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Bioinspired Closed-loop CPG-based Control of a Robotic Manta for Autonomous Swimming

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Journal of Bionic Engineering 2024年第1期21卷 177-191页

作者： Yiwei Hao Yonghui cao Yingzhuo cao Xiong Mo Qiaogao Huang Lei Gong Guang Pan Yong cao School of Marine Science and Technology Northwestern Polytechnical UniversityXi'an 710072China Unmanned Vehicle Innovation Center Ningbo Institute of NPUNingbo 315103China Key Laboratory of Unmanned Underwater Vehicle Technology of Ministry of Industry and Information Technology Xi'an 710072China

Fish in nature exhibit a variety of swimming modes such as forward swimming,backward swimming,turning,pitching,etc.,enabling them to swim in complex scenes such as coral *** is still difficult for a robotic fish to swim autonomously in a confined area as a real ***,we develop an untethered robotic manta as an experimental platform,which consists of two flexible pectoral fins and a tail fin,with three infrared sensors installed on the front,left,and right sides of the head to sense the surrounding *** generate multiple swimming modes of the robotic manta and online switching of different modes,we design a closed-loop Central Pattern Generator(CPG)controller based on distance information and use a combination of phase difference and amplitude of the CPG model to achieve stable and rapid adjustment of yaw *** verify the autonomous swimming ability of the robotic manta in complex scenes,we design an experimental scenario with a concave *** experimental results show that the robotic manta can achieve forward swimming,backward swimming,in situ turning within the concave obstacle,and finally exit from the area safely while relying on the perception of external obstacles,which can provide insight into the autonomous exploration of complex scenes by the biomimetic robotic ***,the swimming ability of the robotic manta is verified by field tests.

关键词： Biomimetic robotic manta Central Pattern Generator Closed-loop control Backward swimming

Multi-scenario land use prediction and layout optimization in Nanjing Metropolitan Area based on the PLUS model

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Journal of Geographical Sciences 2024年第7期34卷 1415-1436页

作者： cao Ji cao Weidong cao Yuhong WANG Xuewei ZHANG Yizhen MA Jinji School of Geography and Tourism Anhui Normal UniversityWuhuAnhui241002China School of Ecology and Environment Anhui Normal UniversityWuhuAnhui241002China

The metropolitan area is a crucial spatial element in promoting new urbanization in *** possesses theoretical and empirical value in the determination of the evolutionary patterns and development trends necessary for regional integration and high-quality *** study focused on Nanjing Metropolitan Area,the first national metropolitan area in China,and established three development scenarios by combining ecological–economic spatial conflict(EESC)zones and national key ecological functional *** scenarios simulate the spatial distribution of future land use and land cover change(LUCC)using the development zone planning function of the patch generation land use simulation(PLUS)*** results show that:(1)Between 2000 and 2020,the most prominent characteristics of land use change were largely the massive expansion of built-up land and the significant decline of farmland,while changes in the area of ecological land were less evident.(2)EESC areas experienced significant changes over the past 20 years,but the overall level of conflict was *** land was the main land use type in the lowest-conflict area,while built-up land was the main land use type in the highest-conflict area.(3)From 2030 to 2050,further expansion of built-up areas is expected,with continued decrease of *** regulation of these land use changes can be achieved through different development zone *** economic development scenario had the largest built-up land area,while the ecological protection scenario had the largest farmland *** study simulates the spatial pattern changes in the metropolitan area based on spatial conflict patterns and national main functional area planning process,providing a scientific reference for future spatial planning and management.

关键词： land use change spatial conflict patch-generating simulation land use prediction Nanjing Metropolitan Area

Making the Complicated Simple:A Minimizing Carrier Strategy on Innovative Nanopesticides

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Nano-Micro Letters 2024年第10期16卷 31-46页

作者： Wenjie Shangguan Qiliang Huang Huiping Chen Yingying Zheng Pengyue Zhao Chong cao Manli Yu Yongsong cao Lidong cao State Key Laboratory for Biology of Plant Diseases and Insect Pests Institute of Plant ProtectionChinese Academy of Agricultural SciencesBeijing 100193People's Republic of China College of Plant Protection China Agricultural UniversityBeijing 100193People's Republic of China State Key Laboratory of Element-Organic Chemistry Department of Chemical BiologyCollege of ChemistryNankai UniversityTianjin 300071People's Republic of China

The flourishing progress in nanotechnology offers boundless opportunities for agriculture,particularly in the realm of nanopesticides research and ***,concerns have been raised regarding the human and environmental safety issues stemming from the unrestrained use of non-therapeutic nanomaterials in *** is also important to consider whether the current development strategy of nanopesticides based on nanocarriers can strike a balance between investment and return,and if the complex material composition genuinely improves the efficiency,safety,and circularity of ***,we introduced the concept of nanopesticides with minimizing carriers(NMC)prepared through prodrug design and molecular self-assembly emerging as practical tools to address the current limitations,and compared it with nanopesticides employing non-therapeutic nanomaterials as carriers(NNC).We further summarized the current development strategy of NMC and examined potential challenges in its preparation,performance,and ***,we asserted that the development of NMC systems can serve as the innovative driving force catalyzing a green and efficient revolution in nanopesticides,offering a way out of the current predicament.

