The doubled haploid(DH)technique accelerates homozygosity by inducing chromosome doubling in haploid embryos derived from hybrid plants.This approach offers significant advantages over conventional rice breeding metho...The doubled haploid(DH)technique accelerates homozygosity by inducing chromosome doubling in haploid embryos derived from hybrid plants.This approach offers significant advantages over conventional rice breeding methods by shortening the breeding cycle and enabling rapid development of pure homozygous lines.Anther culture(AC)has been established as an efficient and successful method for producing DH plants via androgenesis in rice.However,despite its success in japonica rice.展开更多
With the advent of sixth-generation mobile communications(6G),space-air-ground integrated networks have become mainstream.This paper focuses on collaborative scheduling for mobile edge computing(MEC)under a three-tier...With the advent of sixth-generation mobile communications(6G),space-air-ground integrated networks have become mainstream.This paper focuses on collaborative scheduling for mobile edge computing(MEC)under a three-tier heterogeneous architecture composed of mobile devices,unmanned aerial vehicles(UAVs),and macro base stations(BSs).This scenario typically faces fast channel fading,dynamic computational loads,and energy constraints,whereas classical queuing-theoretic or convex-optimization approaches struggle to yield robust solutions in highly dynamic settings.To address this issue,we formulate a multi-agent Markov decision process(MDP)for an air-ground-fused MEC system,unify link selection,bandwidth/power allocation,and task offloading into a continuous action space and propose a joint scheduling strategy that is based on an improved MATD3 algorithm.The improvements include Alternating Layer Normalization(ALN)in the actor to suppress gradient variance,Residual Orthogonalization(RO)in the critic to reduce the correlation between the twin Q-value estimates,and a dynamic-temperature reward to enable adaptive trade-offs during training.On a multi-user,dual-link simulation platform,we conduct ablation and baseline comparisons.The results reveal that the proposed method has better convergence and stability.Compared with MADDPG,TD3,and DSAC,our algorithm achieves more robust performance across key metrics.展开更多
The electric double layer(EDL)at the electrochemical interface is crucial for ion transport,charge transfer,and surface reactions in aqueous rechargeable zinc batteries(ARZBs).However,Zn anodes routinely encounter per...The electric double layer(EDL)at the electrochemical interface is crucial for ion transport,charge transfer,and surface reactions in aqueous rechargeable zinc batteries(ARZBs).However,Zn anodes routinely encounter persistent dendrite growth and parasitic reactions,driven by the inhomogeneous charge distribution and water-dominated environment within the EDL.Compounding this,classical EDL theory,rooted in meanfield approximations,further fails to resolve molecular-scale interfacial dynamics under battery-operating conditions,limiting mechanistic insights.Herein,we established a multiscale theoretical calculation framework from single molecular characteristics to interfacial ion distribution,revealing the EDL’s structure and interactions between different ions and molecules,which helps us understand the parasitic processes in depth.Simulations demonstrate that water dipole and sulfate ion adsorption at the inner Helmholtz plane drives severe hydrogen evolution and by-product formation.Guided by these insights,we engineered a“water-poor and anion-expelled”EDL using 4,1’,6’-trichlorogalactosucrose(TGS)as an electrolyte additive.As a result,Zn||Zn symmetric cells with TGS exhibited stable cycling for over 4700 h under a current density of 1 mA cm^(−2),while NaV_(3)O_(8)·1.5H_(2)O-based full cells kept 90.4%of the initial specific capacity after 800 cycles at 5 A g^(−1).This work highlights the power of multiscale theoretical frameworks to unravel EDL complexities and guide high-performance ARZB design through integrated theory-experiment approaches.展开更多
Wing design is a critical factor in the aerodynamic performance of flapping-wing(FW)robots.Inspired by the natural wing structures of insects,bats,and birds,we explored how bio-mimetic wing vein morphologies,combined ...Wing design is a critical factor in the aerodynamic performance of flapping-wing(FW)robots.Inspired by the natural wing structures of insects,bats,and birds,we explored how bio-mimetic wing vein morphologies,combined with a bio-inspired double wing clap-and-fling mechanism,affect thrust generation.This study focused on increasing vertical force and payload capacity.Through systematic experimentation with various vein configurations and structural designs,we developed innovative wings optimized for thrust production.Comprehensive tests were conducted to measure aerodynamic forces,power consumption,and wing kinematics across a range of flapping frequencies.Additionally,wings with different aspect ratios,a key factor in wing design,were fabricated and extensively evaluated.The study also examined the role of bio-inspired vein layouts on wing flexibility,a critical component in improving flight efficiency.Our findings demonstrate that the newly developed wing design led to a 20%increase in thrust,achieving up to 30 g-force(gf).This research sheds light on the clap-and-fling effect and establishes a promising framework for bio-inspired wing design,offering significant improvements in both performance and payload capacity for FW robots.展开更多
