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Multi-UAVs Collaborative Path Planning in the Cramped Environment

IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 529-538页

作者： Siyuan Feng Linzhi Zeng Jining Liu Yi Yang Wenjie song School of Automation Beijing Institute of TechnologyNanjing 210039China Nanjing Research Institute of Electronics Technology Nanjing 210039China Yichang Testing Technique Research Institute Yichang 443003China IEEE

Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few *** benchmark and source code are released in https://***/inin-xingtian/multi-UAVs-path-planner.

关键词： Collision avoidance conflict resolution multi-unmanned aerial vehicles(UAVs)system path planning

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Cell fate regulation governed by p53: Friends or reversible foes in cancer therapy

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Cancer Communications 2024年第3期44卷 297-360页

作者： Bin song Ping Yang Shuyu Zhang Laboratory of Radiation Medicine West China Second University HospitalSichuan UniversityChengduSichuanP.R.China The Second Affiliated Hospital of Chengdu Medical College China National Nuclear Corporation 416 HospitalChengduSichuanP.R.China Laboratory of Radiation Medicine NHC Key Laboratory of Nuclear Technology Medical TransformationWest China School of Basic Medical Sciences&Forensic MedicineSichuan UniversityChengduSichuanP.R.China

Cancer is a leading cause of death *** therapies aimed at key oncogenic driver mutations in combination with chemotherapy and radiother-apy as well as immunotherapy have benefited cancer patients *** protein p53(TP53),a crucial tumor suppressor gene encoding p53,reg-ulates numerous downstream genes and cellular phenotypes in response to various *** affected genes are involved in diverse processes,includ-ing cell cycle arrest,DNA repair,cellular senescence,metabolic homeostasis,apoptosis,and ***,accumulating recent studies have contin-ued to reveal novel and unexpected functions of p53 in governing the fate of tumors,for example,functions in ferroptosis,immunity,the tumor microenvi-ronment and microbiome *** the possibilities,the evolutionary plasticity of p53 is the most controversial,partially due to the dizzying array of biological functions that have been attributed to different regulatory mechanisms of p53 *** 40 years after its discovery,this key tumor suppressor remains somewhat *** intricate and diverse functions of p53 in reg-ulating cell fate during cancer treatment are only the tip of the iceberg with respect to its equally complicated structural biology,which has been painstak-ingly ***,TP53 mutation is one of the most significant genetic alterations in cancer,contributing to rapid cancer cell growth and tumor ***,we summarized recent advances that implicate altered p53 in modulating the response to various cancer therapies,including chemotherapy,radiotherapy,and ***,we also discussed potential strategies for targeting p53 as a therapeutic option for cancer.

关键词： cancer chemotherapy drug targeting immunotherapy p53 tumor suppressor

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A seven-crystal spectrometer for high-energy resolution X-ray spectroscopy at Shanghai Synchrotron Radiation Facility

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Nuclear Science and Techniques 2024年第9期35卷 82-91页

作者： Bing-Bao Mei Liang-Xin Wang song-Qi Gu Xiao-Zhi Su Shuo Zhang Yao Wei Jing-Yuan Ma Zheng Jiang Fei song Shanghai Synchrotron Radiation Facility Shanghai Advanced Research InstituteChinese Academy of SciencesShanghai 201800China Shanghai Institute of Applied Physics Chinese Academy of SciencesShanghai 201204China National Synchrotron Radiation Laboratory University of Science and Technology of ChinaHefei 230026China

A Johann-type X-ray spectrometer was successfully developed at the hard X-ray branch(in-vacuum undulator with a 24-mm periodic length)of the energy material beamline(E-line)at the Shanghai Synchrotron Radiation Facility(SSRF).This spectrometer was utilized to implement X-ray emission spectroscopy(XES),high-energy resolution fluorescence-detected X-ray absorption spectroscopy(HERFD-XAS),and resonant inelastic X-ray *** spherically bent crystals were positioned on the respective vertical 500-mm-diameter Rowland circles,adopting an area detector to increase the solid angle to 1.75%of 4πsr,facilitating the study of low-concentrate systems under complex reaction *** under the atmosphere pressure,the spectrometer covers the energy region from 3.5 to 18 keV,with the Bragg angle ranging from 73°to 86°during vertical *** offers a promised energy resolution of sub-eV(XES)and super-eV(HERFD-XAS).Generally,these comprehensive core-level spectroscopy methods based on hard X-rays at the E-line with an extremely high photon flux can meet the crucial requirements of a green energy ***,they provide substantial support for scientific advances in fundamental research.

