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Autonomous trajectory tracking control method for an agricultural robotic vehicle

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International Journal of Agricultural and Biological Engineering 2024年第1期17卷 215-224页

作者： Jin yan Wenguang Zhang Yong Liu Wei Pan Xiaoyu hou Zhiyu Liu School of Computer Science and Engineering Nanjing University of Science and TechnologyNanjing 210094China School of Information Engineering Xuzhou University of TechnologyXuzhou 221018JiangsuChina National Key Laboratory of Transient Physics Nanjing University of Science and TechnologyNanjing 210094China School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

To address the nonlinearities and external disturbances in unstructured and complex agricultural environments,this paper investigates an autonomous trajectory tracking control method for agricultural ground ***,this paper presents the design and implementation of a lightweight,modular two-wheeled differential drive vehicle equipped with two drive wheels and two caster *** vehicle comprises drive wheel modules,passive wheel modules,battery modules,a vehicle frame,a sensor system,and a control ***,a novel robust trajectory tracking method was proposed,utilizing an improved pure pursuit ***,an Online Particle Swarm Optimization Continuously Tuned PID(OPSO-CTPID)controller was introduced to dynamically search for optimal control gains for the PID *** results demonstrate the superiority of the improved pure pursuit algorithm and the OPSO-CTPID control *** validate the performance,the vehicle was integrated with a seeding and fertilizing machine to realize autonomous wheat seeding in an agricultural *** outcomes reveal that the vehicle of this study completed a seeding operation exceeding 1 km in *** proposed method can robustly and smoothly track the desired trajectory with an accuracy of less than 10 cm for the root mean square error(RMSE)of the curve and straight lines,given a suitable set of parameters,meeting the requirements of agricultural *** findings of this study hold significant reference value for subsequent research on trajectory tracking algorithms for ground-based agricultural robots.

关键词： trajectory tracking autonomy control agricultural robotic vehicle online PSO continuously tuned PID dynamic pure pursuit algorithm

Estimating the total allowable catch and management of Threadfin porgy(Evynnis cardinalis)fisheries in the northern South China Sea based on sampling surveys conducted at fishing ports

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Aquaculture and Fisheries 2024年第2期9卷 273-279页

作者： Bo Feng Zhonglu Li Huosheng Lu Yunrong yan Gang hou Guangdong Provincial Far Sea Fisheries Management and Fishing Engineering Technical Research Center Fisheries CollegeGuangdong Ocean UniversityZhanjiang524088China Marine Resources Big Data Center of South China Sea Southern Marine Science and Engineering Guangdong Laboratory(Zhanjiang)Zhanjiang524025China

In order to develop a method that apply sampling survey data randomly obtained at fishing ports to fish stock assessments,based on fish landing surveys conducted at fishing ports in the northern South China Sea(SCS),19 Threadfin porgy(Evynnis cardinalis)catch per unit effort(CPUE)datasets were collected for fishing vessels with different gear types and engine powers and incorporated into surplus production *** only the fitting performance,the Schaefer model had the best overall goodness of fit,followed by the Fox,CYP,W-H,and Schnute *** fishing vessels with different gears and engine powers,the data were best fitted for single-trawl vessels powered by 301-400-kW engines and for gillnet vessels powered by>200-kW *** model expressions were superior and selected for subsequent analyses based on their goodness of fit and relative *** Kobe plot analysis results showed an optimistic fish stock status when using the four model expressions,required more caution when using three model expressions and output pessimistic estimations using one model *** the incomplete information acquired,a compromising decision-making method was used to derive a 2017 northern SCS *** total allowed catch(TAC)of 44,691.21 *** different conclusions drawn from estimations using CPUEs reflect variable exploitation and utilization fish stock statuses among fishing vessels with different gears and engine ***,the fishing operations were grouped according to their CPUE relationship,and recommendations regarding optimum fishing efforts were assigned to the groups following a fundamental principle:to improve fishery TAC management,fishing efforts should be reduced if the fish stock assessment is pessimistic and maintained if the assessment is *** study providing a feasible technical method for the TAC management of China’s offshore fisheries.