Layered double hydroxides(LDHs)are promising electrocatalysts for the oxygen evolution reaction(OER),yet their practical application remains limited by poor electrical conductivity and sluggish reaction kinetics.In th...Layered double hydroxides(LDHs)are promising electrocatalysts for the oxygen evolution reaction(OER),yet their practical application remains limited by poor electrical conductivity and sluggish reaction kinetics.In this work,we synthesize three high-entropy LDHs(HELDHs)featuring a hierarchical architecture of microspheres assembled from ultrathin nanosheets,via a simple hydrothermal method using a combination of low-cost,catalytically active transition metals(Fe,Co,Ni,Mn,Zn,Cu,and Cr).Among them,the FeCoNiMnZn HELDH exhibits outstanding OER performance,requiring an overpotential of only 306 mV to reach a current density of 100 mA cm^(-2).Notably,during 200 h of continuous operation,the device exhibits a stable and,in some cases,increasing current output.This exceptional activity is attributed to the formation of abundant cation vacancies,induced by Zn leaching,which enhance the intrinsic catalytic properties by optimizing the adsorption energies of key OER intermediates.Density functional theory calculations further validate that these vacancies modulate the electronic structure and lower reaction barriers,underscoring the effectiveness of cation-vacancy engineering in high-entropy systems for efficient and durable water oxidation catalysis.The optimized catalyst was further evaluated as the air cathode in a zinc-air battery,demonstrating practical electrochemical performance.展开更多
Time-delayed blasting is widely utilized in engineering to mitigate induced vibration hazards and enhance fragmentation.The underlying vibration reduction principle is the decrease of the charge weight per delay,while...Time-delayed blasting is widely utilized in engineering to mitigate induced vibration hazards and enhance fragmentation.The underlying vibration reduction principle is the decrease of the charge weight per delay,while the potential for further vibration reduction remains debated,largely due to unclear underlying mechanisms.In light of the popularization of electronic detonators and the representativeness of double-hole configurationsfor multiple blastholes,it is essential to investigate the vibration characteristics induced by time-delayed double blastholes.Therefore,a series of doubleborehole experimental blasts was conducted in an underground roadway to clarify the variation in vibration from single-hole to dual-hole conditions.Based on the experimental data and inherent limitations,an exact full-fieldtheoretical model was further employed to systematically analyze the effects of delay time,charge length,and borehole inclination angle on vibrations induced by various doublehole configurations.The experimental data and theoretical analysis reveal that the general scaled distance effectively predicts vibrations in delayed blasting but does not reflectvibration reduction.Increasing delay time causes fluctuatingPPVs,which stabilize slightly above single-hole PPVs as delay times exceed a certain value.The delayed blasting primarily reduces near-fieldfrequencies.Longer charge lengths in double boreholes increase PPV levels and attenuation rates within a certain length,and the vibration behavior of combined long and short charge lengths is governed by the long blasthole.Larger blasthole inclination angles enhance vibration amplitude and reduce PPV attenuation rates.Optimizing inclination angles is more critical than adjusting delay times,and parallel boreholes offer the best vibration control.展开更多
The present study investigates the flow,heat,and mass transfer analysis in the bioconvection of nanofluid containing motile gyrotactic microorganisms through a semi-porous curved oscillatory channel with a magnetic fi...The present study investigates the flow,heat,and mass transfer analysis in the bioconvection of nanofluid containing motile gyrotactic microorganisms through a semi-porous curved oscillatory channel with a magnetic field.These microorganisms produce density gradients by swimming,which induces macroscopic convection flows in the fluid.This procedure improves the mass and heat transfer,illustrating the interaction between biological activity and fluid dynamics.Furthermore,instead of considering traditional Fourier's and Fick's law the energy and concentration equations are developed by incorporating Cattaneo-Christov double diffusion theory.Moreover,to examine the influence of thermophoresis and Brownian diffusions in the fluid we have adopted the Buongiorno nanofluid model.Due to the oscillation of the surface of the channel,the mathematical development of the considered flow problem is obtained in the form of partial differential equations via the curvilinear coordinate system.The convergent series solution of the governing flow equations is obtained after applying the homotopy analysis method(HAM).The effects of different pertinent flow parameters on velocity,motile microorganism density distribution,concentration,pressure,temperature,and skin friction coefficient are examined and discussed in detail with the help of graphs and tables.It is observed during the current study that the density of microorganisms is enhanced for higher values of Reynolds number,Peclet number,radius of curvature variable,and Lewis number.展开更多
Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stabi...Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.展开更多
