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The similarity of NN and CC in trans-4,4′-azobis(pyridine) and trans-1,2-bis(pyridin-4-yl)ethene offers an innovative approach for creating controllable and versatile organic heterostructure and organic alloy.

This paper addresses the problem of robust fixed-time attitude stabilization for tilt tri-rotor unmanned aerial vehicle subjects to parameter uncertainties and external disturbances. First, a novel fixed-time stable system with a faster convergence rate is proposed. Second, a nonsingular fixed-time sliding mode surface is developed, which has better convergence performance than existing methods. Third, a continuous fast fixed-time sliding mode control law is proposed by applying the developed sliding mode surface and adaptive technique. As a result, the convergence time of the closed-loop system is bounded and independent of the initial conditions. Simulation and experiments are presented to verify that the proposed scheme can effectively and rapidly achieve attitude stabilization while maintaining high control precision and robustness.

Aqueous hexavalent chromium (Cr(VI)) treatment and chromium resource recovery toward Cr-containing wastes are of significant importance and necessity to both wastewater remediation and resource recovery. Herein, via mild photoreaction conditions with isopropanol (IPA) as an electron donor, a catalyst-free strategy for aqueous Cr(VI) extraction to form an insoluble polyhydroxy Cr(V) complex is developed for the first time. Aqueous Cr(VI) with concentration from 5 to 150 ppm can be efficiently extracted with high selectivity even in the presence of coexisting ions, and the total Cr concentration in residue solution can be as low as 0.5 ppm. The Cr resource could be efficiently recovered as pure Cr

Correction for ‘Polyaniline nanorods dotted on graphene oxide nanosheets as a novel super adsorbent for Cr(vi)’ by Shouwei Zhang et al., Dalton Trans., 2013, 42, 7854–7858, https://doi.org/10.1039/C3DT50149C.

This paper considers a coordinated tracking problem of fixed-wing unmanned aerial vehicles (UAVs), whose kinematics is described as unicycle type with the constraints of both saturated angular speed and bounded linear velocity. A distributed velocity controller based on the consensus theory is designed such that UAVs can converge to the predefined formation and track the target vehicle, while the velocity constraints are satisfied. Moreover, due to the limitation of measurement range of sensors and communication bandwidth of UAV, an observer is designed when the information of neighbors’ velocity cannot be obtained. The stability of the closed-loop system is proved by using a technique lemma, which is developed based on the cascaded system. Finally, the results of numerical simulation compared with another algorithm show the effectiveness of the proposed algorithm, and a hardware-in-loop (HIL) simulation is carried out to prove the practical of the algorithm.

Set-Membership Filter (SMF) has been extensively studied for state estimation in the presence of bounded noises with unknown statistics. Since it was first introduced in the 1960s, the studies on SMF have used the set-based description as its mathematical framework. One important issue that has been overlooked is the optimality of SMF. In this work, we put forward a new mathematical framework for SMF using concepts of uncertain variables. We first establish two basic properties of uncertain variables, namely, the law of total range (a non-stochastic version of the law of total probability) and the equivalent Bayes' rule. This enables us to put forward a general SMFing framework with established optimality. Furthermore, we obtain the optimal SMF under a non-stochastic Markov condition, which is shown to be fundamentally equivalent to the Bayes filter. Note that the classical SMF in the literature is only equivalent to the optimal SMF we obtained under the non-stochastic Markov condition. When this condition is violated, we show that the classical SMF is not optimal and it only gives an outer bound on the optimal estimation., 8 pages, 3 figures

