基于深度强化学习的六足机器人运动规划

六足机器人拥有多个冗余自由度，适用于复杂的非结构环境。离散环境作为非结构环境的一个苛刻特例，需要六足机器人具备更加高效可靠的运动策略。以平面随机梅花桩为例，设定随机起始点与目标区域，利用深度强化学习算法进行训练，并得到六足机器人在平面梅花桩环境中的运动策略。为了加快训练进程，采用具有优先经验重放机制的深度确定性策略梯度算法。最后在真实环境中进行验证，实验结果表明，所规划的运动策略能让六足机器人在平面梅花桩环境中高效平稳地从起始点运动到目标区域。为六足机器人在真实离散环境中的精确运动规划奠定了基础

产吲哚金黄杆菌YM5毒性相关基因及其急性经口毒性

产吲哚金黄杆菌(Chryseobacterium indologenes)YM5是本实验室分离所得的一株具有高效羽毛角蛋白降解能力的革兰氏阴性菌,具有潜在的工业应用价值,但部分产吲哚金黄杆菌的相关株系被报道可能为医院条件致病菌.本研究通过测定YM5全基因组序列,分析其基因组中毒性相关功能基因,结合小鼠急性经口毒性试验,来评价YM5的生物安全性.结果显示,YM5基因组内不含毒性相关基因.YM5菌液及其羽毛发酵液对小鼠半数致死量(LD50)大于20 g/kg BW,属实际无毒级;处理14 d后,小鼠血清中谷丙转氨酶(AST)、谷草转氨酶(ALT)、尿素(BUN)、肌酐(Cre)、血糖(GLU)、总胆固醇(TC)和甘油三酯(TG)与对照组均无显著性差异(P>0.05).本研究表明YM5菌液及其羽毛发酵液对哺乳动物安全无毒副作用,可应用于工业生产

河北省四拨子-六拨子钼铜矿区侵入岩LA-ICP-MS锆石U-Pb定年及成矿意义/LA-ICP-MS zircon U-Pb dating of intrusive rocks and its metallogenic significance in Sibozi-Liubozi molybdenum-copper deposit of Qinglong County, Hebei Province[J]

河北省青龙满族自治县四拨子-六拨子钼铜矿位于燕辽成矿带东部,是近年来发现的中型钼铜矿床.矿化多沿层面、裂隙充填、交代,呈脉状赋存于大红峪组的石英砂岩、长石石英砂岩及白云岩夹层和高于庄组的白云岩内,地质特征表明成矿主要与硅化关系密切.文章对矿区6个侵入岩进行了锆石LA-ICP-MS U-Pb年代学研究,结果表明,矿区存在4期岩浆侵入活动:第一期为晚三叠世(211～206 Ma),形成六柱坪和三拨子西沟细粒似斑状二长花岗岩；第二期为早侏罗世早期( 196～ 190 Ma),形成老商家和五拨子花岗斑岩；第三期为早侏罗世晚期(177Ma),形成达子沟细粒似斑状二长花岗岩；第四期为晚侏罗世早期(160 Ma),形成七拨子粗中粒二长花岗岩.矿区辉钼矿的Re-Os加权平均年龄为(194±1)Ma,成矿时代为早侏罗世,与花岗斑岩形成时代一致(196～ 190 Ma),表明钼铜成矿可能与花岗斑岩岩浆期后热液活动有关

河北省青龙满族自治县四拨子-六拨子钼铜矿床成矿流体及成矿机制探讨/Ore-forming fluids and metallogenetic mechanism of Sibozi-Liubozi molybdenum-copper deposit in Qinglong County, Hebei Province[J]

河北省青龙满族自治县四拨子-六拨子钼铜矿位于燕辽成矿带东部,是近年来发现的中型钼铜矿床.辉钼矿呈细脉状、网脉状、浸染状、薄膜状赋存于长城系石英砂岩及白云岩中的矽卡岩带,钼矿化与硅化关系密切.矿体呈似层状、脉状和透镜状.矿床的形成经历了矽卡岩期和石英-硫化物期,铜和钼矿化主要形成于石英-硫化物期.研究表明,矽卡岩期矿物以发育液体包裹体为特征,石英-硫化物期石英中主要发育液体包裹体、含CO2两相和三相包裹体.矽卡岩期成矿流体为高-中温( 192～497℃)、中-低盐度(5.41％～16.53％ NaCleqv)、中-低密度(0.59～0.92g/cm3)的NaCl-H2O体系.石英-硫化物期成矿流体为中-低温(主要变化于160～330℃)、低盐度(2.07％～15.17％ NaCleqv)和中低密度(0.69～1.01g/cm3)的NaCl-H2O-CO2(±CH4/N2)型流体.石英的δDSMOW为- 128‰～- 80‰,δ18OSMOW值为9.6‰ ～ 14‰,δ18OH2O值为-3.61％ ～5.30‰,表明成矿流体具有岩浆水混合大气降水的特征.硫化物的矿S变化于-0.9‰ ～5.7‰,平均值为2.9‰,表明成矿物质中硫来自深部岩浆.成矿时代为早侏罗世早期,成矿作用与花岗斑岩岩浆期后热液活动有关

Measurement of integrated luminosity of data collected at 3.773 GeV by BESIII from 2021 to 2024

We present a measurement of the integrated luminosity e+e- of collision data collected by the BESIII detector at the BEPCII collider at a center-of-mass energy of Ecm = 3.773 GeV. The integrated luminosities of the datasets taken from December 2021 to June 2022, from November 2022 to June 2023, and from October 2023 to February 2024 were determined to be 4.995±0.019 fb-1, 8.157±0.031 fb-1, and 4.191±0.016 fb-1, respectively, by analyzing large angle Bhabha scattering events. The uncertainties are dominated by systematic effects, and the statistical uncertainties are negligible. Our results provide essential input for future analyses and precision measurements

Determination of the number of ψ(3686) events taken at BESIII

The number of ψ(3686) events collected by the BESIII detector during the 2021 run period is determined to be (2259.3±11.1)×106 by counting inclusive ψ(3686) hadronic events. The uncertainty is systematic and the statistical uncertainty is negligible. Meanwhile, the numbers of ψ(3686) events collected during the 2009 and 2012 run periods are updated to be (107.7±0.6)×106 and (345.4±2.6)×106, respectively. Both numbers are consistent with the previous measurements within one standard deviation. The total number of ψ(3686) events in the three data samples is (2712.4±14.3)×10^