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Beam energy scan programs in heavy-ion collisions aim to explore the QCDphase structure at high baryon density. Sensitive observables are applied toprobe the signatures of the QCD phase transition and critical point inheavy-ion collisions at RHIC and SPS. Intriguing structures, such as dip, peakand oscillation, have been observed in the energy dependence of variousobservables. In this paper, an overview is given and corresponding physicsimplications will be discussed for the experimental highlights from the beamenergy scan programs at the STAR, PHENIX and NA61/SHINE experiments.Furthermore, the beam energy scan phase II at RHIC (2019-2020) and other futureexperimental facilities for studying the physics at low energies will be alsodiscussed.

Exploring the QCD Phase Structure with Beam Energy Scan in Heavy-ion Collisions