The design, control, and implementation of an autonomous underwater vehicle (AUV) for collecting hydrological information from plateau rivers and lakes are presented in this paper. The hardware and software structures of the control system were previously described. A novel sliding mode controller (SMC) with combinational reaching law of vertical hovering motion is proposed to improve the robustness and stability. The S-plane...

The relationship between the Palaeolithic–Neolithic cultural transition and environmental changes is important for understanding human history. However, the timing and nature of human behaviour at the transition, and their relationship to local environmental conditions, remain poorly understood. The Yujiagou archaeological site in the Nihewan Basin, northern China, provides valuable chronological and archaeological information...