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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 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

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Chromosome-level genome assembly of the Asian citrus psyllid,Diaphorina citri

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Insect Science 2024年第1期31卷 13-27页

作者： Shuang Lei Shi-Jiang Yu Qi Pan Li-Li Ding Si-Chen Li Lu-Yan Cheng Shu-Qi Wang Bing-Hai Lou Jun He Cui-Yun Lei Lin Cong Hao-Qiang Liu Xue-Feng Wang Chun Ran Citrus research institute Southwest University/Chinese Academy of Agricultural SciencesNational Engineering Research Center for CitrusChongqingChina

Diaphorina citri is a global citrus pest.As a vector insect,it can transmit the causative agents of citrus huanglongbing,causing irreversible losses to the citrus industry.The acquisition of genomic information can provide a molecular genetic basis for effective control of D.citri.Here,the DNBSEQ™,Oxford Nanopore Technologies,and Hi-C technologies are applied to generate a high-quality chromosome-level genome of D.citri.The genome size of D.citri was 523.78 Mb with a scaffold N50 of 47.05 Mb distributed on 13 chromosomes.A total of 250.64 Mb(47.85%)repeat sequences and 24048 protein-coding genes were predicted.Genome resequencing of female and male individuals indicated that the sex chromosome system of D.citri is XO.Phylogenetic analysis demonstrated that D.citri and Pachypsylla venusta,which separated from their most recent common ancestor about 336.62 million years ago,were the most closely related.Additionally,we identified genes potentially involved in detoxification metabolism,pathogen transmission,and honeydew secretion for further investigation.The high-quality genome provides an important reference for developing effective management strategies of D.citri.

关键词： Asian citrus psyllid chromosome-level genome comparative genomics cytochrome P450 detoxification Huanglongbing

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Recent progress on electro-sorption technology for lithium recovery from aqueous sources

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Nano research 2024年第4期17卷 2563-2573页

作者： Qichen Lu Peng Liu Tianyi Zhou Ruling Huang Kexin Zhang Lin Hu Rong Liu Zhibo Ren Jinyi Wang Xiaolong Wang Huaneng Clean Energy research institute Beijing 102209China

Lithium is known as the“white petroleum”of the electrification era,and the global demand for lithium grows rapidly with the quick development of new energy industry.The aqueous solutions,such as salt lake brine,underground brine,and seawater,have large lithium reserves,thus this kind of lithium resource has become a research hotspot recently.Compared with other lithium extraction technologies,electro-sorption method shows good prospects for practical applications with advantages in the aspects of efficiency,recovery ratio,cost,and environment.Herein,this review covers recent progress on electro-sorption technology for lithium recovery from aqueous solutions,including the concept illustration,research progress of the applied working electrodes and counter electrodes,and the evaluation indicators of electro-sorption system.Meanwhile,some prospects for the development of this technology are also proposed.We hope this review is beneficial for the construction of high-efficient electrochemical lithium recovery system to achieve an adequate lithium supply in the future.

关键词： lithium extraction electro-sorption technology lithium selective electrode counter electrode system evaluation method

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Atomically Substitutional Engineering of Transition Metal Dichalcogenide Layers for Enhancing Tailored Properties and Superior Applications

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Nano-Micro Letters 2024年第5期16卷 248-284页

作者： Zhaosu Liu Si Yin Tee Guijian Guan Ming‑Yong Han institute of Molecular Plus Tianjin UniversityTianjin 300072People’s Republic of China institute of Materials research and Engineering A*STARSingapore 138634Singapore

