Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.

Insights on advanced substrates for controllable fabrication of photoanodes toward efficient and stable photoelectrochemical water splitting

Conversion of solar energy into H_(2) by photoelectrochemical(PEC)water splitting is recognized as an ideal way to address the growing energy crisis and environmental issues.In a typical PEC cell,the construction of photoanodes is crucial to guarantee the high efficiency and stability of PEC reactions,which fundamentally rely on rationally designed semiconductors(as the active materials)and substrates(as the current collectors).In this review work,we start with a brief introduction of the roles of substrates in the PEC process.Then,we provide a systematic overview of representative strategies for the controlled fabrication of photoanodes on rationally designed substrates,including conductive glass,metal,sapphire,silicon,silicon carbide,and flexible substrates.Finally,some prospects concerning the challenges and research directions in this area are proposed.

Experimental study on the effect of water absorption level on rockburst occurrence of sandstone

To investigate the mechanism of rockburst prevention by spraying water onto the surrounding rocks,15 experiments are performed considering different water absorption levels on a single face.High-speed photography and acoustic emission(AE)system are used to monitor the rockburst process.The effect of water on sandstone rockburst and the prevention mechanism of water on sandstone rockburst are analyzed from the perspective of energy and failure mode.The results show that the higher the ab-sorption degree,the lower the intensity of the rockburst after absorbing water on single side of sand-stone.This is reflected in the fact that with the increase in the water absorption level,the ejection velocity of rockburst fragments is smaller,the depth of the rockburst pit is shallower,and the AE energy is smaller.Under the water absorption level of 100%,the magnitude of rockburst intensity changes from medium to slight.The prevention mechanism of water on sandstone rockburst is that water reduces the capacity of sandstone to store strain energy and accelerates the expansion of shear cracks,which is not conducive to the occurrence of plate cracking before rockburst,and destroys the conditions for rockburst incubation.

Recent advances in cobalt phosphide-based materials for electrocatalytic water splitting:From catalytic mechanism and synthesis method to optimization design

Electrochemical water splitting has long been considered an effective energy conversion technology for trans-ferring intermittent renewable electricity into hydrogen fuel,and the exploration of cost-effective and high-performance electrocatalysts is crucial in making electrolyzed water technology commercially viable.Cobalt phosphide(Co-P)has emerged as a catalyst of high potential owing to its high catalytic activity and durability in water splitting.This paper systematically reviews the latest advances in the development of Co-P-based materials for use in water splitting.The essential effects of P in enhancing the catalytic performance of the hydrogen evolution reaction and oxygen evolution reaction are first outlined.Then,versatile synthesis techniques for Co-P electrocatalysts are summarized,followed by advanced strategies to enhance the electrocatalytic performance of Co-P materials,including heteroatom doping,composite construction,integration with well-conductive sub-strates,and structure control from the viewpoint of experiment.Along with these optimization strategies,the understanding of the inherent mechanism of enhanced catalytic performance is also discussed.Finally,some existing challenges in the development of highly active and stable Co-P-based materials are clarified,and pro-spective directions for prompting the wide commercialization of water electrolysis technology are proposed.

Grain yield and N uptake of maize in response to increased plant density under reduced water and nitrogen supply conditions

