Eawag: Das Wasserforschungs-Institut des ETH-Bereichs

Dexterous in-hand manipulation in robotics, particularly with multifingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must be generated in real time, as the rapid changes in hand and finger positions necessitate instantaneous recalculations to prevent collisions and ensure undisturbed movement. This study introduces a real-time approach to motion planning in high-dimensional spaces. We first explicitly model the collision-free space using neural networks (NNs) that are retrievable in real time. Then, we combined the configuration space (C-space) representation with closed-loop control via dynamical system (DS) and sampling-based planning approaches. This integration enhances the efficiency and feasibility of pathfinding, enabling dynamic obstacle avoidance, thereby advancing the capabilities of multifingered robotic hands for in-hand manipulation tasks.

Siderite (FeCO 3 ) is an important reservoir of mineral-bound ferrous iron in non-sulfidic, reducing soils and sediments. It is redox sensitive, and its oxidation may facilitate the reduction of a range...

Research and management of hydropeaked rivers largely overlook the ecological impacts of recurring flow fluctuations, such as fish stranding, on ecosystem health. This article synthesizes scientific and grey literature, field studies, and experiments to assess the effects of frequent hydropeaking on fish. Findings show that hydropeaking frequency significantly affects the ecological integrity of alpine rivers, with an average of three daily down-ramping events. Despite some evidence of behavioral adaptation of fish to recurrent flow fluctuations, this adaptation appears insufficient to counter the cumulative effect of a series of single hydropeaking events. Larval and juvenile fish are particularly vulnerable, with stranding impacts extending to the population and community levels. Effective mitigation should prioritize reducing the cumulative impact of recurring hydropeaks while ensuring single-event ramping rates and flow amplitudes remain within ecological limits. To effectively safeguard sensitive habitats, targeted mitigation efforts informed by an understanding of habitat dynamics are critical. Furthermore, maintaining lateral connectivity within river systems is essential for supporting resilient fish populations, especially where hydropeaking mitigation possibilities are limited. Finally, this study identifies future research directions on hydropeaking frequency and its ecological effects.

Lakes represent a vital source of freshwater, accounting for 87% of the Earth’s accessible surface freshwater resources and providing a range of ecosystem services, including water for human consumption. As climate change continues to unfold, understanding the potential evaporative water losses from lakes becomes crucial for effective water management strategies. Here we investigate the impacts of climate change on the evaporation rates of 23 European lakes and reservoirs of varying size during the warm season (July–September). To assess the evaporation trends, we employ a 12-member ensemble of model projections, utilizing three one-dimensional process-based lake models. These lake models were driven by bias-corrected climate simulations from four General Circulation Models (GCMs), considering both a historical (1970–2005) and future (2006–2099) period. Our findings reveal a consistent projection of increased warm-season evaporation across all lakes this century, though the magnitude varies depending on specific factors. By the end of this century (2070–2099), we estimate a 21%, 30% and 42% average increase in evaporation rates in the studied European lakes under RCP (Representative Concentration Pathway) 2.6, 6.0 and 8.5, respectively. Moreover, future projections of the relationship between precipitation (P) and evaporation (E) in the studied lakes, suggest that P-E will decrease this century, likely leading to a deficit in the availability of surface water. The projected increases in evaporation rates underscore the significance of adapting strategic management approaches for European lakes to cope with the far-reaching consequences of climate change.

Human pressures, particularly urbanisation and agricultural expansion, profoundly affect biodiversity by reshaping species and functional trait distributions, with critical consequences for ecosystem resilience and multifunctionality. Yet, the extent and strength of these impacts across diverse taxa and ecosystems remain poorly understood. Here, we analyse 160 spatial datasets, encompassing over 13,000 local communities and nine major taxa in freshwater and terrestrial ecosystems worldwide. Our results reveal that human pressure is the dominant driver of species and trait replacement, consistently outweighing the effects of climate and spatial distance. Despite observing a prevalence of biotic differentiation across landscapes, we reveal that the occurrence of biotic homogenisation is consistently linked to the dominant effects of human pressure. These homogenising effects are particularly pronounced in the trait composition of terrestrial communities and the species composition of freshwater communities, suggesting distinct mechanisms across realms. We find that rates of species and trait replacement increase rapidly along the human pressure gradient, especially between low and medium pressure, before they stabilise. Importantly, an exception occurs in urban landscapes, where species replacement increases exponentially. Although ecological communities generally exhibit species turnover along the human pressure gradient, we find that they are disproportionately homogenised in traits. While this provides resilience to environmental changes, it can delay the recognition of species collapse until key functional traits are lost, risking sudden ecosystem breakdown. Our findings underscore the urgent need for conservation strategies that prioritise the preservation of minimally impacted habitats to sustain ecosystem resilience and multifunctionality.