Transition metal dichalcogenides(TMDs)are a promising class of layered materials in the post-graphene era,with extensive research attention due to their diverse alternative elements and fascinating semiconductor behavior.Binary MX2 layers with different metal and/or chalcogen elements have similar structural parameters but varied optoelectronic properties,providing opportunities for atomically substitutional engineering via partial alteration of metal or/and chalcogenide atoms to produce ternary or quaternary TMDs.The resulting multinary TMD layers still maintain structural integrity and homogeneity while achieving tunable(opto)electronic properties across a full range of composition with arbitrary ratios of introduced metal or chalcogen to original counterparts(0–100%).Atomic substitution in TMD layers offers new adjustable degrees of freedom for tailoring crystal phase,band alignment/structure,carrier density,and surface reactive activity,enabling novel and promising applications.This review comprehensively elaborates on atomically substitutional engineering in TMD layers,including theoretical foundations,synthetic strategies,tailored properties,and superior applications.The emerging type of ternary TMDs,Janus TMDs,is presented specifically to highlight their typical compounds,fabrication methods,and potential applications.Finally,opportunities and challenges for further development of multinary TMDs are envisioned to expedite the evolution of this pivotal field.

关键词： Transition metal dichalcogenides Atomic substitution Tailored structure Tunable bandgap Enhanced applications

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Advancements in nanotechnology for the delivery of phytochemicals

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Journal of Integrative Medicine 2024年第4期22卷 385-398页

作者： Divya Chauhan Pavan K.Yadav Nazneen Sultana Arun Agarwal Saurabh Verma Manish K.Chourasia Jiaur R.Gayen Division of Pharmaceutics and Pharmacokinetics Central Drug Research Institute Council of Scientific and Industrial Research Academy of Scientific and Innovative research

Phytosomes(phytophospholipid complex) are dosage forms that have recently been introduced to increase the stability and therapeutic effect of herbal medicine. Currently, bioactive herbs and the phytochemicals they contain are considered to be the best remedies for chronic diseases. One promising approach to increase the efficacy of plant-based therapies is to improve the stability and bioavailability of their bio-active ingredients. Phytosomes employ phospholipids as their active ingredients, and use their amphiphilic properties to solubilize and protect herbal extracts. The unique properties of phospholipids in drug delivery and their use in herbal medicines to improve bioavailability results in significantly enhanced health benefits. The introduction of phytosome nanotechnology can alter and revolutionize the current state of drug delivery. The goal of this review is to explain the application of phytosomes, their future prospects in drug delivery, and their advantages over conventional formulations.

关键词： Bioavailability Drug delivery system Phytochemical Phytosome Plant extracts

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Does topical vancomycin prevent fracture-related infections in closed fractures undergoing open reduction and internal fixation?A randomised controlled trial

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Chinese Journal of Traumatology 2024年第2期27卷 71-76页

作者： Mohit Gandhi Gopisankar Balaji Jagdish Menon Ruben Raj Thomas Department of Orthopaedics Jawaharlal Institute of Postgraduate Medical Education and ResearchPondicherryIndia Department of Preventive and Social Medicine Jawaharlal Institute of Postgraduate Medical Education and ResearchPondicherryIndia

Purpose:The role of topical vancomycin in fracture-related infection(FRI)is debatable.Very few studies have reported their efficacy in open and high-risk extremity fractures.This study aimed to assess topical vancomycin's role in reducing FRI in closed fractures undergoing open surgical intervention with an implant.Methods:This prospective randomized cohort study was carried out between February 2021 to January 2022.Patients with isolated closed fractures,who were planned for open reduction and internal fixation within 2 weeks from the time of injury were included for this study.The data collected included age,gender,socioeconomic status,mechanism of injury,diagnosis,Tscherne classification,and time interval to take up for surgery.Patients were randomized into the intervention and control groups using the block randomization technique.The control group received only systemic antibiotic prophylaxis,whereas the intervention group received topical application of vancomycin powder in the surgical wound alongside systemic antibiotic prophylaxis.The primary outcome measure was the incidence of FRI among these individuals.Clinical and radiological findings and culture reports(in cases with infection)were recorded during the post-operative period and at 6 weeks of follow-up.All relevant statistical calculations were done using STATA statistical/data analysis-parallel edition version 16.0(StataCorp LLC).The quantitative variables like age and duration of the surgery were assessed for normalcy by Shapiro-Wilk W test.An independent samples t-test with equal variances was applied to the age data.Fisher's exact test was used for the analysis of the primary outcome measure(presence of FRI following surgery),and"Risk of FRI"and"Risk difference"between the 2 groups was calculated.The strength of the association between qualitative variables was assessed using the Fisher's exact and Chi-square tests,respectively.Results:There were 88 patients included in this study.No statistical significance was found about FRI between both grou

