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An anti-collision algorithm for robotic search-and-rescue tasks in unknown dynamic environments

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Frontiers of Information Technology & Electronic Engineering 2024年第4期25卷 569-584页

作者： Yang CHEN Dianxi SHI Huanhuan YANG Tongyue li zhen WANG School of Computer Science Peking UniversityBeijing 100871China Tianjin Artificial Intelligence Innovation Center Tianjin 300457China Intelligent Game and Decision Lab Beijing 100071China College of Computer National University of Defense TechnologyChangsha 410073China

This paper deals with the search-and-rescue tasks of a mobile robot with multiple interesting targets in an unknown dynamic *** problem is challenging because the mobile robot needs to search for multiple targets while avoiding obstacles *** ensure that the mobile robot avoids obstacles properly,we propose a mixed-strategy Nash equilibrium based Dyna-Q(MNDQ)***,a multi-objective layered structure is introduced to simplify the representation of multiple objectives and reduce computational *** structure divides the overall task into subtasks,including searching for targets and avoiding ***,a risk-monitoring mechanism is proposed based on the relative positions of dynamic *** mechanism helps the robot avoid potential collisions and unnecessary ***,to improve sampling efficiency,MNDQ is presented,which combines Dyna-Q and mixed-strategy Nash *** using mixed-strategy Nash equilibrium,the agent makes decisions in the form of probabilities,maximizing the expected rewards and improving the overall performance of the Dyna-Q ***,a series of simulations are conducted to verify the effectiveness of the proposed *** results show that MNDQ performs well and exhibits robustness,providing a competitive solution for future autonomous robot navigation tasks.

关键词： Search and rescue Reinforcement learning Game theory Collision avoidance Decision-making

Novel medium entropy perovskite oxide Sr(FeCoNiMo)_(1/4)O_(3−δ)for zinc-air battery cathode

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Journal of Energy Chemistry 2024年第9期96卷 669-678页

作者： Kaixin li Juntao Gao Xu Han Qi shao Zhe Lü School of Physics Harbin Institute of TechnologyHarbin 150001HeilongjiangChina Heilongjiang Provincial Key Laboratory of Advanced Quantum Functional Materials and Sensor Components Harbin 150001HeilongjiangChina

It is widely recognized that the development of ZABs is impeded by the kinetic bottleneck of oxygen evolution reaction(OER)and oxygen reduction reaction(ORR).The application of conformational entropy strategy to oxides often involves introducing multiple elements with different properties,thereby providing outstanding bifunctional catalytic activity for OER/***,the possible underlying catalytic pathways and potential interactions between various components are still poorly *** paper presents an excellent medium-entropy perovskite oxide,Sr(FeCoNiMo)_(1/4)O_(3−δ)(lower overpotential of 301 mV at 10 mA cm^(−2)).Zinc-air batteries employing it as a cathode catalyst demonstrate excellent round-trip efficiency(62%).By combining theoretical calculation with experiments,we aim to establish the link between the electronic structure of perovskite oxides with different elemental compositions and their OER *** reveals that the conformational entropy strategy can simultaneously shift the O 2p-band center and metal d-band center of perovskite oxide towards the vicinity of the Fermi energy level,thereby triggering a more favorable lattice oxygen-participated mechanism(LOM)during the OER *** outcomes of this work provide crucial insights into the role of conformational entropy strategies in oxygen catalysis and offer potential avenues for constructing efficient and stable electrocatalysts.