Inorganic ion-exchange materials show potential application for toxic radioactive ions due to their remarkable high efficiency and selectivity features. Here, two type of carbon-supported titanate (C@TNFs and C@TNFs(H)) nanofibers have been synthesized by a cost-effective in suit growth method. The resulting C@TNFs and C@TNFs(H) microspheres present uniform flower-like morphology and large surface area. The interlayer Na+ in the titanate shell provides docking sites for ion-exchange of radioactive ions (U(VI), Ba(II), and Sr(II)). Interestingly, the exceeding theoretical cation-exchange capacities (CECs) are achieved on C@TNFs for U(VI) ∼4.76 meq g−1 and Ba(II) ∼2.65 meq g−1 and C@TNFs(H) for Ba(II) ∼2.53 meq g−1 and Sr(II) ∼2.24 meq g−1, respectively. The impressive adsorption performance is mainly attributed to the synergistic effects of ion-exchange and surface complexation. More significantly, C@TNFs and C@TNFs(H) maintain high distribution coefficients (K d U) of >104 mL g−1 over a wider pH range (pH = 3.5–9.0) and high adsorption rate with short equilibrium time within 50 min. Competitive ion-exchange investigation shows a selectivity order of U(VI) > Ba(II) > Sr(II) at individual 10 ppm concentration, pH = 6.0 and T = 298 K. The related spectroscopic studies reveal the intercalative mechanism of radionuclides in the deformed titanate structure, as a result of target ions firmly trapped in the interlayer of C@TNFs and C@TNFs(H). These advantageous features allow the C@TNFs and C@TNFs(H) to be promising candidates for the remediation of toxic radioactive ions polluted water.

This article investigates the problem of coordinated path following for fixed-wing unmanned aerial vehicles (UAVs) with speed constraints in the two-dimensional plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc distance. In contrast to the previous coordinated path-following studies, we are able through our proposed hybrid control law to deal with the forward speed and the angular speed constraints of fixed-wing UAVs. More specifically, the hybrid control law makes all the UAVs work at two different levels: 1) those UAVs whose path-following errors are within an invariant set (i.e., the designed coordination set) work at the coordination level and 2) the other UAVs work at the single-agent level. At the coordination level, we prove that even with speed constraints, the proposed control law can make sure the path-following errors reduce to zero, while the inter-UAV arc distances converge to the desired value. At the single-agent level, analysis for the path-following error entering the coordination set is provided. We develop a hardware-in-the-loop simulation testbed of the multi-UAV system by using actual autopilots and the X-Plane simulator. The effectiveness of the proposed approach is corroborated with both numerical simulation and the testbed.

This paper addresses the coordinated path following control of fixed-wing unmanned aerial vehicles (UAVs) on a 2D plane with unknown wind disturbances. A novel control law is proposed for this type of UAVs subject to input saturation and positive airspeed constraints. Sufficient conditions for the stability of the closed-loop system satisfying the constraints are derived, and the upper bound of the path following error is established. The proposed coordination strategy considers the situation where the underlying communication topology satisfies the persistency of excitation condition, without requiring the topology to be pointwise connected. Finally, a hardware-in-the-loop simulation testbed consisting of pixhawk autopilots and X-Plane simulator is developed and used to validate the proposed methods.

UAV swarms have triggered wide concern due to their potential application values in recent years. While there are studies proposed in terms of the architecture design for UAV swarms, two main challenges still exist: (1) Scalability, supporting a large scale of vehicles; (2) Versatility, integrating diversified missions. To this end, a multi-layered and distributed architecture for mission oriented miniature fixed-wing UAV swarms is presented in this paper. The proposed architecture is built on the concept of modularity. It divides the overall system to five layers: low-level control, high-level control, coordination, communication and human interaction layers, and many modules that can be viewed as black boxes with interfaces of inputs and outputs. In this way, not only the complexity of developing a large system can be reduced, but also the versatility of supporting diversified missions can be ensured. Furthermore, the proposed architecture is fully distributed that each UAV performs the decision-making procedure autonomously so as to achieve better scalability. Moreover, different kinds of aerial platforms can be feasibly extended by using the control allocation matrices and the integrated hardware box. A prototype swarm system based on the proposed architecture is built and the proposed architecture is evaluated through field experiments with a scale of 21 fixed-wing UAVs. Particularly, to the best of our knowledge, this paper is the first work which successfully demonstrates formation flight, target recognition and tracking missions within an integrated architecture for fixed-wing UAV swarms through field experiments.

