Interfacial built-in electric field and crosslinking pathways enabling WS_(2)/Ti_(3)C_(2)T_(x) heterojunction with robust sodium storage at low temperature

Developing efficient energy storage for sodium-ion batteries(SIBs)by creating high-performance heterojunctions and understanding their interfacial interaction at the atomic/molecular level holds promise but is also challenging.Besides,sluggish reaction kinetics at low temperatures restrict the operation of SIBs in cold climates.Herein,cross-linking nanoarchitectonics of WS_(2)/Ti_(3)C_(2)T_(x) heterojunction,featuring built-in electric field(BIEF),have been developed,employing as a model to reveal the positive effect of heterojunction design and BIEF for modifying the reaction kinetics and electrochemical activity.Particularly,the theoretical analysis manifests the discrepancy in work functions leads to the electronic flow from the electron-rich Ti_(3)C_(2)T_(x) to layered WS_(2),spontaneously forming the BIEF and“ion reservoir”at the heterogeneous interface.Besides,the generation of cross-linking pathways further promotes the transportation of electrons/ions,which guarantees rapid diffusion kinetics and excellent structure coupling.Consequently,superior sodium storage performance is obtained for the WS_(2)/Ti_(3)C_(2)T_(x) heterojunction,with only 0.2%decay per cycle at 5.0 A g^(-1)(25℃)up to 1000 cycles and a high capacity of 293.5 mA h g^(-1)(0.1A g^(-1)after 100 cycles)even at-20℃.Importantly,the spontaneously formed BIEF,accompanied by“ion reservoir”,in heterojunction provides deep understandings of the correlation between structure fabricated and performance obtained.

Post-traumatic stress disorder status in a rescue group after the Wenchuan earthquake relief

Previous studies have suggested that the incidence of post-traumatic stress disorder in earthquake rescue workers is relatively high. Risk factors for this disorder include demographic characteristics, earthquake-related high-risk factors, risk factors in the rescue process, personality, social support and coping style. This study examined the current status of a unit of 1 040 rescue workers who participated in earthquake relief for the Wenchuan earthquake that occurred on May 12th, 2008. Post-traumatic stress disorder was diagnosed primarily using the Clinician-Administered Post-traumatic Stress Disorder Scale during structured interviews. Univariate and multivariate sta-tistical analyses were used to examine major risk factors that contributed to the incidence of post-traumatic stress disorder. Results revealed that the incidence of this disorder in the rescue group was 5.96%. The impact factors in univariate analysis included death of family members, contact with corpses or witnessing of the deceased or seriously injured, near-death experience, severe injury or mental trauma in the rescue process and working at the epicenter of the earthquake. Correlation analysis suggested that post-traumatic stress disorder was positively correlated with psychotic and neurotic personalities, negative coping and low social support. Impact factors in mul-tivariate logistic regression analysis included near-death experience, severe injury or mental trauma, working in the epicenter of the rescue, neurotic personality, negative coping and low social support, among which low social support had the largest odds ratio of 20.42. Findings showed that the oc-currence of post-traumatic stress disorder was the result of the interaction of multiple factors.

Self-assembled synthesis of oxygen-doped g-C3N4 nanotubes in enhancement of visible-light photocatalytic hydrogen

Currently,photocatalytic water splitting is regarded as promising technology in renewable energy generation.However,the conversion efficiency suffers great restriction due to the rapid recombination of charge carriers.Rational designed the structure and doping elements become important alternative routes to improve the performance of photocatalyst.In this work,we rational designed oxygen-doped graphitic carbon nitride(OCN)nanotubes derived from supermolecular intermediates for photocata lytic water splitting.The as prepared OCN nanotubes exhibit an outstanding hydrogen evolution rate of 73.84μmol h^(-1),outperforming the most of reported one dimensional(1D)g-C_(3)N_(4) previously.Due to the rational oxygen doping,the band structure of g-C_(3)N_(4) is meliorated,which can narrow the band gap and reduce the recombination rate of photogene rated carriers.Furthermore,the hollow nanotube structure of OCN also provide multiple diffuse reflection during photocata lytic reaction,which can significantly promote the utilization capacity of visible light and enhance the photocatalytic water splitting performance.It is believed that our work not only rationally controls the nanostructure,but also introduces useful heteroatom into the matrix of photocatalyst,which provides an effective way to design high-efficiency g-C_(3)N_(4) photocatalyst.

