This paper proposes a new methodology to optimize trajectory of the path for multi-robots using improved gravitational search algorithm(IGSA) in clutter environment. Classical GSA has been improved in this paper based...This paper proposes a new methodology to optimize trajectory of the path for multi-robots using improved gravitational search algorithm(IGSA) in clutter environment. Classical GSA has been improved in this paper based on the communication and memory characteristics of particle swarm optimization(PSO). IGSA technique is incorporated into the multi-robot system in a dynamic framework, which will provide robust performance, self-deterministic cooperation, and coping with an inhospitable environment. The robots in the team make independent decisions, coordinate, and cooperate with each other to accomplish a common goal using the developed IGSA. A path planning scheme has been developed using IGSA to optimally obtain the succeeding positions of the robots from the existing position in the proposed environment. Finally, the analytical and experimental results of the multi-robot path planning were compared with those obtained by IGSA, GSA and differential evolution(DE) in a similar environment. The simulation and the Khepera environment result show outperforms of IGSA as compared to GSA and DE with respect to the average total trajectory path deviation, average uncovered trajectory target distance and energy optimization in terms of rotation.展开更多
The study of floral diversity in forest and its development are incomplete without taking consideration of plant-soil interactions. So with this view in mind, the present study was conducted in tropical semi-evergreen...The study of floral diversity in forest and its development are incomplete without taking consideration of plant-soil interactions. So with this view in mind, the present study was conducted in tropical semi-evergreen forests of the Mokukchung district, Nagaland, in eastern Himalaya. The aim of the study was to investigate the phytosociological parameters Seven sites were randomly in relation to soil properties. selected to study the soil properties at up to one meter in depth and a phytosociological study was carried out in nearby areas via the quadrate method. In the studied sites, the richness of tree species varied from 4 to 15 ha^-1, with Gmelina arborea and Duabanga grandifloras being the common species. The highest total basal area was recorded in 10 mile village （47,998.16 cm^2 ha^-1） followed by Minkong village site （32,704.66 cm^2 ha^-1）. Soil physical and chemical properties-i.e, bulk density （BD）, soil pH, organic carbon （OC）, available nitrogen （N）, available phosphorus （P）, and available potassium （K） were analyzed using standard procedures. Significant differences were observed in the soil properties. The basal area of species showed significant positive correlation in terms of available K （0.754） and OM （0.302） content in soil, and the Shannon-Wiener diversity index （H） is also positively correlated with the available N content （0.402）. The undisturbed nature of the sites played an important role in maintaining the soil fertility and floral diversity of the sites. Moreover, sites with maximum productivity and soil fertility are considered as potential carbon sequestration areas in the region while sites with the low soil fertility need restoration.展开更多
文摘This paper proposes a new methodology to optimize trajectory of the path for multi-robots using improved gravitational search algorithm(IGSA) in clutter environment. Classical GSA has been improved in this paper based on the communication and memory characteristics of particle swarm optimization(PSO). IGSA technique is incorporated into the multi-robot system in a dynamic framework, which will provide robust performance, self-deterministic cooperation, and coping with an inhospitable environment. The robots in the team make independent decisions, coordinate, and cooperate with each other to accomplish a common goal using the developed IGSA. A path planning scheme has been developed using IGSA to optimally obtain the succeeding positions of the robots from the existing position in the proposed environment. Finally, the analytical and experimental results of the multi-robot path planning were compared with those obtained by IGSA, GSA and differential evolution(DE) in a similar environment. The simulation and the Khepera environment result show outperforms of IGSA as compared to GSA and DE with respect to the average total trajectory path deviation, average uncovered trajectory target distance and energy optimization in terms of rotation.
基金financially supported by the Indian Council of Forestry Research and Education(ICFRE),Dehradun,India
文摘The study of floral diversity in forest and its development are incomplete without taking consideration of plant-soil interactions. So with this view in mind, the present study was conducted in tropical semi-evergreen forests of the Mokukchung district, Nagaland, in eastern Himalaya. The aim of the study was to investigate the phytosociological parameters Seven sites were randomly in relation to soil properties. selected to study the soil properties at up to one meter in depth and a phytosociological study was carried out in nearby areas via the quadrate method. In the studied sites, the richness of tree species varied from 4 to 15 ha^-1, with Gmelina arborea and Duabanga grandifloras being the common species. The highest total basal area was recorded in 10 mile village （47,998.16 cm^2 ha^-1） followed by Minkong village site （32,704.66 cm^2 ha^-1）. Soil physical and chemical properties-i.e, bulk density （BD）, soil pH, organic carbon （OC）, available nitrogen （N）, available phosphorus （P）, and available potassium （K） were analyzed using standard procedures. Significant differences were observed in the soil properties. The basal area of species showed significant positive correlation in terms of available K （0.754） and OM （0.302） content in soil, and the Shannon-Wiener diversity index （H） is also positively correlated with the available N content （0.402）. The undisturbed nature of the sites played an important role in maintaining the soil fertility and floral diversity of the sites. Moreover, sites with maximum productivity and soil fertility are considered as potential carbon sequestration areas in the region while sites with the low soil fertility need restoration.