Objective:To explore the therapeutic effect of double-puncture tympanic membrane puncture and tympanic cavity drug injection in patients with acute secretory otitis media.Methods:A total of 84 patients with acute secr...Objective:To explore the therapeutic effect of double-puncture tympanic membrane puncture and tympanic cavity drug injection in patients with acute secretory otitis media.Methods:A total of 84 patients with acute secretory otitis media admitted to our hospital from June 2024 to June 2025 were selected and randomly divided into two groups by drawing lots.The control group(42 cases)was treated with the traditional single-puncture tympanic membrane puncture and tympanic cavity drug injection method,while the observation group(42 cases)was treated with the double-puncture tympanic membrane puncture and tympanic cavity drug injection method.The therapeutic effects of the two groups were compared.Results:The overall treatment response rate,overall complication rate,time to symptom relief,and improvement in hearing threshold in the observation group were all superior to those in the control group,with statistically significant differences(P<0.05).Conclusion:For acute secretory otitis media,the treatment method of double-puncture tympanic membrane puncture and tympanic cavity drug injection demonstrates definite efficacy,significantly reducing the incidence of complications,accelerating symptom relief,and improving hearing function,making it worthy of promotion.展开更多
Co_(3)S_(4)electrocatalysts with mixed valences of Co ions and excellent structural stability possess favorable oxygen evolution reaction(OER)activity,yet challenges remain in fabricating rechargeable lithiumoxygen ba...Co_(3)S_(4)electrocatalysts with mixed valences of Co ions and excellent structural stability possess favorable oxygen evolution reaction(OER)activity,yet challenges remain in fabricating rechargeable lithiumoxygen batteries(LOBs)due to their poor OER performance,resulting from poor electrical conductivity and overly strong intermediate adsorption.In this work,fancy double heterojunctions on 1T/2H-MoS_(2)@Co_(3)S_(4)(1T/2H-MCS)were constructed derived from the charge donation from Co to Mo ions,thus inducing the phase transformation of Mo S_(2)from 2H to 1T.The unique features of these double heterojunctions endow the1T/2H-MCS with complementary catalysis during charging and discharging processes.It is worth noting that 1T-Mo S2@Co3S4could provide fast Co-S-Mo electron transport channels to promote ORR/OER kinetics,and 2H-MoS_(2)@Co_(3)S_(4)contributed to enabling moderate egorbital occupancy when adsorbed with oxygen-containing intermediates.On the basis,the Li_(2)O_(2)nucleation route was changed to solution and surface dual pathways,improving reversible deposition and decomposition kinetics.As a result,1T/2H-MCS cathodes exhibit an improved electrocatalytic performance compared with those of Co_(3)S_(4)and Mo S2cathodes.This innovative heterostructure design provides a reliable strategy to construct efficient transition metal sulfide catalysts by improving electrical conductivity and modulating adsorption toward oxygenated intermediates for LOBs.展开更多
Background:Double blind-ending ureter(DBU)is an extremely rare congenital anomaly involving a duplicated ureter with no connection to the renal pelvis or bladder,making diagnosis difficult.Case Description:A 10-year-o...Background:Double blind-ending ureter(DBU)is an extremely rare congenital anomaly involving a duplicated ureter with no connection to the renal pelvis or bladder,making diagnosis difficult.Case Description:A 10-year-old girl presented with recurrent abdominal pain and ultrasound evidence of left hydroureteronephrosis.Magnetic resonance imaging(MRI)and three-dimensional(3D)reconstruction revealed a 30 cm blind-ending ureter.Robotic-assisted excision(Da Vinci Xi)was performed safely,preserving adjacent structures.Histology confirmed a nonfunctional ureteral remnant.Conclusions:DBU is a rare duplication variant.Advanced imaging and robotic surgery are essential for accurate diagnosis and effective,minimally invasive treatment.展开更多
Abiotic oxygen formation predates photosynthesis,sustaining early chemical evolution,yet its elementary mechanisms remain contested.Here,we show the production pathways for molecular oxygen from doubly ionized carbon ...Abiotic oxygen formation predates photosynthesis,sustaining early chemical evolution,yet its elementary mechanisms remain contested.Here,we show the production pathways for molecular oxygen from doubly ionized carbon dioxide upon electron-impact.Through fragment ions and electron coincidence momentum imaging,we unambiguously determine the ionization mechanism by measuring the projectile energy loss in association with the C^(+) +O_(2)^(+) channel.Further potential energy and trajectory calculations enable us to elucidate the dynamical details of this fragmentation process,in which a bond rearrangement pathway is found to proceed via the structural deformation to a triangular intermediate.Moreover,we demonstrate a further roaming pathway for the formation of O_(2)^(+) from CO_(2)^(+) 2,in which a frustrated C-O bond cleavage leaves the O atom without sufficient energy to escape.The O atom then wanders around varied configuration spaces of the flat potential energy regions and forms a C-O-O_(2)^(+) intermediate prior to the final products C^(+) +O_(2)^(+).Considering the large quantities of free electrons in interstellar space,the processes revealed here are expected to be significant and should be incorporated into atmospheric evolution models.展开更多
This paper addresses the decentralized consensus problem for a system of multiple dynamic agents with remote controllers via networking,known as a networked control multi-agent system(NCMAS).It presents a challenging ...This paper addresses the decentralized consensus problem for a system of multiple dynamic agents with remote controllers via networking,known as a networked control multi-agent system(NCMAS).It presents a challenging scenario where partial dynamic entities or remote control units are vulnerable to disclosure attacks,making them potentially malicious.To tackle this issue,we propose a secure decentralized control design approach employing a double-layer cryptographic strategy.This approach not only ensures that the input and output information of the benign entities remains protected from the malicious entities but also practically achieves consensus performance.The paper provides an explicit design,supported by theoretical proof and numerical verification,covering stability,steady-state error,and the prevention of computation overflow or underflow.展开更多