关键词： Sr(FeCoNiMo)_(1/4)O_(3−δ) Bifunctional catalyst Medium entropy LOM Rechargeable zinc-air batteries

Purification performance on molten steel of novel Al_(2)O_(3)-based ceramic filter prepared from microporous powder and nano-Al_(2)O_(3) powder

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Journal of Iron and Steel Research International 2024年第6期31卷 1535-1546页

作者： Zhe Chen Wen Yan Ying liu Guang-qiang li shao-song Hong Nan li The State Key Laboratory of Refractories and Metallurgy Wuhan University of Science and TechnologyWuhan 430081HubeiChina Jiangsu Shengnai New Materials Co. Ltd.Taizhou 225534JiangsuChina

Reticulated ceramic foam filters provide an effective way to purify molten steel by removing non-metallic *** proposed a novel strategy to improve the purification performance of Al_(2)O_(3)-based ceramic filters by using microporous corundum-spinel raw materials to replace dense raw *** kinds of Al_(2)O_(3)-based ceramic filters fabricated from dense α-Al_(2)O_(3) micro-powder or microporous corundum-spinel powder were selected to carry out the immersion tests with molten *** the one hand,the higher surface roughness of the filter skeleton prepared from microporous raw materials increased the adsorption capacity of skeleton surface on inclusions in molten *** the other hand,the higher apparent porosity and larger pore size of the filter skeleton were more beneficial to the penetration of molten steel in the micropores of *** reaction process at the solid-liquid interface also improved the wettability of the interface between skeleton and molten steel,resulting in a larger penetration depth and a better adsorption effect on the *** summary,the novel Al_(2)O_(3)-based ceramic filter prepared with microporous corundum-spinel powder and addition of 5 wt.% nano-Al_(2)O_(3) powder reduced the total oxygen content of the steel from 40.2×10^(-4) to 12.7×10^(-4) wt.% by 68.4% and the Al content from 0.46 to 0.18 wt.% by 60.9% after immersion test,presenting the most excellent purification performance on molten steel.

关键词： Al_(2)O_(3)-based ceramic filter Microporous corundum-spinel powder Non-metallic inclusion-Microstructure Molten steel purification

NIR-IIb-triggered photodynamic therapy combined with chemotherapy platform based on rare-earth-doped nanoparticles

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Rare Metals 2024年第7期43卷 3220-3231页

作者： Zhuo Tu Yong Wan Juan Ge Chen-Chen li Tao liang zhen li Chemistry and Chemical Engineering Hubei UniversityWuhan 430062China

Photodynamic therapy(PDT),with high spatiotemporal selectivity,minimal side effects and less drug resistance,has emerged as a promising approach for the treatment of ***,inadequate penetration depth and poor efficacy seriously restrict its practical *** address these challenges,we developed a combined therapy platform(RENP@C/D-FA)based on rare-earth-doped nanoparticles(RENPs)with a structure of NaErF_(4):Tm(0.5%)@NaYF_(4),on which photosensitizer Ce6(chlorin e6)and chemo-therapeutic drug(DOX)(doxorubicin)were loaded by encapsulating with an amphiphilic polymer distearoyl phosphatidylethanolamine-polyethylene glycol-folic acid(DSPE-PEG-FA).RENPs with NaErF_(4) as the matrix possess multiple excitation/emission peaks,enabling activation of PDT under near-infrared-Ⅱb(NIR-Ⅱb,1500-1700 nm)excitation and luminescence imaging in NIR-Ⅱb region by absorbing 808 nm near-infrared ***,DOX can be selectively released in the acidic microenvironment of *** from the tumor targeting capability of folic acid,this platform can successfully ablate tumor cells and inhibit tumor growth by combining PDT and *** innovative approach holds great promise as a powerful tool for cancer treatment,showing the potential to revolutionize PDT.

