Fluid property identification of the Lower Cretaceous reservoirs with complex oil-water contacts in Deseo Basin,Chad

Recently,exploration breakthroughs have been made in the Lower Cretaceous sandstone reservoirs in the Doseo Basin,but the identification of reservoir fluid property is difficult due to variable reservoir lithology,complex oil-water contact within and faint responses of the oil zone,which causes the lower accuracy of reservoir fluid property identification with conventional mudlogging and wirelogging techniques.Applying the geochemical logging,fluorescent logging,mud logging and cutting logging technology,in combination with formation test data,this paper distinguishes the crude oil types,analyzes the logging response characteristics of oil zone after water washing,and establishes the interpretation charts and parameter standards for reservoir fluid properties.The crude oil can be divided into two types,namely viscous-heavy and thin-light,based on total hydrocarbon content and component concentration tested by mud logging,features of pyrolysis gas chromatogram and fluorescence spectroscopy.The general characteristics of oil layers experienced water washing include the decrease of total hydrocarbon content and component concentration from mud logging,the decrease of S1 and PS values from geochemical logging,the decrease of hydrocarbon abundance and absence of some light components in pyrolysis gas chromatogram,and the decrease of fluorescence area and intensity from fluorescence logging.According to crude oil types,the cross plots of S1 versus peak-baseline ratio,and the cross plots of rock wettability versus fluorescence area ratio are drawn and used to interpret reservoir fluid property.Meanwhile,the standards of reservoir fluid parameter are established combining with the parameters of PS and the parameters in above charts,and comprehensive multiparameter correlation in both vertical and horizontal ways is also performed to interpret reservoir fluid property.The application in the Doseo Basin achieved great success,improving interpretation ability of fluid property in the reservoir with complex oil-water contact,and also provided technical reference for the efficient exploration and development of similar reservoirs.

A Review of Formation Mechanism Study on Reservoirs with Tilted Oil-water Contacts

The distribution characteristics of the oil-water contact are the basis for the reservoir exploration and development and reserves evaluation. The reservoir with a tilted oil-water contact has a unique formation mechanism, and the understanding of its distribution and formation mechanism will directly affect the evaluations for the reservoir type, well deployment, selection of well pattern and type, determination of test section, and reserves evaluation. Based on the analysis of reservoir characteristics, petrophysical properties and geological structure in 40 reservoirs worldwide with tilted oil-water contacts, the progress of the research on the formation mechanisms of titled oil-water contacts is summarized in terms of the hydrodynamic conditions, reservoir heterogeneity, neotectonic movement and oil-gas exploitation. According to the formation mechanism of tilted oil-water contacts and the needs of exploration research, different aspects of research methods are summarized and classified, such as the calculation of equipotential surfaces for oil and water in the formation, analysis of formation pressure and analysis of reservoir physical properties and so on. Based upon statistical analysis, it is suggested that the degree of the inclination of the oil-water contact be divided based on the dip of oil-water contact（DipTOWC）. The tilted oil-water contact is divided into three categories： large dip（DipTOWC≥55 m/km）, medium dip（4 m/km≤DipTOWC55 m/km）, and small dip（DipTOWC4 m/km）. The classification and evaluation method can be combined with structure amplitude and reservoir property. The formation mechanism of domestic and international reservoirs with tilted oil-water contacts are summarized in this paper, which have important significance in guiding the exploration and development of the oilfield with tilted oil-water contacts, reserves evaluation, and well deployment.

