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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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Production performance analysis of a continental shale oil reservoir in Bohai Bay basin

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Petroleum 2024年第2期10卷 294-305页

作者： Quansheng Guan Changwei Chen Xiugang Pu Yonggang Wan Jing Xu Haiwei Zeng Chen Jia Huanhuan Gao Wei Yang Zesen Peng China University of Petroleum Exploration & Development research institute of Dagang Oilfield CNPC Unconventional Petroleum research institute China University of Petroleum

Due to the extremely low permeability of shale formations, the combination of horizontal well and volume fracturing has been proposed as an effective technique to improve the production of Dagang continental shale oil reservoirs. Based on the flow material balance method(FMB) and straight-line analysis(SLA) method, the stimulated reservoir volume(SRV) and drainage volume are determined to identify the flow regimes of the seepage mechanism of shale oil reservoirs. To resolve the challenges of multi-scaled flow regimes and bottom hole pressure(BHP) variation before and after pumping in shale oil wells, a multi-linear analytical flow model was established to predict the future production and the final expected ultimate recoverable oil(EURo) after fitting the historical production dynamics. Based on the results, it can be concluded that the flow regime of a shale oil well in production can be divided into two stages consisting of linear flow within SRV and composite flow from the un-stimulated area to *** effects of fracturing operation parameters, such as fracturing fluid volume and sand/liquid ratio, on shale oil productivity, are analyzed, and insightful suggestions are drawn for the future development of this pay zone.

关键词： Shale oil reservoirs Rate transient analysis Flow material balance Analytical multi-linear model Production performance

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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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Defect Engineering in Earth-Abundant Cu2ZnSnSe4 Absorber Using Efficient Alkali Doping for Flexible and Tandem Solar Cell Applications

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Energy & Environmental Materials 2024年第2期7卷 253-260页

作者： Muhammad Rehan Ara Cho Inyoung Jeong Kihwan Kim Asmat Ullah Jun-Sik Cho Joo Hyung Park Yunae Jo Sung Jun Hong Seung Kyu Ahn SeJin Ahn Jae Ho Yun Jihye Gwak Donghyeop Shin Photovoltaics research Department Korea Institute of Energy Research (KIER) Department of Renewable Energy Engineering University of Science and Technology (UST) Korea institute of Energy Technology (KENTECH)

To demonstrate flexible and tandem device applications, a low-temperature Cu2ZnSnSe4（CZTSe） deposition process, combined with efficient alkali doping, was developed. First, high-quality CZTSe films were grown at480 °C by a single co-evaporation, which is applicable to polyimide（PI）substrate. Because of the alkali-free substrate, Na and K alkali doping were systematically studied and optimized to precisely control the alkali distribution in CZTSe. The bulk defect density was significantly reduced by suppression of deep acceptor states after the（Na F + KF） PDTs. Through the low-temperature deposition with（Na F + KF） PDTs, the CZTSe device on glass yields the best efficiency of 8.1% with an improved VOCdeficit of646 m V. The developed deposition technologies have been applied to *** the first time, we report the highest efficiency of 6.92% for flexible CZTSe solar cells on PI. Additionally, CZTSe devices were utilized as bottom cells to fabricate four-terminal CZTSe/perovskite tandem cells because of a low bandgap of CZTSe（～1.0 e V） so that the tandem cell yielded an efficiency of 20%. The obtained results show that CZTSe solar cells prepared by a low-temperature process with in-situ alkali doping can be utilized for flexible thin-film solar cells as well as tandem device applications.

关键词： alkali doping Earth-abundant Cu2ZnSnSe4 flexible solar cells four-terminal tandem cells low-temperature process

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Recent advances in reservoir characterization:Introduction

Energy Geoscience

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Energy Geoscience 2024年第2期5卷 180-182页

作者： Shib Sankar Ganguli A.Vasanthi Sumit Verma CSIR-National geophysical research institute(NGRI) HyderabadIndia Endeavor Energy Resources LPUSA

Reservoir characterization refers to the process of creating a comprehensive model that characterizes the reservoir based on its ability to store and produce *** includes analyzing reservoir fluid behavior under various conditions and identifying optimal production techniques to maximize hydrocarbon *** this,a holistic understanding is required that integrates data from geophysics,geostatistics,petrophysics,geology,and reservoir engineering.

关键词： reservoir geology geophysics

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Numerical simulations of Atlantic meridional overturning circulation(AMOC)from OMIP experiments and its sensitivity to surface forcing

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Journal of Oceanology and Limnology 2024年第2期42卷 454-467页

作者： Xiaowei WANG Yongqiang YU State Key Laboratory of Numerical Modeling for Atmospheric Sciences and geophysical Fluid Dynamics(LASG) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China University of Chinese Academy of Sciences Beijing 100049China

