To address trajectory-tracking degradation of unmanned surface vehicles (USVs) in constrained waters caused by model uncertainty, strong environmental disturbances, and actuator limitations, this paper proposes a robust disturbance-observer-based optimization model predictive control method. First, a nonlinear tracking error model is established for a 3-DOF USV by incorporating environmental loads, parametric perturbations, an...

North China faces increasing risks from extreme precipitation under climate change, yet projections integrating socio‐economic dynamics with high‐resolution climate models remain limited. Leveraging the latest version of the NEX‐GDDP‐CMIP6 (NASA Earth Exchange Global Daily Downscaled Projections) from NASA (National Aeronautics and Space Administration) and CMIP6 (Coupled Model Intercomparison Project Phase 6) datasets across...

To understand the pollution characteristics and potential sources of heavy metal(loid)s in the nearshore sediments of Qionghai, 93 surface sediment samples were collected from the region. The concentrations of 20 elements, including Fe, Mg, Ca, Ti, Mn, Ba, Cr, Sr, Ni, Cu, Zr, As, Hg, Se, Be, Co, Mo, Cd, Ga, and Pb, were measured. The extent of contamination and ecological risk posed by these heavy metals/metalloids were evalua...