Search Results (664)

Integrated Electrical Resistivity Imaging (ERI) and Induced Polarization (IP) studies were performed to identify potential tin (Sn) mineralization prospects in the Eastern Tin Belt of Peninsular Malaysia. A total of 23 profiles were obtained utilizing a Schlumberger configuration, generating resistivity and chargeability sections employed to delineate weathering structures, lithological connections, and structurally regulated anomalies. ERI models consistently delineate a three-tier subsurface structure consisting of conductive soil/alluvial deposits (5–300 Ωm), weathered bedrock (300–1500 Ωm), and resistive fresh bedrock (>1500 Ωm), featuring undulating basement relief beneath floodplain layers. IP data indicate localized, often pronounced chargeability anomalies (~5–40 ms; locally reaching ~50 ms), interpreted as corridors influenced by fractures and veins, especially when they align with significant resistivity contrasts at metamorphic–granitic boundaries and intrusive contacts. The integration of fence diagrams in the alluvial-over-granite zone reveals laterally consistent chargeability peaks at the alluvial–bedrock interface, suggesting enduring subsurface conduits. XRF examination of quartz-vein samples verifies Sn enrichment (599–717 ppm), corroborating a granite-related vein/alteration hypothesis and indicating possible isolated greisenized zones within the weathered granite. The integrated ERI–IP analysis identifies priority targets for subsequent trenching and borehole drilling to verify an anomaly’s origins and evaluate Sn grade and continuity. Full article

Shear slip along structural planes in jointed rock masses is the primary trigger for rock slope instability, threatening geotechnical engineering safety. Direct shear tests were conducted on prefabricated granite specimens with regular sawtooth structural planes (undulation angles: 15°, 30°, 45°; tooth spacing: 10 mm) under 2, 4 and 6 MPa normal stresses, with synchronous acquisition of acoustic emission (AE) and infrasonic signals to explore shear failure characteristics, acoustic spectral features and instability precursors. Results show (1) peak shear stress and stiffness rise significantly with increasing undulation angle and normal stress, and failure modes evolve from sliding friction-dominated to asperity shearing-dominated, finally to composite asperity shearing and compressive crushing. (2) The spectral characteristics of both acoustic emission (AE) and infrasonic signals are closely related to the shear fracture mechanism. (3) Approaching peak shear stress, dominant frequency ratio correlation dimension drops to a minimum and the ib-value rises to a pre-sudden-drop critical point; higher undulation angles align these values with stress closer to the peak, valid as instability precursors. (4) A two-level early warning model (early to imminent warning) is proposed via cross-frequency band AE-infrasonic monitoring, providing a fundamental basis for rock slope stability monitoring using these signals. Full article

The growing demand for marine resource development and in-depth exploration of the marine environment has positioned soft biomimetic underwater vehicles (SBUVs) as a research hotspot in the fields of underwater equipment and soft robotics. SBUVs are characterized by bodies made of flexible and extensible materials, integrating the dual advantages of softness and biomimetics. They can achieve muscle-like continuous deformation to efficiently absorb collision energy, while mimicking the propulsion mechanisms of marine organisms—such as fish and jellyfish—through undulating body movements or cavity contraction and relaxation. Such biomimetic propulsion is highly compatible with the flexible actuation of soft materials, enabling excellent environmental adaptability while maintaining favorable propulsion efficiency. Compared with traditional rigid underwater vehicles, SBUVs offer higher degrees of freedom, superior environmental adaptability, enhanced impact resistance and greater motion flexibility. This review systematically summarizes typical actuation methods for SBUVs—including fluid-powered actuation, shape memory alloy actuation, and electroactive polymer actuation—elaborating on their working principles, key technological advances, and representative application cases on SBUVs. These actuation mechanisms each offer distinct advantages. Fluid-powered systems are valued for high power density and precise motion control through direct fluidic force transmission. Shape memory alloys provide high force output and accurate positional recovery via controlled thermal phase changes. Meanwhile, electroactive polymers stand out for their rapid (often millisecond-scale) dynamic response, low hysteresis, and fine, muscle-like deformation under electrical stimuli. Current challenges are also analyzed, such as limited actuation efficiency, material durability issues, and system integration difficulties. Despite these constraints, SBUVs show broad application prospects in marine resource exploration, ecological monitoring, and underwater engineering operations. Future research should prioritize the development of novel materials, coordinated optimization of actuation and control systems, and breakthroughs in core technologies to accelerate the practical implementation and industrialization of SBUVs. Full article