This paper investigates fault-tolerant finite-time dynamical consensus problems of double-integrator multi-agent systems(MASs)with partial agents subject to synchronous self-sensing function failure(SSFF).A strategy o...This paper investigates fault-tolerant finite-time dynamical consensus problems of double-integrator multi-agent systems(MASs)with partial agents subject to synchronous self-sensing function failure(SSFF).A strategy of recovering the connectivity of network topology among normal agents based on multi-hop communication and a fault-tolerant finitetime dynamical consensus protocol with time-varying gains are proposed to resist synchronous SSFF.It is proved that double-integrator MASs with partial agents subject to synchronous SSFF using the proposed strategy of network topology connectivity recovery and fault-tolerant finite-time dynamical consensus protocol with the proper time-varying gains can achieve finite-time dynamical consensus.Numerical simulations are given to illustrate the effectiveness of the theoretical results.展开更多
This paper addresses the distance-based formation tracking problem for a double-integrator modeled multi-agent system（MAS） in the presence of a moving leader in d-dimensional space. Under the assumption that the sta...This paper addresses the distance-based formation tracking problem for a double-integrator modeled multi-agent system（MAS） in the presence of a moving leader in d-dimensional space. Under the assumption that the state of leader can be obtained over fixed graphs, a distributed distance-based control protocol is designed for each double-integrator follower agent. The protocol consists of three terms： a gradient function term, a velocity consensus term, and a leader tracking term.Different shape stabilizing functions proposed in the literature can be applied to the gradient function term. The proposed controller allows all agents to both achieve the desired shape and reach the same velocity with moving leader by controlling the distances and velocity. Finally, we analyze the local asymptotic stability of the equilibrium set with center manifold theory. We validate the effectiveness of our approach through two examples.展开更多
This paper investigates asymptotic bounded consensus tracking（ABCT） of double-integrator multi-agent systems（MASs） with an asymptotically-unbounded-acceleration and bounded-jerk target（AUABJT） available to parti...This paper investigates asymptotic bounded consensus tracking（ABCT） of double-integrator multi-agent systems（MASs） with an asymptotically-unbounded-acceleration and bounded-jerk target（AUABJT） available to partial agents based on sampled-data without velocity measurements. A sampled-data consensus tracking protocol（CTP） without velocity measurements is proposed to guarantee that double-integrator MASs track an AUABJT available to only partial agents.The eigenvalue analysis method together with the augmented matrix method is used to obtain the necessary and sufficient conditions for ABCT. A numerical example is provided to illustrate the effectiveness of theoretical results.展开更多
Double-integrator multi-agent systems(MASs)might not achieve dynamical consensus,even if only partial agents suffer from self-sensing function failures(SSFFs).SSFFs might be asynchronous in real engineering applicatio...Double-integrator multi-agent systems(MASs)might not achieve dynamical consensus,even if only partial agents suffer from self-sensing function failures(SSFFs).SSFFs might be asynchronous in real engineering application.The existing fault-tolerant dynamical consensus protocol suitable for synchronous SSFFs cannot be directly used to tackle fault-tolerant dynamical consensus of double-integrator MASs with partial agents subject to asynchronous SSFFs.Motivated by these facts,this paper explores a new fault-tolerant dynamical consensus protocol suitable for asynchronous SSFFs.First,multi-hop communication together with the idea of treating asynchronous SSFFs as multiple piecewise synchronous SSFFs is used for recovering the connectivity of network topology among all normal agents.Second,a fault-tolerant dynamical consensus protocol is designed for double-integrator MASs by utilizing the history information of an agent subject to SSFF for computing its own state information at the instants when its minimum-hop normal neighbor set changes.Then,it is theoretically proved that if the strategy of network topology connectivity recovery and the fault-tolerant dynamical consensus protocol with proper time-varying gains are used simultaneously,double-integrator MASs with all normal agents and all agents subject to SSFFs can reach dynamical consensus.Finally,comparison numerical simulations are given to illustrate the effectiveness of the theoretical results.展开更多
In this paper, we consider multi-agent consensus problems in a decentralised fashion. The interconnection topology graph among the agents is switching and undirected. The agent dynamics is expressed in the form of a d...In this paper, we consider multi-agent consensus problems in a decentralised fashion. The interconnection topology graph among the agents is switching and undirected. The agent dynamics is expressed in the form of a double integrator model. Two different cases are considered in this study. One is the leader-following case and the other is leaderless case. Based on graph theory and common Lyapunov function method, some sufficient conditions are obtained for the consensus stability of the considered systems with the neighbour-based feedback laws in both leader-following case and leaderless case respectively. Finally, two numerical examples are given to illustrate the obtained results.展开更多
基金supported by the Science and Technology Innovation Program of Fujian Agriculture and Forestry University,China(Grant No.KFB22045)the General Program of Natural Science Foundation Fujian,China(Grant No.2023J01460).