Aims Highly cross-linked polyethylene (HXLPE) greatly reduces wear in total hip arthroplasty, compared to conventional polyethylene (CPE). Cross-linking is commonly achieved by irradiation. This study aimed to compare the degree of cross-linking and in vitro wear rates across a cohort of retrieved and unused polyethylene cups/liners from various brands. Methods Polyethylene acetabular cups/liners were collected at one centre from 1 April 2021 to 30 April 2022. The trans-vinylene index (TVI) and oxidation index (OI) were determined by Fourier-transform infrared spectrometry. Wear was measured using a pin-on-disk test. Results A total of 47 specimens from ten brands were included. The TVI was independent of time in vivo. A linear correlation (R ² = 0.995) was observed between the old and current TVI standards, except for vitamin E-containing polyethylene. The absorbed irradiation dose calculated from the TVI corresponded to product specifications for all but two products. For one electron beam-irradiated HXLPE, a mean dose of 241% (SD 18%) of specifications was determined. For another, gamma-irradiated HXLPE, a mean 41% (SD 13%) of specifications was determined. Lower wear was observed for higher TVI. Conclusion The TVI is a reliable measure of the absorbed irradiation dose and does not alter over time in vivo. The products of various brands differ by manufacturing details and consequently cross-linking characteristics. Absorption and penetration of electron radiation and gamma radiation differ, potentially leading to higher degrees of cross-linking for electron radiation. There is a non-linear, inverse correlation between TVI and in vitro wear. The wear resistance of the HXLPE with low TVI was reduced and more comparable to CPE. Cite this article: Bone Joint Res 2024;13(11):682–693.

Microbiome metabolism underlies numerous vital ecosystem functions. Individual microbiome members often perform partial catabolism of substrates or do not express all of the metabolic functions required for growth. Microbiome members can complement each other by exchanging metabolic intermediates and cellular building blocks to achieve a collective metabolism. We currently lack a mechanistic framework to explain why microbiome members adopt partial metabolism and how metabolic functions are distributed among them. Here we argue that natural selection for proteome efficiency-that is, performing essential metabolic fluxes at a minimal protein investment-explains partial metabolism of microbiome members, which underpins the collective metabolism of microbiomes. Using the carbon cycle as an example, we discuss motifs of collective metabolism, the conditions under which these motifs increase the proteome efficiency of individuals and the metabolic interactions they result in. In summary, we propose a mechanistic framework for how collective metabolic functions emerge from selection on individuals.

Sustainability transitions can be understood as the transformation of socio-technical systems towards the sustainable provision of societal functions. Socio-technical systems are held together by formal and informal rules, also called institutions. For sustainability transitions to materialize, the formal and informal rules of socio-technical systems need to change. Institutional change is often driven by coordinated collective efforts—typically in the form of coalitions—that mobilize actors, shape policies, and influence socio-technical environments to favor sustainable innovations. The chapter defines coalitions and related concepts such as alliances, social movements, and networks, and reviews their roles within established sustainability transition frameworks, including the Multi-Level Perspective, Technological Innovation Systems, Strategic Niche Management, and Transition Management. The chapter also introduces theoretical strands that use different types of coalition concepts and discusses how they can be applied to sustainability transitions, and finally highlights valuable avenues for future coalition-related research in the field of sustainability transition studies.

In shallow lakes, mobilization of legacy phosphorus (P) from the sediments can be the main cause for persisting eutrophication after reduction of external P input. In-lake remediation measures can be...