Characterization of Flame Retardancy and Oil-Water Separation Capacity of Superhydrophobic Silylated Melamine Sponges

A silylated melamine sponge(SMS)was prepared by two simple steps,namely,immersion and dehydration of a melamine sponge coated with methyltrichlorosilane.The silylated structure of SMS was characterized by FT-IR(Fourier-transform infrared)spectroscopy,SEM(Scanning electron microscopy)and in terms of water contact angles.Its oil-water absorption and separation capacities were measured by FT-IR and UV-visible spectrophoto-metry.The experimental results have shown that oligomeric silanol covalently bonds by Si-N onto the surface of melamine sponge skeletons.SMS has shown superhydrophobicity with a water contact angle exceeding 150°±1°,a better separation efficiency with regard to diesel oil(by 99.31%(wt/wt%)in oil-water mixture and even up to 99.99%(wt/wt%)for diesel oil in its saturated aqueous solution.Moreover,SMS inherited the intrinsicflame retardancy of the melamine sponge.In general,SMS has shown superhydrophobicity,high porosity,excellent selectivity,remarkable recyclability,and better absorption capacity for various oils and organic solvents,and a high separation efficiency for oil in saturated aqueous solutions.

Numerical Simulation of Oil-Water Two-Phase Flow in Low Permeability Tight Reservoirs Based on Weighted Least Squares Meshless Method

In response to the complex characteristics of actual low-permeability tight reservoirs,this study develops a meshless-based numerical simulation method for oil-water two-phase flow in these reservoirs,considering complex boundary shapes.Utilizing radial basis function point interpolation,the method approximates shape functions for unknown functions within the nodal influence domain.The shape functions constructed by the aforementioned meshless interpolation method haveδ-function properties,which facilitate the handling of essential aspects like the controlled bottom-hole flow pressure in horizontal wells.Moreover,the meshless method offers greater flexibility and freedom compared to grid cell discretization,making it simpler to discretize complex geometries.A variational principle for the flow control equation group is introduced using a weighted least squares meshless method,and the pressure distribution is solved implicitly.Example results demonstrate that the computational outcomes of the meshless point cloud model,which has a relatively small degree of freedom,are in close agreement with those of the Discrete Fracture Model(DFM)employing refined grid partitioning,with pressure calculation accuracy exceeding 98.2%.Compared to high-resolution grid-based computational methods,the meshless method can achieve a better balance between computational efficiency and accuracy.Additionally,the impact of fracture half-length on the productivity of horizontal wells is discussed.The results indicate that increasing the fracture half-length is an effective strategy for enhancing production from the perspective of cumulative oil production.

Paleo-oil-Water Contact and Present-Day Gas-Water Contact:Implication for Evolution History of Puguang Gas Field, Sichuan Basin, China

The Puguang （普光） gas field is the largest gas field found in marine carbonate in China. The Puguang gas field experienced complicated evolution history from paleo-oil pool to gas pool. The purpose of this article is to reveal the evolution history of Puguang gas field through systematic study on the relationship between paleo-oil-water contact （POWC） and present-day gas-water contact （PGWC）. POWC was recognized by observing the change of relative content of residual solid bitumen in the cores, and PGWC was observed using log and drilling stem test data. Two types of relationship between POWC and PGWC were observed in the Puguang gas field： POWC is above PGWC, and POWC is below PGWC. The former is normal as oil cracking may cause gas-water contact to move downward. The latter can be interpreted by lateral gas re-migration and re-accumulation caused by changes in structural configuration. The relationship between POWC and PGWC suggests that during oil charge, the southwestern and northwestern parts of the Puguang gas field were structurally lower than the northeastern and southeastern parts. Thrusting from Xuefengshan （雪峰山） since Yanshanian movement and from Dabashan （大巴山） since Himalayan movement resulted in the relative uplift of the southwestern and northwestern parts of the Puguang structure, which significantly changed the structural configuration. Based on the paleo-structure discussed in this article, the most probable migration directions of paleo-oil were from the northwest to the southeast and from the southwest to the northeast. Consequently, the evolution history of the Puguang gas field can be divided into three stages, namely,oil charging （200-170 Ma）, cracking oil to gas （155-120 Ma）, and gas pool adjustment （12-0 Ma）.