文摘The doubled haploid(DH)technique accelerates homozygosity by inducing chromosome doubling in haploid embryos derived from hybrid plants.This approach offers significant advantages over conventional rice breeding methods by shortening the breeding cycle and enabling rapid development of pure homozygous lines.Anther culture(AC)has been established as an efficient and successful method for producing DH plants via androgenesis in rice.However,despite its success in japonica rice.
文摘With the advent of sixth-generation mobile communications(6G),space-air-ground integrated networks have become mainstream.This paper focuses on collaborative scheduling for mobile edge computing(MEC)under a three-tier heterogeneous architecture composed of mobile devices,unmanned aerial vehicles(UAVs),and macro base stations(BSs).This scenario typically faces fast channel fading,dynamic computational loads,and energy constraints,whereas classical queuing-theoretic or convex-optimization approaches struggle to yield robust solutions in highly dynamic settings.To address this issue,we formulate a multi-agent Markov decision process(MDP)for an air-ground-fused MEC system,unify link selection,bandwidth/power allocation,and task offloading into a continuous action space and propose a joint scheduling strategy that is based on an improved MATD3 algorithm.The improvements include Alternating Layer Normalization(ALN)in the actor to suppress gradient variance,Residual Orthogonalization(RO)in the critic to reduce the correlation between the twin Q-value estimates,and a dynamic-temperature reward to enable adaptive trade-offs during training.On a multi-user,dual-link simulation platform,we conduct ablation and baseline comparisons.The results reveal that the proposed method has better convergence and stability.Compared with MADDPG,TD3,and DSAC,our algorithm achieves more robust performance across key metrics.
基金supported by the National Natural Science Foundation of China(52471240)the Natural Science Foundation of Zhejiang Province(LZ23B030003)+2 种基金the Fundamental Research Funds for the Central Universities(226-2024-00075)support from the Engineering and Physical Sciences Research Council(EPSRC,UK)RiR grant-RIR18221018-1EU COST CA23155。
文摘The electric double layer(EDL)at the electrochemical interface is crucial for ion transport,charge transfer,and surface reactions in aqueous rechargeable zinc batteries(ARZBs).However,Zn anodes routinely encounter persistent dendrite growth and parasitic reactions,driven by the inhomogeneous charge distribution and water-dominated environment within the EDL.Compounding this,classical EDL theory,rooted in meanfield approximations,further fails to resolve molecular-scale interfacial dynamics under battery-operating conditions,limiting mechanistic insights.Herein,we established a multiscale theoretical calculation framework from single molecular characteristics to interfacial ion distribution,revealing the EDL’s structure and interactions between different ions and molecules,which helps us understand the parasitic processes in depth.Simulations demonstrate that water dipole and sulfate ion adsorption at the inner Helmholtz plane drives severe hydrogen evolution and by-product formation.Guided by these insights,we engineered a“water-poor and anion-expelled”EDL using 4,1’,6’-trichlorogalactosucrose(TGS)as an electrolyte additive.As a result,Zn||Zn symmetric cells with TGS exhibited stable cycling for over 4700 h under a current density of 1 mA cm^(−2),while NaV_(3)O_(8)·1.5H_(2)O-based full cells kept 90.4%of the initial specific capacity after 800 cycles at 5 A g^(−1).This work highlights the power of multiscale theoretical frameworks to unravel EDL complexities and guide high-performance ARZB design through integrated theory-experiment approaches.
基金Nguyen Tat Thanh University,Ho Chi Minh City,Vietnam for supporting this study。
文摘Wing design is a critical factor in the aerodynamic performance of flapping-wing(FW)robots.Inspired by the natural wing structures of insects,bats,and birds,we explored how bio-mimetic wing vein morphologies,combined with a bio-inspired double wing clap-and-fling mechanism,affect thrust generation.This study focused on increasing vertical force and payload capacity.Through systematic experimentation with various vein configurations and structural designs,we developed innovative wings optimized for thrust production.Comprehensive tests were conducted to measure aerodynamic forces,power consumption,and wing kinematics across a range of flapping frequencies.Additionally,wings with different aspect ratios,a key factor in wing design,were fabricated and extensively evaluated.The study also examined the role of bio-inspired vein layouts on wing flexibility,a critical component in improving flight efficiency.Our findings demonstrate that the newly developed wing design led to a 20%increase in thrust,achieving up to 30 g-force(gf).This research sheds light on the clap-and-fling effect and establishes a promising framework for bio-inspired wing design,offering significant improvements in both performance and payload capacity for FW robots.