Propagation of positive, negative, and recoil leaders in upward lightning flashes

Leader propagation is a fundamental issue in lightning physics. The propagation characteristics of positive leaders and negative leaders are summarized and compared based on data from high-speed camera and electromagnetic field in rocket-triggered lightning and tower-initiated lightning discharges; available channel base current data recorded in rocket-triggered lightning are also used. The negative leaders propagate in a stepped fashion accompanied by many branches. The stems ahead of the negative leader tip determine the manner and direction of the leader propagation, and even the branching and winding of the lightning channel. The impulsive current, electromagnetic field, and related optical images suggest that the positive leader may develop in a step-like fashion at its initial stage of triggered lightning. However, the stepping processes of the positive leader are obviously different from those of the negative leader. Tower-initiated lightning revealed that the most conspicuous characteristics of the stepwise positive leader involve the intermittent brush-like corona zone in front of the leader tip and the luminosity enhancement of the channel behind the tip. In rockettriggered lightning flashes, the charge transferred during an individual step for the negative leader was nearly an order greater than for the positive counterpart. The successive streamers ahead of the leader tip are essential for both negative and positive leader propagation, and the stems could be formed from one or more streamers in the previous negative streamer zone with the main leader channel dim. High-resolution observation of tower lightning also revealed a new type of bidirectional recoil leader, with polarity contrary to the traditional one, traversing in negative channels associated with tower-initiated and rocket-triggered lightning.

Electrocardiogram abnormalities and higher body mass index as clinically applicable factors for predicting poor outcome in patients with coronavirus disease 2019

Background:Patients with coronavirus disease 2019(COVID-19)have high resource utilization.Identifying the causes of severe COVID-19 is helpful for early intervention to reduce the consumption of medical resources.Methods:We included 103 patients with COVID-19 in this single-center observational study.To evaluate the incidence,predictors,and effects of COVID-19,we analyzed demographic information,laboratory results,comorbidities,and vital signs as factors for association with severe COVID-19.Results:The incidence of severe COVID-19 was 16.5%and the percent poor outcome(including mortality,entering in ICU or transferred to a superior hospital)was 6.8%.The majority of severe COVID-19 patients had abnormal electrocardiogram(ECG)(82.35%),hypertension(76.47%)and other cardiac diseases(58.82%).Multivariate logistic regression was used to determine the predictors of severe illness.Abnormal body mass index(BMI)and ECG(P<0.05)were independent predictors of severe COVID-19.ECG abnormality was associated with increased odds of poor outcome(area under the receiver operating characteristic curves[AUC],0.793;P=0.010)and severe COVID-19(AUC,0.807;P<0.0001).Overweight was also associated with increased odds of poor outcome(AUC,0.728;P=0.045)and severe illness COVID-19(AUC,0.816;P<0.0001).Conclusion:Overweight and electrophysiological disorders on admission are important predictors of prognosis of patients with COVID-19.

哺乳动物滑翔和飞行性状适应性演化研究进展

运动形式的适应性演化与生物的捕食、防御、繁殖和通讯等生存行为紧密相关。哺乳动物演化出的多种多样的运动方式对占领新栖息地和获取新生存资源有着举足轻重的作用,其中滑翔和飞行能力是哺乳动物为适应环境而演化出的特殊运动形式,该类群动物已成为适应性演化研究的热点模型之一。为了适应生存,滑翔和飞行哺乳动物在形态、生理和行为方面都发生了一系列的适应性改变。近年来,随着基因组和转录组等高通量测序技术的日益发展,适应性演化研究进入了组学时代,能够更系统更全面地揭示适应性演化背后的分子基础。本文对哺乳动物滑翔和飞行能力的起源、适应性形态特征,包括翼膜和肢体演化,以及能量代谢等生理特征及其分子机制方面的研究进展进行了综述,以期为今后开展哺乳动物运动方式适应性演化的分子机制研究提供理论基础,同时对该类群研究所面临的挑战和未来的研究方向进行了展望。

High-Performance Na-Ion Storage of S-Doped Porous Carbon Derived from Conjugated Microporous Polymers