关键词： Evynnis cardinalis Catch per unit effort Total allowable catch Fishery management Northern South China Sea

Sustainable and practical semi-heterogeneous photosynthesis of 5-amino-1,2,4-thiadiazoles over WS_(2)/TEMPO

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Chinese Chemical Letters 2024年第8期35卷 250-253页

作者： Jia-Cheng hou Hong-Tao Ji Yu-Han Lu Jia-Sheng Wang Yao-Dan Xu yan-yan Zeng Wei-Min He School of Chemistry and Chemical Engineering University of South ChinaHengyang 421001China

An eco-friendly and practical method for the clean preparation of 5-amino-1,2,4-thiadiazoles was *** WS_(2)as the semiconductor photocatalyst,both TEMPO and O_(2)(in air)as the redox catalysts,a variety of thiadiazoles were semi-heterogeneously formed in high to quantitative yields and could be easily collected by CPME extraction and ***,the catalytic system can be reusable for at least 5 reaction runs.

关键词： Green chemistry Thiadiazoles Heterogeneous catalyst Redox catalyst Extraction

Enhanced photocatalytic performance of Bi_(2)O_(2)CO_(3)/Bi_(4)O_(5)Br_(2)/reduced graphene oxide Z-schemehe terojunction via a one-pot room-temperature synthesis

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Journal of Environmental Sciences 2024年第4期138卷 418-427页

作者： Xiaoge Wu Lei yan Rongrong Qin Qikai Zhang Wei yang Xiaozhi Wang Yongcai Zhang Min Luo Jianhua hou College of Environmental Science and Engineering Yangzhou UniversityYangzhouJiangsu 225009China Jiangsu Collaborative Innovation Center for Solid Organic Waste Resource Utilization Nanjing 210095China Beijing Xinfeng Aerospace Equipment Co. Ltd.Beijing 100854China Beijing System Design Institute of Electro-Mechanic Engineering Beijing 100005China College of Chemistry and Chemical Engineering Ningxia UniversityYinchuanNingxia 750021China

Bi_(2)O_(2)CO_(3)(BOC)/Bi_(4)O_5Br_(2)(BOB)/reduced graphene oxide(rGO)Z-scheme heterojunction with promising photocatalytic properties was synthesized via a facile one-pot room-temperature ***-thin nanosheets of BOC and BOB were grown in situ on r *** formed 2D/2D direct Z-scheme heterojunction of BOC/BOB with oxygen vacancies(OVs)effectively leads to lower negative electron reduction potential of BOB as well as higher positive hole oxidation potential of BOC,showing improved reduction/oxidation ***,rGO is an acceptor of the electrons from the conduction band of *** dual roles significantly improve the transfer performance of photo-induced charge carriers and accelerate their *** layered nanosheet structure,rich OVs,high specific surface area,and increased utilization efficiency of visible light,the multiple synergistic effects of BOC/BOB/rGO can achieve effective generation and separation of the electron-holes,thereby generating more·O_(2)^(-)and h^(+).The photocatalytic reduction efficiency of CO_(2)to CO(12.91μmol/(g·hr))is three times higher than that of BOC(4.18μmol/(g·hr)).Moreover,it also achieved almost 100%removal of Rhodamine B and cyanobacterial cells within 2 hours.

关键词： Bi_(2)O_(2)CO_(3) Bi_(4)O_(5)Br_(2) Reduced graphene oxide Z-scheme heterojunction Photocatalysis CO_(2)reduction

Enhanced fluorescence sensing of tetracycline with Ti_(2)C quantum dots

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Nano Research 2024年第4期17卷 3180-3188页

作者： Dejia Hu ShangZuo Jiang Tianhao Xia Danyang Xiao yan Li yanbing hou Jin Zhong Zhang Ying-Chih Pu School of Materials Science and Engineering University of Science and Technology BeijingBeijing 100083China Key Lab Luminescence&Optical Information Ministry EducationBeijing JiaoTong UniversityBeijing 100044China Department of Chemistry and Biochemistry University of CaliforniaSanta CruzCalifornia 95064USA Department of Materials Science "National University of Tainan"Tainan 700301TaiwanChina

Ti_(2)C quantum dots(QDs)with rich surface functional groups have been synthesized using a hydrothermal method,and used to detect tetracycline(Tc)based on enhanced *** interaction between the surface functional groups of Ti_(2)C QDs and Tc enhanced the fluorescence of Tc at 514 nm,which is used to detect Tc quickly and *** optimal conditions,the fluorescence intensity was linear to the concentration of Tc in the range of 50.0–30.0μM,with a detection limit of 21.6 ***,the Tc-Ti_(2)C QDs detection system was evaluated for detection of Tc in milk and artificial *** study demonstrates a new and simple strategy for Tc detection,which is important for food safety and human health.