Accurate identification of concealed coal seam structures, such as folds or faults, is crucial for safe and effective production in the coal mining industry. In-seam seismic exploration serves as a promising technique for advanced detection of coal seam structures, but traditional numerical simulation methods easily produce errors when coping with irregular interfaces. This study uses the curvilinear grid finite-difference method (FDM) for modeling the 3D channel wave propagation. The body-fitted grids are utilized to conform to undulating interfaces, while the DRP/opt MacCormack difference scheme and the fourth-order Runge–Kutta algorithm are applied for the spatial and temporal derivative approximation, in that order. The forward and backward extrapolation for in-seam waves are implemented in the curvilinear coordinates. The roofs and floors of coal seams and special structures are imaged by reverse-time migration (RTM) using an excitation amplitude imaging condition. Numerical results show that compared with conventional methods, the curvilinear grid method effectively reduces spurious scattering caused by the staircase approximation, improves the modeling accuracy of channel waves, and enhances the continuity and interpretability of imaged coal-seam interfaces and structural boundaries. The proposed method has the potential to enhance the accuracy of channel wave exploration under complex geological conditions, supporting advanced hazard detection in coal mines. Full article

With the increasing demand for perception in complex road environments in intelligent driving, rapid and accurate identification of paved-road obstacles has become a critical prerequisite for driving safety and comfort. Various types of road obstacles can significantly affect vehicle stability and ride quality. To address this challenge, a lightweight and efficient vision-based obstacle detection framework, termed GroupScale-YOLO, is proposed, in which detection accuracy and computational efficiency are jointly enhanced through the collaborative design of multiple novel modules. First, a dedicated dataset targeting common paved-road obstacles is constructed, and six data augmentation strategies are employed to mitigate the adverse effects of road surface undulations and illumination variations on visual perception. Second, to overcome the limitations of YOLOv11n in paved-road obstacle detection tasks, targeted optimizations are introduced to the backbone network, convolutional blocks, and detection head. Experimental results indicate that GroupScale-YOLO achieves a 29.95% reduction in model parameters while simultaneously increasing mAP@0.5 by 0.6% on the self-built dataset, demonstrating its suitability for deployment in resource-constrained scenarios. Furthermore, real-vehicle road tests confirm that the proposed method maintains stable and accurate obstacle detection performance under practical driving conditions, offering a reliable solution for intelligent vehicle environmental perception. Full article

To provide deeper insights into the complex and multidimensional nature of swimming start performance, the present study aimed to determine its key performance indicators (KPIs) and provide percentile-based reference values for elite junior and adult swimmers. Hence, routine performance analysis data of Swiss junior and senior national team members were analyzed, including multiple European champions, World champions, Olympic medalists and a World record holder (n = 136, age: 18.3 ± 3.6 [13–32] years, World Aquatics swimming points: 761 ± 73 [609–1061]). All kinetic and kinematic variables measured by the instrumented starting block were analyzed, and variables with pairwise correlation > 0.80 were clustered using principal component analysis with orthogonal Varimax rotation, retaining components with Eigenvalue > 1.0 and factor loadings > 0.6. The highest loaded variables of each component were used as independent variables, alongside the variables with low co-variance, to determine KPIs with multiple linear regression analysis. As such, peak and average power (p ≤ 0.05), front horizontal and total vertical peak forces (p ≤ 0.04), timing of peak power and rear horizontal forces (p ≤ 0.02), resultant grab forces and their timing (p ≤ 0.05), center-of-gravity height at take-off (p = 0.03), take-off horizontal and vertical velocity (p = 0.02), resultant entry velocity (p = 0.01), entry time (p < 0.01), distance before the first kick (p < 0.01), maximal swimming depth (p = 0.02) and distance before breaking through the water surface (p < 0.01) showed a significant effect on the dependent variables (15 m start time). In conclusion, swimmers should maximize power and force production peaking earlier and grab forces peaking later during the block phase. They should increase take-off and entry velocities, distance before the first undulating kick, maximal swimming depth and underwater distance. Full article

