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Multi-UAVs Collaborative Path Planning in the Cramped Environment

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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 minutes.The 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

Pattern dynamics and bifurcation in delayed SIR network with diffusion network

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International Journal of Biomathematics 2024年第2期17卷 87-111页

作者： wenjie yang Qianqian Zheng Jianwei Shen School of Science Xuchang University XuchangHenan 461000P.R.China School of Mathematics and Statistics North China University of Water Resources and Electric Power Zhengzhou Henan 450046P.R.China

The spread of infectious diseases often presents the emergent properties,which leads to more dificulties in prevention and treatment.In this paper,the SIR model with both delay and network is investigated to show the emergent properties of the infectious diseases'spread.The stability of the SIR model with a delay and two delay is analyzed to illustrate the effect of delay on the periodic outbreak of the epidemic.Then the stability conditions of Hopf bifurcation are derived by using central manifold to obtain the direction of bifurcation,which is vital for the generation of emergent behavior.Also,numerical simulation shows that the connection probability can affect the types of the spatio-temporal patterns,further induces the emergent properties.Finally,the emergent properties of COVID-19 are explained by the above results.

关键词： Pattern dynamics SIR model random network connection probability Hopf bifurcation

Investigation of Projectile Impact Behaviors of Graphene Aerogel Using Molecular Dynamics Simulations

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Computer Modeling in Engineering & Sciences 2024年第6期139卷 3047-3061页

作者： Xinyu Zhang wenjie Xia yang Wang Liang Wang Xiaofeng Liu Department of Engineering Mechanics Shanghai Jiao Tong UniversityShanghai200240China Department of Aerospace Engineering Iowa State UniversityAmesIA50011USA School of Materials Science and Engineering University of Science&Technology BeijingBeijing100083China Zernike Institute for Advanced Materials University of GroningenGroningen9747The Netherlands

Graphene aerogel(GA),as a novel solid material,has shown great potential in engineering applications due to its unique mechanical properties.In this study,the mechanical performance of GA under high-velocity projectile impacts is thoroughly investigated using full-atomic molecular dynamics(MD)simulations.The study results show that the porous structure and density are key factors determining the mechanical response of GA under impact loading.Specifically,the impact-induced penetration of the projectile leads to the collapse of the pore structure,causing stretching and subsequent rupture of covalent bonds in graphene sheets.Moreover,the effects of temperature on the mechanical performance of GA have been proven to be minimal,thereby highlighting the mechanical stability of GA over a wide range of temperatures.Finally,the energy absorption density(EAD)and energy absorption efficiency(EAE)metrics are adopted to assess the energy absorption capacity of GA during projectile penetration.The research findings of this work demonstrate the significant potential of GA for energy absorption applications.

关键词： Graphene aerogel molecular dynamics simulation impact response energy absorption

Membrane-less MoO_(3-x)@TiO_(2)-bromine battery with excellent rate capability and cyclic stability

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Journal of Energy Chemistry 2024年第6期93卷 316-321,I0008页

作者： wenjie Huang Hui Wang Bin Yuan Liuzhang Ouyang Lichun yang Min Zhu School of Materials Science and Engineering Guangdong Provincial Key Laboratory of Advanced Energy Storage MaterialsSouth China University of TechnologyGuangzhou 510640GuangdongChina

Bromine has attracted significant attention as a cathode material for aqueous batteries due to its high reduction potential of 1.05 V(Br_(3)^(-)+2e~-■3Br~-),impressive theoretical specific capacity of 223 mA h g^(-1),and rapid reaction kinetics in the electrolyte.However,searching for compatible anode materials to match with bromine has posed a challenge due to its highly corrosive nature.In this study,we developed oxygen-deficient MoO_(3) with TiO_(2) coating(referred to as MoO_(3-x)@TiO_(2))as an anode material to pair with a bromine cathode in static full batteries.The oxygen deficiency contributes to enhanced electronic and protonic diffusion within the MoO_(3-x)lattice,while the TiO_(2) coating mitigates structural dissolution and proton trapping during cycling.The MoO_(3-x)@TiO_(2) demonstrates fast charge storage kinetics and excellent resistance to bromine corrosion.The impressive compatibility between MoO_(3-x)@TiO_(2) and bromine enables the construction of membrane-less full batteries with exceptional rate capability and cyclic stability.The MoO_(3-x)@TiO_(2)-bromine battery achieves an energy density of70.8 W h kg^(-1)at a power density of 328.1 W kg^(-1),showcasing an impressive long-term cyclic life of 20,000 cycles.Our study provides valuable insights for the development of high-performance aqueous secondary batteries.