Na-ion batteries(NIBs)have attracted considerable attention in recent years owing to the high abundance and low cost of Na.It is well known that S doping can improve the electrochemical performance of carbon materials for NIBs.However,the current methods for S doping in carbons normally involve toxic precursors or rigorous conditions.In this work,we report a creative and facile strategy for preparing S-doped porous carbons(SCs)via the pyrolysis of conjugated microporous polymers(CMPs).Briefly,thiophene-based CMPs served as the precursors and doping sources simultaneously.Simple direct carbonization of CMPs produced S-doped carbon materials with highly porous structures.When used as an anode for NIBs,the SCs exhibited a high reversible capacity of 440 mAh g?1 at 50 mA g?1 after 100 cycles,superior rate capability,and excellent cycling stability(297 mAh g?1 after 1000 cycles at 500 mA g?1),outperforming most S-doped carbon materials reported thus far.The excellent performance of the SCs is attributed to the expanded lattice distance after S doping.Furthermore,we employed ex situ X-ray photoelectron spectroscopy to investigate the electrochemical reaction mechanism of the SCs during sodiation-desodiation,which can highlight the role of doped S for Na-ion storage.

Understanding the improved performance of sulfur-doped interconnected carbon microspheres for Na-ion storage

As one of the low-cost energy storage systems,Na-ion batteries(NIBs)have received tremendous attention.However,the performance of current anode materials still cannot meet the requirements of NIBs.In our work,we obtain sulfur-doped interconnected carbon microspheres(S-CSs)via a simple hydrothermal method and subsequent sulfurizing treatment.Our S-CSs exhibit an ultrahigh reversible capacity of 520 mAh g^(-1) at 100 mA g^(-1) after 50 cycles and an excellent rate capability of 257 mAh g^(-1),even at a high current density of 2 A g^(-1).The density functional theory calculations demonstrate that sulfur doping in carbon favors the adsorption of Na atom during the sodiation process,which is accountable for the performance enhancement.Furthermore,we also utilize operando Raman spectroscopy to analyze the electrochemical reaction of our S-CSs,which further highlights the sulfur doping in improving Na-ion storage performance.

Inclusion of forestry offsets in emission trading schemes:insights from global experts

Emissions trading schemes(ETSs)have been a central component of international climate change policies,as a carbon pricing tool to achieve emissions reduction targets.Forest carbon offset credits have been leveraged in many ETSs to efficiently meet emission reduction targets,yet there is little knowledge about the perceptions,experiences,and challenges associated with the forest carbon offsetting in existing and pilot ETS.Given that the future inclusion of forest carbon offset in ETS management activities and policies will require strong support and acceptability among the institutions and experts involved in ETS,this study explores the experiences and lessons learned with 16 globally engaging experts representing major existing ETSs(North America,Europe,and New Zealand)and Chinese pilot ETSs towards the inclusion of forestry offsets,major concerns and challenges with existing implementation models.Findings revealed that many respondents particularly from North America,New Zealand,and Chinese pilot systems portrayed positive attitudes toward the inclusion of forestry carbon offsets and its role in contributing to a viable ETS,while European experts were not supportive.Respondents cited leakage,permanence,additionality,and monitoring design features as the major challenges and concerns that inhibit the expansion and inclusion of forest carbon offsetting.Respondents from Chinese pilot schemes referenced a unique set of challenges related to implementation,including the increasing cost of afforestation and reforestation projects,the uncertainty in the future supply and demand for their national Certified Emissions Reduction(CER)scheme and landowner engagement.Existing and future ETSs should learn from and address the challenges experienced by global experts and carbon pricing mechanisms to design,evaluate,or enhance their forest carbon offset programs for an effective and viable system that successfully contributes to GHG mitigation practices globally.We recommend inclusion of forest carbon offsets at the early stages of ETS improves the perceptions and experience of policy makers and practitioners toward the success and potential of forestry offsets in ETS ensuring familiarity and confidence in the mechanism.

