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Biological Conversion of Formate to Organic Compounds:Toward a Sustainable Formate Bioeconomy
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作者 Jinyi Qian Tiantian Chai +1 位作者 Chunlei Zhao Xiulai Chen 《Carbon Energy》 2026年第1期1-25,共25页
Formate bioconversion plays a crucial role in achieving renewable resource utilization and green and sustainable development,as it helps convert formate to biofuels and biochemicals.However,to tap the full potential o... Formate bioconversion plays a crucial role in achieving renewable resource utilization and green and sustainable development,as it helps convert formate to biofuels and biochemicals.However,to tap the full potential of formate bioconversion,it is important to identify the most appropriate microbial hosts,design the most promising formate assimilation pathways,and develop the most efficient formate assimilation cell factories.Here,we summarize the formatotrophic microorganisms capable of assimilating formate into building blocks of cell growth and analyze the characteristics of formate assimilation pathways for transmitting formate into central carbon metabolism.Furthermore,we discuss microbial engineering strategies to improve the efficiency of formate utilization for producing high-value bioproducts.Finally,we highlight the key challenges of formate bioconversion and their possible solutions to advance the formate bioeconomy and biomanufacturing. 展开更多
关键词 formatE formate assimilation pathways formatotrophic microorganisms microbial engineering
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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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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
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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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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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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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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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Spin-state engineering of octahedral Co via tetrahedral Ni in NiCo_(2)O_(4)for electrocatalytic glucose oxidation to formate
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作者 Zihao Wang Xiran Wang +10 位作者 Baoqi Jia Yilin Zuo Lin Zhou Zining Yan Zanyang Zhu Yonghao Xiao Yunfei Zhang Yufan Yang Xin Chen Lizhen Liu Xin Zhao 《Journal of Energy Chemistry》 2026年第1期605-617,I0013,共14页
Electrocatalytic glucose oxidation to high-value chemicals provides a sustainable route for biomass valorization.NiCo-based catalysts have emerged as promising candidates for glucose oxidation reaction owing to the in... Electrocatalytic glucose oxidation to high-value chemicals provides a sustainable route for biomass valorization.NiCo-based catalysts have emerged as promising candidates for glucose oxidation reaction owing to the intrinsic activity of Ni and Co catalytic centers.However,the dynamic evolution and atomic-scale synergy between these centers remain elusive.Herein,we fabricated NiCo_(2)O_(4)nanosheets supported on nickel foam,where Ni preferentially occupies tetrahedral sites to regulate the electronic configuration of octahedral Co.Experimental and theoretical results demonstrate that the incorporation of tetrahedral Ni induces low-to-intermediate spin transition in octahedral Co,thereby optimizing eg orbital occupancy and stabilizing active sites.This spin-state engineering establishes Ni-Co synergistic catalytic centers for the selective oxidation of glucose to formate(FA).At higher potential(≥1.4 V vs.RHE),octahedral Co undergoes reconstruction into excessive active CoOOH and CoO_(2)species,resulting in glucose overoxidation to CO_(2)and intensified competitive oxygen evolution.In contrast,at lower potentials(<1.4 V vs.RHE),tetrahedral Ni facilitates electron delocalization across the Ni–O–Co lattice,thereby stabilizing octahedral Co for glucose adsorption and oxidation.Subsequently,a coupled electrocatalytic system was constructed,achieving 80.7%FA yield with 91.3%Faradaic efficiency(FE)at NiCo_(2)O_(4)anode and H2 evolution rate of 696μmol h^(−1)with 99.9%FE at Pt cathode for 2 h under 1.35 V vs.RHE.This work provides a deep insight into spin-state regulation of the catalytic center,offering valuable guidance for rational catalyst design. 展开更多
关键词 Electrocatalysis Glucose oxidation Biomass valorization Spin-state regulation formatE
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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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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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Formation control for multiple spacecraft with disturbances and sensor failures
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作者 Yufei LYU Yuezu PENG Wenliang 《Journal of Systems Engineering and Electronics》 2026年第1期18-25,共8页
Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framew... Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framework that jointly designs distributed observers and local controllers to ensure robust formation control in the presence of external disturbances and sensor malfunctions.Treating the spacecraft formation as a single interconnected system,each spacecraft constructs a distributed observer that estimates the overall system state by incorporating both its own measurements and the predicted control information shared among the spacecraft.Based on the observer estimates,a local control law is synthesized to maintain the desired formation.Rigorous theoretical analysis and numerical simulations demonstrate that the proposed integrated approach effectively guarantees formation stability and resilience against sensor failures and disturbances. 展开更多
关键词 formation control multiple spacecraft DISTURBANCE sensor failure
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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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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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Air-road cross domain collaborative hierarchical reinforcement learning for real-time formation control:A network signal generator approach
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作者 Xinhai ZHUANG Hengyu LI +2 位作者 Yueying WANG Huaicheng YAN Jun LUO 《Science China(Technological Sciences)》 2026年第2期324-337,共14页
In this paper,a hierarchical reinforcement learning(HRL)based real-time formation control approach is proposed for heterogeneous aerial-ground agents(HAGAs).Initially,to address the issue of imprecise modeling of HAGA... In this paper,a hierarchical reinforcement learning(HRL)based real-time formation control approach is proposed for heterogeneous aerial-ground agents(HAGAs).Initially,to address the issue of imprecise modeling of HAGAs,a unified heterogeneous chained system model is constructed using the hand-position method.Subsequently,a hierarchical framework is designed:(1)To decouple multi-agent collaborative interactions and individual dynamic rules through hierarchical resolution,which enables controller design to be independent of direct reliance on neighborhood collaborative errors.(2)By adopting a dual-layer framework that separates collaborative topology management from individual control strategies,seamless switching between multiple task scenarios can be achieved simply by reconstructing the collaborative topology of the first layer.Moreover,to overcome the issue of non-asymptotic stability of tracking errors caused by the discount factor in traditional optimal control,a cost function based on the derivative of the tracking error is introduced.This not only addresses the error issue caused by the discount factor but also effectively resolves the problem of the unboundedness of the quadratic cost function.Finally,the efficacy of the proposed algorithm is substantiated through simulation experiments. 展开更多
关键词 air-road heterogeneous agents formation control reinforcement learning layered design
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Research on the Mechanism of“Cold Tumor”Formation and Immunotherapy for Its Transformation into“Hot Tumor”
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作者 Liang Zhou Jia Zhou Zhengyi Wang 《Oncology Research》 2026年第3期295-337,共43页
A clear goal in cold tumor research is to identify strategies for converting them into immunologically‘hot’tumors with enhanced immune cell infiltration and activity,thereby improving their responsiveness to immunot... A clear goal in cold tumor research is to identify strategies for converting them into immunologically‘hot’tumors with enhanced immune cell infiltration and activity,thereby improving their responsiveness to immunotherapy.The genesis of cold tumors is exceedingly intricate.In recent times,as the analysis of this phenomenon has been pursued with greater depth,a suite of advanced diagnostic and therapeutic technologies has surfaced.These novel approaches and tactics are anticipated to modulate the tumor immune microenvironment across various dimensions,thereby facilitating the advancement of personalized and precise treatment modalities for cold tumors.The present article addresses the challenge of diminished therapeutic responsiveness to“cold tumors”within clinical settings.It systematically elucidates the multi-faceted regulatory mechanisms underlying immune evasion in cold tumors and offers a detailed analysis of advanced therapeutic strategies that incorporate nanotechnology,gene editing,and artificial intelligence methodologies.Furthermore,the future development trends of immunotherapy were explored in greater depth.It was posited that the convergence of artificial intelligence,multidimensional genomics,and emerging biotechnologies has presented positive prospects for the treatment of cold tumors,and has offered a theoretical foundation and technical framework for the transformation of cold tumors into“hot tumors”. 展开更多