关键词： Molybdenum trioxide Oxygen deficiency TiO_(2)coating Compatibility Bromine-based battery

Mpox(formerly monkeypox):pathogenesis,prevention,and treatment

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Signal Transduction and Targeted Therapy 2024年第1期9卷 234-248页

作者： Junjie Lu Hui Xing Chunhua Wang Mengjun Tang Changcheng Wu Fan Ye Lijuan Yin yang yang wenjie Tan Liang Shen Xiangyang Central Hospital Affiliated Hospital of Hubei University of Arts and ScienceHubei ProvinceXiangyang 441021China NHC Key Laboratory of Biosafety National Institute for Viral Disease Control and PreventionChinese Center for Disease Control and PreventionBeijing 102206China College of Biotechnology Tianjin University of Science&TechnologyTianjin 300457China Shenzhen Key Laboratory of Pathogen and Immunity National Clinical Research Center for infectious diseaseState Key Discipline of Infectious DiseaseShenzhen Third People’s HospitalSecond Hospital Affiliated to Southern University of Science and TechnologyShenzhen 518112China

In 2022,a global outbreak of Mpox(formerly monkeypox)occurred in various countries across Europe and America and rapidly spread to more than 100 countries and regions.The World Health Organization declared the outbreak to be a public health emergency of international concern due to the rapid spread of the Mpox virus.Consequently,nations intensified their efforts to explore treatment strategies aimed at combating the infection and its dissemination.Nevertheless,the available therapeutic options for Mpox virus infection remain limited.So far,only a few numbers of antiviral compounds have been approved by regulatory authorities.Given the high mutability of the Mpox virus,certain mutant strains have shown resistance to existing pharmaceutical interventions.This highlights the urgent need to develop novel antiviral drugs that can combat both drug resistance and the potential threat of bioterrorism.Currently,there is a lack of comprehensive literature on the pathophysiology and treatment of Mpox.To address this issue,we conducted a review covering the physiological and pathological processes of Mpox infection,summarizing the latest progress of anti-Mpox drugs.Our analysis encompasses approved drugs currently employed in clinical settings,as well as newly identified small-molecule compounds and antibody drugs displaying potential antiviral efficacy against Mpox.Furthermore,we have gained valuable insights from the process of Mpox drug development,including strategies for repurposing drugs,the discovery of drug targets driven by artificial intelligence,and preclinical drug development.The purpose of this review is to provide readers with a comprehensive overview of the current knowledge on Mpox.

关键词： prevention treatment intensified

Cobalt-doped TiO_(2)@C hierarchical nanocomposites derived from Ti_(3)C_(2) MXene as cathodes for hybrid magnesium-lithium batteries

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Nano Research 2024年第1期17卷 253-261页

作者： Xiaohui Li Yakun Tang Lang Liu Yue Zhang yang Gao Mao Qian wenjie Ma State Key Laboratory of Chemistry and Utilization of Carbon Based Energy Resources College of ChemistryXinjiang UniversityUrumqi 830017China

TiO_(2)has been explored in hybrid magnesium-lithium batteries(HMLBs)due to the advantages of low self-discharge and small volume expansion during ion insertion.However,how to improve the inherently low ionic and electrical conductivity of TiO_(2)is the problem that needs to be solved.In this work,a smart strategy is adopted to prepare cobalt-doped TiO_(2)@C(Co^(4+)-TiO_(2)@C)hierarchical nanocomposite derived from Co(II)(OH)n@Ti3C2.Compared with TiO_(2)@C(without cobalt doping),Co^(4+)-TiO_(2)@C shows the highest specific capacity(154.7 mAh·g^(-1)at 0.1 A·g^(-1)after 200 cycles)and extraordinary rate performance in HMLBs.The excellent electrochemical performance of Co4+-TiO_(2)@C is ascribed to the synergistic effect of the hierarchical structure and cobalt-doping.Both experimental results and density functional theory(DFT)calculation reveal that the cobalt-doping has effectively improved the electronic conductivity and reduced the Li+migration barrier.This work provides a new insight to design TiO_(2)-based cathode materials with high-performance in HMLBs.

关键词： Ti_(3)C_(2)MXene TiO_(2) hybrid magnesium-lithium batteries hierarchical structure cobalt-doping

Effects of wind speed,underlying surface,and seed morphological traits on the secondary seed dispersal in the Tengger Desert,China

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Journal of Arid Land 2024年第4期16卷 531-549页

作者： QU wenjie ZHAO Wenzhi yang Xinguo WANG Lei ZHANG Xue QU Jianjun Northwest Institute of Eco-Environment and Resources Chinese Academy of SciencesLanzhou 730000China Key Laboratory of Restoration and Reconstruction of Degraded Ecosystems in Northwestern China of Ministry of Education Ningxia UniversityYinchuan 750021China University of Chinese Academy of Sciences Beijing 100049China School of Ecology and Environment Ningxia UniversityYinchuan 750021China

