To address the issues of external unknown disturbances and roll motion in the tracking control of underactuated unmanned surface vehicle (USV) formation, a cooperative formation control method based on nonlinear model predictive control (NMPC) algorithm and finite-time disturbance observer is proposed. Initially, a tracking error model for the USV formation is established within a leader–follower framework, utilizing a four-de...

Several marine strata have developed along the southern coastal Bohai Sea since the Late Quaternary, preserving abundant records of sedimentary evolution. This region is ideal for studying the sedimentary history of a river–sea interaction area. However, detailed sedimentological and chronological studies remain limited, mainly focusing on the estuaries of the Mihe River. In this study, 12 optically stimulated luminescence (OS...