Lower limb rehabilitation robots based on linkage-based mechanisms have recently drawn significant attention in the field due to their numerous advantages. The control of previously proposed linkage-based gait rehabilitation robotic orthoses has been achieved using constant speed control without consideration for the interaction forces. However, such an approach can be harmful to people with stroke since the level of disability varies among individuals, and it may cause potential injuries when excessive force is applied by the robot. To overcome this limitation and improve the rehabilitation process, it is necessary to recognize the force exerted by the person during walking and adjust the robot’s assistive torque accordingly, to provide synchronized motion. Thus, in this work, a human-cooperative approach based on a stiffness control strategy for the six-bar linkage-based gait rehabilitation robot is presented. The proposed methodology can serve as a solid foundation for developing a human-cooperative approach for linkage-based lower limb rehabilitation robotic orthoses. The control was validated and tested with eight healthy human subjects. As a result, customized robotic assistance with this mechanism can be provided during training to meet the individual needs of stroke patients, which can lead to increased engagement and contribution, thus improving treatment outcomes.

Hydrogen is playing an increasingly important role in China's energy and climate policy, with significant implications for the development of a global hydrogen industry. However, China's approach to the regulation of hydrogen, and, in particular, the role of local authorities in promoting hydrogen refuelling stations and fuel cell vehicles, has so far received limited scholarly attention. This article aims to contribute to the literature on hydrogen regulation and to the transnational environmental law scholarship on decentralization by examining how China promotes hydrogen at the national and local levels. The case of China shows how, in jurisdictions with a sufficient degree of decentralization, local initiatives can play a key role in driving the development of hydrogen. By testing different approaches to hydrogen regulation, local experimentation helps to manage the uncertainties associated with this new energy source. At the same time, China's experience confirms the ‘environmental federalism’ theory on the importance of regulatory harmonization to reduce transaction costs and local protectionism. As the Chinese government develops its national regulatory approach on hydrogen, it has the opportunity to take into account both local and international experience and engage with other major economies in an effort to promote an internationally harmonized regulatory landscape.

CO2 release rates from soils via soil respiration play an important role in the carbon budget of terrestrial ecosystems. Though the roles of soil temperature and moisture on soil respiration are well recognised, less is known about how their effects vary across different land-cover types. This study looked at the interactive effects of land-cover change and microclimate on temporal patterns of soil respiration in a montane forest-grassland-plantation mosaic in a highly diverse but climatically sensitive ecosystem in the tropical Western Ghats of India. Across all vegetation types, soil respiration rates were highest during south-west monsoon (June–October), when root growth, litter decomposition and microbial activity are relatively high and were lowest during the summer. Among vegetation types, soil respiration rates were higher in grasslands compared to non-native pine plantations, whereas that of forest and invasive wattle (Acacia mearnsii) plantations were intermediate between grasslands and pine plantations. The decline in respiration rates following conversion from grasslands to pine plantations could be due to relatively lower microbial activity, soil temperatures and, subsequently, slower litter decomposition. In addition, the sensitivity of soil respiration to changes in temperature and moisture differed between different vegetation types. Across all vegetation types, respiration was largely insensitive to changes in soil temperature when moisture levels were low. However, when soil moisture levels were high, respiration increased with temperature in grassland and wattle patches, decreased in the case of pine plantations and remained largely unchanged in shola forests. Our results suggest that changes in aboveground vegetation type can significantly affect soil C cycling even in the absence of any underlying differences in soil type.

The previously observed heterogeneity in developmental and intergenerational trajectories of childhood trauma may root from interindividual differences in the way trauma-exposed individuals have resolved these experiences. The current study explored whether distinctive patterns of impaired mentalization in relation to trauma could be identified in a sample of 825 pregnant women who experienced childhood maltreatment and whether these heterogeneous patterns were marked by significant differences in internalized and externalized problems during pregnancy, intimate partner violence, personality dysfunctions, and antenatal attachment. A latent profile analysis applied to the seven subscales of the Failure to Mentalize Trauma Questionnaire unraveled interindividual variability in mentalizing impairments among pregnant women exposed to childhood maltreatment by identifying five distinctive types of psychological responses to trauma, each being associated in cross-sectional analyses with a specific set of symptoms and dysfunctions. Overall, the study highlights the need for tailored interventions based on the individuals’ specific impairments in mentalizing trauma and calls for future developmental research exploring the longitudinal correlates of the five documented profiles of trauma processing.

