-enhanced plant resistance to phloem-feeding insects remains unclear. Here, we show that Si amendment to rice (Oryza sativa) plants impacts multiple plant defense responses induced by a phloem-feeder, the brown planthopper (Nilaparvata lugens, BPH). Si amendment improved silicification of leaf sheaths that BPH feed on. Si addition suppressed the increase of malondialdehyde concentration while encouraged increase of H2O2 concentration in plants attacked by BPH. Higher activities of catalase and superoxide dismutase were recorded in Si-amended than in non-amended BPH-infested plants. BPH infestation activated synthases for secondary metabolites, polyphenol oxidase and pheny-lalanine ammonia-lyase, and β-1,3-glucanase, but the activation was greater in Si-amended than in non-amended plants. Taken together, our findings demonstrate that Si amendment interacts with BPH infestation in the induction of plant defense responses and consequently, to confer enhanced rice plant resistance.

Abstract The brown planthopper (BPH), Nilaparvata lugens (Stål), is a migratory and destructive sucking insect pest of rice. Silicon (Si) amendment to plants can confer enhanced resistance to herbivores and is emerging as a novel approach for pest management. In the present study, we tested the effects of Si addition at 0.16 (low) and 0.32 (high) g Si/kg soil on sucking behaviors and population growth in BPH. Si amendment increased Si content in rice stems and extended non-probing event and phloem puncture followed by sustained phloem ingestion over that in the no-Si-addition control. High Si addition rate prolonged the stylet pathway and the time needed to reach the first phloem puncture, shortened durations of phloem puncture and phloem ingestion, and decreased the proportion of individuals that produced sustained phloem ingestion. BPH female feeding on and preference for plants with the high Si addition rate were also reduced. As a result, Si application significantly decreased BPH population growth rates while increased population doubling time. These results indicate that Si amendment, especially at the high rate, confers enhanced rice plant resistance to BPH through impairment of BPH feeding. Our results highlight the potential of Si amendment as an alternative for BPH management.

In this paper, a range-based cooperative localization method is proposed for multiple platforms of various structures. The localization system of an independent platform might degrade or fail due to various reasons such as GPS signal-loss, inertial measurement unit (IMU) accumulative errors, or emergency reboot. It is a promising approach to solve this problem by using information from neighboring platforms, thus forming a cooperative localization network that can improve the navigational robustness of each platform. Typical ranging-based ultra-wideband (UWB) cooperative localization systems require at least three auxiliary nodes to estimate the pose of the target node, which is often hard to meet especially in outdoor environment. In this work, we propose a novel IMU/UWB-based cooperative localization solution, which requires a minimum number of auxiliary nodes that is down to 1. An Adaptive Ant Colony Optimization Particle Filter (AACOPF) algorithm is customized to integrate the dead reckoning (DR) system and auxiliary nodes information with no prior information required, resulting in accurate pose estimation, while to our knowledge the azimuth have not been estimated in cooperative localization for the insufficient observation of the system. We have given the condition when azimuth and localization are solvable by analysis and by experiment. The feasibility of the proposed approach is evaluated through two filed experiments: car-to-trolley and car-to-pedestrian cooperative localization. The comparison results also demonstrate that ACOPF-based integration is better than other filter-based methods such as Extended Kalman Filter (EKF) and traditional Particle Filter (PF).

Crop resistance is a cost-effective and environmentally friendly strategy for pest management. The brown planthopper (BPH, Nilaparvata lugens) is a devastating rice insect pest due to its ability to rapidly overcome plant resistance and the lack of sufficient resistance resources. BR4831 (a rice breeding line derived from the pyramiding of two BPH resistance genes, Bph14 and Bph15, into the elite rice variety Huang-Hua-Zhan, HHZ) and two single-gene introgression lines (HF106, carrying Bph14, and C602, carrying Bph15, in the elite rice cultivar 9311) were evaluated for their resistance to BPH using a standard seed box screening test coupled with field tests. The related resistance types were determined using laboratory assays. The seed box test and laboratory biological assays showed that BR4831 exhibited strong antibiotic resistance, and the behavioral assay showed that this line also exhibited strong antixenotic resistance, while both HF106 and C602 exhibited only weak antibiosis and no antixenotic resistance. Field tests showed significantly improved resistance in BR4831 compared to that of its recipient parent HHZ and slightly increased resistance in HF106 and C602 in comparison with their recipient parent 9311. These results demonstrate that the rice line BR4831, with pyramided resistance genes, exhibits higher resistance than the monogenic lines HF106 and C602 and highlight the benefits of combining the seed box seedling test, field tests and laboratory assays to thoroughly analyze plant resistance types.