关键词 Cold tumor immunosuppressive factors formation mechanism clinical treatment strategies
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Retaining local chemical effects:An error cancellation strategy for calculating standard gas-phase enthalpy of formation
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作者 Rui Liu Chaoyang Zhang +2 位作者 Linyuan Wang Zhiyu Huang Jian Liu 《Defence Technology(防务技术)》 2026年第1期172-179,共8页
Conventional error cancellation approaches separate molecules into smaller fragments and sum the errors of all fragments to counteract the overall computational error of the parent molecules.However,these approaches m... Conventional error cancellation approaches separate molecules into smaller fragments and sum the errors of all fragments to counteract the overall computational error of the parent molecules.However,these approaches may be ineffective for systems with strong localized chemical effects,as fragmenting specific substructures into simpler chemical bonds can introduce additional errors instead of mitigating them.To address this issue,we propose the Substructure-Preserved Connection-Based Hierarchy(SCBH),a method that automatically identifies and freezes substructures with significant local chemical effects prior to molecular fragmentation.The SCBH is validated by the gas-phase enthalpy of formation calculation of CHNO molecules.Therein,based on the atomization scheme,the reference and test values are derived at the levels of Gaussian-4(G4)and M062X/6-31+G(2df,p),respectively.Compared to commonly used approaches,SCBH reduces the average computational error by half and requires only15%of the computational cost of G4 to achieve comparable accuracy.Since different types of local effect structures have differentiated influences on gas-phase enthalpy of formation,substituents with strong electronic effects should be retained preferentially.SCBH can be readily extended to diverse classes of organic compounds.Its workflow and source code allow flexible customization of molecular moieties,including azide,carboxyl,trinitromethyl,phenyl,and others.This strategy facilitates accurate,rapid,and automated computations and corrections,making it well-suited for high-throughput molecular screening and dataset construction for gas-phase enthalpy of formation. 展开更多
关键词 Gas-phase enthalpy of formation Error cancellation Quantum chemical High throughput
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Numerical Simulation of Cross-Layer Propagation Mechanisms for Hydraulic Fractures in Deep Coal-Rock Formations
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作者 Zhirong Jin Xiaorui Hou +4 位作者 Yanrong Ge Tiankui Guo Ming Chen Shuyi Li Tianyu Niu 《Energy Engineering》 2026年第2期369-391,共23页
Hydraulic fracturing serves as a critical technology for reservoir stimulation in deep coalbed methane(CBM)development,where the mechanical properties of gangue layers exert a significant control on fracture propagati... Hydraulic fracturing serves as a critical technology for reservoir stimulation in deep coalbed methane(CBM)development,where the mechanical properties of gangue layers exert a significant control on fracture propagation behavior.To address the unclear mechanisms governing fracture penetration across coal-gangue interfaces,this study employs the Continuum-Discontinuum Element Method(CDEM)to simulate and analyze the vertical propagation of hydraulic fractures initiating within coal seams,based on geomechanical parameters derived from the deep Benxi Formation coal seams in the southeastern Ordos Basin.The investigation systematically examines the influence of geological and operational parameters on cross-interfacial fracture growth.Results demonstrate that vertical stress difference,elastic modulus contrast between coal and gangue layers,interfacial stress differential,and interfacial cohesion at coal-gangue interfaces are critical factors governing hydraulic fracture penetration through these interfaces.High vertical stress differences(>3 MPa)inhibit interfacial dilation,promoting predominant crosslayer fracture propagation.Reduced interfacial stress contrasts and enhanced interfacial cohesion facilitate fracture penetration across interfaces.Furthermore,smaller elastic modulus contrasts between coal and gangue correlate with increased interfacial aperture.Finally,lower injection rates effectively suppress vertical fracture propagation in deep coal reservoirs.This study elucidates the characteristics and mechanisms governing cross-layer fracture propagation in coal–rock composites with interbedded partings,and delineates the dynamic evolution laws and dominant controlling factors involved.Thefindings provide critical theoretical insights for the optimization of fracture design and the efficient development of deep coalbed methane reservoirs. 展开更多
关键词 Deep coal-rock formations cross-layer fracturing fluid-solid coupling fracture propagation behavior numerical simulation
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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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