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Visual Servo-Based Formation Control of Unmanned Surface Vehicles
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作者 Xiang Liu Yueying Wang +1 位作者 Xudong Zhao Zhiguang Feng 《IEEE/CAA Journal of Automatica Sinica》 2026年第2期480-482,共3页
Dear Editor,This letter addresses the formation control problem for unmanned surface vehicles(USVs)under GPS-denied environments.A novel visual servo formation control scheme,utilizing a monocular camera on the follow... Dear Editor,This letter addresses the formation control problem for unmanned surface vehicles(USVs)under GPS-denied environments.A novel visual servo formation control scheme,utilizing a monocular camera on the follower to obtain the leader’s global position,is developed,which is also capable of guaranteeing collision avoidance and visibility maintenance(CA&VM)raised by the requirement of actual formation navigation. 展开更多
关键词 visual servo formation control collision avoidance formation navigation unmanned surface vehicles usvs monocular camera unmanned surface vehicles formation control visual servo
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Zircon U-Pb ages of the volcanic rocks and their constraints on the ending of the Huoshiling Formation in the southeastern of Songliao Basin,NE China 被引量:1
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作者 Xue-jiao Qu Ming-kai Zhang +5 位作者 Pu-jun Wang Zhuo-long Yang You-feng Gao Kang-jun Wu Jia Wang Xian-feng Tan 《China Geology》 2026年第1期214-216,I0023,共4页
1.Objective The Songliao Basin(SB)is situated on the eastern margin of Eurasia continent(Northeast Asia).During the Late Jurassic to Early Cretaceous,hundreds of rifting basins developed in this area,and the SB is a u... 1.Objective The Songliao Basin(SB)is situated on the eastern margin of Eurasia continent(Northeast Asia).During the Late Jurassic to Early Cretaceous,hundreds of rifting basins developed in this area,and the SB is a unique case among them as it evolved into the largest rift basin.The rift basin filling of SB includes Huoshiling Formation,Shahezi Formation,and Yingcheng Formation in ascending order.The mega-rifting was controlled by the Mongol-Okhotsk Collisional Belt to the north and northwest and the Pacific Subduction Zone to the east(Wang PJ et al.,2016).As the first rifting succession,the Huoshiling Formation contains key information about the formation of the rifting basins and records the evolution of the Mongol-Okhotsk Collisional Belt and the Pacific Subduction Zone.However,the geological period of the Huoshiling Formation has not been well constrained for two main reasons.First,it is easily confused with the Yingcheng Formation,as both are dominated by volcanogenic-sedimentary successions.Second,there is lack of reliable dating samples from the uppermost part of the Huoshiling Formation due to its considerable burial depth. 展开更多
关键词 rift basin rift basinthe yingcheng formation ZIRCON U Pb ages rifting basins volcanic rocks huoshiling formationshahezi formationand
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Three-step formation of diamonds in shock-compressed hydrocarbons:Dissociation,species separation,and nucleation
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作者 Bo Chen Qiyu Zeng +4 位作者 Xiaoxiang Yu Jiahao Chen Shen Zhang Dongdong Kang Jiayu Dai 《Matter and Radiation at Extremes》 2026年第1期58-67,共10页
The accumulation and circulation of carbon and hydrogen contribute to the chemical evolution of ice giant planets.Species separation and diamond precipitation have been reported in carbon-hydrogen systems and have bee... The accumulation and circulation of carbon and hydrogen contribute to the chemical evolution of ice giant planets.Species separation and diamond precipitation have been reported in carbon-hydrogen systems and have been verified by static and shock compression experiments.Nevertheless,the dynamic formation processes underlying these phenomena remain insufficiently understood.In combination with a deep learning model,we demonstrate that diamonds form through a three-step process involving dissociation,species separation,and nucleation processes.Under shock conditions of 125 GPa and 4590 K,hydrocarbons decompose to give hydrogen and low-molecular-weight alkanes(CH_(4) and C_(2)H_(6)),which escape from the carbon chains,resulting in C/H species separation.The remaining carbon atoms without C-H bonds accumulate and nucleate to form diamond crystals.The process of diamond growth is associated with a critical nucleus size at which the dynamic energy barrier plays a key role.These dynamic processes of diamond formation provide insight into the establishment of a model for the evolution of ice giant planets. 展开更多
关键词 diamond formation formation processes ice giant planetsspecies separation DISSOCIATION deep learning modelwe carbon hydrogen static shock compression experimentsneverthelessthe chemical evolution
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Quorum sensing:its roles in mediating biofilm and viable but non-culturable state formation,and strategies for the prevention and control of foodborne bacteria via quorum quenching