关键词： Photodynamic therapy Rare-earth-doped nanoparticles NIR-IIb Chemotherapy Combined therapy

Enhancement of low-temperature toughness of Fe-Mn-C-Al alloy by rare earth Ce-modified inclusions

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Journal of Iron and Steel Research International 2024年第1期31卷 157-173页

作者： Guang-kai Yang Chang-ling Zhuang Yi-zhuang li Chen Hu shao-bo li College of Materials and Metallurgy Guizhou UniversityGuiyang550025GuizhouChina Department of Mechanical Engineering University of Hong KongHong Kong999077China The State Key Laboratory of Rolling and Automation Northeastern UniversityShenyang110819LiaoningChina State Key Laboratory of Public Big Data Guizhou UniversityGuiyang550025GuizhouChina

Fe-Mn-C-Al alloys have been recognized as promising materials for certain low-temperature applications due to their exceptional mechanical properties and ***,their limited low-temperature toughness restricts their large-scale applications in specific *** influence of trace amounts of rare earth cerium(Ce)on the low-temperature toughness of Fe-18Mn-0.6C-1.8Al alloys was *** addition of Ce effectively alters the inclu-sions in the alloy,transforming large-sized irregular inclusions into fine ellipsoidal rare earth *** leads to a significant reduction in both the proportion and average size of the inclusions,resulting in their effective dispersion throughout the matrix and improved cryogenic *** presence of Ce-containing inclusions within the matrix reduces stress concentration,thereby inhibiting microcrack formation and improving impact absorption ***-cally,the addition of rare earth Ce alters the fracture behavior of the material at room temperature and low temperature,changing from brittle cleavage fracture to a more ductile failure *** impact toughness of the Fe-Mn-C-Al alloy is significantly improved by the addition of 0.0048 wt.%Ce,particularly at-196℃where the impact toughness reaches 103.6 J/cm^(2),representing an impressive improvement of 87.3%.

关键词： Fe-Mn-C-Al alloy Rare earth Low-temperature toughness Inclusion Fracture

A deoxidation thermodynamic model for 304 stainless steel considering multiple-components coupled reactions

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Journal of Iron and Steel Research International 2024年第1期31卷 74-91页

作者： Yan Yan Guang-hao Shang li-ping Zhang shao-ying li Han-jie Guo School of Metallurgical and Ecological Engineering University of Science and Technology BeijingBeijing100083China Beijing Key Laboratory of Special Melting and Preparation of High-End Metal Materials Beijing100083China Henan Jinhui Stainless Steel Industry Group Co. Ltd.Xuchang461500HenanChina Changge Jinhui Recycling Metal R&D Co. Ltd.Xuchang461500HenanChina

A thermodynamic model for predicting the equilibrium oxygens of 304 stainless steel was developed based on the theory of slag-steel equilibrium,the law of mass conservation,and the ion and molecule coexistence *** the developed model,the Fe-Cr-Mn-Si-Al-S-O-melts reaction system and CaO-MgO-CaF_(2)-FeO-MnO-Al_(2)O_(3)-SiO_(2)-Cr2O_(3)slags were *** oxygen contents calculated by the model are in good agreement with experimental results and reference *** equilibrium oxygen contents in 304 stainless steel mainly decrease with increasing binary basicity(w(CaO)/w(SiO_(2)),where w(i)is the mass percentage of component i)and decreasing *** binary basicity at 2.0 while maintaining temperatures lower than 1823 K will keep the oxygen contents in the 304 stainless steel lower than 15×10^(-6).The equilibrium oxygen contents may also be decreased with increasing content of MgO in slags,which is more significant at lower binary ***,a small amount of FeO,MnO,and Al_(2)O_(3)(about 0-2.5 wt.%)in slags has little effect on equilibrium oxygen ***,it is found that the[C]-[O]reaction may occur during refining process but will not significantly affect the equilibrium oxygen contents.