The maintenance of sand-fixing vegetation is important for the stability of artificial sand-fixing systems in which seed dispersal plays a key role.Based on field wind tunnel experiments using 11 common plant species on the southeastern edge of the Tengger Desert,China,we studied the secondary seed dispersal in the fixed and semi-fixed sand dunes as well as in the mobile dunes in order to understand the limitations of vegetation regeneration and the maintenance of its stability.Our results indicated that there were significant variations among the selected 11 plant species in the threshold of wind speed(TWS).The TWS of Caragana korshinskii was the highest among the 11 plant species,whereas that of Echinops gmelinii was the lowest.Seed morphological traits and underlying surface could generally explain the TWS.During the secondary seed dispersal processes,the proportions of seeds that did not disperse(no dispersal)and only dispersed over short distance(short-distance dispersal within the wind tunnel test section)were significantly higher than those of seeds that were buried(including lost seeds)and dispersed over long distance(long-distance dispersal beyond the wind tunnel test section).Compared with other habitats,the mobile dunes were the most difficult places for secondary seed dispersal.Buried seeds were the easiest to be found in the semi-fixed sand dunes,whereas fixed sand dunes were the best sites for seeds that dispersed over long distance.The results of linear mixed models showed that after controlling the dispersal distance,smaller and rounder seeds dispersed farther.Shape index and wind speed were the two significant influencing factors on the burial of seeds.The explanatory power of wind speed,underlying surface,and seed morphological traits on the seeds that did not disperse and dispersed over short distance was far greater than that on the seeds that were buried and dispersed over long distance,implying that the processes and mechanisms of burial and long-distance dispersal are more complex.In summar

关键词： seed dispersal seed morphological traits wind speed vegetation regeneration wind tunnel Tengger Desert

Rapid Degrading Carbamazepine in a Novel Advanced Oxidation Process of Bisulfite Activated by Lithium Cobaltate Recovered from Spent Lithium-ion Battery

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Chemical Research in Chinese Universities 2024年第1期40卷 127-135页

作者： Yan Jiali yang Kaiying Wang Xi Zhai Jinli Zhu wenjie yang Daoli Luo Yongming Gao Xiaoya Faculty of Environmental Science and Engineering Kunming University of Science and TechnologyKunming650500P.R.China Innovation Team for Volatile Organic Compounds Pollutants Control and Resource Utilization of Yunnan Province Kunming650500P.R.China Higher Educational Key Laboratory for Odorous Volatile Organic Compounds Pollutants Control of Yunnan Province Kunming650500P.R.China

Maximizing the sustainable recycling of spent lithium-ion batteries(LIBs)shows economic and environmental significance.This study recovered lithium cobaltate(LiCoO_(2),LCO)from spent LIBs cathode powder.The recovered LCO was then combined with NaHSO_(3)to remove refractory organic pollutants of carbamazepine(CBZ)in water.The degradation of CBZ reached 80.0%within 60 min,by 1O_(2),SO_(4),OH and O_(2)^(-)generated in the LCO/NaHSO_(3)reaction.The electron transfer between Co(III)and Co(II)was beneficial to the generation of free radicals.The LCO/NaHSO_(3)degraded CBZ effectively in both secondary outlet water and tap water.However,high concentrations of inorganic ions(Cl^(−),HCO_(3)^(-),HPO_(4)^(2-),SO_(2)−4,NO_(3)^(-))and natural organic matter(humic acid,HA)could inhibit the degradation of CBZ.After three cycles,the stability of the LCO/NaHSO_(3)system was demonstrated by the maintained high efficiency in the degradation of CBZ.The obtained data indicate that the LCO/NaHSO_(3)system holds great application potential in the field of advanced oxidation degradation of pollutants.

关键词： Spent lithium-ion battery Lithium cobaltate Carbamazepine NaHSO_(3) Advanced oxidation

Low-Carbon Dispatch of an Integrated Energy System Considering Confidence Intervals for Renewable Energy Generation

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Energy Engineering 2024年第2期121卷 461-482页

作者： Yan Shi wenjie Li Gongbo Fan Luxi Zhang Fengjiu yang Power Supply Service Supervision and Support Center East Inner Mongolia Electric Power Co.Ltd.Tongliao028000China School of Electrical and Electronic Engineering North China Electric Power UniversityBeijing102206China

Addressing the insufficiency in down-regulation leeway within integrated energy systems stemming from the erratic and volatile nature of wind and solar renewable energy generation,this study focuses on formulating a coordinated strategy involving the carbon capture unit of the integrated energy system and the resources on the load storage side.A scheduling model is devised that takes into account the confidence interval associated with renewable energy generation,with the overarching goal of optimizing the system for low-carbon operation.To begin with,an in-depth analysis is conducted on the temporal energy-shifting attributes and the low-carbon modulation mechanisms exhibited by the source-side carbon capture power plant within the context of integrated and adaptable operational paradigms.Drawing from this analysis,a model is devised to represent the adjustable resources on the charge-storage side,predicated on the principles of electro-thermal coupling within the energy system.Subsequently,the dissimilarities in the confidence intervals of renewable energy generation are considered,leading to the proposition of a flexible upper threshold for the confidence interval.Building on this,a low-carbon dispatch model is established for the integrated energy system,factoring in the margin allowed by the adjustable resources.In the final phase,a simulation is performed on a regional electric heating integrated energy system.This simulation seeks to assess the impact of source-load-storage coordination on the system’s low-carbon operation across various scenarios of reduction margin reserves.The findings underscore that the proactive scheduling model incorporating confidence interval considerations for reduction margin reserves effectively mitigates the uncertainties tied to renewable energy generation.Through harmonized orchestration of source,load,and storage elements,it expands the utilization scope for renewable energy,safeguards the economic efficiency of system operations under low-carbon emission conditions,and emp

关键词： Integrated energy system carbon capture power plant confidence interval optimized scheduling