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作者 Ting Ding Xuchen Li +3 位作者 Hongwei Zhan Yanqing Li Zhenqing Li Yang Deng 《Food Science and Human Wellness》 2026年第2期520-537,共18页
Foodborne bacteria produce biofilms and their viable but non-culturable(VBNC)formation,can affect food quality and safety.Studies have shown that these characteristics are regulated by the bacterial quorum sensing(QS)... Foodborne bacteria produce biofilms and their viable but non-culturable(VBNC)formation,can affect food quality and safety.Studies have shown that these characteristics are regulated by the bacterial quorum sensing(QS)system.Quenching the QS system of foodborne bacteria and blocking the expression of the corresponding genes may be an effective way to improve food quality and safety.Therefore,this article reviews the QS systems for foodborne bacteria,the regulatory mechanisms of QS systems in biofilm and VBNC formation and resuscitation,the research progress on quorum sensing inhibitors(QSIs)for Gram-negative and Gram-positive bacteria,and introduces QSIs from various sources.In addition,we have also summarized the current research issues on QS regulation of biofilms and VBNC formation.The systematic study of the QS phenomenon of foodborne bacteria in practical situations,the mechanism of bacterial QS cooperation-cheating,the screening of novel and highly active QSIs,the combination of QSIs and other technologies to improve their bioavailability,and the regulatory network between biofilm and VBNC formation and resuscitation are research directions that need to be paid attention to in the future. 展开更多
关键词 Foodborne bacteria Quorum sensing Biofilm formation Viable but non-culturable state formation Food quality
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Depositional history,contact relationships,and characterization of Upper Miocene Baogeda Ula Formation in central Nei Mongol with a description of fossil skunks
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作者 WANG Xiao-Ming SUN Lu +3 位作者 LI Lu LI Qiang QIU Zhu-Ding Zhijie Jack TSENG 《古脊椎动物学报(中英文)》 北大核心 2026年第1期100-124,共25页
In addition to its well-known fossils,the Upper Miocene Baogeda Ula Formation is coupled with multiple basaltic lava flows,creating an ideal setting for studying its depositional history,geochronology,and associated v... In addition to its well-known fossils,the Upper Miocene Baogeda Ula Formation is coupled with multiple basaltic lava flows,creating an ideal setting for studying its depositional history,geochronology,and associated vertebrate fossils.This paper,in honor of Prof.Qiu Zhanxiang for his widely admired emphasis on the geological contexts of vertebrate fossils,attempts to synthesize known contact relationships,existing K-Ar dates,and capping basalt elevations to reframe our concept of the lithostratigraphy,magnetostratigraphy,and lateral distribution of the Baogeda Ula Formation.Within this new framework,the Baogeda Ula Formation is defined by unconformable contact with the underlying Tunggur Formation at the lower boundary and a capping basalt at the upper boundary.In many sections,two or three layers of basalts are interbedded within sedimentary strata,with the capping basalts typically belonging to the top two basalts.The newly defined Baogeda Ula Formation includes a lower member as exemplified by Halajin Hushu section and Ulan Hushuyin Nur section,and an upper member at Baogeda Ula section.This expanded concept of the Baogeda Ula Formation includes two major faunas,i.e.,the Bahean Halajin Hushu Fauna and Baodean Baogeda Ula Fauna,both falling within the Upper Miocene.We also describe rare fossil skunks(Promephitis)found in recent years that support the age assessments presented herein. 展开更多
关键词 Nei Mongol MIOCENE Baogeda Ula formation STRATIGRAPHY skunks
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Prescribed-Time Active Disturbance Rejection Control for Electromagnetic Formation Flight Under Model Uncertainties and Disturbances
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作者 SHEN Xixi MENG Bin HU Jiangping 《空间控制技术与应用(中英文)》 北大核心 2026年第1期94-102,共9页
This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relativ... This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller. 展开更多
关键词 electromagnetic formation prescribed time active disturbance rejection control output feedback control
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Optimal Reconfiguration Trajectory of Multi-satellite Electromagnetic Formation System
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作者 CHU Wenbo ZHOU Qingrui +1 位作者 LIU Zhongxin NI Yuanhua 《空间控制技术与应用(中英文)》 北大核心 2026年第1期37-47,共11页