Accurate characterization of river channel geometry is essential for hydrological and hydraulic analyses, yet the increasing use of unmanned aerial vehicle (UAV) photogrammetry introduces challenges related to uneven point density, shadow-induced data gaps, and spurious outliers. This study proposed a novel approach for reconstructing 3D river channels from UAV-derived point clouds, emphasizing K-nearest neighbor local regression (KLR), and compared it with the LOWESS model. Method performance was examined through controlled simulations of trapezoidal, triangular, and U-shaped synthetic channels, where KLR consistently preserved morphological fidelity and produced lower RMSE than LOWESS, particularly at channel bends and bed undulations, while a neighborhood selection heuristic approach demonstrated robust results across varying data densities. Synthetic channel experiments show that the proposed K-nearest-neighbor local linear regression (KLR) method achieves RMSE values below 0.06 all tested geometries. In contrast, LOWESS produces substantially larger errors, with RMSE values exceeding 0.9 across all channel shapes. Subsequent application to two South Korean field sites reinforced these findings. In the data-scarce Migok-cheon stream, KLR effectively interpolated missing surfaces while maintaining geomorphic realism, whereas LOWESS generated over-smoothed representations. Within the dense Ogsan Bridge dataset, KLR retained small-scale bed features critical for hydraulic simulations and cross-sectional delineation, while LOWESS obscured local variability. Conclusively, the results demonstrate that KLR provides a more reliable and computationally efficient framework for UAV-based 3D river channel reconstruction, with clear implications for hydraulic modeling, flood risk management, and the advancement of digital-twin systems in operational hydrology. Full article

Finely twinned microstructures are widely observed in metals and alloys but the underlying formation mechanisms remain debatable. In particular, the role of internal stresses in promoting these inhomogeneous patterns is still not clear. By incorporating a geometrically nonlinear microelasticity theory into phase-field framework, we study the evolution of elastic fields resulting from the growing deformation twins (DT) at grain boundaries in fcc metals. Simulations in two model systems, i.e., Ni and CoCrFeMnNi (a high-entropy alloy), show that as the external applied stress increases, the internal elastic fields begin to develop undulations with stripelike patterns owing to the significant geometrical nonlinearity associated with DT. This elastic undulation, absent in linear modeling, is initially nonuniform inside the grain and becomes global and coarsened, exhibiting a characteristic wavelength of ~1–2 nm. The predicted elastic inhomogeneity leads to a stack of alternating crystal orientations favored by the undulating local stress fields. The resemblance of our predicted stress undulation and the stripelike patterns in experiments may suggest a universal mechanistic origin of the nanotwinned microstructures widely observed in deformation twinning and displacive transitions. Full article

Within natural rock masses, discontinuous joints are more prevalent than continuous joints. Discontinuous joints refer to non-persistent structural planes separated by intact rock bridges and can be quantified by the continuity coefficient K_A. They significantly affect the macroscopic mechanical properties of rock masses. Therefore, investigating discontinuous jointed rock masses with diverse morphologies carries considerable theoretical and engineering significance. Using 3D printing technology, resin-based specimens with discontinuous joints were subjected to laboratory mechanical tests to explore the evolution of failure mechanisms and mechanical properties of discontinuous jointed rock masses with different inclinations, undulation amplitudes, and structural plane continuity. Results show that under compression, discontinuous jointed rock masses consistently undergo combined tensile and shear stresses, with joint undulation amplitude and continuity governing coplanar crack initiation. As the joint inclination angle ranges from 0° to 90°, the peak compressive strength first decreases and then increases: specimens with continuous joints or discontinuous joints (continuity coefficient K_A < 0.25) follow a “V”-shaped trend, while those with K_A > 0.25 exhibit a “U”-shaped trend. Joint continuity is a key factor governing rock mass strength: at the same rock column radius, higher continuity results in lower strength, and vice versa. Joint morphology also influences strength, with specimens with regular zigzag joints and rectangular corrugated joints exhibiting 6.7% and 11.2% higher strength than smooth-jointed specimens, respectively. These results clarify the effects of joint continuity and undulation on rock mass strength, providing a theoretical foundation for the rapid determination of K_A via borehole imaging and laser scanning in engineering practice, and enabling direct prediction of rock mass strength trends. Full article