关键词： Ti_(2)C MXene quantum dots tetracycline fluorescence enhancement detection

Experimental Study on Vortex-Induced Vibration of Rough Risers Coupling with Interference Effect in Tandem Arrangement

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China Ocean Engineering 2024年第3期38卷 394-407页

作者： HU Ze-bo LIU Zhen LI Peng GUO Hai-yan REN Xiao-hui hou Hao HAO Lian-hong College of Civil Engineering and Architecture Shandong University of Science and TechnologyQingdao 266590China Qingdao Key Laboratory of Marine Civil Engineering Materials and Structures Qingdao 266590China College of Engineering Ocean University of ChinaQingdao 266100China

In order to study the response law of vortex-induced vibration(VIV)of marine risers under the combined action of roughness and interference effects,and to reveal the coupling mechanism of roughness and interference effects on the riser,a VIV experiment of rough risers in tandem arrangement was conducted in a wave−current combined *** experiment characterized the risers’roughness by arranging different specifications of attachments on the surface of the *** rough risers with different roughness and smooth risers were arranged in tandem arrangement,with the rough risers arranged *** experimental results indicate that the suppression of the attachments on the downstream risers’vibration are more significant both in the CF and IL directions as the reduced velocity *** the downstream riser,the amplitude response of rough riser is more significantly weakened compared with the smooth one at high reduced *** the upstream risers,changes in the roughness and spacing ratio have an impact on their‘lock-in’*** the roughness of downstream risers is relatively large(0.1300)and the spacing between risers is small(S/D=4.0),the reduced velocity range of‘lock-in’region in the CF direction of upstream risers is obviously expanded,and the displacement in the‘lock-in’region is severer.

关键词： marine riser vortex-induced vibration tandem arrangement roughness interference effect

Inertinite in coal and its geoenvironmental significance:Insights from AI and big data analysis

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Science China Earth Sciences 2024年第6期67卷 1779-1801页

作者： Longyi SHAO Jiamin Zhou Timothy PJONES Fanghui HUA Xiaotao XU Zhiming yan Haihai hou Dongdong WANG Jing LU State Key Laboratory for Fine Exploration and Intelligent Development of Coal Resources and College of Geoscience and Surveying Engineering China University of Miningand Technology(Beijing)Beijing 100083China School of Earth and Environmental Sciences Cardiff UniversityCardiff CF103YEWalesEngland General Prospecting Institute of China National Administration of Coal Geology Beijing 100039China Institute of Architectural Engineering Weifang UniversityWeifang 261061China College of Mining Liaoning Technical UniversityFuxin 123000China College of Earth Science and Engineering Shandong University of Science and TechnologyQingdao 266590China

Inertinite,as an important and abundant maceral group in coal,is critical for the study of palaeowildfires and their roles in the Earth’s ***,there has been a significant amount of research on the relationship between palaeowildfire,palaeoclimate change and palaeovegetation evolution based on inertinite *** reflectance of fusinite and semifusinite has been used to estimate the combustion temperature and type of palaeowildfires,and then to evaluate the combustion characteristics of different types of *** relative abundance of inertinite can be used to estimate the atmospheric oxygen *** rapid development of artificial intelligence(AI)and online tools to search scientific databases has presented an opportunity for us to find,collect,arrange,and analyse data from the earliest to latest publications on *** data extraction tool Deep Shovel is used to collect and analyse global inertinite data from the Silurian to the *** software programs such as Gplates,ArcGIS pro and Tableau are then applied to model the relative abundance of inertinite over geological time,which can be correlated with other parameters such as atmospheric oxygen contents,plant evolution and palaeoclimate *** distribution of inertinite in coals varied over different geological periods,being typified by the“high inertinite content-high atmospheric oxygen level”period in the Permian and the“low inertinite content-low atmospheric oxygen level”period in the *** study has proposed a possible model of the positive and negative feedbacks between inertinite characteristics and palaeoenvironmental factors,and has revealed the exceptional role of inertinite in palaeoenvironmental *** research on inertinite will be focused on the integrated study of organic petrology and organic geochemistry of inertinite,the big data-driven research on the temporal and spatial distribution of the global inertinite,the exploration of the