Atlantic meridional overturning circulation(AMOC)plays an important role in transporting heat meridionally in the Earth’s climate system and is also a key metrical tool to verify oceanic general circulation *** OMIP(Ocean Model Intercomparison Project phase 1 and 2)simulations with LICOM3(version 3 of the LASG/IAP Climate System Ocean Model)developed at the State Key Laboratory of Numerical Modeling for Atmospheric Sciences and geophysical Fluid Dynamics(LASG),institute of Atmospheric Physics(IAP),are compared in this *** simulations well reproduce the fundamental characteristics of the AMOC,but the OMIP1 simulation shows a significantly stronger AMOC than the OMIP2 *** the LICOM3 configurations are identical between these two experiments,any differences between them must be attributed to the surface forcing *** analysis suggests that sea surface salinity(SSS)differences should be mainly responsible for the enhanced AMOC in the OMIP1 simulation,but sea surface temperature(SST)also play an unignorable role in modulating *** the North Atlantic,where deep convection occurs,the SSS in OMIP1 is more saline than that in *** find that in the major region of deep convection,the change of SSS has more significant effect on density than the change of *** a result,the SSS was more saline than that in OMIP2,leading to stronger deep convection and subsequently intensify the *** conduct a series of numerical experiments with LICOM3,and the results confirmed that the changes in SSS have more significant effect on the strength of AMOC than the changes in SST.

关键词： oceanic general circulation model(OGCM) Atlantic meridional overturning(AMOC) surface forcing deep convection

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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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Pore structure characteristics and controlling factors of different lithofacies in lacustrine shale: A case study of Fengcheng Formation in Mahu Sag， Junggar Basin

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Journal of Earth Science 2024年

作者： Jiahao Lü Fujie Jiang Jing Xue Tao Hu Yuping Wu Chenxi Zhang Meiling Hu Renda Huang Key Laboratory of Petroleum Resource research， institute of Geology and Geophysics， Chinese Academy of Sciences State Key Laboratory of Petroleum Resources and Prospecting， China University of Petroleum (Beijing) College of Geosciences， China University of Petroleum (Beijing) University of Chinese Academy of Sciences research institute of Oriental geophysical Company，CNPC

The practice of shale oil exploration and development all over the world has shown that reservoir quality is a key factor restricting oil and gas production， the study of ultra-deep (4 500 m) reservoirs in petroliferous basins is a hot spot for oil and gas exploration in the world today. In this paper， taking the Fengcheng Formation (P1f) in Mahu Sag of Junggar Basin as an example， through experiments such as geochemistry， whole rock analysis， FE-SEM， N2 adsorption， and CO2 adsorption， the lithofacies are separated， and the pore structure properties of the various lithofacies are compared. Discuss the primary influencing elements that lead to pore structure differences. The results reveal that the shale of the P1f can be separated into four lithofacies (namely felsic shale， mixed shale， lime shale and dolomitic shale)， according to the mineral composition. The shale pores of P1f develop intergranular pores， intragranular pores， organic pores and micro-fractures. Among them， intergranular pores， intragranular pores and micro-fractures are the most developed， and the pore size is larger， which is a favorable storage space. Different lithofacies have different pore development characteristics. With the change of lithofacies (mixed shale - dolomitic shale - lime shale - felsic shale)， the size of the developed pores changes from small to large， and the pore structure changes from "Mainly microporous" to "mainly macropores". The felsic shale has developed laminae， mainly mesopores and macropores， with the largest pore diameter and the highest content of brittle minerals， which is the dominant lithofacies in the shale oil reservoir of the P1f. TOC， felsic and clay minerals all affect the pore development of shale in the P1f， but the influence of organic matter and inorganic minerals on pore volume varies with pore size. The purpose of this article is to characterize the pore structures and regulators of various lithofacies in lacustrine shale and to provide new ideas for

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Weatherability and heat resistance enhanced by interaction between AG25 and Mg/AI-LDH

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Rare Metals 2024年第6期43卷 2758-2768页

作者： Pei-Yao Yang Xiang-Cui Liu Yu-Chao Wang Huan-Ran Zheng Jin-Xian Wang Jia-Yi Zheng Meng-Jie Liu Dan-Ni Deng Yu Bai Ying-Bi Chen Tong Zhang Zhi-Ming Liu Yong-Peng Lei State Key Laboratory of Powder Metallurgy Powder Metallurgy Research InstituteCentral South UniversityChangsha 410083China research institute of Chemical Defense Beijing 102205China

Although inorganic pigments in common spectral tuning materials show good weatherability and heat resistance,the limited color choices,weak coloring power,poor dispersibility,and a possibility of toxicity limit their *** the basis of organic pigments which possess a wide range of colors,high coloring power,good transparency,and high safety,herein,the modified pigment and biomimetic coating with improved weatherability,especially ultraviolet(UV)resistance(from 2 to 6 days),was achieved by intercalating acid green 25(AG25)pigment into Mg/Al-layered double hydroxides(Mg/Al-LDH).Furthermore,the heat resistance of AG25 was also significantly ***,the spectral stability of pigments after heat treatment is superior with almost unchanged spectral profile and green reflection *** formation of strong N-H bonds and the S-M(Mg,Al)bonds between Mg/Al-LDH laminates and AG25 molecules contributes to the *** work shows potential for biomimetic leaf materials in respect of reflective spectra stability.

关键词： Layered double hydroxide Biomimetic Acid green 25 Interaction Weatherability Heat resistance

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