In Situ Monitoring the Potassium‑Ion Storage Enhancement in Iron Selenide with Ether‑Based Electrolyte

As one of the promising anode materials,iron selenide has received much attention for potassium-ion batteries(KIBs).Nevertheless,volume expansion and sluggish kinetics of iron selenide result in the poor reversibility and stability during potassiation–depotassiation process.In this work,we develop iron selenide composite matching ether-based electrolyte for KIBs,which presents a reversible specific capacity of 356 mAh g^(−1) at 200 mA g^(−1) after 75 cycles.According to the measurement of mechanical properties,it is found that iron selenide composite also exhibits robust and elastic solid electrolyte interphase layer in ether-based electrolyte,contributing to the improvement in reversibility and stability for KIBs.To further investigate the electrochemical enhancement mechanism of ether-based electrolyte in KIBs,we also utilize in situ visualization technique to monitor the potassiation–depotassiation process.For comparison,iron selenide composite matching carbonate-based electrolyte presents vast morphology change during potassiation–depotassiation process.When changing to ether-based electrolyte,a few minor morphology changes can be observed.This phenomenon indicates an occurrence of homogeneous electrochemical reaction in ether-based electrolyte,which results in a stable performance for potassium-ion(K-ion)storage.We believe that our work will provide a new perspective to visually monitor the potassium-ion storage process and guide the improvement in electrode material performance.

Insights on the mechanism of Na-ion storage in expanded graphite anode

Currently,Na-ion battery(NIB) has become one of the most potential alternatives for Li-ion batteries due to the safety and low cost.As a promising anode for Na-ion storage,expanded graphite has attracted considerable attention.However,the sodiation-desodiation process is still unclear.In our work,we obtain expanded graphite through slight modified Hummer's method and subsequent thermal treatment,which exhibits excellent cycling stability.Even at a high current density of 1 A g^(-1),our expanded graphite still remains a high reversible capacity of 100 mA h g^(-1) after 2600 cycles.Furthermore,we also investigate the electrochemical mechanism of our expanded graphite for Na-ion storage by operando Raman technique,which illuminate the electrochemical reaction during different sodiation-desodiation processes.

Graphite Anode for Potassium Ion Batteries: Current Status and Perspective

With the increased demand from the storage of renewable energy sources,some safe and inexpensive energy storage technologies instead of Li-ion batteries become urgently needed.Therefore,K-ion batteries(KIBs)have attracted much attention and evolved significant development because of the low price,safety,and similar property compared with Li-ion batteries.Due to the high reversibility,stability,and low potential plateau,graphite becomes a current research focus and is regarded as one of the most promising KIB’s anode materials.In this review,we mainly discuss the electrochemical reaction mechanism of graphite during potassiation-depotassiation process and analyze the effects of electrode/electrolyte interface on graphite for Kion storage.Besides,we summarize several kinds of methods to improve the performance of graphite for KIBs,including the design of graphite structure,selection of appropriate binder,solvent chemistry,and salt chemistry.Meanwhile,a concept of“relative energy density”is raised,which can be more accurate to evaluate the genuine electrochemical performance of graphite anode involving the specific capacity and potential.In addition,we also summarize the considerable challenges to current graphite anode in KIBs and we believe our work will offer alterative solutions to further explore high-performance graphite anode of K-ion storage.

Key challenges and approaches to addressing barriers in forest carbon offset projects

Forest carbon offset(FCO)projects play an increasingly important role in mitigating climate change through market mechanisms in both compliance and voluntary markets.However,there are challenges and barriers to developing an FCO project,such as carbon leakage and cost-eff ectiveness.There have been few attempts to summarize and synthesize all types and aspects of existing challenges and possible solutions for FCO projects.This paper systematically reviews and discusses the current challenges involved in developing FCO projects,and then draws on the experience and lessons of existing projects to show how those challenges were addressed in world-leading voluntary carbon standards,namely the Verifi ed Carbon Standard,the American Carbon Registry,the Climate Action Reserve,and Plan Vivo.These voluntary markets have rich experience in FCO projects and are responsible for a signifi cant share of the market.From the 53 publications used in this analysis,three broad thematic categories of challenges emerged.These were related to methodology,socio-economic implications,and implementation.Methodological challenges,particularly additionality,permanence,and leakage,were the focus of 46%of the selected research papers,while socio-economic challenges,including transaction,social,and opportunity costs,were addressed by 35%.The remaining 19%of the research articles focused on implementational challenges related to monitoring,reporting,and verifi cation.Major voluntary standards adequately addressed most of the methodological and implementational barriers by adopting various approaches.However,the standards did not adequately address socio-economic issues,despite these being the second most frequently discussed theme in the papers analyzed.More research is clearly needed on the socio-economic challenges involved in the development of FCO projects.For the development of high-quality forestry carbon off set projects,there are many challenges and no simple,universal recipe for addressing them.However,it is crucial to build upon the current science and move forward with carbon projects which ensure eff ective,long-term carbon sinks and maximize benefi ts for biodiversity and people;this is particularly important with a growing public and private interest in this fi eld.