In this article, the critical spontaneous ignition temperature of both hydrocarbon and alcohol fuel was acquired on a constant volume combustion bomb platform by slowly heating the inner charges, and then followed by using the CHEMKIN-PRO software to simulate the auto-ignition-dominated characteristic and parameter sensitivity of the two kinds of fuels. Results revealed that in different conditions, the critical spontaneous ignition temperature of methanol changed dramatically, with a maximum temperature of 50 K, while the counterpart temperature of n-heptane remained an invariable value of 553 K within a large changeable scope of temperature, and only a maximum temperature of 10 K was observed. The maximum difference of spontaneous ignition temperature between methanol and n-heptane reached 270 K. At the same time, a minimum difference of 170 K was obtained as well. The complete reaction of methanol requires 5 steps, involving 6 components and 11 elementary reactions. However, for the comparative part-n-heptane, more than 20 main self-ignition reactions were involved, which indicated that the whole reaction process of n-heptane has more reaction pathway branches and it was much more complicated compared to methanol. The differences of the reaction pathways triggered a considerable distinction of critical self-ignition temperature between the two charges, making a “step-by-step„ spontaneous ignition combustion mode possible. In this way, a further high-efficient and clean combustion can be available to cater to much more stringent emission regulations in the future.

Wi-Fi based indoor localization system has attracted considerable attention due to the growing need for location based service (LBS) and the rapid development of mobile phones. However, most existing Wi-Fi based indoor positioning systems suffer from the low accuracy due to the dynamic variation of indoor environment and the time delay caused by the time consumption to provide the position. In this paper, we propose an indoor localization system using the affinity propagation (AP) clustering algorithm and the particle swarm optimization based artificial neural network (PSO-ANN). The clustering technique is adopted to reduce the maximum location error and enhance the prediction performance of PSO-ANN model. And the strong learning ability of PSO-ANN model enables the proposed system to adapt to the complicated indoor environment. Meanwhile, the fast learning and prediction speed of the PSO-ANN would greatly reduce the time consumption. Thus, with the combined strategy, we can reduce the positioning error and shorten the prediction time. We implement the proposed system on a mobile phone and the positioning results show that our algorithm can provide a higher localization accuracy and significantly improves the prediction speed.

Silicon (Si) amendment to plants can confer enhanced resistance to herbivores. In the present study, the physiological and cytological mechanisms underlying the enhanced resistance of plants with Si addition were investigated for one of the most destructive rice pests in Asian countries, the rice leaf folder, Cnaphalocrocis medinalis (Guenée). Activities of defense-related enzymes, superoxide dismutase, peroxidase, catalase, phenylalanine ammonia-lyase, and polyphenol oxidase, and concentrations of malondialdehyde and soluble protein in leaves were measured in rice plants with or without leaf folder infestation and with or without Si amendment at 0.32 g Si/kg soil. Silicon amendment significantly reduced leaf folder larval survival. Silicon addition alone did not change activities of defense-related enzymes and malondialdehyde concentration in rice leaves. With leaf folder infestation, activities of the defense-related enzymes increased and malondialdehyde concentration decreased in plants amended with Si. Soluble protein content increased with Si addition when the plants were not infested, but was reduced more in the infested plants with Si amendment than in those without Si addition. Regardless of leaf folder infestation, Si amendment significantly increased leaf Si content through increases in the number and width of silica cells. Our results show that Si addition enhances rice resistance to the leaf folder through priming the feeding stress defense system, reduction in soluble protein content and cell silicification of rice leaves.