In this work, green-emitting carbon quantum dots were successfully prepared through a facile one-step solid-state reaction method. The obtained green-emitting carbon dots (G-CDs) showed good fluorescence stability in NaCl aqueous solution and different pH values. Moreover, the G-CDs showed high sensitivity and selectivity for detecting hypochlorite by both fluorometry and colorimetry. Under the optimized condition, a highly sensitive detection of hypochlorite was established in the range of 0.2-100 μM and 10-150 μM for fluorescent and colorimetric methods, respectively. The corresponding limits of detection (LOD) were 0.0781 μM and 1.82 μM, respectively. Therefore, the G-CDs were successfully applied to determinate hypochlorite in actual water samples. In addition, a paper-based sensor loading with the G-CDs was also developed for rapid visual detection of hypochlorite. The results suggested that the G-CDs could be a promising candidate to detect hypochlorite.

In this letter, a practical fixed-time sliding mode controller is designed for quadrotors. A novel fixed-time stable system is derived, which has a faster convergence rate than existing methods. The proof of the fixed-time convergence is presented. Meanwhile, the faster convergence rate compared with the other two methods is detailed using simulations. Based on this derivation, a fixed-time sliding mode controller with bounded convergence time independent of initial conditions is developed. The comparative simulation and flight experiment results are presented, showing that the proposed control scheme is practical to an actual quadrotor and can achieve good control performance.

A photo-induced uranium extraction method without an external photocatalyst and inert atmosphere would greatly reduce the energy consumption and operation equipment in the treatment of nuclear wastewater.

Covalent organic frameworks (COFs) represent an emerging class of organic photocatalysts. However, their complicated structures lead to indeterminacy about photocatalytic active sites and reaction mechanisms. Herein, we use reticular chemistry to construct a family of isoreticular crystalline hydrazide-based COF photocatalysts, with the optoelectronic properties and local pore characteristics of the COFs modulated using different linkers. The excited state electronic distribution and transport pathways in the COFs are probed using a host of experimental methods and theoretical calculations at a molecular level. One of our developed COFs (denoted as COF-4) exhibits a remarkable excited state electron utilization efficiency and charge transfer properties, achieving a record-high photocatalytic uranium extraction performance of ~6.84 mg/g/day in natural seawater among all techniques reported so far. This study brings a new understanding about the operation of COF-based photocatalysts, guiding the design of improved COF photocatalysts for many applications.

With the fast development of agriculture, industrialization and urbanization, large amounts of different (in)organic pollutants are inevitably discharged into the ecosystems. The efficient decontamination of the (in)organic contaminants is crucial to human health and ecosystem pollution remediation. Covalent organic frameworks (COFs) and metal–organic frameworks (MOFs) have attracted multidisciplinary research interests because of their outstanding physicochemical properties like high stability, large surface areas, high sorption capacity or catalytic activity. In this review, we summarized the recent works about the elimination/extraction of organic pollutants, heavy metal ions, and radionuclides by MOFs and COFs nanomaterials through the sorption-catalytic degradation for organic chemicals and sorption-catalytic reduction-precipitation-extraction for metals or radionuclides. The interactions between the (in)organic pollutants and COFs/MOFs nanomaterials at the molecular level were discussed from the density functional theory calculation and spectroscopy analysis. The sorption of organic chemicals was mainly dominated by electrostatic attraction, π-π interaction, surface complexation and H-bonding interaction, whereas the sorption of radionuclides and metal ions was mainly attributed to surface complexation, ion exchange, reduction and incorporation reactions. The porous structures, surface functional groups, and active sites were important for the sorption ability and selectivity. The doping or co-doping of metal/nonmetal, or the incorporation with other materials could change the visible light harvest and the generation/separation of electrons/holes (e−/h+) pairs, thereby enhanced the photocatalytic activity. The challenges for the possible application of COFs/MOFs nanomaterials in the elimination of pollutants from water were described in the end.

Photocatalytic oxidation of alcohols has received more and more attention in recent years following the numerous studies on the degradation of pollutants, hydrogen evolution, and CO2 reduction by photocatalysis. Instead of the total oxidation of organics in the degradation process, the photo-oxidation of alcohols aims at the selective conversion of alcohols to produce carbonyl/acid compounds. Promising results have been achieved in designing the catalysts and reaction system, as well as in the mechanistic investigations in the past few years. This review summarizes the state-of-the-art progress in the photo-oxidation of alcohols, including the development of photocatalysts and cocatalysts, reaction conditions including the solvent and the atmosphere, and the exploration of mechanisms with scavengers experiment, electron paramagnetic resonance (EPR) and diffuse reflectance infrared Fourier transform (DRIFT) spectroscopy. The challenges and outlook for the further research in this field are also discussed.