The development of modern agriculture requires the reduction of water and chemical N fertilizer inputs.Increasing the planting density can maintain higher yields,but also consumes more of these restrictive resources.However,whether an increased maize density can compensate for the negative effects of reduced water and N supply on grain yield and N uptake in the arid irrigated areas remains unknown.This study is part of a long-term positioning trial that started in 2016.A split-split plot field experiment of maize was implemented in the arid irrigated area of northwestern China in 2020 to 2021.The treatments included two irrigation levels:local conventional irrigation reduced by 20%(W1,3,240 m^(3)ha^(-1))and local conventional irrigation(W2,4,050 m^(3)ha^(-1));two N application rates:local conventional N reduced by 25%(N1,270 kg ha^(-1))and local conventional N(360 kg ha^(-1));and three planting densities:local conventional density(D1,75,000 plants ha^(-1)),density increased by 30%(D2,97,500 plants ha-1),and density increased by 60%(D3,120,000 plants ha^(-1)).Our results showed that the grain yield and aboveground N accumulation of maize were lower under the reduced water and N inputs,but increasing the maize density by 30% can compensate for the reductions of grain yield and aboveground N accumulation caused by the reduced water and N supply.When water was reduced while the N application rate remained unchanged,increasing the planting density by 30% enhanced grain yield by 13.9% and aboveground N accumulation by 15.3%.Under reduced water and N inputs,increasing the maize density by 30% enhanced N uptake efficiency and N partial factor productivity,and it also compensated for the N harvest index and N metabolic related enzyme activities.Compared with W2N2D1,the N uptake efficiency and N partial factor productivity increased by 28.6 and 17.6%under W1N1D2.W1N2D2 had 8.4% higher N uptake efficiency and 13.9% higher N partial factor productivity than W2N2D1.W1N2D2 improved urease activity and nitrate reductase activity by 5.4% at the R2(blister)stage and 19.6% at the V6(6th leaf)stage,and increased net income and the benefit:cost ratio by 22.1 and 16.7%,respectively.W1N1D2 and W1N2D2 reduced the nitrate nitrogen and ammoniacal nitrogen contents at the R6 stage in the 40-100 cm soil layer,compared with W2N2D1.In summary,increasing the planting density by 30% can compensate for the loss of grain yield and aboveground N accumulation under reduced water and N inputs.Meanwhile,increasing the maize density by 30% improved grain yield and aboveground N accumulation when water was reduced by 20% while the N application rate remained constant in arid irrigation areas.

Investigation of hydroxyl-terminated polybutadiene propellant breaking characteristics and mechanism impacted by submerged cavitation water jet

A submerged cavitation water jet(SCWJ)is an effective method to recycle solid propellant from obsolete solid engines by the breaking method.Solid propellant's breaking modes and mechanical process under SCWJ impact are unclear.This study aims to understand those impact breaking mechanisms.The hydroxyl-terminated polybutadiene(HTPB)propellant was chosen as the research material,and a self-designed test system was used to conduct impact tests at four different working pressures.The high-speed camera characterized crack propagation,and the DIC method calculated strain change during the impact process.Besides,micro and macro fracture morphologies were characterized by scanning electron microscope(SEM)and computed tomography(CT)scanning.The results reveal that the compressive strain concentration region locates right below the nozzle,and the shear strain region distributes symmetrically with the jet axis,which increases to 4% at first 16th ms,the compressive strain rises to 2% and 6% in the axial and transverse direction,respectively.The two tensile cracks formed first at the compression strain concentrate region,and there generate many shear cracks around the tensile cracks,and those shear cracks that develop and aggregate cause the cracks to become wider and cut through the tensile cracks,forming the tensile-shear cracks and the impact parts eventually fail.The HTPB propellant forms a breaking hole shaped conical after impact 10 s.The mass loss increases by 17 times at maximum,with the working pressure increasing by three times.Meanwhile,the damage value of the breaking hole remaining on the surface increases by 7.8 times while 2.9 times in the depth of the breaking hole.The breaking efficiency is closely affected by working pressures.The failure modes of HTPB impacted by SCWJ are classified as tensile crack-dominated and tensile-shear crack-dominated damage mechanisms.