The multi-satellite electromagnetic formation flight system is nonlinear and strongly coupled,which makes modeling and optimization challenging.To simplify electromagnetic force evaluation and dynamics modeling,we int... The multi-satellite electromagnetic formation flight system is nonlinear and strongly coupled,which makes modeling and optimization challenging.To simplify electromagnetic force evaluation and dynamics modeling,we introduce a reference frame consistent with each satellite body frame,in which the electromagnetic dipoles and electromagnetic forces are represented as two-dimensional vectors.Then,the maneuver time is divided into time intervals,and different satellite sets are activated in each interval,converting the multi-satellite formation reconfiguration problem into an optimal trajectory problem of each two-satellite subsystem.To this end,a token-based dynamic programming method with a switching penalty of active satellite sets is proposed to determine the sequence of satellite sets participating in each time interval,thereby enabling all satellites to reach their desired states.For the two-satellite subsystem with the objectives of minimizing maneuver time and energy consumption,the Gauss pseudo-spectral method is employed to generate the optimal reconfiguration trajectory.Numerical simulations verify the effectiveness of the proposed optimization method. 展开更多
关键词 electromagnetic formation flight Gauss pseudo-spectral method token-based dynamic programming
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Additional small theropod remains from the Upper Cretaceous Nenjiang Formation in Songliao Basin,Northeast China
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作者 HUANG Yuqi WU Wenhao +1 位作者 Ivan Bolotsky YU Kaifeng 《Global Geology》 2026年第1期1-12,共12页
Five new small theropod teeth and one manual ungual have recently been recovered from the Upper Cretaceous Nenjiang Formation in the Songliao Basin.The specimens were examined for their morphological characteristics,l... Five new small theropod teeth and one manual ungual have recently been recovered from the Upper Cretaceous Nenjiang Formation in the Songliao Basin.The specimens were examined for their morphological characteristics,leading to the identification of four distinct taxa.The first taxon consists of three foliodont teeth characterized by a pronounced basal constriction and large hook-like distal denticles,which can be attributed to Troodontidae.The second taxon is represented by an elongated tooth featuring prominent longitudinal ridges,allowing for its assignment to Paronychodon.The third taxon is a bladelike tooth with notably small distal denticles,corresponding to Richardoestesia.The fourth taxon comprises a manual ungual characterized by a transversely wide and nearly symmetrical proximal articular surface,fully enclosed ventral foramina,a flattened ventral surface,and the absence of a flexor tubercle,resembling Alvarezsauridae.These specimens significantly enhance the known dinosaur diversity of the Nenjiang Formation and provide crucial insights for understanding the terrestrial ecosystem in Northeast Asia during the Late Cretaceous. 展开更多
关键词 THEROPODA biodiversity Nenjiang formation CAMPANIAN Late Cretaceous Songliao Basin
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Ultrastructural Observation of Quantonenpollenites,a Characteristic Pollen of the Quantou Formation in the Songliao Basin,and its Taxonomic Clarification
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作者 LIAO Cuijing ZHANG Chaoyu +1 位作者 LI Suping LIU Weiqing 《Acta Geologica Sinica(English Edition)》 2026年第1期20-32,共13页
Quantonenpollenites,a pollen taxon which was assumed to be angiosperm,is of great significance in confirming the geological age of its bearing strata.Aims to clarify the taxonomic affiliation of Quantonenpollenites,we... Quantonenpollenites,a pollen taxon which was assumed to be angiosperm,is of great significance in confirming the geological age of its bearing strata.Aims to clarify the taxonomic affiliation of Quantonenpollenites,we investigated the external morphology and internal structure using Light Microscopy(LM),Scanning Electron Microscopy(SEM),and Transmission Electron Microscopy(TEM).According to TEM observations,the exine of Quantonenpollenites pollen is unstratified with the absence of a columellar layer,and the exine is tightly connected with the intine.Based on comprehensive morphological evidence,especially the lack of columellar layer which is typical characteristics existing in almost all angiosperm pollen,the botanical affinity of Quantonenpollenites should be attributed to gymnosperms rather than angiosperms as previously thought.Through comparative analysis,it may have a close affinity with Ephedra,but further analytical data are still needed for verification.As a characteristic palynological type of the Quantou Formation in the Songliao Basin,the occurrence of Quantonenpollenites has indicative significance for determining the age of the hosting strata.By systematically clarifying the phylogenetic affiliation of Quantonenpollenites,together with the other associated palynomorphs,this study provides crucial reference materials for defining the stratigraphic age range of the Quantou Formation(Cenomanian to early Turonian),improves the resolution of stratigraphic age calibration of the Quantou Formation,and provides key paleontological evidence for the refined division of the terrestrial Cretaceous chronostratigraphic framework in the Songliao Basin. 展开更多
