Formation control is a cooperative control concept in which multiple autonomous underwater mobile robots are deployed for a group motion and/or control mission. This paper presents a brief review on various cooperativ...Formation control is a cooperative control concept in which multiple autonomous underwater mobile robots are deployed for a group motion and/or control mission. This paper presents a brief review on various cooperative search and formation control strategies for multiple autonomous underwater vehicles （AUV） based on literature reported till date. Various cooperative and formation control schemes for collecting huge amount of data based on formation regulation control and formation tracking control are discussed. To address the challenge of detecting AUV failure in the fleet, communication issues, collision and obstacle avoidance are also taken into attention. Stability analysis of the feasible formation is also presented. This paper may be intended to serve as a convenient reference for the further research on formation control of multiple underwater mobile robots.展开更多
全氟/多氟化合物(Perfluorinated and Polyfluoroalkyl Substances,PFAS)是食品接触制品中的高风险物质,由它引起的食品安全不容忽视。本文通过分析我国、欧盟和美国对食品接触制品中PFAS的管控法规的差异分析,发现各国对PFAS管控物质...全氟/多氟化合物(Perfluorinated and Polyfluoroalkyl Substances,PFAS)是食品接触制品中的高风险物质,由它引起的食品安全不容忽视。本文通过分析我国、欧盟和美国对食品接触制品中PFAS的管控法规的差异分析,发现各国对PFAS管控物质和适用范围、管控力度的要求不尽相同。我国更强调对全氟辛酸(Perfluorooctanoic Acid,PFOA)和全氟辛烷磺酸(Perfluorooctane Sulphonate,PFOS)两个物质的管控,美国和欧盟更强调对整体物质的管控。我国和欧盟管控范围是适用于PFAS可能涉及的所有行业,美国更侧重食品包装和纺织品等轻工行业。因此,相关企业尤其是食品接触材料制品企业应高度警觉,积极对标国际要求,并主动研发不含氟的PFAS替代品。展开更多
A 5'-leader,known initially as the 5'-untranslated region,contains multiple isoforms due to alternative splicing(aS)and alternative transcription start site(aTSS).Therefore,a representative 5'-leader is de...A 5'-leader,known initially as the 5'-untranslated region,contains multiple isoforms due to alternative splicing(aS)and alternative transcription start site(aTSS).Therefore,a representative 5'-leader is demanded to examine the embedded RNA regulatory elements in controlling translation efficiency.Here,we develop a ranking algorithm and a deep-learning model to annotate representative 5'-leaders for five plant species.We rank the intra-sample and inter-sample frequency of aS-mediated transcript isoforms using the Kruskal-Wallis test-based algorithm and identify the representative aS-5'-leader.To further assign a representative 5'-end,we train the deep-learning model 5'leaderP to learn aTsS-mediated 5'-end distribution patterns from cap-analysis gene expression data.The model accurately predicts the 5'-end,confirmed experimentally in Arabidopsis and rice.The representative 5'-leader-contained gene models and 5'leaderP can be accessed at RNAirport(http:/www.rnairport.com/leader5P/).The Stage 1 annotation of 5'-leader records 5'-leader diversity and will pave the way to Ribo-Seq open-reading frame annotation,identical to the project recently initiated by human GENCODE.展开更多
文摘Formation control is a cooperative control concept in which multiple autonomous underwater mobile robots are deployed for a group motion and/or control mission. This paper presents a brief review on various cooperative search and formation control strategies for multiple autonomous underwater vehicles （AUV） based on literature reported till date. Various cooperative and formation control schemes for collecting huge amount of data based on formation regulation control and formation tracking control are discussed. To address the challenge of detecting AUV failure in the fleet, communication issues, collision and obstacle avoidance are also taken into attention. Stability analysis of the feasible formation is also presented. This paper may be intended to serve as a convenient reference for the further research on formation control of multiple underwater mobile robots.
基金supported by grants from the National Key R&D Program of China(2023ZD04073)the Major Project of Hubei Hongshan Laboratory(2022hszd016)+1 种基金the Key Research and Development Program of Hubei Province(2022BFE003)the National Natural Science Foundation of China(32070284)to G.Xu.
文摘A 5'-leader,known initially as the 5'-untranslated region,contains multiple isoforms due to alternative splicing(aS)and alternative transcription start site(aTSS).Therefore,a representative 5'-leader is demanded to examine the embedded RNA regulatory elements in controlling translation efficiency.Here,we develop a ranking algorithm and a deep-learning model to annotate representative 5'-leaders for five plant species.We rank the intra-sample and inter-sample frequency of aS-mediated transcript isoforms using the Kruskal-Wallis test-based algorithm and identify the representative aS-5'-leader.To further assign a representative 5'-end,we train the deep-learning model 5'leaderP to learn aTsS-mediated 5'-end distribution patterns from cap-analysis gene expression data.The model accurately predicts the 5'-end,confirmed experimentally in Arabidopsis and rice.The representative 5'-leader-contained gene models and 5'leaderP can be accessed at RNAirport(http:/www.rnairport.com/leader5P/).The Stage 1 annotation of 5'-leader records 5'-leader diversity and will pave the way to Ribo-Seq open-reading frame annotation,identical to the project recently initiated by human GENCODE.