关键词： Nanopesticides Green agrochemicals Self-assembly Nanomaterial safety Sustainable development strategies

Recent Advances in Microbial Production of Terpenoids from Biomass-derived Feedstocks

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Chemical Research in Chinese Universities 2024年第1期40卷 20-28页

作者： cao Yujin XIAN Mo CAS Key Laboratory of Biobased Materials Qingdao Institute of BioEnergy and Bioprocess TechnologyChinese Academy of SciencesQingdao 266101P.R.China Shandong Energy Institute Qingdao 266101P.R.China Qingdao New Energy Shandong Laboratory Qingdao 266101P.R.China

Terpenoids are a diverse class of natural products widely used as pharmaceuticals,perfumes,flavors,and ***,terpenoids are obtained from natural sources,such as plants,but their production is limited by the insufficiency of resources and low yields of *** production of terpenoids has emerged as a promising alternative due to that it is sustainable and easy to scale *** review aims to summarize recent advances in microbial production of terpenoids from inexpensive biomass-derived *** pathways and key enzymes involved in terpenoid biosynthesis are *** that can utilize low-cost lignocellulosic feedstocks for terpenoid production are *** challenges and prospects faced by microbial terpenoid production are *** believe that continuous progress in the fields of biomass transformation and synthetic biology will ultimately achieve industrial production of microbial terpenoids.

关键词： Terpenoid Microbial production Biomass-derived feedstock Metabolic pathway

Evolution and Governance of the Structure of Marine Economic Networks in China’s Coastal Areas: Based on Sea-related A-share Listed Companies

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Chinese Geographical Science 2024年第5期34卷 899-916页

作者： LI Bo cao Gai Key Research Base of Humanities and Social Sciences of Ministry of Education Institute of Marine Sustainable DevelopmentLiaoning Normal UniversityDalian 116029China School of Maritime Economics and Management Dalian Maritime UniversityDalian 116026China

Data on discrete,isolated attributes of the marine economy are often used in traditional marine economic ***,as the focus of urban research shifts from internal static attributes to external dynamic linkages,the importance of marine economic net-work research is beginning to *** construction of the marine economic network in China’s coastal areas is necessary to change the flow of land and sea resources and optimize regional marine economic *** data from headquarters and branches of sea-related A-share listed enterprises to construct the marine economic network in China,we use social network analysis(SNA)to discuss the characteristics of its evolution as of 2010,2015,and 2020 and its *** following results were obtained.1)In terms of topological characteristics,the scale of the marine economic network in China’s coastal areas has accelerated and expan-ded,and the connections have become increasingly close;thus,this development has complex network characteristics.2)In terms of spatial structure,the intensity of the connection fluctuates and does not form stable development support;the group structure gradually becomes clear,but the overall pattern is fragmented;there are spatial differences in marine economic agglomeration radiation;the radi-ation effect of the eastern marine economic circle is obvious;and the polarization effect of northern and southern marine economic circles is *** this basis,we construct a framework for the governance of a marine economic network with the market,the government,and industry as the three governing *** clarifying the driving factors and building objectives of marine economic network construction,this study aims to foster the high-quality development of China’s marine economy.

关键词： marine economic network sea-related A-share listed companies social network analysis(SNA) network governance China’s coastal areas

硝酸镧浸种对低磷胁迫下红小豆幼苗生长的影响

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种子 2019年第5期38卷 23-27页

作者：曹艳玲曹嘉雯裴红宾山西师范大学生命科学学院

采用1/2 Hongland缺磷营养液模拟低磷胁迫的方式,利用水培法研究了在低磷胁迫下,不同浓度硝酸镧(0,20,50,100 mg·L^-1)浸种对2个品种(保红8824-17和白红4号)红小豆幼苗地上部分生长的影响。结果表明:与对照组相比,硝酸镧浸种增加了2个... 详细信息

采用1/2 Hongland缺磷营养液模拟低磷胁迫的方式,利用水培法研究了在低磷胁迫下,不同浓度硝酸镧(0,20,50,100 mg·L^-1)浸种对2个品种(保红8824-17和白红4号)红小豆幼苗地上部分生长的影响。结果表明:与对照组相比,硝酸镧浸种增加了2个品种红小豆幼苗的株高、叶面积、鲜重、干重和根冠比、降低了茎粗,但2个品种随硝酸镧浓度增加表现的趋势不一致;随着硝酸镧浓度增加,保红8824-17的POD活性呈先升高后降低的趋势、SOD活性表现出先降低后升高的趋势,白红4号的SOD活性的变化趋势为下降,POD活性的变化趋势为上升;2个品种MDA含量都表现为随浓度的增加而先降低后升高,当浸种浓度为50 mg·L^-1时达到最低值;随着浸种时硝酸镧浓度的增加,保红8824-17的叶绿素含量的变化趋势为先增大后减小,白红4号的叶绿素含量持续增大。综上所述,用硝酸镧对红小豆进行浸种可缓解低磷胁迫对红小豆幼苗生长产生的影响,最适浸种浓度为50 mg·L^-1。