关键词 Quantonenpollenites pollen morphology ULTRASTRUCTURE Quantou formation CRETACEOUS
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Distributed Formation Control for Heterogeneous Robot Systems Based on Competitive Mechanism
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作者 Zhenghui Cui Xiaoyi Gu Ning Tan 《CAAI Transactions on Intelligence Technology》 2026年第1期190-204,共15页
This paper presents an adaptive formation control method for a heterogeneous robot swarm,utilising a multilevel formation task tree to model various types of formation tasks and a single-state distributed k-winner-tak... This paper presents an adaptive formation control method for a heterogeneous robot swarm,utilising a multilevel formation task tree to model various types of formation tasks and a single-state distributed k-winner-take-all(S-DKWTA)algorithm to address the MRTA problem.In addition,we propose an enhanced load reassignment algorithm to resolve conflicts when using S-DKWTA.The S-DKWTA algorithm demonstrates the capability to manage multiple objectives and dynamically select leaders in real-time,thereby optimising formation efficiency and reducing energy consumption.The proposed approach integrates an enhanced artificial potential field(APF)to govern the motion of heterogeneous robot systems which encompasses both unmanned ground vehicles(UGVs)and unmanned aerial vehicles(UAVs),thereby achieving collision and obstacle avoidance.Simulations employing UGVs and UAVs swarm to achieve formation movement demonstrate the efficacy of this approach.The amalgamation of S-DKWTA and improved APF ensures stable and adaptable formation control,underscoring its potential for diverse multirobot applications. 展开更多
关键词 formation control heterogeneous robots KWTA neural control robot swarms ROBOTICS
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Potential of lysine succinylation as a therapeutic target for gallstone formation:An insightful strategy
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作者 Sheng Xu Guang-Rong Lu 《World Journal of Gastroenterology》 2026年第1期208-211,共4页
Cholelithiasis has a complex pathogenesis,necessitating better therapeutic and preventive strategies.We recently read with interest Wang et al’s study on lysine acetyltransferase 2A(KAT2A)-mediated adenosine monophos... Cholelithiasis has a complex pathogenesis,necessitating better therapeutic and preventive strategies.We recently read with interest Wang et al’s study on lysine acetyltransferase 2A(KAT2A)-mediated adenosine monophosphate-activated protein kinase(AMPK)succinylation in cholelithiasis.Using mouse models and gallbladder mucosal epithelial cells,they found that KAT2A inhibits gallstones through AMPK K170 succinylation,thereby activating the AMPK/silent information regulator 1 pathway to reduce inflammation and pyroptosis.This study is the first to connect lysine succinylation with cholelithiasis,offering new insights and identifying succinylation as a potential therapeutic target.Future research should confirm these findings using patient samples,investigate other posttranslational modifications,and use structural biology to clarify succinylationinduced conformational changes,thereby bridging basic research to clinical applications. 展开更多
关键词 CHOLELITHIASIS Gallstone formation Lysine succinylation INFLAMMATION Adenosine monophosphate-activated protein kinase Post-translational modification GALLBLADDER
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Photoperiod as the primary determinant regulating the onset and cessation of wood formation in temperate trees
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作者 Nipeng Qian Gangdun Li +4 位作者 Linxu Wang Chunchao Dong Zhenzhao Xu Qijing Liu Guang Zhou 《Forest Ecosystems》 2026年第1期57-64,共8页
Accurate prediction of xylem phenology is essential for evaluating the long-term impacts of climate change on carbon sequestration,forest productivity,and ecosystem resilience.However,the environmental controls on xyl... Accurate prediction of xylem phenology is essential for evaluating the long-term impacts of climate change on carbon sequestration,forest productivity,and ecosystem resilience.However,the environmental controls on xylem phenology remain poorly clarified in terms of quantification,particularly for broadleaf species and the process of growth cessation.In this study,we monitored the onset and cessation of wood formation in 19 temperate tree species over periods of up to six years(2019–2024,with observation length varying among species)to assess the impact of environmental changes on the timing of wood formation.Linear mixed-effects models were used to evaluate and quantify the relative importance of photoperiod,forcing,chilling,precipitation,SPEI(standardized precipitation-evapotranspiration index),cold degree days,and MAT(mean annual temperature)to the onset and cessation of wood formation.Photoperiod