As the scale of the system expands, processor failures are inevitable. Fault diagnosis has great significance in analyzing the reliability of multiprocessing systems. Probabilistic fault diagnosis is a method that attempts to diagnose nodes correctly with high probability. In this paper, we extend the threshold $t \leq 2$ to threshold $t=3$ for regular networks based on probabilistic diagnosis algorithm and determine the status of a cluster of nodes by analyzing the local performance. Moreover, we evaluate the global performance based on the Poisson distribution and the Binomial distribution and show that the achievement in terms of correctness demonstrates a good performance. Finally, we employ the probabilistic diagnosis scheme to explore some well-known networks, including complete cubic networks, dual cubes and hierarchical hypercubes as well.

Uranium extraction from seawater is of strategic significance for nuclear power generation. Amidoxime-based functional adsorbents play indispensable roles in the recovery of seawater uranium with high efficiency. Nevertheless, balancing the adsorption capacity and selectivity is challenging in the presence of complicated interfering ions especially vanadium. Herein, a polyarylether-based covalent organic framework functionalized with open-chain amidoxime (COF-HHTF-AO) was synthesized with remarkable chemical stability and excellent crystallinity. Impressively, the adsorption capacity of COF-HHTF-AO towards uranium in natural seawater reached up to 5.12 mg/g, which is 1.61 times higher than that for vanadium. Detailed computational calculations revealed that the higher selectivity for uranium over vanadium originated from the specific bonding nature and coordination pattern with amidoxime. Combining enhanced adsorption capacity, excellent selectivity and ultrahigh stability, COF-HHTF-AO serves as a promising adsorbent for uranium extraction from the natural seawater.

Purpose This paper aims to realize a fully distributed multi-UAV collision detection and avoidance based on deep reinforcement learning (DRL). To deal with the problem of low sample efficiency in DRL and speed up the training. To improve the applicability and reliability of the DRL-based approach in multi-UAV control problems. Design/methodology/approach In this paper, a fully distributed collision detection and avoidance approach for multi-UAV based on DRL is proposed. A method that integrates human experience into policy training via a human experience-based adviser is proposed. The authors propose a hybrid control method which combines the learning-based policy with traditional model-based control. Extensive experiments including simulations, real flights and comparative experiments are conducted to evaluate the performance of the approach. Findings A fully distributed multi-UAV collision detection and avoidance method based on DRL is realized. The reward curve shows that the training process when integrating human experience is significantly accelerated and the mean episode reward is higher than the pure DRL method. The experimental results show that the DRL method with human experience integration has a significant improvement than the pure DRL method for multi-UAV collision detection and avoidance. Moreover, the safer flight brought by the hybrid control method has also been validated. Originality/value The fully distributed architecture is suitable for large-scale unmanned aerial vehicle (UAV) swarms and real applications. The DRL method with human experience integration has significantly accelerated the training compared to the pure DRL method. The proposed hybrid control strategy makes up for the shortcomings of two-dimensional light detection and ranging and other puzzles in applications.

Biochar (BC) has exhibited a great potential to remove water contaminants due to its wide availability of raw materials, high surface area, developed pore structure, and low cost. However, the application of BC for water remediation has many limitations. Driven by the intense desire of overcoming unfavorable factors, a growing number of researchers have carried out to produce BC-based composite materials, which not only improved the physicochemical properties of BC, but also obtained a new composite material which combined the advantages of BC and other materials. This article reviewed previous researches on BC and BC-based composite materials, and discussed in terms of the preparation methods, the physicochemical properties, the performance of contaminant removal, and underlying adsorption mechanisms. Then the recent research progress in the removal of inorganic and organic contaminants by BC and BC-based materials was also systematically reviewed. Although BC-based composite materials have shown high performance in inorganic or organic pollutants removal, the potential risks (such as stability and biological toxicity) still need to be noticed and further study. At the end of this review, future prospects for the synthesis and application of BC and BC-based materials were proposed. This review will help the new researchers systematically understand the research progress of BC and BC-based composite materials in environmental remediation.