This study investigated whether structural priming, as a reflection of error-driven learning mechanisms, could facilitate second language (L2) learning of the dative alternation in Mandarin. We sought evidence of learning from both priming and acceptability judgment data. Participants were 25 native speakers and 41 classroom learners (CLs). After a priming session in which participants predicted and then saw what a virtual partner had written to describe pictures (prime trials, with only acceptable verb-dative pairings), CLs showed increased production of these acceptable pairings and increased acceptability ratings for them. The observation of such longer-term priming effects beyond the priming phase, together with an inverse frequency effect of priming observed among the CLs, aligns well with error-driven learning accounts. However, we did not find evidence for statistical preemption, in that participants did not decrease ratings for unacceptable pairings as a result of exposure to their competing alternatives.

Cellulose of tree rings is often assumed to be predominantly formed by direct assimilation of CO2 by photosynthesis and consequently can be used to reconstruct past atmospheric 14C concentrations at annual resolution. Yet little is known about the extent and the age of stored carbon from previous years used in addition to the direct assimilation in tree rings. Here, we studied 14C in earlywood and latewood cellulose of four different species (oak, pine, larch and spruce), which are commonly used for radiocarbon calibration and dating. These trees were still growing during the radiocarbon bomb peak period (1958–1972). We compared cellulose 14C measured in tree-ring subdivisions with the atmospheric 14C corresponding to the time of ring formation. We observed that cellulose 14C carried up to about 50% of the atmospheric 14C signal from the previous 1–2 years only in the earlywood of oak, whereas in conifers it was up to 20% in the earlywood and in the case of spruce also in the latewood. The bias in using the full ring of trees growing in a temperate oceanic climate to estimate atmospheric 14C concentration might be minimal considering that earlywood has a low mass contribution and that the variability in atmospheric 14C over a few years is usually less than 3‰.

One significant dimension of the Next Generation EU program (NGEU) is its role in the broader context of the transition toward a low-carbon and environmentally sustainable economy and, specifically, in the global competition among major jurisdictions to become leaders in the key green industrial sectors.

Mildly explosive autoregressions have been extensively employed in recent theoretical and applied econometric work to model the phenomenon of asset market bubbles. An important issue in this context concerns the construction of confidence intervals for the autoregressive parameter that represents the degree of explosiveness. Existing studies rely on intervals that are justified only under conditional homoskedasticity/heteroskedasticity. This paper studies the problem of constructing asymptotically valid confidence intervals in a mildly explosive autoregression where the innovations are allowed to be unconditionally heteroskedastic. The assumed variance process is general and can accommodate both deterministic and stochastic volatility specifications commonly adopted in the literature. Within this framework, we show that the standard heteroskedasticity- and autocorrelation-consistent estimate of the long-run variance converges in distribution to a nonstandard random variable that depends on nuisance parameters. Notwithstanding this result, the corresponding t-statistic is shown to still possess a standard normal limit distribution. To improve the quality of inference in small samples, we propose a dependent wild bootstrap-t procedure and establish its asymptotic validity under relatively weak conditions. Monte Carlo simulations demonstrate that our recommended approach performs favorably in finite samples relative to existing methods across a wide range of volatility specifications. Applications to international stock price indices and U.S. house prices illustrate the relevance of the advocated method in practice.