关键词： X-ray emission spectroscopy High-energy-resolution X-ray spectrometer Johann geometry Energy materials SSRF

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Balanced Fracturing and Cold-welding of Magnesium during Ball milling Assisted by Carbon Coating:Experimental and Molecular Dynamic Simulation

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Journal of Wuhan University of Technology(Materials Science) 2024年第4期39卷 895-903页

作者：韩宗盈 DONG Hui DING Guoyang ZHANG Jiale song Xiufang College of Energy Storage Technology Shandong University of Science and TechnologyQingdao 266590China College of Chemical and Biological Engineering Shandong University of Science and TechnologyQingdao 266590China

The lignite-derived carbon from self-protection pyrolysis was employed to balance the fracturing and cold-welding of magnesium during ball *** size analysis indicates that the introduction of lignite-derived carbon can effectively reduce the particle size of Mg while the introduction of graphite does no ***,the effect of lignite-derived carbon on crystallite size reduction of Mg is also better than graphite.A moderate cold-welding phenomenon was observed after ball-milling Mg with the lignite-derived carbon,suggesting less Mg is wasted on the milling vials and *** dynamic simulations reveal that the balanced fracturing and cold-welding of magnesium during ball milling is mainly attributed to the special structure of the lignite-derived carbon:graphitized short-range ordered stacking function as dry lubricant and irregular shape/sharp edge function as milling *** preliminary findings in current study are expected to offer implications for designing efficient Mg-based hydrogen storage materials.

关键词： magnesium lignite-derived carbon cold-welding ball milling molecular dynamic

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Experimental study on the effect of flexible joints of a deep-buried tunnel across an active fault under high in-situ stress conditions

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Underground Space 2024年第6期19卷 189-207页

作者： Jiawei Zhang Zhen Cui Qian Sheng Wanhua Zhao Liang song State Key Laboratory of Geomechanics and Geotechnical Engineering Institute of Rock and Soil MechanicsChinese Academy of SciencesWuhan 430071China School of Civil Engineering and Architecture Wuhan Polytechnic UniversityWuhan 430023China

During dislocation,a tunnel crossing the active fault will be damaged to varying degrees due to its permanent stratum *** previous studies did not consider the influence of the tunnel’s deep burial and the high in-situ stress,so the results were not entirely *** this paper,the necessity of solving the anti-dislocation problem of deep-buried tunnels is systemically *** the model test of tunnels across active faults,the differences in failures between deep-buried tunnels and shallow-buried tunnels were compared,and the dislocation test of deep-buried segmental tunnels was carried out to analyze the external stress change,lining strain,and failure mode of *** results are as follows.(1)The overall deformation of deep-buried and shallow-buried tunnels is both *** failure mode of deep-buried tunnels is primarily characterized by shear and tensile failure,resulting in significant compressive deformation and a larger damaged *** contrast,shallow-buried tunnels mainly experience shear failure,with the tunnel being sheared apart at the fault crossing,leading to more severe damage.(2)After the segmental structure design of the deep-buried tunnel,the‘‘S”deformation pattern is transformed into a‘‘ladder”pattern,and the strain of the tunnel and the peak stress of the external rock mass are reduced;therefore,damages are significantly mitigated.(3)Through the analysis of the distribution of cracks in the tunnel lining,it is found that the tunnel without a segmental structure design has suffered from penetrating failure and that cracks affect the entire *** cracks in a flexible segmental tunnel affect about 66.6%of the entire length of the tunnel,and cracks in a tunnel with a short segmental tunnel only affect about 33.3%of the entire length of the ***,a deep-buried tunnel with a short segmental tunnel can yield a better anti-dislocation effect.(4)By comparing the shallow-buried segmental tunnel in previous