This brief is concerned with the robust $H_{2}$ consensus problem of linear multi-agent systems in the presence of parametric uncertainties and noise signals. The robust $H_{2}$ consensus problem is defined and the design procedure for the distributed state feedback controller is developed to synchronize the network as well as guarantee a prescribed $H_{2}$ performance. As s special case, the robust consensus problem with only parametric uncertainties is also studied and is converted into the simultaneous $H_{\infty }$ stabilization problems for a set of subsystems. The controller parameters are determined by solving some linear matrix inequalities.

Cu doped SrTiO3 (Cu-STO) has been synthesized and investigated as the photocatalyst for selective alcohol oxidation under mild condition. Cu-STO samples demonstrate intense absorption to visible light and near-infrared light. Using water as the reaction solvent, Cu-STO samples can efficiently oxidize benzyl alcohol (BA) into benzyl aldehyde under both anaerobic and aerobic conditions with high selectivity. In aerobic condition, an apparent quantum efficiency as high as 43.22% at 420 nm has been reached for benzyl alcohol oxidation. More strikingly, the apparent quantum efficiency remains as high as 14.47% even at 700 nm, being the highest one reported to date under similar conditions. Further analysis indicates Cu dopants induces abundant oxygen vacancies and introduces interband springboard into SrTiO3, which effectively extend the light response of SrTiO3 to the visible and NIR region and enhance the separation of charge carriers, being critical to the highly selective and efficient conversion of alcohols.

Extraction of uranium from radioactive waste-water is of significant importance for environmental protection and the recovery of uranium resource. Different from the previous reports to use the solid absorbent/photocatalyst for U(VI) removal, herein, we proposed a new eco-friendly method for the rapid and selective extraction of uranium from aqueous solutions under visible light without solid materials. At optimal pH value and in the presence of organics like alcohols, the U(VI) could be extracted efficiently to form brown uranium solid over wide uranium concentrations under anaerobic condition and visible light, by utilizing the excitation of the given U(VI) species. With comprehensive modelling of the electronic ultraviolet-visible (UV-Vis) properties, it is proved that pH adjusting towards U(VI) could induce efficient ligand-to-metal-charge-transfer (LMCT) within the uranyl complex under visible light and the reduction of U(VI) to form U(V), which can be transformed into U(IV) via disproportionation reaction. The resulting U(IV) in solid phase makes the extraction much more convenient in operation. More importantly, the excellent selectivity for uranium extraction over interfering alkali metal ions, transition metal ions and the lanthanide metal ions shows a powerful application potential.

The fast increase of population results in the quick development of industry and agriculture. Large amounts of contaminants such as metal ions and organic contaminants are released into the natural environment, posing a risk to human health and causing environment ecosystem problems. The efficient elimination of contaminants from aqueous solutions, photocatalytic degradation of organic pollutants or the in-situ solidification/immobilization of heavy metal ions in solid phases are the most suitable strategies to decontaminate the pollution. Biochar and biochar-based composites have attracted multidisciplinary interests especially in environmental pollution management because of their porous structures, large amounts of functional groups, high adsorption capacities and photocatalysis performance. In this review, the application of biochar and biochar-based composites as adsorbents and/or catalysts for the adsorption of different contaminants, adsorption-photodegradation of organic pollutants, and adsorption-(photo)reduction of metal ions are summarized, and the mechanism was discussed from advanced spectroscopy analysis and DFT calculation in detail. The doping of metal or metal oxides is the main strategy to narrow the band gap, to increase the generation and separation of photogenerated e−-h+ pairs, to produce more superoxide radicals (·O2−) and hydroxyl radicals (·OH), to enhance the visible light absorption and to increase photocatalysis performance, which dominate the photocatalytic degradation of organic pollutants and (photo)reduction of high valent metals to low valent metals. The biochar-based composites are environmentally friendly materials, which are promising candidates in environmental pollution cleanup. The challenge and perspective for biochar-based catalysts are provided in the end. Graphical Abstract