In this article we examine the effects of eclogitization of slab rocks on the subduction regime under a continent. Eclogitization of rocks in high-pressure metamorphic complexes occurs only in the areas of penetration of hydrous fluid. In the absence of hydrous fluid, the kinetic delay of eclogitization preserves lowdensity rocks under P‒T conditions of eclogite metamorphism, delaying the weighting of a slab and reducing the efficiency of the slab-pull mechanism, which contributes to steep subduction into the deep mantle. The results of numerical petrological–thermomechanical 2D modeling of subduction under a continent in a wide range of eclogitization parameters of oceanic crustal rocks (discrete eclogitization) are presented. The effects of a lower kinetic delay of eclogitization in a water-bearing basalt layer, compared to a drier underlying gabbro layer, have been tested. Based on the results of 112 numerical experiments with 7 variants of eclogitization ranges (400–650°C for basalt and 400–1000°C for gabbro) at different potential mantle temperatures (ΔT = 0–250°C, above the modern value), and steep, flat, and transitional subduction regimes were identified. The steep subduction regime occurs under modern conditions (ΔT = 0°C) with all ranges of eclogitization. Here, it is characterized by an increase in the angle of subduction of the slab as the plate descends, and above the boundary of the mantle transition zone there is a flattening and/or tucking of the slab. Subduction is accompanied by the formation of felsic and mafic volcanics and their plutonic analogues. At elevated mantle temperatures (ΔT ≥ 150°С) and discrete eclogitization over a wide range, the flat subduction regime is observed with periodic detachments of its steeper frontal eclogitized part. The flat subduction regime is accompanied by significant serpentinization of the mantle wedge and sporadic, scarce magmatism (from mafic to felsic), which occurs at a significant distance (≥500 km) from the trench. During the transition regime, which is also achieved in models with elevated mantle temperatures, a characteristic change occurs from flat to steep subduction, resulting in a stepped shape of the slab. As the kinetic shift of eclogitization increases, flat subduction develops. An increase in the thickness of the continental lithosphere from 80 to 150 km contributes to steep subduction, while the influence of the convergence rate (5–10 cm/year) is ambiguous. Discrete eclogitization of thickened oceanic crust and depletion of lithospheric mantle in the oceanic plate are the main drivers of flat subduction. In modern conditions, their influence becomes insignificant due to the decrease in thickness of oceanic crust and degree of depletion of the oceanic mantle lithosphere. As a result, less frequent flat movement of slabs is determined by other factors.

Freshwater pollution is, together with climate change, one of today’s most severe and pervasive threats to the global environment. Comprehensive and spatially explicit scenarios covering a wide range of constituents for freshwater quality are currently scarce. In this Global Perspective paper, we propose a novel model-based approach for five water quality constituents relevant for human and ecosystem health (nitrogen, biochemical oxygen demand, anthropogenic chemicals, fecal coliform, and arsenic). To project the driving forces and consequences for emissions and impacts, a set of common data based on the same assumptions was prepared and used in different large-scale water quality models including all relevant demographic, socioeconomic, and cultural changes, as well as threshold concentrations to determine the risk for human and ecosystem health. The analysis portrays the strong links among water quality, socio-economic development, and lifestyle. Internal consistency of assumptions and input data is a prerequisite for constructing comparable scenarios using different models to support targeted policy development.

Sustainability transitions can be understood as the transformation of socio-technical systems towards the sustainable provision of societal functions. Socio-technical systems are held together by formal and informal rules, also called institutions. For sustainability transitions to materialize, the formal and informal rules of socio-technical systems need to change. Institutional change is often driven by coordinated collective efforts—typically in the form of coalitions—that mobilize actors, shape policies, and influence socio-technical environments to favor sustainable innovations. The chapter defines coalitions and related concepts such as alliances, social movements, and networks, and reviews their roles within established sustainability transition frameworks, including the Multi-Level Perspective, Technological Innovation Systems, Strategic Niche Management, and Transition Management. The chapter also introduces theoretical strands that use different types of coalition concepts and discusses how they can be applied to sustainability transitions, and finally highlights valuable avenues for future coalition-related research in the field of sustainability transition studies.

Host–bacterial communities (microbiomes) are influenced by a wide range of factors including host genotype and parasite exposure. However, few studies disentangle temporal and host-genotype-specific variation in microbiome response to infection across several host tissues. We experimentally exposed the freshwater crustacean Daphnia magna to its fungal parasite Metschnikowia bicuspidata and characterized changes in host–bacterial communities associated with the parasite's development within the host. We used 16S rRNA gene sequencing to assess bacterial communities of the host (a) 24 h (‘initial parasite exposure’) and (b) 10 days (‘successful infection’) after exposure to a standard dose of M. bicuspidata spores, in host guts, body tissue (excluding guts) and whole individuals. We also investigated whether bacterial community responses to parasite exposure varied by host genotype. Parasite exposure did not immediately alter host gut bacterial communities, but drove host-genotype-specific changes in the bacterial community composition of whole individuals. We validated that these changes were not driven by shifts in bacterial communities of the culturing medium, due to the addition of the parasite spore solution. Successful infection (i.e. the proliferation of M. bicuspidata spores in the host body) reduced alpha diversity and shifted abundance of dominant bacterial orders in the gut. Moreover, it induced a host-genotype-specific changes in body bacterial community composition. Overall, bacterial community responses to parasite exposure and subsequent infection are complex: they occur in a host-genotype-dependent manner, differentially at distinct timepoints after parasite exposure, and in specific host tissue.