and forcing temperature were identified as the key drivers of wood formation onset,while photoperiod was the primary factor regulating its cessation.Wood formation onset was less sensitive to photoperiod compared with cessation,but exhibited greater sensitivity to temperature.Conifers were more responsive to changes in day length at onset than broadleaf species,while broadleaf species appeared to rely solely on photoperiod to regulate the cessation,with conifers showing additional modulation by temperature.Moreover,ring-porous species exhibited stronger photoperiodic control of both onset and cessation than diffuse-porous species.These findings highlight the critical role of photoperiod,temperature,or their interactions in regulating xylem phenology,providing insights for improving process-based models that predict xylem growth dynamics. 展开更多
关键词 Critical daylength Forcing temperature Cold degree days Wood formation CONIFERS Ring-porous species Diffuse-porous species
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Late Permian Mixed Carbonate-Siliciclastic Sedimentary Succession on the Northwestern Margin of the Indian Plate,Pakistan:Insights into Facies Evolution and Paleoenvironmental Reconstruction of the Chhidru Formation
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作者 Jabir HUSSAIN Ali Khan MUMTAZ +4 位作者 Mamoon Siyar SYED Zarkogiannis D.STERGIOS Mehrangiz NADERI Syed Osja MEHDI Muhammad BILAL 《Acta Geologica Sinica(English Edition)》 2026年第1期33-53,共21页
This study investigates the facies development and sedimentology of the Late Permian Chhidru Formation,a mixed carbonate-siliciclastic unit exposed in the Western Salt Range,Potwar Basin,Pakistan.The formation is subd... This study investigates the facies development and sedimentology of the Late Permian Chhidru Formation,a mixed carbonate-siliciclastic unit exposed in the Western Salt Range,Potwar Basin,Pakistan.The formation is subdivided into four lithological units reflecting lateral variability,with thicknesses and lithologies ranging from fossiliferous sandy limestone to interbedded limestone and sandstone.These successions record a depositional shift from a carbonate platform to mixed carbonate-clastic,and ultimately,clastic-dominated environments.Lithostratigraphy suggests deposition on the underlying Wargal Limestone carbonates during a Late Permian sea-level fall on the northwest Indian margin of Gondwana.Similar Permian successions with identical lithological characteristics are documented in the Persian Gulf(Dalan Formation),Arabian Platform(Khuff Formation),and Iran(Nesen and Hambust formations).Petrographic analysis reveals deposition in the distal middle to proximal inner shelf settings of a carbonate-siliciclastic mixed,unrimmed platform.Based on identified foraminiferal assemblages,the Chhidru Formation's age is estimated to range from the late Wuchiapingian to Changhsingian stages of the Lopingian epoch. 展开更多
关键词 facies analysis depositional setting Chhidru formation Salt Range Pakistan
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Diagenetic controls on reservoir quality in deep ultra-thick sandstones:A case study from the Huagang Formation,Xihu Depression,East China Sea
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作者 Daowu Huang Yixiu Zhu +4 位作者 Zhaoliang Yan Xianke He Chengshan Li Chuangxin Liu Binbin Liu 《Energy Geoscience》 2026年第1期148-165,共18页
Tight sandstone reservoirs represent a pivotal unconventional oil and gas production target.The upper section of the deeply buried Huagang Formation in the Xihu Depression is abundant in hydrocarbons and forms a tight... Tight sandstone reservoirs represent a pivotal unconventional oil and gas production target.The upper section of the deeply buried Huagang Formation in the Xihu Depression is abundant in hydrocarbons and forms a tight reservoir.It exhibits substantial diagenetic variability and strong heterogeneity in sand bodies,which is reflected in variations in physical properties and grain size.Through integrated geological analysis,including rock thin sections,scanning electron microscopy,X-ray diffraction,well logging and production test data,we investigated the diagenesis,reservoir formation mechanisms,and controlling factors of high-quality reservoirs within the superposed sandstone bodies exceeding 100 m thick in the deeper Huagang Formation.We also studied the formation characteristics of these ultrathick sandstones,clarifying that diagenesis and post-depositional modification are crucial for developing high-quality reservoirs in this formation.Our findings indicate that the sandstone underwent compaction,cementation(by chlorite,calcite and quartz),dissolution(of K-feldspar and carbonate cement),and authigenic clay mineral cementation(such as illite,chlorite,kaolinite).Multiple dissolution zones are present within the thick sandstone units.The distribution of these dissolution zones is mainly controlled by temperature and sandstone composition.With increasing temperature,acidic fluids derived from coal-bearing strata and early hydrocarbon source rocks promoted feldspar dissolution.The thick sandstone units in different intervals of varying depths are at various diagenetic stages.The petrophysical zoning of the reservoir is collectively controlled by diagenetic facies dominated by sedimentation,compaction,and dissolution processes.These findings provide valuable guidance and reference for oil and gas exploration and development in this area,particularly within the ultra-thick sandstone layers. 展开更多