关键词： Inertinite Palaeowildfires Atmospheric oxygen Palaeoclimates Palaeoecosystems

Interactions of phenol and benzaldehyde in electrocatalytic upgrading process

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Chinese Chemical Letters 2024年第2期35卷 464-468页

作者： Lan Liang Chuanbin Wang Xukai Lu Yunan Sun Beibei yan Ning Li Guanyi Chen Li'an hou School of Environmental Science and Engineering Tianjin Key Lab of Biomass/Wastes UtilizationTianjin UniversityTianjin 300350China School of Mechanical Engineering Tianjin University of CommerceTianjin 300134China Georgia Tech Shenzhen Institute Tianjin UniversityShenzhen 518071China High Tech Inst Beijing Beijing 100085China

Biomass pyrolysis oil can be improved effectively by electrocatalytic hydrogenation(ECH).However,the unclear interactions among different components lead to low bio-oil upgrading efficiency in the conversion ***,benzaldehyde and phenol,as common compounds in bio-oil,were chosen as model *** interactions between the two components were explored in the ECH process by combining experiments and theoretical *** showed that phenol could accelerate the conversion of benzaldehyde in the *** selectivity of benzyl alcohol was increased from 60.9%of unadded phenol to 99.1%with 30 mmol/L phenol concentration at 5 *** inhibited the ECH of *** the presence of benzaldehyde,the conversion rate of phenol was below 10.0%with no cyclohexanone and cyclohexanol formation at 5 *** density functional theory(DFT)calculations revealed that the phenol could promote the adsorption of benzaldehyde and facilitate the targeted conversion of benzaldehyde on the active site by lowering the reaction energy *** research on the interaction between phenol and benzaldehyde in the ECH provides a theoretical basis for the application of ECH in practical bio-oil upgrading.

关键词： Interaction Bio-oil Electrocatalytic hydrogenation Phenol Benzaldehyde

Traceless photodegradable polymer cocoons for universal protein delivery and light-controlled gene editing

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Science China Chemistry 2024年第2期67卷 664-676页

作者： Huaibin Yu Meron Tsegay Kifle Lili Chen Feihong Xiong yan Zhang Shangbang Gao Wei hou shuliang Chen Weining Zhao Yuzhou Wu Hubei Engineering Research Center for Biomaterials and Medical Protective Materials Hubei Key Laboratory of Bioinorganic Chemistry&Materia MedicaKey Laboratory of Material Chemistry for Energy Conversion and StorageMinistry of EducationSchool of Chemistry and Chemical EngineeringHuazhong University of Science and Technology(HUST)Wuhan430074China Zhengzhou Research Institute Harbin Institute of TechnologyZhengzhou450000China College of Life Science and Technology Huazhong University of Science and Technology(HUST)Wuhan430074China Institute of Medical Virology School of Basic Medical SciencesWuhan UniversityWuhan430071China College of Pharmacy Shenzhen Technology UniversityShenzhen518118China

Polymer conjugation was found highly valuable in clinic to improve the bioavailability of protein ***,it is still a tremendous challenge to achieve a complete release of original proteins from the conjugated hybrid under external stimulus to recover active proteins in the targeted ***,we report a general light-controlled protein delivery methodology by weaving a photodegradable polymer cocoon around proteins,which could reliably protect them from degradation in the dark while efficiently releasing them under illumination without any residual *** surface charge of the polymer shell is easily tunable to facilitate efficient cell *** versatility of this strategy is demonstrated by the delivery of the Cas9/sg RNA complex that realized light-controlled gene editing both in vitro and in vivo,and such repertoire is of particular value in regard to minimizing the off-target toxicity of CRISPR-Cas9-based gene therapy.

关键词： photodegradable polymer-protein conjugate protein delivery light control gene editing