Hilly and mountainous areas are important agricultural production regions globally. Their dramatic topography, dense fruit tree planting, and steep slopes severely restrict the application of traditional plant protection machinery. Pest and disease control has long relied on manual spraying, resulting in high labor intensity, low efficiency, and pesticide utilization rates of less than 30%. Plant protection UAVs, with their advantages of flexibility, high efficiency, and precise application, provide a feasible technical approach for plant protection operations in hilly and mountainous areas. However, steep slopes and dense orchard environments place higher demands on key technologies such as drone positioning and navigation, attitude control, trajectory planning, and terrain following. Achieving accurate identification and adaptive following of the undulating fruit tree canopy while maintaining a constant spraying distance to ensure uniform pesticide coverage has become a core technological bottleneck. This paper systematically reviews the key technologies and research progress of plant protection UAVs in hilly and mountainous operations, focusing on the principles, advantages, and limitations of core methods such as multi-sensor fusion positioning, intelligent SLAM navigation, nonlinear attitude control and intelligent control, three-dimensional trajectory planning, and multimodal terrain following. It also discusses the challenges currently faced by these technologies in practical applications. Finally, this paper discusses and envisions the future of plant protection UAVs in achieving intelligent, collaborative, and precise operations on steep slopes and in dense orchards, providing theoretical reference and technical support for promoting the mechanization and intelligentization of mountain agriculture. Full article

This study proposes a novel framework for quantifying curved grain boundaries that overcomes key limitations of existing methods. Unlike Fourier-based approaches that require labor-intensive sequential analysis of individual boundaries and selectively represent only high-amplitude regions, or spline-based methods that demand complex parameter selection for interpolation points, the proposed framework integrates curvature variance filtering with U-chord curvature calculation to enable automated, comprehensive, and noise-resistant characterization of grain boundary morphology. The curvature variance filtering adaptively determines smoothing parameters based on local curve properties, while the U-chord curvature method ensures rotational invariance and robustness against digitization errors. Four heat treatment processes were applied to GH4169 alloy, producing distinct grain boundary morphologies with mean curvature (MC) values ranging from 0.0625 to 0.1252. Controlled cooling alone (Process A) yielded predominantly straight boundaries (91.06% straight, 0.12% serrated), while re-dissolution treatment (Process D) produced the highest serration degree (58.81% straight, 3.53% serrated). The quantitative analysis reveals that dispersed δ-phase precipitation creates discrete pinning points, forming serrated boundaries with sharp curvature peaks, whereas dense, parallel δ-phase arrays at specific angles produce coordinated wavy undulations. This framework provides a reliable quantitative tool for optimizing heat treatment protocols to achieve target grain boundary configurations in nickel-based superalloys. Full article

As a convergent zone of multiple plates, the Caribbean Sea and its adjacent areas have experienced a complex tectonic evolution process and are characterized by prominent microplate development. This region provides a natural laboratory for studying the formation mechanism of continental margins, the evolution process of ocean basins, and the tectonics of microplates. However, the crustal structure and microplate tectonics in this region remain unclear due to limitations of conventional planar gravity inversion methods, which neglect the Earth’s curvature in large-scale areas, as well as the uneven coverage of regional seismic networks. To precisely delineate the crustal structure and microplate boundaries in the Caribbean Sea region, this study employs a nonlinear gravity inversion method based on a spherical coordinate system. By utilizing GOCO06s satellite gravity data, ETOPO1 topographic data, and the CRUST1.0 crustal model, we performed inversion calculations for the Moho depth in the Caribbean Sea and its adjacent regions and systematically analyzed the crustal structure and microplate tectonic characteristics of the region. The results indicate that the gravity inversion method in the spherical coordinate system has good applicability in complex tectonic regions. The inversion results show that the Moho depth in the study area generally presents a spatial distribution pattern of “shallow in the central part and deep in the surrounding areas”. Among them, the Moho depth is the largest (>39 km) at the junction of the Northern Andes and the South American Plate, while it is relatively shallow (<6 km) in regions such as the Cayman Trough, the Colombian Basin, and the Venezuelan Basin. Based on the Moho undulation, gravity anomalies, and topographic features, this study divides the Caribbean Sea and its adjacent areas into 22 microplates and identifies three types of microplates, including oceanic, continental, and accretionary. Among them, there are 10 microplates with oceanic crust, 6 with continental crust, and 5 with accretionary crust, while the Northern Andes Microplate exhibits a mixed type. The crustal structure characteristics revealed in this study support the Pacific origin model of the Caribbean Plate, indicating that most of the plate is a component of the ancient Pacific Plate with standard oceanic crust properties. Locally, the Caribbean Large Igneous Province developed due to hotspot activity, and the subsequent eastward drift and tectonic wedging processes collectively shaped the complex modern microplate tectonic framework of this region. This study not only reveals the variation pattern of crustal thickness in the Caribbean Sea region but also provides new geophysical evidence for understanding the lithospheric structure and microplate evolution mechanism in the area. Full article