关键词 Reservoir heterogeneous DIAGENESIS Ultra-thick sandstone High-quality reservoir Huagang formation Xihu Depression East China Sea Basin
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Promoting osteoblast-mediated bone formation:a more promising approach for natural products to treat osteoporosis
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作者 Peixuan Hu Meipeng Zhu +1 位作者 Feng Li Jian Liu 《Chinese Journal of Natural Medicines》 2026年第2期156-170,共15页
Osteoporosis is a systemic skeletal disorder characterized by reduced bone mass,compromised bone microstructure,and an increased risk of fractures,primarily due to excessive osteoclast-mediated bone resorption relativ... Osteoporosis is a systemic skeletal disorder characterized by reduced bone mass,compromised bone microstructure,and an increased risk of fractures,primarily due to excessive osteoclast-mediated bone resorption relative to osteoblast-mediated bone formation.While current anti-osteoporosis drugs,such as bisphosphonates and denosumab,predominantly focus on reducing bone resorption,osteoanabolic approaches are essential for restoring bone microarchitecture and ultimately reducing fracture risk.Traditional Chinese medicines(TCMs)and their active ingredients have long been used in China for osteoporosis prevention and treatment.This review provides a comprehensive evaluation of the effects and molecular mechanisms of 65 natural products across 24 categories on osteoblast-mediated bone formation.These compounds promote bone formation by regulating key transcription factors(RUNX2 and Osterix)and signaling pathways,including WNT/β-catenin,bone morphogenic protein(BMP),mitogen-activated protein kinase(MAPK),phosphoinositide 3-kinase/protein kinase B(PI3K/AKT),oxidative stress,autophagy,and epigenetic regulation.Notably,certain natural products[e.g.,icariin(ICA)]exert their effects through multiple targets and pathways.Many of these natural products have demonstrated significant therapeutic efficacy in animal models,such as ovariectomized(OVX)mice.Our findings suggest that natural products with kidney-tonifying,anti-inflammatory,and antioxidant properties,as well as those inhibiting adipocyte differentiation,may hold promise for osteoporosis treatment.Additionally,we highlight current research gaps and propose future directions,including high-throughput screening and validation in diverse animal models,development of novel bone-targeting delivery systems,and identification of natural compounds targeting osteocytes. 展开更多
关键词 Natural products OSTEOBLASTS Bone formation OSTEOPOROSIS
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Sedimentary Characteristics and Evolution of the High-resolution Sequence Stratigraphic Framework of the Taiyuan Formation in the Hangjinqi Area,Northern Ordos Basin
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作者 ZHAO Mingsheng TIAN Jingchun +1 位作者 SU Bingrui ZHANG Xiang 《Acta Geologica Sinica(English Edition)》 2026年第1期54-68,共15页
The Ordos Basin is a large superimposed hydrocarbon-bearing basin in China,and further research on the sedimentary characteristics and sedimentary evolution of the sequence framework of target layers is of great theor... The Ordos Basin is a large superimposed hydrocarbon-bearing basin in China,and further research on the sedimentary characteristics and sedimentary evolution of the sequence framework of target layers is of great theoretical and practical significance for guiding oil and gas exploration.The sedimentary facies and sedimentary evolution of the high-resolution sequence framework of the Carboniferous Taiyuan Formation in the Hangjinqi area have been systematically analyzed for the first time by drilling,logging and seismic data.The results show that four types of sequence interfaces can be identified in the Taiyuan Formation:regional unconformity surfaces,scour surfaces,lithologic-lithofacies transformation surfaces and flooding surfaces.According to the sedimentary response caused by the upward and downward movements of the base level at different levels,the Taiyuan Formation can be divided into 2 long-term cycles(LSC_(1)-LSC_(2)),4 mid-term cycles(MSC_(1)-MSC4)and 7 short-term cycles(SSC_(1)-SSC7).The long-and mid-term cycles correspond to members T_(1)and T_(2)and layers T_(1)-1,T_(1-2),T_(2-1),and T_(2)-2,respectively.Long-term cycles are dominated by C_(1);mid-term cycles are dominated by C_(1)and C_(2),followed by A2;and short-term cycles are dominated by C_(1),C_(2),A1 and A2.Under the high-resolution sequence stratigraphic framework,the Hangjinqi area underwent a transformation of fan delta and tidal flat depositional systems during the Taiyuan Formation sedimentary period.In the MSC_(1)-MSC_(2)stage,owing to a large-scale paleocontinent,the fan delta sedimentary body,which was limited in scale and scope,developed only in the southeastern corner and gradually transitioned basinward to tidal flat facies.In the MSC3-MSC4 stage,as the paleocontinent continuously decreased and the sedimentary range expanded,fan-delta plain sedimentation began in the study area.Several braided distributary channels with poor connectivity developed on the fan-delta plain,and between them were floodplains and peat swamps. 展开更多