Preparation of Silica Nanosphere with Vertical Pore and Its Application in Oil-water Separation

Uniform monodispersed mesoporous silica nanospheres with vertical pores were successfully synthesized using chiral amphiphilic small molecule L-16Ala5PyClO4and solvents as dual templates via solgel transcription.The morphologies and pore sizes of silicas are adjustable by changing the type and amount of solvents in the reaction systems.With the increase of the organic solvent content,the morphologies of the obtained silica changed from nanospheres with vertical pore structures to nanosheets structures.When 1 mL of benzene,cyclohexane or toluene were used as solvents,only silica nanospheres were obtained,the BET surface areas of silica nanospheres reached 600.7,669.5,and 560.8 m^(2)/g,respectively.The pore sizes were 3.51,3.54,and 3.46 nm,respectively.Significantly,these ordered silica nanospheres/poly(vinyl alcohol-co-ethylene)(PVAco-PE)nanofiber membranes have high separation efficiencies(>99%)for n-hexane/water mixtures.

Wax deposition modeling in oil-water stratified pipe flow

Wax deposition in oil-water stratified flow is commonly encountered onshore and offshore oil production pipe systems,and typically reduces transportation capacity of oil.The accurate predicted model of wax deposition has becomes an indispensable approach to design effective remediation strategies.However,a reliable mechanistic model for wax deposition prediction in oil-water two-phase stratified pipe flow is lacking to validate the deposition process.In this work,a three-dimensional(axial,radial,and angular)robust wax deposit model for oil-water stratified circular pipe flow was developed.The model of formation of a gel deposit based on the first principles of rheology was developed,associated with the results obtained from hydrodynamics and heat/mass transfer simulations.The predictions for wax deposition are found to compare satisfactorily with experimental data with two different oils for single phase and four different water cuts for oil-water stratified pipe flow.It can be seen from the wax gelation mechanism that an increase in water cut can help to reduce the wall/oil-deposit interface shear stress,thereby leading to an increase in the degree of gelation as well as the deposit rate.Furthermore,a local deposit analysis in the circumferential direction was conducted,for water cut 75%and total flow rate 5 m3/h,which provided insights to understand that the thickness on pipe wall was roughly uniformly distributed locates near the top of the pipe and the nearer the position gets close to two points,where the oil-water interface contacts the inner wall,the deposition thickness quickly dropped to 0.It was attributed to the fact that a roughly uniformly thickness far away from the oil-water interface contact the inner wall resulted in the slowly changes temperature along the circumferential pipe wall wetted by oil.

Preparation of Hydrophobic Fly Ash by Surface Modification and Oil-water Separation Devices

A simple and effective superhydrophobic mesh was designed and made to separate oil-water mixture. Alkali-activated fly ash reacted with 1-bromooctadecane to prepare superhydrophobic modified fly ash (MFA) with low surface energy through Williamson ether synthesis. The MFA powder was then coated uniformly on a stainless steel mesh (SSM) along with the epoxy resin E44 and curing agent T31 to give the superhydrophobic MFA-modified stainless steel mesh (MFA-SSM). The MFA-SSM has a high static water contact angle (CA) of 150.1°and can separate various oil or organic solvent from water with>95%separation efficiency. The oil-water separation efficiency remained high after 30 runs of petroleum ether/water separation.The developed superhydrophobic stainless steel mesh is expected to have wider use in oil-water separation.

Changes of China’s Status in the Global System and Its Influencing Factors:A Multiple Contact Networks Perspective