The development of active and low-cost transition metal oxide-based catalysts was vital for the catalytic oxidation of toluene. This study aimed to prepare Fe-Mn oxide catalysts by Mn-rich limonite, and investigate the catalytic activity and mechanism for toluene oxidation. The natural Mn-rich limonite was thermally activated at different temperatures and these thermally activated samples exhibited different oxidation activities. YL-300, obtained through thermal treatment at 300°C, exhibited excellent catalytic activity, showing 90% toluene conversion at 239°C (1000 ppm toluene) and remarkable catalytic stability even in the presence of water vapor (5 vol.%). The amount of oxygen vacancies in the catalyst was regulated by tuning the thermal treatment temperatures. Optimal thermal treatment facilitated the increase of oxygen vacancies and enhanced the oxygen mobility and redox capacity of YL-300, contributing to the complete oxidation of toluene to H2O and CO2. The oxidation of toluene was greatly influenced by the adsorbed oxygen species. This study demonstrates the potential of Mn-rich limonite as a promising catalyst for toluene oxidation, thereby promoting the utilization of natural mineral materials in the field of environmental pollution control.

In the UK, food banks and other forms of food aid have become a normalised support mechanism for those living at the sharp end of poverty. Drawing from accounts of those who have used, worked, and volunteered in two of England’s food banks during the Covid-19 pandemic, this article explores some of the key challenges that emerged for food aid during this unique period. In documenting these experiences, the paper concurs with previous work that has identified the expanding role of food banks in providing core welfare support, suggesting an increasingly extended welfare function of food aid. This has implications for understanding the effectiveness of welfare – and the appropriateness of our reliance on voluntary aid – in the post-pandemic period.

Validating the theoretical work on Rayleigh–Taylor instability (RTI) through experiments with an exceptionally clean and well-characterized initial condition has been a long-standing challenge. Experiments were conducted to study the three-dimensional RTI of an SF$_6$–air interface at moderate Atwood numbers. A novel soap film technique was developed to create a discontinuous gaseous interface with controllable initial conditions. Spectrum analysis revealed that the initial perturbation of the soap film interface is half the size of an entire single-mode perturbation. The correlation between the initial interface perturbation and Atwood numbers was determined. Due to the steep and highly curved feature of the initial soap film interface, the early-time evolution of RTI exhibits significant nonlinearity. In the quasi-steady regime, various potential flow models accurately predict the late-time bubble velocities by considering the channel width as the perturbation wavelength. Differently, the late-time spike velocities are described by these potential flow models using the wavelength of the entire single-mode perturbation. These findings indicate that the bubble evolution is influenced primarily by the spatial constraint imposed by walls, while the spike evolution is influenced mainly by the initial curvature of the spike tip. Consequently, a recent potential flow model was adopted to describe the time-varying amplitude growth induced by RTI. Furthermore, the self-similar growth factors for bubbles and spikes were determined from experiments and compared with existing studies, revealing that a large amplitude in the initial soap film interface promotes the spike development.

Lough Hyne (LH) Marine Nature Reserve in Ireland is a globally recognised biodiversity hotspot that hosts mesophotic-like communities in shallow water, however, major changes have occurred to most of the rocky cliff (>6 m) communities in one or more events between 2010 and 2015. To provide insights into these changes, we compared the sponge assemblage composition on the undersides of different sized, shallow (<1 m) subtidal boulders between 2000 and 2022 at two sites in LH. We also measured sponge species richness at seven sites in 2018. We found that unlike earlier reports from the deeper subtidal reef sponge assemblages, there was no evidence for changes in sponge assemblage composition on the undersides of boulders at either site. We also found high levels of sponge species richness at all seven sites sampled in 2018. We did find differences in sponge assemblages between sites and for different boulder sizes, which we propose is a result of site-specific environmental conditions and disturbance and size–area relationships. Since we found no changes in the shallow subtidal sponge assemblages between 2000 and 2022, our results support the hypothesis that changes to the deeper subtidal sponge assemblages at LH are driven by local processes associated with deeper water in LH, potentially related to the seasonal oxythermocline that forms within LH. Given the national and global importance of LH, understanding the drivers of change is critical to determine if management actions can prevent any future alterations to the LH sponge assemblages and support wider mesophotic community management.