关键词 high-resolution sequence framework sedimentary characteristics sedimentary evolution Taiyuan formation Hangjinqi area northern Ordos Basin
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Context-Aware Relational Learning for Cooperative UAV Formation
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作者 Zhuxun Li Haoxian Jiang Rui Zhou 《Journal of Beijing Institute of Technology》 2026年第1期44-52,共9页
Robust cooperative unmanned aerial vehicle(UAV)formation in complex 3D environments is hampered by reward sparsity and inefficient collaboration.To address this,we propose context-aware relational agent learning(CORAL... Robust cooperative unmanned aerial vehicle(UAV)formation in complex 3D environments is hampered by reward sparsity and inefficient collaboration.To address this,we propose context-aware relational agent learning(CORAL),a novel multi-agent deep reinforcement learning framework.CORAL synergistically integrates two modules:(1)a novelty-based intrinsic reward module to drive efficient exploration and(2)an explicit relational learning module that allows agents to predict peer intentions and enhance coordination.Built on a multi-agent Actor-Critic architecture,CORAL enables agents to balance self-interest with group objectives.Comprehensive evaluations in a high-fidelity simulation show that our method significantly outperforms state-of-theart baselines like multi-agent deep deterministic policy gradient(MADDPG)and monotonic value function factorisation for deep multi-agent reinforcement learning(QMIX)in path planning efficiency,collision avoidance,and scalability. 展开更多
关键词 multi-agent reinforcement learning UAV swarm cooperative formation control path planning context-aware exploration relational learning
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DFCOA:Distributed Formation Control and Obstacle Avoidance for Multi-UGV Systems
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作者 Md.Faishal Rahaman Xueyuan Li +3 位作者 Muhammad Amjad Ibrahim Gasimove Md.Shariful Islam S.M.Abul Bashar 《Computer Modeling in Engineering & Sciences》 2026年第2期922-954,共33页
Researchers are increasingly focused on enabling groups of multiple unmanned vehicles to operate cohesively in complex,real-world environments,where coordinated formation control and obstacle avoidance are essential f... Researchers are increasingly focused on enabling groups of multiple unmanned vehicles to operate cohesively in complex,real-world environments,where coordinated formation control and obstacle avoidance are essential for executing sophisticated collective tasks.This paper presents a Distributed Formation Control and Obstacle Avoidance(DFCOA)framework for multi-unmanned ground vehicles(UGV).DFCOA integrates a virtual leader structure for global guidance,an improved A^(*)path planning algorithm with an advanced cost function for efficient path planning,and a repulsive-force-based improved vector field histogram star(VFH^(*))technique for collision avoidance.The virtual leader generates a reference trajectory while enabling distributed execution;the improved A^(*)algorithm reduces planning time and number of nodes to determine the shortest path from the starting position to the goal;and the improved VFH^(*)uses 2D LiDAR data with inter-agent repulsive force to simultaneously avoid collision with obstacles and maintain safe inter-vehicle distances.The formation stability of the proposed DFCOA reaches 95.8%and 94.6%in two scenarios,with root mean square(RMS)centroid errors of 0.9516 and 1.0008 m,respectively.Velocity tracking is precise(velocity centroid error RMS of 0.2699 and 0.1700 m/s),and linear velocities closely match the desired 0.3 m/s.Safety metrics showed average collision risks of 0.7773 and 0.5143,with minimum inter-vehicle distances of 0.4702 and 0.8763 m,confirming collision-free navigation of four UGVs.DFCOA outperforms conventional methods in formation stability,path efficiency,and scalability,proving its suitability for decentralized multi-UGV applications. 展开更多
关键词 formation control obstacle avoidance virtual leader path planning multi UGV collaboration
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Quantifying secondary organic aerosols and O_(3) formation drivers in North China:Comprehensive method combining random forest,positive matrix factorization,and observation-based model