Clarifying China’s position in the global system is an important logical basis for developing national diplomacy.Although much research has been done on China’s development status,most studies have been based on country comparisons or institutional en-vironment.In today’s networked era in which the global economy,trade,personnel,and information are closely connected,studies on China’s global position and its status changes and influencing factors in multiple contact networks are still insufficient.In this study,from the perspective of diverse global contact networks,we constructed economic,cultural,and political influence indices to explore the changes and influencing factors on China’s status in the global system from 2005 to 2018.The results show that during the study period,China’s global influence in the fields of economic ties,cultural exchanges,and political contacts increased significantly,but its influ-ence in the fields of cultural exchanges and political contacts lagged far economic ties.The pattern of China’s economic influence on various economies around the world has shown a transformation from an‘upright pyramid’to an‘inverted pyramid’structure.The proportion of these economies in low-influence zones has decreased from more than 60%in 2005 to less than 20%in 2018.China’s cultural and political influence on various economies around the world has increased significantly;however,for the former,the percentage of high-influence areas is still less than 20%,whereas for the latter the percentage of these economies in medium-and high-influence areas is still less than 50%.Analyses such as a scatter plot matrix show that geographical proximity,economic globalization,close cooperation with developing countries,and a proactive and peaceful foreign policy are important factors in improving China’s status in the diverse global network system.

Igneous intrusion contact metamorphic system and its reservoir characteristics:A case study of Paleogene Shahejie Formation in Nanpu sag of Bohai Bay Basin,China

Taking the Paleogene Shahejie Formation in Nanpu sag of Bohai Bay Basin as an example,this study comprehensively utilizes seismic,mud logging,well logging,physical property analysis and core thin section data to investigate the metamorphic reservoir formed by contact metamorphism after igneous rock intrusion.(1)A geological model of the igneous intrusion contact met amorphic system is proposed,which can be divided into five structural layers vertically:the intrusion,upper metamorphic aureole,lower metamorphic aureole,normal sedimentary layers on the roof and floor.(2)The intrusion is characterized by xenoliths indicating intrusive facies at the top,regular changes in rock texture and mineral crystallization from the center to the edge on a microscopic scale,and low-angle oblique penetrations of the intrusion through sedimentary strata on a macroscopic scale.The metamorphic aureole has characteristics such as sedimentary rocks as the host rock,typical palimpsest textures developed,various low-temperature thermal metamorphic minerals developed,and medium-low grade thermal metamorphic rocks as the lithology.(3)The reservoir in contact metamorphic aureole has two types of reservoir spaces:matrix pores and fractures.The matrix pores are secondary"intergranular pores"distributed around metamorphic minerals after thermal metamorphic transformation in metasandstones.The fractures are mainly structural fractures and intrusive compressive fractures in metamudstones.The reservoirs generally have three spatial distribution characteristics:layered,porphyritic and hydrocarbon impregnation along fracture.(4)The distribution of reservoirs in the metamorphic aureole is mainly controlled by the intensity of thermal baking.Furthermore,the distribution of favorable reservoirs is controlled by the coupling of favorable lithofacies and thermal contact metamorphism,intrusive compression and hydrothermal dissolution.The proposal and application of the geological model of the intrusion contact metamorphic system are expected to promote the discovery of exploration targets of contact metamorphic rock in Nanpu sag,and provide a reference for the study and exploration of deep contact metamorphic rock reservoirs in the Bohai Bay Basin.

A Review of Contact Electrification at Diversified Interfaces and Related Applications on Triboelectric Nanogenerator

The triboelectric nanogenerator(TENG)can effectively collect energy based on contact electrification(CE)at diverse interfaces,including solid–solid,liquid–solid,liquid–liquid,gas–solid,and gas–liquid.This enables energy harvesting from sources such as water,wind,and sound.In this review,we provide an overview of the coexistence of electron and ion transfer in the CE process.We elucidate the diverse dominant mechanisms observed at different interfaces and emphasize the interconnectedness and complementary nature of interface studies.The review also offers a comprehensive summary of the factors influencing charge transfer and the advancements in interfacial modification techniques.Additionally,we highlight the wide range of applications stemming from the distinctive characteristics of charge transfer at various interfaces.Finally,this review elucidates the future opportunities and challenges that interface CE may encounter.We anticipate that this review can offer valuable insights for future research on interface CE and facilitate the continued development and industrialization of TENG.

