Efficient cleaning of floating waste using an intelligent unmanned surface vehicle is an important development trend in inland water governance. Path planning is the core of the decision-making module for unmanned surface vehicle waste cleaning and is key to achieving autonomous operation of the unmanned surface vehicle. However, due to the complexity and dynamic changes of the water surface environment, unmanned surface vehic...

Species of the ciliate class Heterotrichea Stein, 1859 are a cosmopolitan group of unicellular eukaryotic microorganisms, many of which have been widely used as models in various fields of research such as regenerative biology, functional ecology, environmental toxicology, and symbiotic behavior. However, species identification in the heterotrich family Condylostomatidae, especially the most species-rich and type genus Condylo...