Recent advances and future prospects on Ni_(3)S_(2)-Based electrocatalysts for efficient alkaline water electrolysis

Green hydrogen(H_(2))produced by renewable energy powered alkaline water electrolysis is a promising alternative to fossil fuels due to its high energy density with zero-carbon emissions.However,efficient and economic H_(2) production by alkaline water electrolysis is hindered by the sluggish hydrogen evolution reaction(HER)and oxygen evolution reaction(OER).Therefore,it is imperative to design and fabricate high-active and low-cost non-precious metal catalysts to improve the HER and OER performance,which affects the energy efficiency of alkaline water electrolysis.Ni_(3)S_(2) with the heazlewoodite structure is a potential electrocatalyst with near-metal conductivity due to the Ni–Ni metal network.Here,the review comprehensively presents the recent progress of Ni_(3)S_(2)-based electrocatalysts for alkaline water electrocatalysis.Herein,the HER and OER mechanisms,performance evaluation criteria,preparation methods,and strategies for performance improvement of Ni_(3)S_(2)-based electrocatalysts are discussed.The challenges and perspectives are also analyzed.

Some Indicators of the Water Regime in Some Varieties Belonging to the Monarda didyma L. Genus in the Conditions of Tashkent (Uzbekistan)

In this article, the names of 3 varieties of Monarda didyma L., which are considered to be introduced species, some indicators of the water regime in the climatic conditions of Uzbekistan: the amount of water in the leaves, water deficit, water storage capacity were studied in spring and summer, and seasonal changes were determined. According to these indicators of the water regime, the studied varieties belong to the labile water regime, high green mass (centner), seed yield (how many grams), resistance to diseases and pests have been determined, which shows that it is promising for introduction in the conditions of our republic. Therefore, it is recommended to breed these varieties in the foothills and hilly regions of Uzbekistan, where the amount of precipitation is more than 400 - 500 mm.

Collaborative Efforts and Strategies for Cholera Outbreak Control in Garissa County, Kenya: Implementation of Water Quality Monitoring Interventions

A multi-faceted Case Area Targeted Intervention (CATI) approach emphasizing the integration of Water, Sanitation and Hygiene (WASH) interventions and Oral Cholera Vaccine (OCV) campaign was employed to respond to the outbreak of cholera in Garissa County. Drinking water sources in areas heavily impacted by cholera were systematically mapped and tested for microbiological quality. The quality assessment was carried out in April 2023 during an ongoing cholera outbreak in the county. A total of 109 samples were collected and tested for thermotolerant coliforms and other in situ parameters. The finding revealed that more than 87% of the samples did not meet the World Health Organization (WHO) standard for thermotolerant coliforms;and 30% had turbidity values above the recommended threshold values. None of the 109 samples had any traceable residual chlorine. Following these findings, the county government implemented the targeted interventions which resulted in a positive impact in the fight against cholera. The WHO supported key interventions which included capacity building in water quality monitoring and prepositioning of critical WASH commodities to the cholera affected areas.

Retraction to: Shear strength of extremely altered serpentinites based on degree of saturation (Ankara, Turkey)

The Editor in Chief has retracted this article.After publication,concerns were raised over potentially inconsistent data-for example,the author mentioned residual soil with silt fraction,but Fig.5 shows even the smallest grains are beyond silt grains.Further analysis showed that Fig.6 and Fig.9 show both loose and dense soils exhibiting very similar dilatance behaviour,which is not typical.The author shared raw data,but it was incomplete and could not be verified.The Editor in Chief,therefore,has lost confidence in the findings of this article.The author does not agree to this retraction.

Design and Sizing of an Ecological Wastewater Treatment System in a School Environment: A Case Study of Ndiebene Gandiol 1 School