关键词： Tunnel project Crossing active fault High in-situ stress Segmental structure design Flexible joint

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Damage Characteristics Analysis and Fractal Study of Shale With Prefabricated Fractures under Thermal-mechanical Coupling

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Journal of Wuhan University of Technology(Materials Science) 2024年第3期39卷 570-586页

作者：张辉邬忠虎 song Huailei WANG Wentao TANG Motian CUI Hengtao College of Civil Engineering Guizhou UniversityGuiyang 550025China

To study the damage and failure of shale with different fracture inclination angles under uniaxial compression loading,in this work,RFPA2D-Thermal,a two-dimensional real failure process analysis software,was used for numerical *** simulation results show that quartz in shale mainly affects the tensile and compressive strength of shale by increasing rock *** coupling of temperature and pressure will cause lateral and volume destruction of shale,which enables the shale body to be more easily *** inclination is the key factor affecting shale damage *** failure mode of shale with low-and high-angle fractures is mainly shear failure,and the compressive strength does not vary with crack *** damage mode of obliquely intersecting fractured shale is slip damage along the fracture face,the compressive strength decreases and then increases with the fracture inclination,and a minimum value *** acoustic emission simulation results of the damage process effectively reflect the accumulated internal damage and macroscopic crack appearance until fracture instability when the prefabricated fractured shale is subjected to uniaxial compressive *** crack inclinations of 0°and 120℃ corresponds to the most complex"N"shape damage *** crack inclinations of 30°and 60°,and the damage mode is an inverted"λ"shape.

关键词： shale temperature and pressure numerical simulation fracture dip angle fractal dimension

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Heterobimetallic[NiCo]integration in a hydrogenase mimic for boosting light-driven hydrogen evolution in CaTiO_(3)

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Nano Research 2024年第8期17卷 6888-6894页

作者： Kang Li Juanji Hong Ningning song Zhanjun Guo minmin Liang Experimental Center of Advanced Materials School of Materials Science&EngineeringBeijing Institute of TechnologyBeijing 10081China

Light-drive hydrogen production using titanium-based perovskite is one sustainable way to reduce current reliance on fossil fuels,but its wide applications are still limited by high electron−hole recombination and sluggish surface ***,the developments for low-cost and highly efficient co-catalysts remain *** by natural[NiFe]-hydrogenase active center structure,a hydrogenase-mimic,NiCo_(2)S_(4) nanozyme was synthesized,and subsequently decorated onto the CaTiO_(3) to catalyze the hydrogen evolution reaction(HER).Among the following test,CaTiO_(3)with a 15%loading of NiCo_(2)S_(4) nanozyme exhibited the highest HER rate of 307.76μmol·g^(–1)·h^(–1),which is 60 times higher than that of the CaTiO_(3) *** results reveal that NiCo_(2)S_(4) not only significantly increased the charge separation efficiency of the photogenerated carriers,but also substantively lowered the HER activation *** studies show that NiCo_(2)S_(4) readily splits H_(2)O by forming the Ni(OH)-Co intermediate and only Ni in the bimetallic center alters the oxidation state during the HER process in a manner analogous to the[NiFe]-*** contrast to the often-expensive synthetic catalysts that rely on rare elements such as ruthenium and platinum,this study shows a promising way to develop the nature-inspired cocatalysts to enhance the photocatalysts’HER performance.

关键词： hydrogen evolution reaction hydrogenase-mimic nanozyme photocatalyst water-splitting

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Catalytic Peculiarity of Electrode/Polyelectrolyte Interfaces Toward CO_(2) Reduction

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Wuhan University Journal of Natural Sciences 2024年第4期29卷 293-294页

作者： mi Zhensheng WANG Gongwei ZHUANG Lin College of Chemistry and Molecular Sciences Hubei Key Lab of Electrochemical Power SourcesWuhan UniversityWuhan 430072HubeiChina

A prominent feature of modern electrochemical technologies,such as fuel cells,water electrolysis,and CO_(2) electrolysis,is to employ polyelectrolytes instead of liquid *** shift not only mitigates risks like corrosion and leaks associated with liquid electrolytes,but also facilitates the construction of zero-gap membrane electrode assembly(MEA)devices.