关键词：硝酸镧低磷胁迫红小豆幼苗

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充气锚杆的研究现状及展望

科技导报 2010年第5期28卷 111-115页

作者：彭文祥曹佳文中南大学地学与环境工程学院长沙410083

充气锚杆是一种全新概念的新型锚杆,它是充分利用软土在压力作用下可产生挤压变形的特性研发而成的。本文论述了充气锚杆的独有特点,对充气锚杆的研究现状、锚杆荷载传递机制,以及岩土锚固机制进行了论述。总结了充气锚杆的一些规律:①... 详细信息

充气锚杆是一种全新概念的新型锚杆,它是充分利用软土在压力作用下可产生挤压变形的特性研发而成的。本文论述了充气锚杆的独有特点,对充气锚杆的研究现状、锚杆荷载传递机制,以及岩土锚固机制进行了论述。总结了充气锚杆的一些规律:①充气锚杆的抗拔承载力主要与砂的密实度、软土的液限指数、锚杆长度、充气压力大小、橡胶膜的厚度、橡胶膜外表的粗糙度、充气扩大头体积、锚杆埋设深度等因素有关,其中,锚杆长度是最主要的影响因素;②充气锚杆的极限抗拔承载力是螺旋锚杆的4倍,在软土的排水与不排水对比试验中,充气锚杆极限抗拔承载力相差3～4倍;③在充气压力一定时,不同土体,锚杆的抗拔承载力差别很大,短锚杆100mm时几乎全长受力,长锚杆200～300mm时只在锚杆充气段上部分受力。

关键词：充气锚杆拉拔承载力橡胶模

Preparation and characterization of pH-responsive metal-polyphenol structure coated nanoparticles

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Food Science and Human Wellness 2024年第3期13卷 1303-1310页

作者： Qile Xia Yan Liang Ailing cao Yan cao Luyun Cai Key Laboratory of Post-Harvest Handling of Fruits Food Science InstituteZhejiang Academy of Agricultural SciencesHangzhou 310021China Ningbo Research Institute College of Biosystems Engineering and Food ScienceZhejiang UniversityNingbo 315100China School of Biological and Chemical Engineering Zhejiang Engineering Research Center for Intelligent Marine Ranch EquipmentNingboTech UniversityNingbo 315100China College of Food Science and Engineering Bohai UniversityJinzhou 121013China Hangzhou Customs District Hangzhou 310007China

In this paper,tannic acid(TA)and Fe~(3+)were added to form a layer of metal-polyphenol network structure on the surface of the nanoparticles which were fabricated by zein and carbon quantum dots(CQDs)encapsulating phlorotannins(PTN).pH-Responsive nanoparticles were prepared successfully(zein-PTN-CQDs-Fe-~Ⅲ).Further,the formation of composite nanoparticles was confirmed by a series of characterization *** zeta-potential and Fourier transform infrared spectroscopy data proved that electrostatic interaction and hydrogen bonding are dominant forces to form *** encapsulation efficiency(EE)revealed that metal-polyphenol network structure could improve the EE of *** analysis and differential scanning calorimetry experiment indicated the thermal stability of zein-PTN-CQDs-Fe~Ⅲnanoparticles increased because of metal-polyphenol network *** pH-responsive nanoparticles greatly increased the release rate of active substances and achieved targeted release.

关键词： Metal Phlorotannins Nanoparticles pH-Responsive Characterization

Sequential Inverse Optimal Control of Discrete-Time Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 608-621页

作者： Sheng cao Zhiwei Luo Changqin Quan the Graduate School of System Informatics Kobe University Kobe 657-8501Japan

This paper presents a novel sequential inverse optimal control(SIOC)method for discrete-time systems,which calculates the unknown weight vectors of the cost function in real time using the input and output of an optimally controlled discrete-time *** proposed method overcomes the limitations of previous approaches by eliminating the need for the invertible Jacobian *** calculates the possible-solution spaces and their intersections sequentially until the dimension of the intersection space decreases to *** remaining one-dimensional vector of the possible-solution space’s intersection represents the SIOC *** paper presents clear conditions for convergence and addresses the issue of noisy data by clarifying the conditions for the singular values of the matrices that relate to the possible-solution *** effectiveness of the proposed method is demonstrated through simulation results.

关键词： Inverse optimal control promised calculation step sequential calculation