To overcome the limitations in maneuverability and adaptability of traditional underwater vehicles, a novel hybrid-actuated, multimodal cephalopod-inspired robot is proposed. This robot innovatively integrates a hybrid drive system wherein sinusoidal undulating fins provide primary propulsion and steering, water-flapping tentacles offer auxiliary burst propulsion, and a gear-and-rack center-of-gravity (CoG) adjustment module modulates the pitch angle to enable depth control through hydrodynamic lift during forward motion. The effectiveness of the design was validated through a series of experiments. Thrust tests demonstrated that the undulating fin thrust scales quadratically with oscillation frequency, aligning with hydrodynamic theory. Mobility experiments confirmed the multi-degree-of-freedom control of the robot, demonstrating effective diving and surfacing via the CoG module and high maneuverability, achieving a turning radius of approximately 15 cm through differential fin control. Furthermore, field trials in an outdoor artificial lake with a depth of less than 1 m validated its environmental robustness. These results confirm the versatile maneuvering capabilities of the robot and its robust adaptability to confined and shallow-water environments, presenting a novel platform for complex underwater observation tasks. Full article

Significant achievements have been made in the control of point source pollution. However, agricultural non-point source pollution (AGNPSP) has become a serious threat to ecological environment quality and is now the main source of pollution in the Yangtze River Basin. The topographical features of the upper Yangtze River region are primarily characterised by hilly and mountainous terrain, marked by steep slopes and pronounced undulations. This renders the land susceptible to soil erosion, thereby becoming a significant conduit for the entry of AGNPSP into water bodies. Consequently, there is an urgent need to identify critical sources, areas and periods of AGNPSP and to promote the effective prevention and control of such pollution. The present study adopted the Yongchuan District of Chongqing, a region characterised by hilly and mountainous terrain in the upper reaches of the Yangtze River, as a case study. The research, conducted from 2018 to 2021, sought to identify the “critical sources—areas—periods“ of AGNPSP. In order to surmount the challenge posed by the absence of fundamental data, the study constructed and integrated three models. The export coefficient model was used to calculate the pollution load, the pollutant load intensity model was used for spatial analysis, and the equal-scale pollution load equation was used to assess the contribution degree of different pollutants. Furthermore, the study developed a monthly pollutant flux model to accurately identify the critical pollution periods within the year. In conclusion, the research results have indicated the necessity of a governance strategy that is to be implemented with utmost priority. This strategy is to be based on the following hierarchy: critical sources, areas, and periods. The results of the study indicate the following: (1) The pollutants that exhibit the greatest contribution in Yongchuan District are total nitrogen (TN)and chemical oxygen demand (COD), accounting for 34% and 33%, respectively. The primary source of pollution is attributed to livestock and poultry breeding, accounting for 49.7% of the total pollution load. (2) The critical area of AGNPSP in Yongchuan District is located in the south of the district and primarily comprises Zhutuo Town, Hegeng Town and Xianlong Town. Among the critical areas identified, livestock and poultry farming accounts for 68% of the pollution load. (3) The monthly variation of pollutant fluxes demonstrates a single peak pattern, with the peak occurring in June. The data indicates that the flux of pollutants in June and July accounted for 37% of the total, thus identifying these months as critical periods for the management of AGNPSP in Yongchuan District. The critical source–area–period analysis indicates that the comprehensive management strategy for AGNPSP should focus on critical sources, areas and periods. Furthermore, it should adopt a prioritised, zoned and phased management approach. This approach has the potential to promote cost-effective and efficient prevention and control, thereby facilitating the achievement of sustainable agricultural development. Full article

To address the decline in self-consistency and limited spatial adaptability of traditional interpolation methods in complex terrain, this study proposes a terrain-constrained Triangulated Irregular Network (TIN) interpolation method based on UAV point clouds. The method was tested in the southern margin of the Lufeng Dinosaur National Geopark, Yunnan Province, using ground points at different sampling densities (90%, 70%, 50%, 30%, and 10%), and compared with Spline, Kriging, ANUDEM, and IDW methods. Results show that the proposed method maintains the lowest RMSE and MAE across all densities, demonstrating higher stability and self-consistency and better preserving terrain undulations. This provides technical support for high-precision DEM reconstruction from UAV point clouds in complex terrain. Full article