关键词： Infections Antibiotics Vancomycin Fractures

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Relationship between mitochondrial respiratory dysfunction of blood mononuclear cells and heart failure severity

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Journal of Geriatric Cardiology 2024年第1期21卷 130-134页

作者： Viacheslav A.Korepanov Tariel A.Atabekov Tatiana Yu.Rebrova Roman E.Batalov Sergey A.Afanasiev Cardiology research institute Tomsk National Research Medical CenterRussian Academy of SciencesTomskRussia

Chronic heart failure(CHF)is a clinical syndrome manifested by reduced pumping ability of the heart,increased pressure in heart chambers in both physical activity and at rest.The symptoms of this syndrome are dyspnea,undue fatigability,peripheral edema,which follow structural and functional changes of the myocardium.[1]The growing incidence of CHF,especially among elderly people,is an urgent problem for medicine in the vast majority of industrialized countries.For instance,in Russian Federation,CHF is diagnosed in about 7%of cardiovascular patients.At the same time,this indicator varies from 0.3%in young people(20-29 years old)to 70%in the older age group.[2,3].

关键词： severity instance pumping

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Developing fertility control for rodents: a framework for researchers and practitioners

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Integrative Zoology 2024年第1期19卷 87-107页

作者： Giovanna MASSEI Jens JACOB Lyn A.HINDS Botstiber institute for Wildlife Fertility Control Department of Environment and GeographyUniversity of YorkHeslingtonYorkUK Rodent research Institute for Epidemiology and Pathogen DiagnosticsJulius Kühn–Institute(JKI)Federal Research Institute for Cultivated PlantsMünsterGermany CSIRO Health and Biosecurity CanberraACTAustralia

Fertility control is often heralded as a humane and effective technique for management of overabundant wildlife,including rodents.The intention is to reduce the use of lethal and inhumane methods,increase farm productivity and food security as well as reduce disease transmission,particularly of zoonoses.We developed a framework to guide researchers and stakeholders planning to assess the effectiveness of a potential contraceptive agent for a particular species.Our guidelines describe the overarching research questions which must be sequentially addressed to ensure adequate data are collected so that a contraceptive can be registered for use in broad-scale rodent management.The framework indicates that studies should be undertaken iteratively and,at times,in parallel,with initial research being conducted on(1)laboratory-based captive assessments of contraceptive effects in individuals;(2)simulation of contraceptive delivery using bait markers and/or surgical sterilization of different proportions of afield-based or enclosure population to determine how population dynamics are affected;(3)development of mathematical models which predict the outcomes of different fertility control scenarios;and(4)implementation of large-scale,replicated trials to validate contraceptive efficacy under various management-scalefield situations.In some circumstances,fertility control may be most effective when integrated with other methods(e.***.some culling).Assessment of non-target effects,direct and indirect,and the environmental fate of the contraceptive must also be determined.Developing fertility control for a species is a resource-intensive commitment but will likely be less costly than the ongoing environmental and economic impacts by rodents and rodenticides in many contexts.