关键词： Complex deoxidation Thermodynamic model Ion and molecule coexistence theory 304 stainless steel Slag-steel reaction

Central cell:the key to determine persistent pollen tube attraction or termination

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Science China(life Sciences) 2024年第9期67卷 2030-2032页

作者： Jiang-Guo Meng Shi-zhen li Hong-Ju li Center for Developmental Biology Institute of Genetics and Developmental BiologyChinese Academy of SciencesBeijing 100101China Chongqing Key Laboratory of Plant Resource Conservation and Germplasm Innovation Integrative Science Center of Germplasm Creation Western China(Chongqing)Science CitySchool of Life SciencesSouthwest UniversityChongqing400715 China Key Laboratory of Seed Innovation Institute of Genetics and Developmental BiologyChinese Academy of SciencesBeijing 100101China Center for Molecular Agrobiology Institute of Genetics and Developmental BiologyChinese Academy of SciencesBeijing 100101China

Most eukaryotic species depend on sexual reproduction,characterized by fertilization,to produce a new *** process requires the transfer of sperm(male gamete),containing half of the genetic information,from the male to the egg cell(female gamete),which holds half of the maternal genome,within the female reproductive *** strategies have been evolved to ensure fertilization success in plants.

关键词： organs termination holds

Molecular Chaperone-Dependent Polymer Translocation through Nanopores: The Effects of Chaperone Concentration and Chaperone-Polymer Interaction

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Chinese Journal of Polymer Science 2024年第1期42卷 125-132,I0011页

作者： Chang-Sheng Zuo Kang Wang li-zhen Sun Ting-Ting Sun Department of Physics Zhejiang University of Science and TechnologyHangzhou 310023China Department of Applied Physics Zhejiang University of TechnologyHangzhou 310014China

The polymer translocation through a nanopore from a donor space(or named cis side) to a receiver space(trans side) in the chaperone-induced crowded environment has attracted increasing attention in recent years due to its significance in biological systems and technological applications. In this work, we mainly focus on the effects of chaperone concentration and chaperone-polymer interaction on the polymer translocation. By assuming the polymer translocation to be a quasi-equilibrium process, the free energy F of the polymer can be estimated by Rosenbluth-Rosenbluth method and then the translocation time τ can be calculated by Fokker-Plank equation based on the obtained free energy landscape. Our calculation results show that the translocation time can be controlled by independently tuning the chaperone concentration and chaperone-polymer interaction at the cis side or the trans side. There exists a critical chaperone-polymer attraction ε~*=-0.2 at which the volume exclusion and interaction effects of the chaperone can balance each other. Additionally, we also find that at large chaperone-polymer attraction, the translocation time is mainly governed by the diffusion coefficient of the polymer.

关键词： Polymer translocation Rosenbluth-Rosenbluth method Fokker-Plank equation Free energy landscapes

A review on plasma-based CO_(2) utilization:process considerations in the development of sustainable chemical production

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Plasma Science and Technology 2024年第9期26卷 1-16页

作者： Sirui li Giulia De FEliCE Simona EICHKORN Tao shao Fausto GALLUCCI Department of Chemical Engineering and Chemistry Eindhoven University of TechnologyEindhoven 5612 AZthe Netherlands Institute of Electrical Engineering Chinese Academy of SciencesBeijing 100190People’s Republic of China

Plasma-based processes,particularly in carbon capture and utilization,hold great potential for addressing environmental challenges and advancing a circular carbon *** significant progress has been made in understanding plasma-induced reactions,plasma-catalyst interactions,and reactor development to enhance energy efficiency and conversion,there remains a notable gap in research concerning overall process *** review emphasizes the critical need for considerations at the process level,including integration and intensification,to facilitate the industrialization of plasma technology for chemical *** centered on the development of plasma-based processes are made with a primary focus on CO_(2) conversion,offering insights to guide future work for the transition of the technology from laboratory scale to industrial *** of current research gaps,especially in upscaling and integrating plasma reactors with other process units,is the key to addressing critical *** review further delves into relevant research in process evaluation and assessment,providing methodological insights and highlighting key factors for comprehensive economic and sustainability ***,recent advancements in novel plasma systems are reviewed,presenting unique advantages and innovative concepts that could reshape the future of process *** review provides essential information for navigating the path forward,ensuring a comprehensive understanding of challenges and opportunities in the development of plasma-based CCU process.

关键词： non-thermal plasma carbon capture and utilization process integration process intensification techno-economic analysis life cycle analysis