Human activities significantly alter natural river flows, impacting ecosystem functioning and biodiversity worldwide. Hydropeaking, resulting from intermittent on-demand hydropower generation, introduces sub-daily flow fluctuations exceeding natural variability. While the effects of single hydropeaking events are well-studied, the cumulative impacts of frequent hydropeaking requires further exploration. This study aims to develop metrics that captures changes in habitat dynamics at the patch scale (i.e., individual micro-habitats within the habitat mosaic) due to reoccurring hydropeaking. Using hydrodynamic simulations, we introduce three patch-scale metrics to quantify habitat dynamics with high spatial (0.5m) and temporal (10min) resolution: (M1) Habitat probability within patches, assessing spatio-temporal diversity of habitats; (M2) Habitat shifts within patches, evaluating habitat persistence for sessile organisms (e.g. vegetation, invertebrates); and (M3) Spatial shifts of habitats, indicating habitat relocation affecting mobile species (e.g. adult fish). Using eight hydro-morphological scenarios representing different levels of anthropogenic modification of flow and morphology, we demonstrate that these metrics effectively quantify changes in habitat dynamics at patch-scale. The results highlight the ecological relevance of these metrics and their potentially utility for river management. By identifying areas susceptible to ecological impacts, these metrics may serve as tools for hydropeaking mitigation, enabling more targeted and spatially explicit habitat management and restoration.

Phytoplankton is an essential resource in aquatic ecosystems, situated at the base of aquatic food webs. Plastic pollution can impact these organisms, potentially affecting the functioning of aquatic ecosystems. The interaction between plastics and phytoplankton is multifaceted: while microplastics can exert toxic effects on phytoplankton, plastics can also act as a substrate for colonisation. By reviewing the existing literature, this study aims to address pivotal questions concerning the intricate interplay among plastics and phytoplankton/phytobenthos and analyse impacts on fundamental ecosystem processes (e.g. primary production, nutrient cycling). This investigation spans both marine and freshwater ecosystems, examining diverse organisational levels from subcellular processes to entire ecosystems. The diverse chemical composition of plastics, along with their variable properties and role in forming the “plastisphere”, underscores the complexity of their influences on aquatic environments. Morphological changes, alterations in metabolic processes, defence and stress responses, including homoaggregation and extracellular polysaccharide biosynthesis, represent adaptive strategies employed by phytoplankton to cope with plastic‐induced stress. Plastics also serve as potential habitats for harmful algae and invasive species, thereby influencing biodiversity and environmental conditions. Processes affected by phytoplankton–plastic interaction can have cascading effects throughout the aquatic food web via altered bottom‐up and top‐down processes. This review emphasises that our understanding of how these multiple interactions compare in impact on natural processes is far from complete, and uncertainty persists regarding whether they drive significant alterations in ecological variables. A lack of comprehensive investigation poses a risk of overlooking fundamental aspects in addressing the environmental challenges associated with widespread plastic pollution.

Despite the soaring popularity of e‐cigarettes among teenagers and young adults, our understanding of the full extent of their health hazards have remained limited. This is due to the vast complexities of e‐cigarette aerosols and the difficulty in their full characterisation. Conventional mass spectrometry methods of e‐cigarette analysis, though pioneering in driving political and medical discourse, have been limited in their capabilities to uncover all compounds in its emissions due to prominent limitations in experimental setup. To overcome this major hurdle, we have developed a setup for puff‐by‐puff analysis of electronic and conventional cigarette emissions by concentric dielectric barrier discharge ionisation mass spectrometry. In this pilot study, the simple setup of in‐line dilution and high‐resolution mass spectrometry analysis allowed us to directly uncover 225 compounds in e‐cigarette puffs across a wide spectrum of chemical classes in two sequential 5‐minute runs. These include acids, carbonyls, aromatic cyclics, heterocyclics, unsaturated and saturated hydrocarbons, alcohols, esters, alkaloids, sulfur‐containing compounds, oxides, and nitriles. As a result, our setup provided a significant improvement in rapid compound identification, and demonstrated a much broader chemical landscape in e‐cigarette emissions than previously reported.