Thermal-contact capacity of one-dimensional attractive Gaudin-Yang model

Tan's contact C is an important quantity measuring the two-body correlations at short distances in a dilute system.Here we make use of the technique of exactly solved models to study the thermal-contact capacity K_(T),i.e.,the derivative of C with respect to temperature in the attractive Gaudin-Yang model.It is found that K_(T) is useful in identifying the low temperature phase diagram,and using the obtained analytical expression of K_(T),we study its critical behavior and the scaling law.Especially,we show K_(T) versus temperature and thus the non-monotonic tendency of C in a tiny interval,for both spin-balanced and imbalanced phases.Such a phenomenon is merely observed in multi-component systems such as SU(2)Fermi gases and spinor bosons,indicating the crossover from the Tomonaga-Luttinger liquid to the spin-coherent liquid.

Investigation of contact behavior on a model of the dual-mobility artificial hip joint for Asians in different inner liner thicknesses

BACKGROUND The four components that make up the current dual-mobility artificial hip joint design are the femoral head,the inner liner,the outer liner as a metal cover to prevent wear,and the acetabular cup.The acetabular cup and the outer liner were constructed of 316L stainless steel.At the same time,the inner liner was made of ultra-high-molecular-weight polyethylene(UHMWPE).As this new dual-mobility artificial hip joint has not been researched extensively,more tribological research is needed to predict wear.The thickness of the inner liner is a significant component to consider when calculating the contact pressure.AIM To make use of finite element analysis to gain a better understanding of the contact behavior in various inner liner thicknesses on a new model of a dual-mobility artificial hip joint,with the ultimate objective of determining the inner liner thickness that was most suitable for this particular type of dual-mobility artificial hip joint.METHODS In this study,the size of the femoral head was compared between two diameters(28 mm and 36 mm)and eight inner liner thicknesses ranging from 5 mm to 12 mm.Using the finite element method,the contact parameters,including the maximum contact pressure and contact area,have been evaluated in light of the Hertzian contact theory.The simulation was performed statically with dissipated energy and asymmetric behavior.The types of interaction were surface-to-surface contact and normal contact behavior.RESULTS The maximum contact pressures in the inner liner(UHMWPE)at a head diameter of 28 mm and 36 mm are between 3.7-13.5 MPa and 2.7-10.4 MPa,respectively.The maximum von Mises of the inner liner,outer liner,and acetabular cup are 2.4–11.4 MPa,15.7–44.3 MPa,and 3.7–12.6 MPa,respectively,for 28 mm head.Then the maximum von Mises stresses of the 36 mm head are 1.9-8.9 MPa for the inner liner,9.9-32.8 MPa for the outer liner,and 2.6-9.9 MPa for the acetabular cup.A head with a diameter of 28 mm should have an inner liner with a thickness of 12 mm.Whereas the head diameter was 36 mm,an inner liner thickness of 8 mm was suitable.CONCLUSION The contact pressures and von Mises stresses generated during this research can potentially be exploited in estimating the wear of dual-mobility artificial hip joints in general.Contact pressure and von Mises stress reduce with an increasing head diameter and inner liner’s thickness.Present findings would become one of the references for orthopedic surgery for choosing suitable bearing geometric parameter of hip implant.

Effect of surface modification on the radiation stability of diamond ohmic contacts

The ohmic contact interface between diamond and metal is essential for the application of diamond detectors.Surface modification can significantly affect the contact performance and eliminate the interface polarization effect.However,the radiation stability of a diamond detector is also sensitive to surface modification.In this work,the influence of surface modification technology on a diamond ohmic contact under high-energy radiation was investigated.Before radiation,the specific contact resistivities(ρc)between Ti/Pt/Au-hydrogen-terminated diamond(H-diamond)and Ti/Pt/Au-oxygenterminated diamond(O-diamond)were 2.0×10^(-4)W·cm^(2) and 4.3×10^(-3)Wcm^(2),respectively.After 10 MeV electron radiation,the ρc of Ti/Pt/Au H-diamond and Ti/Pt/Au O-diamond were 5.3×10^(-3)W·cm^(2)and 9.1×10^(-3)W·cm^(2),respectively.The rates of change of ρc of H-diamond and O-diamond after radiation were 2550%and 112%,respectively.The electron radiation promotes bond reconstruction of the diamond surface,resulting in an increase in ρc.

