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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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A reweighted damped singular spectrum analysis method for robust seismic noise suppression

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Petroleum Science 2024年第3期21卷 1671-1682页

作者： Wei-Lin Huang Yan-Xin Zhou Yang Zhou Wei-Jie Liu Ji-Dong Li State Key Laboratory of Petroleum Resources and Engineering China University of Petroleum (Beijing) SINOPEC Petroleum Exploration and Production research institute SINOPEC Geophysical research institute

(Multichannel) Singular spectrum analysis is considered as one of the most effective methods for seismic incoherent noise suppression. It utilizes the low-rank feature of seismic signal and regards the noise suppression as a low-rank reconstruction problem. However, in some cases the seismic geophones receive some erratic disturbances and the amplitudes are dramatically larger than other receivers. The presence of this kind of noise, called erratic noise, makes singular spectrum analysis(SSA) reconstruction unstable and has undesirable effects on the final results. We robustify the low-rank reconstruction of seismic data by a reweighted damped SSA(RD-SSA) method. It incorporates the damped SSA, an improved version of SSA, into a reweighted framework. The damping operator is used to weaken the artificial disturbance introduced by the low-rank projection of both erratic and random noise. The central idea of the RD-SSA method is to iteratively approximate the observed data with the quadratic norm for the first iteration and the Tukeys bisquare norm for the rest iterations. The RD-SSA method can suppress seismic incoherent noise and keep the reconstruction process robust to the erratic disturbance. The feasibility of RD-SSA is validated via both synthetic and field data examples.

关键词： Singular spectrum analysis Damping operator Seismic erratic noise Seismic signal processing Robust low-rank reconstruction

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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 *** 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 *** 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 ***,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 ***,some prospects for the development of this technology are also *** 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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Microstructure and properties of coarse-grained WC-10Co cemented carbides with different carbon contents during heat treatments

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Rare Metals 2024年第4期43卷 1786-1792页

作者： Yuan-Feng Xie Xing-Cheng Xie Zhong-Wu Li Rui-Jun Cao Zhong-Kun Lin Qing Li Chen-Guang Lin Powder Metallurgy and Special Materials research Department General Research Institute for Nonferrous MetalsBeijing100088China

The effects of cryogenic treatment(CT)and tempering-cryogenic treatment(TCT)on the microstructure and properties of coarse-grained WC-10Co cemented carbides with different carbon contents were *** binder phase,WC mean grain sizes,W solubility in the binder,relative magnetic s aturation,densities,hardness,wear resistance and second phase precipitation of cemented carbides with different heat treatments were *** results show that there are significant changes of microstructure and properties in the samples with CT and TCT,especially due to the precipitation of metastable nanoparticles W_(x)Co_(y)C_(z) in the binder during the heat treatments of CT and *** the simultaneous combination of microstructure and nanoparticle-reinforced binder,a dramatically improved combination of hardness and wear resistance of the samples after TCT has been achieved.

关键词： Cryogenic treatment Tempering Coarsegrained cemented carbide Carbon content Nanoparticlereinforced binder

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Functional Optical Fiber Sensors Detecting Imperceptible Physical/Chemical Changes for Smart Batteries

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Nano-Micro Letters 2024年第8期16卷 268-308页

作者： Yiding Li Li Wang Youzhi Song Wenwei Wang Cheng Lin Xiangming He institute of Nuclear and New Energy Technology Tsinghua UniversityBeijing 100084People’s Republic of China National Engineering research Center of Electric Vehicles Beijing Institute of Technology(BIT)Beijing 100081People’s Republic of China Shenzhen Automotive research institute of BIT(Shenzhen research institute of National Engineering research Center of Electric Vehicles) Shenzhen 518118People’s Republic of China