Plant viruses are mostly transmitted by sucking insects via their piercing behaviors, which may differ due to host plant species and their developmental stages. We characterized the transmission of a fijivirus, southern rice black-streaked dwarf virus (SRBSDV), by the planthopper vector Sogatella furcifera Horváth (Hemiptera: Delphacidae), between rice and corn plants of varying developmental stages. SRBSDV was transmitted from infected rice to uninfected corn plants as efficiently as its transmission between rice plants, while was acquired by S. furcifera nymphs at a much lower rate from infected corn plants than from infected rice plants. We also recorded a high mortality of S. furcifera nymphs on corn plants. It is evident that young stages of both the virus donor and recipient plants added to the transmission efficiency of SRBSDV from rice to corn plants. Feeding behaviors of the vector recorded by electrical penetration graph showed that phloem sap ingestion, the behavioral event that is linked with plant virus acquisition, was impaired on corn plants, which accounts for the high mortality of and low virus acquisition by S. furcifera nymphs on corn plants. Our results reveal an asymmetric spread of SRBSDV between its two host plants and the underlying behavioral mechanism, which is of significance for assessing SRBSDV transmission risks and field epidemiology, and for developing integrated management approaches for SRBSDV disease.

The striped stem borer, Chilo suppressalis (Walker), overwinters as a diapausing larva. The diapausing larvae were tested for a rapid cold hardening (RCH) response and its role in the insect’s survival of sub-zero temperatures. When laboratory-reared diapausing larvae were transferred directly from the rearing temperature of 25 °C to −14 °C and maintained there for 2 h, 21% survived. Acclimation of diapausing larvae for 4 h at 5 °C before their exposure for 2 h to −14 °C increased survival to approximately 41%, indicating an RCH response. Durability of RCH effects on low temperature survival was less than 1 h. Although transient in the test, the increased survival acquired through rapid cold hardening may play a role in preparing the diapausing larvae for abrupt temperature drops in the field that would otherwise be lethal.

The rice leaf folder, Cnaphalocrocis medinalis (Guenée), is one of the most destructive rice pests in Asian countries. Rice varieties resistant to the rice leaf folder are generally characterized by high silicon content. In this study, silicon amendment, at 0.16 and 0.32 g Si/kg soil, enhanced resistance of a susceptible rice variety to the rice leaf folder. Silicon addition to rice plants at both the low and high rates significantly extended larval development and reduced larval survival rate and pupation rate in the rice leaf folder. When applied at the high rate, silicon amendment reduced third-instars' weight gain and pupal weight. Altogether, intrinsic rate of increase, finite rate of increase and net reproduction rate of the rice leaf folder population were all reduced at both the low and high silicon addition rates. Although the third instars consumed more in silicon-amended treatments, C:N ratio in rice leaves was significantly increased and food conversion efficiencies were reduced due to increased silicon concentration in rice leaves. Our results indicate that reduced food quality and food conversion efficiencies resulted from silicon addition account for the enhanced resistance in the susceptible rice variety to the rice leaf folder.

Zero velocity update (ZUPT) plays an important role in pedestrian navigation algorithms with the premise that the zero velocity interval (ZVI) should be detected accurately and effectively. A novel adaptive ZVI detection algorithm based on a smoothed pseudo Wigner–Ville distribution to remove multiple frequencies intelligently (SPWVD-RMFI) is proposed in this paper. The novel algorithm adopts the SPWVD-RMFI method to extract the pedestrian gait frequency and to calculate the optimal ZVI detection threshold in real time by establishing the function relationships between the thresholds and the gait frequency; then, the adaptive adjustment of thresholds with gait frequency is realized and improves the ZVI detection precision. To put it into practice, a ZVI detection experiment is carried out; the result shows that compared with the traditional fixed threshold ZVI detection method, the adaptive ZVI detection algorithm can effectively reduce the false and missed detection rate of ZVI; this indicates that the novel algorithm has high detection precision and good robustness. Furthermore, pedestrian trajectory positioning experiments at different walking speeds are carried out to evaluate the influence of the novel algorithm on positioning precision. The results show that the ZVI detected by the adaptive ZVI detection algorithm for pedestrian trajectory calculation can achieve better performance.