关键词： captive studies field applications modeling oral contraceptive delivery population management rodents

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Protein Arginine Methyltransferase 1 Ablation in Motor Neurons Causes Mitochondrial Dysfunction Leading to Age-related Motor Neuron Degeneration with Muscle Loss

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research 2024年第1期2023卷 637-649页

作者： Hyun-Kyung So Hyebeen Kim Jinwoo Lee Chang-Lim You Chae-Eun Yun Hyeon-Ju Jeong Eun-Ju Jin Yunju Jo Dongryeol Ryu Gyu-Un Bae Jong-Sun Kang Department of Molecular Cell Biology Sungkyunkwan University School of MedicineSuwonKorea Single Cell Network research Center Sungkyunkwan University School of MedicineSuwonKorea research institute of Aging-Related Diseases AniMusCureInc.SuwonKorea Drug Information research institute Muscle Physiome Research CenterCollege of PharmacySookmyung Women’s UniversitySeoulKorea

Neuromuscular dysfunction is tightly associated with muscle wasting that occurs with age or due to degenerative diseases.However,the molecular mechanisms underlying neuromuscular dysfunction are currently unclear.Recent studies have proposed important roles of Protein arginine methyltransferase 1(Prmt1)in muscle stem cell function and muscle maintenance.In the current study,we set out to determine the role of Prmt1 in neuromuscular function by generating mice with motor neuron-specific ablation of Prmt1(mnKO)using Hb9-Cre.mnKO exhibited age-related motor neuron degeneration and neuromuscular dysfunction leading to premature muscle loss and lethality.Prmt1 deficiency also impaired motor function recovery and muscle reinnervation after sciatic nerve injury.The transcriptome analysis of aged mnKO lumbar spinal cords revealed alterations in genes related to inflammation,cell death,oxidative stress,and mitochondria.Consistently,mnKO lumbar spinal cords of sciatic nerve injury model or aged mice exhibited elevated cellular stress response in motor neurons.Furthermore,Prmt1 inhibition in motor neurons elicited mitochondrial dysfunction.Our findings demonstrate that Prmt1 ablation in motor neurons causes agerelated motor neuron degeneration attributing to muscle loss.Thus,Prmt1 is a potential target for the prevention or intervention of sarcopenia and neuromuscular dysfunction related to aging.

关键词： degeneration impaired prevention

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Ru-doped functional porous materials for electrocatalytic water splitting

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Nano research 2024年第3期17卷 982-1002页

作者： Chongao Tian Rui Liu Yu Zhang Wenxiu Yang Bo Wang Beijing Key Laboratory of Photoelectronic/Electrophotonic Conversion Materials Advanced Technology Research Institute(Jinan)Advanced Research Institute of Multidisciplinary ScienceSchool of Chemistry and Chemical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing institute of Technology Library Beijing Institute of TechnologyBeijing 100081China

Electrolytic water splitting(EWS)is an attractive and promising technique for the production of hydrogen energy.Nevertheless,the sluggish kinetic rate of hydrogen/oxygen evolution reactions leads to a high overpotential and low energy efficiency.Up to date,Pt/Ir-based nanocatalysts have become the state-of-the-art EWS catalysts,but disadvantages such as high cost and low earth abundance greatly limit their applications in EWS devices.As an attractive candidate for the Pt/Ir catalysts,series of Ru-based nanomaterials have aroused much attention for their low price,Pt-like hydrogen bond strength,and high EWS activity.In particular,Ru-doped functional porous materials have been becoming one of the most representative EWS catalysts,which can not only achieve the dispersion and adjustment for active Ru sites,but also simultaneously solve the problems of mass transfer and catalytic conversion in EWS.In this review,the design and preparation strategies of Ru-doped functional porous materials toward EWS in recent years are summarized,including Ru-doped metal organic frameworks(MOFs),Ru-doped porous organic polymers(POPs),and their derivatives.Meanwhile,detailed structure–activity relationships induced by the tuned geometric/electronic structures of Ru-doped functional porous materials are further depicted in this review.Last but not least,the challenges and perspectives of Ru-doped functional porous materials catalysts are reasonably proposed to provide fresh ideas for the design of Ru-based EWS catalysts.

关键词： Ru-based catalyst functional porous materials electrolytic water splitting oxygen evolution reaction hydrogen evolution reaction

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