The primary objective of this study was to design and size a sustainable sanitation solution for the Ndiebene Gandiol 1 school located in the eponymous commune in northern Senegal. Field investigations led to the collection of wastewater samples. Their analysis revealed specific pollutant loads, including loads of BOD5 3.6966 kgO2/day and COD of 12.8775 kgO2/day, which were central to the design phase. Following a rigorous assessment of the existing sanitation infrastructure, constructed wetland (CWs) emerged as the most appropriate ecological solution. This system, valued for its ability to effectively remove contaminants, was tailored to the specific needs of the site. Consequently, the final design of the filter extends over 217.16 m2, divided into two cells of 108.58 m2 each, with dimensions of 12.77 m in length and 8.5 m in width. The depth of the filtering medium is approximately 0.60 m, meeting the standards while ensuring maximized purification. Typha, an indigenous and prolific plant known for its purification abilities, was selected as the filtering agent. Concurrently, non-crushed gravel was chosen for its proven filtration capacity. This study is the result of a combination of scientific rigor and design expertise. It provides a holistic view of sanitation for Ndiebene Gandiol. The technical specifications and dimensions of the constructed wetland filter embody an approach that marries indepth analysis and practical application, all aimed at delivering an effective and long-lasting solution to the local sanitation challenges. By integrating precise scientific data with sanitation design expertise, this study delivers a holistic solution for Ndiebene Gandiol. The detailed dimensions and specifications of the constructed wetland filter reflect a methodology that combines meticulous analysis with practical adaptation, aiming to provide an effective and sustainable response to the challenges of rural and school sanitation in the northern region of Senegal.

Nested Saturated Control of Uncertain Complex Cascade Systems Using Mixed Saturation Levels

This study addresses the problem of global asymptotic stability for uncertain complex cascade systems composed of multiple integrator systems and non-strict feedforward nonlinear systems. To tackle the complexity inherent in such structures, a novel nested saturated control design is proposed that incorporates both constant saturation levels and state-dependent saturation levels. Specifically, a modified differentiable saturation function is proposed to facilitate the saturation reduction analysis of the uncertain complex cascade systems under the presence of mixed saturation levels. In addition, the design of modified differentiable saturation function will help to construct a hierarchical global convergence strategy to improve the robustness of control design scheme. Through calculation of relevant inequalities, time derivative of boundary surface and simple Lyapunov function,saturation reduction analysis and convergence analysis are carried out, and then a set of explicit parameter conditions are provided to ensure global asymptotic stability in the closed-loop systems. Finally, a simplified system of the mechanical model is presented to validate the effectiveness of the proposed method.

Progress and prospects of EOR technology in deep,massive sandstone reservoirs with a strong bottom-water drive

The Triassic massive sandstone reservoir in the Tahe oilfield has a strong bottom-water drive and is characterized by great burial depth,high temperature and salinity,a thin pay zone,and strong heterogeneity.At present,the water-cut is high in each block within the reservoir;some wells are at an ultrahigh water-cut stage.A lack of effective measures to control water-cut rise and stabilize oil production have necessitated the application of enhanced oil recovery(EOR)technology.This paper investigates the development and technological advances for oil reservoirs with strong edge/bottom-water drive globally,and compares their application to reservoirs with characteristics similar to the Tahe oilfield.Among the technological advances,gas injection from the top and along the direction of structural dip has been used to optimize the flow field in a typical bottom-water drive reservoir.Bottom-water coning is restrained by gas injection-assisted water control.In addition,increasing the lateral driving pressure differential improves the plane sweep efficiency which enhances oil recovery in turn.Gas injection technology in combination with technological measures like channeling prevention and blocking,and water plugging and profile control,can achieve better results in reservoir development.Gas flooding tests in the Tahe oilfield are of great significance to identifying which EOR technology is the most effective and has the potential of large-scale application for improving development of deep reservoirs with a strong bottomwater drive.

“One Water”理念下的城市内涝防治对策思考

随着极端天气频发,暴雨天气概率增加,给城市内涝防治工作带来严峻挑战。“One Water”理念是指用维度提升法来系统做好城市内涝防治工作,除了实现城市排水安全,还要实现城市水资源科学利用、水环境持续改善、水生态有效修复等综合目标。分析了导致城市内涝的三方面原因:因洪致涝、长历时和短历时强降雨致涝;探讨了“One Water”理念下城市内涝防治目标;提出了“绿、灰、蓝、管”的具体措施。

Chronological Study of Coal-seam Water and its Implication on Gas Production in the South Qinshui Basin