基金supported by the National Natural Science Foundation of China(NSFC)(22302151,52502312)Natural Science Foundation of Hubei Province(2024AFB755,2024AFB267)+1 种基金Key Project of Hubei Provincial Department of Education Scientific Research Plan(F2023007)Wuhan Institute of Technology Graduate Education Innovation Fund(CX2024285)。
文摘Layered double hydroxides(LDHs)are promising electrocatalysts for the oxygen evolution reaction(OER),yet their practical application remains limited by poor electrical conductivity and sluggish reaction kinetics.In this work,we synthesize three high-entropy LDHs(HELDHs)featuring a hierarchical architecture of microspheres assembled from ultrathin nanosheets,via a simple hydrothermal method using a combination of low-cost,catalytically active transition metals(Fe,Co,Ni,Mn,Zn,Cu,and Cr).Among them,the FeCoNiMnZn HELDH exhibits outstanding OER performance,requiring an overpotential of only 306 mV to reach a current density of 100 mA cm^(-2).Notably,during 200 h of continuous operation,the device exhibits a stable and,in some cases,increasing current output.This exceptional activity is attributed to the formation of abundant cation vacancies,induced by Zn leaching,which enhance the intrinsic catalytic properties by optimizing the adsorption energies of key OER intermediates.Density functional theory calculations further validate that these vacancies modulate the electronic structure and lower reaction barriers,underscoring the effectiveness of cation-vacancy engineering in high-entropy systems for efficient and durable water oxidation catalysis.The optimized catalyst was further evaluated as the air cathode in a zinc-air battery,demonstrating practical electrochemical performance.
基金supported by the National Natural Science Foundation of China(Grant Nos.42407267 and 52374152)the Natural Science Foundation of Jiangsu Province,China(Grant No.BK20220975).
文摘Time-delayed blasting is widely utilized in engineering to mitigate induced vibration hazards and enhance fragmentation.The underlying vibration reduction principle is the decrease of the charge weight per delay,while the potential for further vibration reduction remains debated,largely due to unclear underlying mechanisms.In light of the popularization of electronic detonators and the representativeness of double-hole configurationsfor multiple blastholes,it is essential to investigate the vibration characteristics induced by time-delayed double blastholes.Therefore,a series of doubleborehole experimental blasts was conducted in an underground roadway to clarify the variation in vibration from single-hole to dual-hole conditions.Based on the experimental data and inherent limitations,an exact full-fieldtheoretical model was further employed to systematically analyze the effects of delay time,charge length,and borehole inclination angle on vibrations induced by various doublehole configurations.The experimental data and theoretical analysis reveal that the general scaled distance effectively predicts vibrations in delayed blasting but does not reflectvibration reduction.Increasing delay time causes fluctuatingPPVs,which stabilize slightly above single-hole PPVs as delay times exceed a certain value.The delayed blasting primarily reduces near-fieldfrequencies.Longer charge lengths in double boreholes increase PPV levels and attenuation rates within a certain length,and the vibration behavior of combined long and short charge lengths is governed by the long blasthole.Larger blasthole inclination angles enhance vibration amplitude and reduce PPV attenuation rates.Optimizing inclination angles is more critical than adjusting delay times,and parallel boreholes offer the best vibration control.
文摘The present study investigates the flow,heat,and mass transfer analysis in the bioconvection of nanofluid containing motile gyrotactic microorganisms through a semi-porous curved oscillatory channel with a magnetic field.These microorganisms produce density gradients by swimming,which induces macroscopic convection flows in the fluid.This procedure improves the mass and heat transfer,illustrating the interaction between biological activity and fluid dynamics.Furthermore,instead of considering traditional Fourier's and Fick's law the energy and concentration equations are developed by incorporating Cattaneo-Christov double diffusion theory.Moreover,to examine the influence of thermophoresis and Brownian diffusions in the fluid we have adopted the Buongiorno nanofluid model.Due to the oscillation of the surface of the channel,the mathematical development of the considered flow problem is obtained in the form of partial differential equations via the curvilinear coordinate system.The convergent series solution of the governing flow equations is obtained after applying the homotopy analysis method(HAM).The effects of different pertinent flow parameters on velocity,motile microorganism density distribution,concentration,pressure,temperature,and skin friction coefficient are examined and discussed in detail with the help of graphs and tables.It is observed during the current study that the density of microorganisms is enhanced for higher values of Reynolds number,Peclet number,radius of curvature variable,and Lewis number.
基金supported by the NSFC under Grant No.62474169the National Key Research and Development Program of China under Grant No.2024YFB3212200the funding from USTC under Grant Nos.WK2100000025,KY2190000003,and KY2190000006。
文摘Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.