The battery technology progress has been a contradictory process in which performance improvement and hidden risks *** the battery is still a“black box”,thus requiring a deep understanding of its internal *** battery should“sense its internal physical/chemical conditions”,which puts strict requirements on embedded sensing *** paper summarizes the application of advanced optical fiber sensors in lithium-ion batteries and energy storage technologies that may be mass deployed,focuses on the insights of advanced optical fiber sensors into the processes of one-dimensional nano-micro-level battery material structural phase transition,electrolyte degradation,electrode-electrolyte interface dynamics to three-dimensional macro-safety *** paper contributes to understanding how to use optical fiber sensors to achieve“real”and“embedded”*** the inherent advantages of the advanced optical fiber sensor,it helps clarify the battery internal state and reaction mechanism,aiding in the establishment of more detailed *** advancements can promote the development of smart batteries,with significant importance lying in essentially promoting the improvement of system ***,with the help of smart batteries in the future,the importance of consistency can be weakened or even *** application of advanced optical fiber sensors helps comprehensively improve the battery quality,reliability,and life.

关键词： Smart battery Advanced embedded optical fiber sensor Battery internal physical/chemical state Quality-reliability-life characteristic

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Comparative study between three carbonaceous nanoblades and nanodarts for antimicrobial applications

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Journal of Environmental Sciences 2024年第2期136卷 594-605页

作者： Mohamed S.Selim Ahmed M.Azzam Mohamed A.Shenashen Shimaa A.Higazy Bayaumy B.Mostafa Sherif A.El-Safty National institute for Materials Science(NIMS) 1-2-1 SengenTsukuba-ShiIbaraki-Ken 305-0047Japan Petroleum Application Department Egyptian Petroleum Research InstituteNasr City 11727Egypt Department of Environmental research Theodor Bilharz Research InstituteGizaEgypt

The design of nanostructured materials occupies a privileged position in the development and management of affordable and effective technology in the antibacterial ***,we discuss the antimicrobial properties of three carbonaceous nanoblades and nanodarts materials of graphene oxide(GO),reduced graphene oxide(RGO),and single-wall carbon nanotubes(SWCNTs)that have a mechano-bactericidal effect,and the ability to piercing or slicing bacterial *** demonstrate the significance of size,morphology and composition on the antibacterial activity mechanism,the designed nanomaterials have been *** minimum inhibitory concentration(MIC),standard agar well diffusion,and transmission electron microscopy were utilized to evaluate the antibacterial activity of GO,RGO,and *** on the evidence obtained,the three carbonaceous materials exhibit activity against all microbial strains tested by completely encapsulating bacterial cells and causing morphological disruption by degrading the microbial cell membrane in the order of RGO>GO>*** of the external cell wall structure and outer membrane proteins,the synthesized carbonaceous nanomaterials exhibited higher antibacterial activity against Gram-positive bacterial strains than Gram-negative and fungal *** had the lowest MIC values(0.062,0.125,and 0.25 mg/mL against ***,***,and ***,respectively),as well as minimum fungal concentrations(0.5 mg/mL for both *** and ***).At 12 hr,the cell viability values against tested microbial strains were completely *** lysis and death occurred as a result of severe membrane damage caused by microorganisms perched on RGO *** work gives an insight into the design of effective graphene-based antimicrobial materials for water treatment and remediation.

关键词： Antimicrobial properties Nanoblades Mechano-bactericidal effect RGO nanosheets Gram-positive bacteria Cell viability

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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 ***,the sluggish kinetic rate of hydrogen/oxygen evolution reactions leads to a high overpotential and low energy *** 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 *** 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 *** 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 *** 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 ***,detailed structure–activity relationships induced by the tuned geometric/electronic structures of Ru-doped functional porous materials are further depicted in this *** 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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Roles of neuronal lysosomes in the etiology of Parkinson’s disease

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Neural Regeneration research 2024年第9期19卷 1981-1983页