The knowledge of the residence time of formation water is fundamental to understanding the subsurface flow and hydrological setting.To better identify the origin and evolution of coal seam water and its impact on gas storage and production,this study collected coalbed methane co-produced water in the southeast Qinshui Basin and detected chemical and isotopic compositions,especially 36Cl and 129I concentrations.The calculated tracer ages of 129I(5.2–50.6 Ma)and 36Cl(0.13–0.76 Ma)are significantly younger than the age of coal-bearing formation(Pennsylvanian-Cisuralian),indicating freshwater recharge after coal deposition.The model that utilises 129I/I and 36Cl/Cl ratios to constrain the timing of recharge and the proportion of recharge water reveals that over 60%of pre-anthropogenic meteoric water entered coal seams since 10 Ma and mixed with residue initial deposition water,corresponding to the basin inversion in Cenozoic.The spatial distribution of major ion concentrations reveals the primary recharge pathway for meteoric water from coal outcrops at the eastern margin to the basin center.This study demonstrates the occurrence of higher gas production rates from wells that accept water recharge in recent times and suggests the possible potential of the non-stagnant zones for high gas production.

Decoupled water electrolysis:Flexible strategy for pure hydrogen production with small voltage inputs

Hydrogen gas is widely regarded as an ideal green energy carrier and a potential alternative to fossil fuels for coping with the aggravating energy crisis and environmental pollution.Currently,the vast majority of the world's hydrogen is produced by reforming fossil fuels;however,this hydrogen-making technology is not sustainable or environmentally friendly because ofits high energy consumption and large carbon emissions.Renewables-driven water splitting(2H_(2)0-2H_(2)+0_(2))becomes an extensively studied scheme for sustain-able hydrogen production.Conventional water electrolysis requires an input voltage higher than 1.23 V and forms a gas mixture of H_(2)/O_(2),which results in high electricity consumption,potential safety hazards,and harmful reactive oxygen species.By virtue of the auxiliary redox mediators(RMs)as the robust H^(+)/e^(-)reservoir,decoupled electrolysis splits water at a much lower potential and evolves O_(2)(H_(2)O+RMS_(ox)-O_(2)+H-RMS_(red))and H_(2)(H-RMS_(red)-H_(2)+RMS_(ox))at separate times,rates,and spaces,thus pro-ducing the puretarget hydrogen gas safely.Decoupled electrolysis has accelerated the development ofwater electrolysis technology for H_(2) production.However,itis still lack of a comprehensive and in-depth review in this field based on different types of RMs.This review highlights the basic principles and critical progress of this emerging water electrolysis mode over the past decade.Several representative examples are then dis-played in detail according to the differences in the RMs.The rational choice and design of RMs have also been emphasized.Subsequently,novel applications of decoupled water splitting are briefly discussed,including the manufacture of valuable chemicals,Cl_(2) production,pollutant degradation,and other half-reactions in artificial photosynthesis.Finally,thekey characteristics and disadvantages of each type of mediator are sum-marized in depth.In addition,we present an outlook for future directions in decoupled water splitting.Thus,the flexibility in the design of mediators provides huge space for improving this electrochemical technology.@2024 Science Press and Dalian Institute of Chemical Physics,Chinese Academy of Sciences.Published by ELSEVIER B.V.and Science Press.All rights reserved.

Monitoring Surface Water Change in Northeast China in 1999–2020:Evidence from Satellite Observation and Refined Classification

As a typical region with high water demand for agricultural production,understanding the spatiotemporal surface water changes in Northeast China is critical for water resources management and sustainable development.However,the long-term variation characteristics of surface water of different water body types in Northeast China remain rarely explored.This study investigated how surface water bodies of different types(e.g.,lake,reservoir,river,coastal aquaculture,marsh wetland,ephemeral water) changed during1999–2020 in Northeast China based on various remote sensing-based datasets.The results showed that surface water in Northeast China grew dramatically in the past two decades,with an equivalent area increasing from 24 394 km^(2) in 1999 to 34 595 km^(2) in 2020.The surge of ephemeral water is the primary driver of surface water expansion,which could ascribe to shifted precipitation pattern.Marsh wetlands,rivers,and reservoirs experienced a similar trend,with an approximate 20% increase at the interdecadal scale.By contrast,coastal aquacultures and natural lakes remain relatively stable.This study is expected to provide a more comprehensive investigation of the surface water variability in Northeast China and has important practical significance for the scientific management of different types of surface water.