文摘Objective:To explore the therapeutic effect of double-puncture tympanic membrane puncture and tympanic cavity drug injection in patients with acute secretory otitis media.Methods:A total of 84 patients with acute secretory otitis media admitted to our hospital from June 2024 to June 2025 were selected and randomly divided into two groups by drawing lots.The control group(42 cases)was treated with the traditional single-puncture tympanic membrane puncture and tympanic cavity drug injection method,while the observation group(42 cases)was treated with the double-puncture tympanic membrane puncture and tympanic cavity drug injection method.The therapeutic effects of the two groups were compared.Results:The overall treatment response rate,overall complication rate,time to symptom relief,and improvement in hearing threshold in the observation group were all superior to those in the control group,with statistically significant differences(P<0.05).Conclusion:For acute secretory otitis media,the treatment method of double-puncture tympanic membrane puncture and tympanic cavity drug injection demonstrates definite efficacy,significantly reducing the incidence of complications,accelerating symptom relief,and improving hearing function,making it worthy of promotion.
基金financially supported by the National Natural Science Foundation of China(U21A20311,U24A2040,52171141,52272117)the Natural Science Foundation of Shandong Province(ZR2022JQ19)+3 种基金the Key Technology Research Project of Shandong Province(2023CXGC010202)the Taishan Industrial Experts Program(TSCX202306142)the Core Facility Sharing Platform of Shandong Universitythe Foundation of Key Laboratory of Advanced Energy Materials Chemistry(Ministry of Education),Nankai University。
文摘Co_(3)S_(4)electrocatalysts with mixed valences of Co ions and excellent structural stability possess favorable oxygen evolution reaction(OER)activity,yet challenges remain in fabricating rechargeable lithiumoxygen batteries(LOBs)due to their poor OER performance,resulting from poor electrical conductivity and overly strong intermediate adsorption.In this work,fancy double heterojunctions on 1T/2H-MoS_(2)@Co_(3)S_(4)(1T/2H-MCS)were constructed derived from the charge donation from Co to Mo ions,thus inducing the phase transformation of Mo S_(2)from 2H to 1T.The unique features of these double heterojunctions endow the1T/2H-MCS with complementary catalysis during charging and discharging processes.It is worth noting that 1T-Mo S2@Co3S4could provide fast Co-S-Mo electron transport channels to promote ORR/OER kinetics,and 2H-MoS_(2)@Co_(3)S_(4)contributed to enabling moderate egorbital occupancy when adsorbed with oxygen-containing intermediates.On the basis,the Li_(2)O_(2)nucleation route was changed to solution and surface dual pathways,improving reversible deposition and decomposition kinetics.As a result,1T/2H-MCS cathodes exhibit an improved electrocatalytic performance compared with those of Co_(3)S_(4)and Mo S2cathodes.This innovative heterostructure design provides a reliable strategy to construct efficient transition metal sulfide catalysts by improving electrical conductivity and modulating adsorption toward oxygenated intermediates for LOBs.
文摘Background:Double blind-ending ureter(DBU)is an extremely rare congenital anomaly involving a duplicated ureter with no connection to the renal pelvis or bladder,making diagnosis difficult.Case Description:A 10-year-old girl presented with recurrent abdominal pain and ultrasound evidence of left hydroureteronephrosis.Magnetic resonance imaging(MRI)and three-dimensional(3D)reconstruction revealed a 30 cm blind-ending ureter.Robotic-assisted excision(Da Vinci Xi)was performed safely,preserving adjacent structures.Histology confirmed a nonfunctional ureteral remnant.Conclusions:DBU is a rare duplication variant.Advanced imaging and robotic surgery are essential for accurate diagnosis and effective,minimally invasive treatment.
基金supported by the National Natural Science Foundation of China (Grant Nos.12325406,92261201,12404305,and W2512072)the Shaanxi Province Natural Science Fundamental Research Project (Grant Nos.2023JC-XJ-03 and23JSQ013)the China Postdoctoral Science Foundation (Grant Nos.BX20240286 and 2024M7625)。
文摘Abiotic oxygen formation predates photosynthesis,sustaining early chemical evolution,yet its elementary mechanisms remain contested.Here,we show the production pathways for molecular oxygen from doubly ionized carbon dioxide upon electron-impact.Through fragment ions and electron coincidence momentum imaging,we unambiguously determine the ionization mechanism by measuring the projectile energy loss in association with the C^(+) +O_(2)^(+) channel.Further potential energy and trajectory calculations enable us to elucidate the dynamical details of this fragmentation process,in which a bond rearrangement pathway is found to proceed via the structural deformation to a triangular intermediate.Moreover,we demonstrate a further roaming pathway for the formation of O_(2)^(+) from CO_(2)^(+) 2,in which a frustrated C-O bond cleavage leaves the O atom without sufficient energy to escape.The O atom then wanders around varied configuration spaces of the flat potential energy regions and forms a C-O-O_(2)^(+) intermediate prior to the final products C^(+) +O_(2)^(+).Considering the large quantities of free electrons in interstellar space,the processes revealed here are expected to be significant and should be incorporated into atmospheric evolution models.