作者： Mattia Volta institute for Biomedicine Eurac ResearchBolzanoItaly

Therapeutic progress in neurodegenerative conditions such as Parkinson’s disease has been hampered by a lack of detailed knowledge of its molecular *** advancements in genetics and genomics have provided fundamental insights into specific protein players and the cellular processes involved in the onset of *** this respect,the autophagy-lysosome system has emerged in recent years as a strong point of convergence for genetics,genomics,and pathologic indications,spanning both familial and idiopathic Parkinson’s ***,if not all,genes linked to familial disease are involved,in a regulatory capacity,in lysosome function(e.g.,LRRK2,alpha-synuclein,VPS35,Parkin,and PINK1).Moreover,the majority of genomic loci associated with increased risk of idiopathic Parkinson’s cluster in lysosome biology and regulation(GBA as the prime example).Lastly,neuropathologic evidence showed alterations in lysosome markers in autoptic material that,coupled to the alpha-synuclein proteinopathy that defines the disease,strongly indicate an alteration in *** this Brief Review article,I present a personal perspective on the molecular and cellular involvement of lysosome biology in Parkinson’s pathogenesis,aiming at a larger vision on the events underlying the onset of the *** attempts at targeting autophagy for therapeutic purposes in Parkinson’s have been mostly aimed at“indiscriminately”enhancing its activity to promote the degradation and elimination of aggregate protein accumulations,such as alpha-synuclein Lewy ***,this approach is based on the assumption that protein pathology is the root cause of disease,while pre-pathology and pre-degeneration dysfunctions have been largely observed in clinical and pre-clinical *** addition,it has been reported that unspecific boosting of autophagy can be ***,it is important to understand the mechanisms of specific autophagy forms and,even more,the adjustment of specific lysosome f

关键词： alpha-synuclein autophagy LRRK2 lysosome neuroprotection neurotransmission Parkinson’s disease Rit2 synapse

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Priority effects of forbs arriving early:the role of root interaction and asymmetric competition

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Ecological Processes 2024年第1期13卷 53-65页

作者： Xiaohong Yan Xiliang Li Ke Jin institute of Grassland research Chinese Academy of Agricultural Sciences

Background The priority effect of plant arrival is a key driver of community assembly and ecosystem succession during the restoration of degraded plant communities. However, the significance of the arrival order of different plant functional groups and their interactions with community assemblies remains unclear. Using a phytotron experiment with three fully crossed factors, we investigated the underlying mechanisms of priority effects and their relationships with the biomass and biodiversity effects in mixed plant communities by manipulating the order of arrival of species, isolation of roots, and removal of specific *** The results showed that the strength and direction of priority effects were influenced by arrival order, root interactions, asymmetric competition among species, and their interactions. The identities of early and late-sown species also determined the magnitude of priority effects. The priority effects were stronger in grass-first(24.76%) and legume-first communities(24.48%) than in forb-first communities. The pot biomass of the different priority treatments was highest in grass-first(5.85 g), followed by legume-first(3.94 g) and forb-first(2.48 g). The order of arrival in the mixture significantly affected the net biodiversity effects(P < 0.001), which were driven by dominance effects. The community had lower overall biomass when forbs were sown first, whereas the species grown later had fewer costs with an increased overall net benefit for the resulting *** Our results emphasize that root interactions and asymmetric competition are vital determinants of order-specific priority effects in community assemblies. In addition, the importance of the priority effect of forbs sown first is related to community assembly, which may be a key determinant in successfully establishing a highly diverse community in the early stages of restoration. Species with weak competition should be considered in the early stage of community ass

关键词： Community assembly Order of arrival Overyielding Plant functional group Root isolation

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Damping capacity of Fe_(83)Ga_(17) magnetostrictive alloy under magnetic field

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Rare Metals 2024年第1期43卷 402-409页

作者： Shao-Wen Yan Xing Mu Bing-Jie Liu Li-Hong Xu Shi-Hai Guo Yan Qi Hong-Ping Zhang Department of Functional Material research Central Iron and Steel Research InstituteBeijing 100081China

The damping performance of Fe_(83)Ga_(17) alloys has been investigated in the static magnetic field (H). The results demonstrate that the damping peak value can be adjusted between 0.020 and 0.085 under the magnetic f... 详细信息

关键词： alloy magnetic alloys

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