Supposition of graphene stacks to estimate the contact resistance and conductivity of nanocomposites

In this study,the effects of stacked nanosheets and the surrounding interphase zone on the resistance of the contact region between nanosheets and the tunneling conductivity of samples are evaluated with developed equations superior to those previously reported.The contact resistance and nanocomposite conductivity are modeled by several influencing factors,including stack properties,interphase depth,tunneling size,and contact diameter.The developed model's accuracy is verified through numerous experimental measurements.To further validate the models and establish correlations between parameters,the effects of all the variables on contact resistance and nanocomposite conductivity are analyzed.Notably,the contact resistance is primarily dependent on the polymer tunnel resistivity,contact area,and tunneling size.The dimensions of the graphene nanosheets significantly influence the conductivity,which ranges from 0 S/m to90 S/m.An increased number of nanosheets in stacks and a larger gap between them enhance the nanocomposite's conductivity.Furthermore,the thicker interphase and smaller tunneling size can lead to higher sample conductivity due to their optimistic effects on the percolation threshold and network efficacy.

A hybrid contact approach for modeling soil-structure interaction using the material point method

The grid-based multi-velocity field technique has become increasingly popular for simulating the Material Point Method(MPM)in contact problems.However,this traditional technique has some shortcomings,such as(1)early contact and contact penetration can occur when the contact conditions are unsuitable,and(2)the method is not available for contact problems involving rigid-nonrigid materials,which can cause numerical instability.This study presents a new hybrid contact approach for the MPM to address these limitations to simulate the soil and structure interactions.The approach combines the advantages of point-point and point-segment contacts to implement contact detection,satisfying the impenetrability condition and smoothing the corner contact problem.The proposed approach is first validated through a disk test on an inclined slope.Then,several typical cases,such as granular collapse,bearing capacity,and deformation of a flexible retaining wall,are simulated to demonstrate the robustness of the proposed approach compared with FEM or analytical solutions.Finally,the proposed method is used to simulate the impact of sand flow on a deformable structure.The results show that the proposed contact approach can well describe the phenomenon of soil-structure interaction problems.

Application of Isogeometric Analysis Method in Three-Dimensional Gear Contact Analysis

Gears are pivotal in mechanical drives,and gear contact analysis is a typically difficult problem to solve.Emerging isogeometric analysis(IGA)methods have developed new ideas to solve this problem.In this paper,a threedimensional body parametric gear model of IGA is established,and a theoretical formula is derived to realize single-tooth contact analysis.Results were benchmarked against those obtained from commercial software utilizing the finite element analysis(FEA)method to validate the accuracy of our approach.Our findings indicate that the IGA-based contact algorithmsuccessfullymet theHertz contact test.When juxtaposed with the FEA approach,the IGAmethod demonstrated fewer node degrees of freedomand reduced computational units,all whilemaintaining comparable accuracy.Notably,the IGA method appeared to exhibit consistency in analysis accuracy irrespective of computational unit density,and also significantlymitigated non-physical oscillations in contact stress across the tooth width.This underscores the prowess of IGA in contact analysis.In conclusion,IGA emerges as a potent tool for addressing contact analysis challenges and holds significant promise for 3D gear modeling,simulation,and optimization of various mechanical components.