Self-healing ability of Prussian blue analogs for aqueous potassium-ion batteries

The slow reaction kinetics,combined with the relatively large radius of K-ion,makes it challenging to develop acceptable electrode materials for reversible insertion/deinsertion of potassium ions,thus reducing the cycle stability and reversible capacity of aqueous potassium-ion batteries(PIBs)[1].Given this,there is still a long way to go in developing high-performance electrode materials for PIBs with a stable cycle life and high energy density.According to a literature study on PIB electrode materials,the electrochemical performance of cathode materials can be easily achieved through various structural modifications[2–4].Nevertheless,the study of cathode material optimization and operating mechanisms is insufficient,hindering the energy density of PIBs from reaching a satisfactory level.In this context,the performance of cathode material becomes the decisive factor for the performance of PIBs.

Effects of Shuanghuanglian oral liquids on patients with COVID-19:a randomized,open-label,parallel-controlled,multicenter clinical trial

We conducted a randomized,open-label,parallel-controlled,multicenter trial on the use of Shuanghuanglian(SHL),a traditional Chinese patent medicine,in treating cases of COVID-19.A total of 176 patients received SHL by three doses(56 in low dose,61 in middle dose,and 59 in high dose)in addition to standard care.The control group was composed of 59 patients who received standard therapy alone.Treatment with SHL was not associated with a difference from standard care in the time to disease recovery.Patients with 14-day SHL treatment had significantly higher rate in negative conversion of SARS-CoV-2 in nucleic acid swab tests than the patients from the control group(93.4%vs.73.9%,P=0.006).Analysis of chest computed tomography images showed that treatment with high-dose SHL significantly promoted absorption of inflammatory focus of pneumonia,which was evaluated by density reduction of inflammatory focus from baseline,at day 7(mean difference(95%CI),−46.39(−86.83 to−5.94)HU;P=0.025)and day 14(mean difference(95%CI),−74.21(−133.35 to−15.08)HU;P=0.014).No serious adverse events occurred in the SHL groups.This study illustrated that SHL in combination with standard care was safe and partially effective for the treatment of COVID-19.

TiO^(2)electron transport bilayer for all-inorganic perovskite photodetectors with remarkably improved UV stability toward imaging applications

High ultraviolet(UV)stability and low dark current(Idark)are necessary for high-quality perovskite photodetectors(PDs).TiO^(2)thin film is known as effective electron-transport-layer(ETL)for perovskite devices.However,common spin-coated TiO^(2)ETLs endow many surface defects and have strong UV photocatalytic effect to decompose perovskite materials,resulting in inferior stability of devices.In this work,TiO^(2)bilayer film(Bi-TiO^(2))has been fabricated by combining spin-coating and atomic-layer-deposition process and its positive effects on UV stability and Idarkof Cs2 AgBiBr6-based PDs have been revealed for the first time.It is demonstrated that Bi-TiO^(2)possesses fewer surface defects and smoother morphology with type II band alignment,which is beneficial to suppress photocatalytic activity of TiO^(2)and reduce carrier recombination at the interface.After accelerated strong UV aging treatment,the PD with Bi-TiO^(2)maintains excellent performance,whereas the PD with spin-coated TiO^(2)film dramatically deteriorate with on-off ratio drops from~102 to~2.Besides,the Idarkof PD remarkably decreases from~10^(-8) A to~10^(-10) A after bilayer optimization.Furthermore,we have integrated the corresponding PDs into a self-built imaging system adopting diffuse reflection mode.This work suggests a feasible approach to fabricate TiO^(2)/Cs2 AgBiBr6-based PDs with remarkable UV tolerance for imaging applications.

Single cell RNA and immune repertoire prowling of COVID-19 patients reveal novel neutralizing antibody

There is no doubt that COVID-19 outbreak is currently the biggest public health threat,which has caused catastrophic con sequences in many countries and regions.As host immunity is key to fighting against virus infection,it is important to characterize the immunologic changes in the COVID-19 patients,and to explore potential therapeutic candidates.The most efficient ways to end this pandemic are to vaccinate the susceptible population,and to use specific drugs,such as monoclonal antibodies against the viral spike protein(S protein),to treat the affected individuals.Several promising neutralizing antibodies have recently been reported(Cao et al.,2020;Lv et al.,2020).