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作者 Qi Huang Tianshuai Li +7 位作者 Tao Zhang Yuan Fang Feijie Gong Yifan Li Peng Xu Tianqi Zhang Lingxiao Yang Wenxing Wang 《Journal of Environmental Sciences》 2026年第2期1-12,共12页
Although the concentration of fine particulate matter(PM_(2.5))is reducing continuously,the proportion of secondary organic aerosols(SOA)in PM_(2.5) and the O_(3) levels are increasing.This is causing severe complex a... Although the concentration of fine particulate matter(PM_(2.5))is reducing continuously,the proportion of secondary organic aerosols(SOA)in PM_(2.5) and the O_(3) levels are increasing.This is causing severe complex atmospheric pollution in North China.It is essential to identify and quantify the driving factors of SOA and O_(3),including the various pollution sources and meteorological factors.PM_(2.5) and volatile organic compounds(VOCs)samples were collected simultaneously in three cities in Shandong Province during different pollution scenarios from 2021 to 2023.Then,the carbonaceous aerosol and 99 VOC species were analyzed.Random forest(RF)combined with positive matrix factorization and an observation-based model(OBM)were used to quantify the key drivers of SOA and O_(3).Aromatic hydrocarbons were the main contributors to secondary organic aerosol potential(74.3%-89.9%),whereas alkenes contributed the most to the ozone formation potential(27.0%-62.3%).The RF modeling identified temperature and NOx as the dominant drivers of ozone formation.These accounted for 47.8%and 17.4%,respectively.Temperature showed a positive correlation with O_(3) because an increase in temperature can promote ozone formation.NOx had a significant negative correlation with O_(3),which was consistent with the conclusions from the sensitivity analysis of the OBM.The dominant contributors to SOA were vehicle emissions,solvent use,and industrial emissions.These accounted for 43.9%,18.2%,and 10.5%,respectively.An evident positive correlation existed between these emission sources and SOA. 展开更多
关键词 Volatile organic compounds Ozone formation Secondary organic aerosol Observation-based model Random forest
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Staged-cumulative charging and differential accumulation of continental shale oil:A case study of Permian Lucaogou Formation shale oil in Junggar Basin,NW China
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作者 HUANG Haiping ZHANG Hong MA Yong 《Petroleum Exploration and Development》 2026年第1期96-109,共14页
In the Jimusaer Sag of the Junggar Basin,crude oils from the upper and lower sweet-spot intervals of the Permian Lucaogou Formation display a pronounced“light-heavy reversal”in oil properties that indicates a fundam... In the Jimusaer Sag of the Junggar Basin,crude oils from the upper and lower sweet-spot intervals of the Permian Lucaogou Formation display a pronounced“light-heavy reversal”in oil properties that indicates a fundamental mismatch between oil composition and host rock maturity.To resolve this anomaly,this study integrates geological,geochemical,and petrophysical datasets and systematically evaluates the combined roles of thermal evolution,organofacies,wettability,abnormal overpressure,and migration-related fractionation on shale oil composition.On this basis,a“staged charging-cumulative charging”model is proposed to explain compositional heterogeneity in lacustrine shale oils.The results demonstrate that crude-oil compositions are jointly controlled by the extent of biomarker depletion,the temporal evolution of hydrocarbon charging,and the openness of the source-reservoir system,rather than by thermal maturity or organofacies alone.The upper sweet-spot interval is interpreted to have functioned as a semi-open system during early stages,in which hydrocarbon generation and expulsion were broadly synchronous,leading to preferential loss of early-generated,biomarker-rich heavy components,whereas progressive shale diagenesis at later stages promoted the retention of highly mature,light hydrocarbons.In contrast,the lower sweet-spot interval represents a relatively closed system,where hydrocarbons generated during multiple stages continuously accumulated and were preserved as mixed charges;overprinting by multi-phase fluids progressively weakened sterane isomerization signals,rendering them unreliable indicators of individual charging events or final thermal maturity.This charging behavior provides a reasonable explanation for anomalously low or distorted biomarker parameters observed in intervals of low or similar maturity.Overall,the proposed charging model reconciles the observed reversal in crude-oil properties and,by shifting the interpretive focus from static maturity assessment to charging dynamics,offers a new theoretical basis for understanding lacustrine shale oil accumulation processes,and guiding sweet-spot selection and exploration-development strategies. 展开更多
关键词 shale oil heterogeneity source rock maturity oil maturity staged-cumulative charge retention dynamics Lucaogou formation Jimusaer Sag Junggar Basin
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