The exceptional diversity of shallow‐water marine fishes contributes to the nutrition of millions of people worldwide through coastal wild‐capture fisheries, with different species having diverse nutritional profiles. Fishes in ecosystems are reservoirs of micronutrients with benefits to human health. Yet, the amount of micronutrients contained in fish species on coral reefs and in shallow tropical waters is challenging to estimate, and the micronutrients caught by fisheries remain uncertain. To assess whether micronutrient deficiencies could be addressed through specific fisheries management actions, we first require a quantification of the potentially available micronutrients contained in biodiverse reef fish assemblages. Here, we therefore undertake a broad heuristic assessment of available micronutrients on tropical reefs using ensemble species distribution modelling and identify potential mismatches with micronutrients derived from summarising coastal fisheries landings data. We find a mismatch between modelled estimates of micronutrients available in the ecosystem on the one hand and the micronutrients in small‐scale fisheries landings data. Fisheries had lower micronutrients than expected from fishes in the modelled assemblage. Further, fisheries were selective for vitamin A, thus resulting in a trade‐off with other micronutrients. Our results remained unchanged after accounting for the under‐sampling of fish communities and under‐reporting of small‐scale fisheries catches—two major sources of uncertainty. This reported mismatch indicates that current estimates of fished micronutrients are not adequate to fully assess micronutrient inventories. However, small‐scale fisheries in some countries were already selective towards micronutrient mass, indicating policies that target improved access, distribution and consumption of fish could leverage this existing high micronutrient mass. Enhanced taxonomic resolution of catches and biodiversity inventories using localised species consumption surveys could improve understanding of nature‐people linkages. Improving fisheries reporting and monitoring of reef fish assemblages will advance the understanding of micronutrient mismatches, which overall indicate a weak uptake of nutritional goals in fisheries practices. The decoupling between micronutrients in ecosystems and in fisheries catches indicates that social, economic, and biodiversity management goals are not shaped around nutritional targets—but this is key to achieve a sustainable and healthy planet for both people and nature. Read the free Plain Language Summary for this article on the Journal blog.

177Lu-OncoFAP-23 is a novel FAP-targeted radioligand therapeutic (RLT) with high and prolonged tumor residence time and promising preclinical efficacy. In this work, we investigated the correlation between the injected molar dose and the in vivo tumor-to-organ ratios and tumor-targeting performance of 177Lu-OncoFAP-23. We evaluated the quantitative biodistribution profile of 177Lu-OncoFAP-23 at different molar doses (i.e., 3 to 2250 nmol/kg) in tumor-bearing mice by means of ex vivo gamma counting, we included 177Lu-OncoFAP and 177Lu-BiOncoFAP as experimental controls. The biodistribution profile of 177Lu-OncoFAP-23 strongly depends on the molar dose injected. Molar doses below 30 nmol/kg result in unwanted uptake of the compound in healthy organs, while doses higher than 725 nmol/kg determined a reduced tumor uptake due to receptor saturation. We identified an optimal molar dose ranging from 90 to 250 nmol/kg, characterized by elevated tumor uptake and adequate tumor-to-organ ratios. 177Lu-OncoFAP-23 presents a favorable in vivo biodistribution profile at molar doses ranging from 90 to 250 nmol/kg in tumor-bearing mice. Our results guide the design of the first-in-human Phase I clinical trial with this novel FAP-targeted radioligand therapeutic.

Plant phenology is crucial for understanding plant growth and climate feedback. It affects canopy structure, surface albedo, and carbon and water fluxes. While the influence of environmental factors on phenology is well‐documented, the role of plant intrinsic factors, particularly internal physiological processes and their interaction with external conditions, has received less attention. Non‐structural carbohydrates (NSC), which include sugars and starch essential for growth, metabolism and osmotic regulation, serve as indicators of carbon availability in plants. NSC levels reflect the carbon balance between photosynthesis (source activity) and the demands of growth and respiration (sink activity), making them key physiological traits that potentially influence phenology during critical periods such as spring leaf‐out and autumn leaf senescence. However, the connections between NSC concentrations in various organs and phenological events are poorly understood. This review synthesizes current research on the relationship between leaf phenology and NSC dynamics. We qualitatively delineate seasonal NSC variations in deciduous and evergreen trees and propose testable hypotheses about how NSC may interact with phenological stages such as bud break and leaf senescence. We also discuss how seasonal variations in NSC levels, align with existing conceptual models of carbon allocation. Accurate characterization and simulation of NSC dynamics are crucial and should be incorporated into carbon allocation models. By comparing and reviewing the development of carbon allocation models, we highlight the shortcomings in current methodologies and recommend directions to address these gaps in future research. Understanding the relationship between NSC, source–sink relationships, and leaf phenology poses challenges due to the difficulty of characterizing NSC dynamics with high temporal resolution. We advocate for a multi‐scale approach that combines various methods, which include deepening our mechanistic understanding through manipulative experiments, integrating carbon sink and source data from multiple observational networks with carbon allocation models to better characterize the NSC dynamics, and quantifying the spatial pattern and temporal trends of the NSC‐phenology relationship using remote sensing and modelling. This will enhance our comprehension of how NSC dynamics impact leaf phenology across different scales and environments. Read the free Plain Language Summary for this article on the Journal blog.