With the depletion of shallow surface resources, the future mining work will develop towards the deep surface, and the objective conditions such as the mining environment will be more complex and dangerous than now, and the requirements for personnel and equipment will be higher and higher. The efficient exploitation of deep space cannot be separated from such mobile and flexible production and transportation equipment as scraper. In the new era, intelligence is the development trend of the LHD, and path tracking control technology is the key to the intelligent LHD, and it is also an urgent problem to be solved for its unmanned driving. This paper describes the realization of the automatic operation function of articulated LHD from two aspects of mathematical model and trajectory tracking control method, and focuses on the research of the path tracking control scheme in the field of unmanned driving, that is, LQR controller. On this basis, the parameters of the LQR controller are optimized by combining different intelligent cluster algorithms to find the optimal solution of the LQR controller.

Halloysite nanotubes (HNTs) are natural occurring mineral clay nanotubes that have excellent application potential in different fields. However, HNTs are heterogeneous in size, surface charge and formation of surfacial hydrogen bond, which lead to weak affinity and aggregation at a certain extent. It is very important to modify the HNTs’ surface to expand its applications. In this review, the structural characteristics, performance and the related applications of surface-modified HNTs are reviewed. We focus on the surface-modified variation of HNTs, the effects of surface modification on the materials and related applications in various regions. In addition, future prospects and the meaning of surface modification were also discussed in HNTs studies. This review provides a reference for the application of HNTs modifications in the field of new nanomaterials.

As one of the most appealing edible mushrooms, the quality of Flammulina velutipes can be affected by the cultivation substrate, which has an impact on the mushroom umami taste and nutrients. In our study, the effect of mushroom root fermentation broth (MRFB) based substrate on umami taste and nutrients of F. velutipes were evaluated; four proportions of MRFB was conducted (CK 0%, E1 6.7%, E2 13.4%, E3 20.1%). Results indicated that MRFB was an effective nutrient supplement for mushroom cultivation substrate. E2 and E3 showed higher crude fiber, crude fat, soluble protein, and soluble sugar. Compared to CK, the content of monosodium glutamate-like (MSG-like) amino acids, essential amino acids, total amino acids and total 5'-nucleotides in E2 and E3 were higher. The equivalent umami concentration (EUC) values in E1, E2 and E3 were 1.70, 2.43 and 1.56 times of CK, respectively. Higher umami, saltness and sweetness taste values were found in E2. Thereby, it signified that better umami and richer nutrients were achieved by using substrate with proper volume of MRFB, especially, E2 with 13.4% of MRFB. Overall, better mushroom quality could be derived from the application of MRFB in cultivation. MRFB was a favorable nutrient supplement for Flammulina velutipes cultivation substrate.