Theoretical characterization of the temperature-dependent saturation magnetization of magnetic metallic materials

Based on the force-heat equivalence energy density principle,a theoretical model for magnetic metallic materials is developed,which characterizes the temperature-dependent magnetic anisotropy energy by considering the equivalent relationship between magnetic anisotropy energy and heat energy;then the relationship between the magnetic anisotropy constant and saturation magnetization is considered.Finally,we formulate a temperature-dependent model for saturation magnetization,revealing the inherent relationship between temperature and saturation magnetization.Our model predicts the saturation magnetization for nine different magnetic metallic materials at different temperatures,exhibiting satisfactory agreement with experimental data.Additionally,the experimental data used as reference points are at or near room temperature.Compared to other phenomenological theoretical models,this model is considerably more accessible than the data required at 0 K.The index included in our model is set to a constant value,which is equal to 10/3 for materials other than Fe,Co,and Ni.For transition metals(Fe,Co,and Ni in this paper),the index is 6 in the range of 0 K to 0.65T_(cr)(T_(cr) is the critical temperature),and 3 in the range of 0.65T_(cr) to T_(cr),unlike other models where the adjustable parameters vary according to each material.In addition,our model provides a new way to design and evaluate magnetic metallic materials with superior magnetic properties over a wide range of temperatures.

Analysis and Design of Time-Delay Impulsive Systems Subject to Actuator Saturation

This paper investigates the exponential stability and performance analysis of nonlinear time-delay impulsive systems subject to actuator saturation. When continuous dynamics is unstable, under some conditions, it is shown that the system can be stabilized by a class of saturated delayed-impulses regardless of the length of input delays. Conversely, when the system is originally stable, it is shown that under some conditions, the system is robust with respect to sufficient small delayed-impulses. Moreover, the design problem of the controller with the goal of obtaining a maximized estimate of the domain of attraction is formulated via a convex optimization problem. Three examples are provided to demonstrate the validity of the main results.

Spatial Heterogeneity of Embedded Water Consumption from the Perspective of Virtual Water Surplus and Deficit in the Yellow River Basin,China

Virtual water trade(VWT)provides a new perspective for alleviating water crisis and has thus attracted widespread attention.However,the heterogeneity of virtual water trade inside and outside the river basin and its influencing factors remains further study.In this study,for better investigating the pattern and heterogeneity of virtual water trade inside and outside provincial regions along the Yellow River Basin in 2015 using the input-output model(MRIO),we proposed two new concepts,i.e.,virtual water surplus and virtual water deficit,and then used the Logarithmic Mean Divisia Index(LMDI)model to identify the inherent mechanism of the imbalance of virtual water trade between provincial regions along the Yellow River Basin and the other four regions in China.The results show that:1)in provincial regions along the Yellow River Basin,the less developed the economy was,the larger the contribution of the agricultural sector in virtual water trade,while the smaller the contribution of the industrial sector.2)Due to the large output of agricultural products,the upstream and midstream provincial regions of the Yellow River Basin had a virtual water surplus,with a net outflow of virtual water of 2.7×10^(8) m^(3) and 0.9×10^(8) m^(3),respectively.3)provincial regions along the Yellow River Basin were in a virtual water deficit with the rest of China,and the decisive factor was the active degree of trade with the outside.This study would be beneficial to illuminate the trade-related water use issues in provincial regions along the Yellow River Basin,which has farreaching practical signific-ance for alleviating water scarcity.