关键词： corrosion Catalytic electrode

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Atomically dispersed calcium as solid strong base catalyst with high activity and stability

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Green Energy & Environment 2024年第10期9卷 1619-1626页

作者： Xiang-Bin Shao Zhi-Wei Xing Si-Yu Liu Ke-Xin miao Shi-Chao Qi song-song Peng Xiao-Qin Liu Lin-Bing Sun State Key Laboratory of Materials-Oriented Chemical Engineering Jiangsu National Synergetic Innovation Center for Advanced Materials (SICAM)College of Chemical EngineeringNanjing Tech University30 South Puzhu Road

Solid strong base catalysts are highly attractive for diverse reactions owing to their advantages of neglectable corrosion,facile separation,and environmental ***,their widespread applications are impeded by basic components aggregation and low *** this work,we fabricate single calcium atoms on graphene （denoted as Ca1/G） by use of a redox strategy for the first time,producing solid strong base catalyst with high activity and *** precursor Ca（NO3）2is first reduced to CaO at 400℃ by the support graphene,forming CaO/G with conventional basic sites,and the subsequent reduction at 850℃ results in the generation of Ca1/G with atomically dispersed *** characterizations reveal that Ca single atoms are anchored on graphene in tetra-coordination （Ca–C2–N2） where N is in situ doped from Ca（NO3）*** atomically dispersed Ca,along with their anchoring on the support,endow Ca1/G with high activity and stability toward the transesterification reaction of ethylene carbonate with *** turnover frequency value reaches 128.0 h-1on Ca1/G,which is much higher than the traditional counterpart CaO/G and various reported solid strong bases (2.9–46.2 h-1).Moreover,the activity of Ca1/G is well maintained during 5 cycles,while 60% of activity is lost for the conventional analogue CaO/G due to the leaching of Ca.

关键词： Solid strong base Single Ca atoms Heterogeneous catalysts Transesterification Reaction

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Seedling dynamics differ between canopy species and understory species in a tropical seasonal rainforest,SW China

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Plant Diversity 2024年第5期46卷 671-677页

作者： Libing Pan Xiaoyang song Wenfu Zhang Jie Yang min Cao CAS Key Laboratory of Tropical Forest Ecology Xishuangbanna Tropical Botanical GardenChinese Academy of SciencesMenglunMengla 666303YunnanChina College of Life Sciences University of Chinese Academy of SciencesBeijing 100049China

We used 11 years of census data from 450 seedling quadrats established in a 20-ha forest dynamics plot to study seedling dynamics in tree species of a tropical seasonal rainforest in Xishuangbanna,southwestern *** found that overall seedling recruitment rate and relative growth rate were higher in the rainy season than in the dry *** the recruitment rate of seedlings from canopy tree species(two species)and the relative growth rate of seedlings from understory species(nine species)were higher in the rainy season than in the dry ***,in the rainy season,the recruitment rate of seedlings was higher for canopy tree species than for understory tree *** addition,relative growth rate of seedlings was higher in the canopy species than in understory seedlings in the dry *** also observed that,in both rainy and dry seasons,mortality rate of seedlings was higher for canopy species than for understory ***,canopy tree species appear to have evolved a flexible strategy to adapt to the seasonal changes of a monsoon *** contrast,understory tree species seem to have adopted a conservative ***,these species mainly release seedlings in the rainy season and maintain relatively stable populations with a lower mortality rate and recruitment rate in both dry and rainy *** study suggests that canopy and understory seedling populations growing in forest understory may respond to future climate change scenarios with distinct regeneration strategies.

关键词： Tropical forest Tree seedling Seasonality Recruitment Mortality Relative growth rate

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