A novel Sn-based coordination polymer with high-efficiency and ultrafast lithium storage

Recently,Coordination Polymers(CPs)have been widely utilized as energy storage materials for reversible Lithium-Ion Batteries(LIBs)benefiting from their tunable building blocks and adjusted electrochemical properties.However,the unsatisfied electrochemical behavior of CPs with poor conductivity and sluggish ion transport kinetics is still a bottle-neck for their large-scale energy storage applications in LIBs.Herein,we display the rational fabrication of a conductive Sn-based coordination polymer(Sn-DHTPA)via judiciously choosing suitable building units.The Sn-DHTPA is employed as anode for LIBs,exhibiting superior reversible storage capacity of 1142.6 m A h g^(-1) at 0.1 A g^(-1) after 100 cycles and impressive rate storage capability of 287.7 m A h g^(-1)at 20 A g^(-1).More importantly,a robust cycling performance of 205.5 m A h g^(-1) at an extra-high current density of 20 A g^(-1) are observed without remarkable capacity-fading up to1000 cycles.The behavior superiority of Sn-DHTPA is related to its advanced architecture with abundant lithium storage sites,high electrical conductivity and rapid lithium transport.A series of ex-situ characterizations reveal that the impressive lithium storage capacity is contributed by the redox active sites of both the aromatic linker and metal center related to in-situ generated metallic nanoparticles dispersed in the skeleton.

司美格鲁肽对肥胖2型糖尿病患者皮肤微循环功能的影响

目的探讨司美格鲁肽对肥胖2型糖尿病(T2DM)患者的皮肤微循环功能的影响。方法回顾性分析2022年6月至2023年1月诊断为2型糖尿病且合并肥胖,并于广州市皮肤病防治所门诊就诊的患者共94例,根据是否使用司美格鲁肽控制血糖分为观察组和对照组,其中使用司美格鲁肽联合二甲双胍控制血糖的(观察组)共44例,采用二甲双胍控制血糖的共50例(对照组),对比两组患者的BMI、血脂、血糖相关代谢指标的水平,用激光多普勒血流检测仪对两组患者在干预前和干预后3个月腹部脐周皮肤微循环功能进行检测。结果在干预3个月后,观察组的空腹血糖(FPG)、餐后2 h血糖(2hPG)、BMI值和糖化血红蛋白(HbAlc)水平均低于对照组,而C肽水平显著高于对照组(P<0.05);观察组在的总胆固醇(TC)、甘油三酯(TG)、低密度脂蛋白(LDL-C)水平均低于对照组,差异有统计学意义;而HDL-C水平显著高于对照组(P<0.05)。观察组的血细胞平均运动速度(AVBC)、运动血细胞浓度(CMBC)、微血管血流灌注量(MBP)和经皮氧分压(TcpO2)水平显著高于对照组(P<0.05)。结论司美格鲁肽不仅能改善肥胖2型糖尿病患者的糖脂代谢,也能改善患者的皮肤微循环状态。

Imaginary filtered hindsight experience replay for UAV tracking dynamic targets in large-scale unknown environments

As an advanced combat weapon,Unmanned Aerial Vehicles(UAVs)have been widely used in military wars.In this paper,we formulated the Autonomous Navigation Control(ANC)problem of UAVs as a Markov Decision Process(MDP)and proposed a novel Deep Reinforcement Learning(DRL)method to allow UAVs to perform dynamic target tracking tasks in large-scale unknown environments.To solve the problem of limited training experience,the proposed Imaginary Filtered Hindsight Experience Replay(IFHER)generates successful episodes by reasonably imagining the target trajectory in the failed episode to augment the experiences.The welldesigned goal,episode,and quality filtering strategies ensure that only high-quality augmented experiences can be stored,while the sampling filtering strategy of IFHER ensures that these stored augmented experiences can be fully learned according to their high priorities.By training in a complex environment constructed based on the parameters of a real UAV,the proposed IFHER algorithm improves the convergence speed by 28.99%and the convergence result by 11.57%compared to the state-of-the-art Twin Delayed Deep Deterministic Policy Gradient(TD3)algorithm.The testing experiments carried out in environments with different complexities demonstrate the strong robustness and generalization ability of the IFHER agent.Moreover,the flight trajectory of the IFHER agent shows the superiority of the learned policy and the practical application value of the algorithm.