Contact Stress Reliability Analysis Model for Cylindrical Gear with Circular Arc Tooth Trace Based on an Improved Metamodel

Although there is currently no unified standard theoretical formula for calculating the contact stress of cylindrical gears with a circular arc tooth trace(referred to as CATT gear),a mathematical model for determining the contact stress of CATT gear is essential for studying how parameters affect its contact stress and building the contact stress limit state equation for contact stress reliability analysis.In this study,a mathematical relationship between design parameters and contact stress is formulated using the KrigingMetamodel.To enhance the model’s accuracy,we propose a new hybrid algorithm that merges the genetic algorithm with the Quantum Particle Swarm optimization algorithm,leveraging the strengths of each.Additionally,the“parental inheritance+self-learning”optimization model is used to fine-tune the KrigingMetamodel’s parameters.Following this,amathematicalmodel for calculating the contact stress of Variable Hyperbolic Circular-Arc-Tooth-Trace(VH-CATT)gears using the optimized Kriging model was developed.We then examined how different gear parameters affect the VH-CATT gears’contact stress.Our simulation results show:(1)Improvements in R2,RMSE,and RMAE.R2 rose from0.9852 to 0.9974(a 1.22%increase),nearing 1,suggesting the optimized Kriging Metamodel’s global error is minimized.Meanwhile,RMSE dropped from3.9210 to 1.6492,a decline of 57.94%.The global error of the GA-IQPSO-Kriging algorithm was also reduced,with RMAE decreasing by 58.69%from 0.1823 to 0.0753,showing the algorithm’s enhanced precision.In a comparison of ten experimental groups selected randomly,the GA-IQPSO-Kriging and FEM-based contact analysis methods were used to measure contact stress.Results revealed a maximum error of 12.11667 MPA,which represents 2.85%of the real value.(2)Several factors,including the pressure angle,tooth width,modulus,and tooth line radius,are inversely related to contact stress.The descending order of their impact on the contact stress is:tooth line radius>modulus>pressure angle>tooth width.(3)Complex interactions are noted among various parameters.Specifically,when the tooth line radius interacts with parameters such as pressure angle,tooth width,and modulus,the resulting stress contour is nonlinear,showcasing amultifaceted contour plane.However,when tooth width,modulus,and pressure angle interact,the stress contour is nearly linear,and the contour plane is simpler,indicating a weaker coupling among these factors.

Highly divergent sympatric lineages of Leptotila verreauxi(Aves:Columbidae)suggest a secondary contact area in the Isthmus of Tehuantepec,Mexico

Due to a complex geological and biotic history,the Isthmus of Tehuantepec(IT),has been long recognized as a driver for the evolutionary divergence of numerous lowland and highland taxa.Widely distributed in the lowlands of the American continent,the White-Tipped Dove(Leptotila verreauxi)is a polytypic species with 13 recognized subspecies.Four of these have been recorded in Mexico,and the distribution of three abuts at the IT,suggesting a contact zone.To estimate phylogenetic patterns,divergence times and genetic differentiation,we examined two mt DNA(ND2 and COI)and one n DNA(β-fibint 7)markers.We also used correlative ecological niche models(ENM)to assess whether ecological differences across the IT may have acted as a biogeographical boundary.We estimated paleodistributions during the Middle Holocene,Last Glacial Maximum and Last Interglacial,to evaluate the influence of climate changes on the distribution and demographic changes.Our results showed genetically distinct lineages that diverged approximately 2.5 million years ago.Climatic and ecological factors may have played a dual role in promoting differentiation,but also in the formation of a secondary contact zone in the southern IT.Our ecological niche comparisons indicated that the ecological niche of sympatric lineages at the IT are not identical,suggesting niches divergence;in addition,environmental niche models across the region indicated no abrupt biogeographic barriers,but the presence of regions with low suitability.These results suggest that genetic differentiation originated by a vicariant event probably related to environmental factors,favored the evolution of different ecological niches.Also,the absence of a biogeographic barrier but the presence of less suitable areas in the contact regions,suggest that secondary contact zones may be also maintained by climatic factors for the eastern group,but also by biotic interactions for the western group.

Contact detumbling toward a nutating target through deformable effectors and prescribed performance controller

Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.