文摘This paper addresses the decentralized consensus problem for a system of multiple dynamic agents with remote controllers via networking,known as a networked control multi-agent system(NCMAS).It presents a challenging scenario where partial dynamic entities or remote control units are vulnerable to disclosure attacks,making them potentially malicious.To tackle this issue,we propose a secure decentralized control design approach employing a double-layer cryptographic strategy.This approach not only ensures that the input and output information of the benign entities remains protected from the malicious entities but also practically achieves consensus performance.The paper provides an explicit design,supported by theoretical proof and numerical verification,covering stability,steady-state error,and the prevention of computation overflow or underflow.
基金Project supported by the National Natural Science Foundation of China(Grant No.61876073)the Fundamental Research Funds for the Central Universities of China(Grant No.JUSRP21920)
文摘This paper investigates fault-tolerant finite-time dynamical consensus problems of double-integrator multi-agent systems(MASs)with partial agents subject to synchronous self-sensing function failure(SSFF).A strategy of recovering the connectivity of network topology among normal agents based on multi-hop communication and a fault-tolerant finitetime dynamical consensus protocol with time-varying gains are proposed to resist synchronous SSFF.It is proved that double-integrator MASs with partial agents subject to synchronous SSFF using the proposed strategy of network topology connectivity recovery and fault-tolerant finite-time dynamical consensus protocol with the proper time-varying gains can achieve finite-time dynamical consensus.Numerical simulations are given to illustrate the effectiveness of the theoretical results.
基金supported by the National Natural Science Foundation of China(Grant No.61603188)
文摘This paper addresses the distance-based formation tracking problem for a double-integrator modeled multi-agent system（MAS） in the presence of a moving leader in d-dimensional space. Under the assumption that the state of leader can be obtained over fixed graphs, a distributed distance-based control protocol is designed for each double-integrator follower agent. The protocol consists of three terms： a gradient function term, a velocity consensus term, and a leader tracking term.Different shape stabilizing functions proposed in the literature can be applied to the gradient function term. The proposed controller allows all agents to both achieve the desired shape and reach the same velocity with moving leader by controlling the distances and velocity. Finally, we analyze the local asymptotic stability of the equilibrium set with center manifold theory. We validate the effectiveness of our approach through two examples.
基金supported by the National Natural Science Foundation of China(Grant Nos.61203147,61374047,61473138,and 61403168)the Fundamental Research Funds for the Central Universities of China(Grant No.JUSRP51510)
文摘This paper investigates asymptotic bounded consensus tracking（ABCT） of double-integrator multi-agent systems（MASs） with an asymptotically-unbounded-acceleration and bounded-jerk target（AUABJT） available to partial agents based on sampled-data without velocity measurements. A sampled-data consensus tracking protocol（CTP） without velocity measurements is proposed to guarantee that double-integrator MASs track an AUABJT available to only partial agents.The eigenvalue analysis method together with the augmented matrix method is used to obtain the necessary and sufficient conditions for ABCT. A numerical example is provided to illustrate the effectiveness of theoretical results.
基金National Natural Science Foundation of China(No.61876073)Fundamental Research Funds for the Central Universities of China(No.JUSRP21920)。
文摘Double-integrator multi-agent systems(MASs)might not achieve dynamical consensus,even if only partial agents suffer from self-sensing function failures(SSFFs).SSFFs might be asynchronous in real engineering application.The existing fault-tolerant dynamical consensus protocol suitable for synchronous SSFFs cannot be directly used to tackle fault-tolerant dynamical consensus of double-integrator MASs with partial agents subject to asynchronous SSFFs.Motivated by these facts,this paper explores a new fault-tolerant dynamical consensus protocol suitable for asynchronous SSFFs.First,multi-hop communication together with the idea of treating asynchronous SSFFs as multiple piecewise synchronous SSFFs is used for recovering the connectivity of network topology among all normal agents.Second,a fault-tolerant dynamical consensus protocol is designed for double-integrator MASs by utilizing the history information of an agent subject to SSFF for computing its own state information at the instants when its minimum-hop normal neighbor set changes.Then,it is theoretically proved that if the strategy of network topology connectivity recovery and the fault-tolerant dynamical consensus protocol with proper time-varying gains are used simultaneously,double-integrator MASs with all normal agents and all agents subject to SSFFs can reach dynamical consensus.Finally,comparison numerical simulations are given to illustrate the effectiveness of the theoretical results.
基金Project supported by the National Natural Science Foundation of China (Grant No. 60674071)
文摘In this paper, we consider multi-agent consensus problems in a decentralised fashion. The interconnection topology graph among the agents is switching and undirected. The agent dynamics is expressed in the form of a double integrator model. Two different cases are considered in this study. One is the leader-following case and the other is leaderless case. Based on graph theory and common Lyapunov function method, some sufficient conditions are obtained for the consensus stability of the considered systems with the neighbour-based feedback laws in both leader-following case and leaderless case respectively. Finally, two numerical examples are given to illustrate the obtained results.
