QTL Ici Mapping is freely available public software capable of building high-density linkage maps and mapping quantitative trait loci(QTL) in biparental populations. Eight functionalities are integrated in this softwa...QTL Ici Mapping is freely available public software capable of building high-density linkage maps and mapping quantitative trait loci(QTL) in biparental populations. Eight functionalities are integrated in this software package:(1) BIN: binning of redundant markers;(2) MAP: construction of linkage maps in biparental populations;(3) CMP: consensus map construction from multiple linkage maps sharing common markers;(4) SDL: mapping of segregation distortion loci;(5) BIP: mapping of additive, dominant, and digenic epistasis genes;(6) MET: QTL-by-environment interaction analysis;(7) CSL: mapping of additive and digenic epistasis genes with chromosome segment substitution lines; and(8) NAM: QTL mapping in NAM populations. Input files can be arranged in plain text, MS Excel 2003, or MS Excel 2007 formats. Output files have the same prefix name as the input but with different extensions. As examples, there are two output files in BIN, one for summarizing the identified bin groups and deleted markers in each bin, and the other for using the MAP functionality. Eight output files are generated by MAP, including summary of the completed linkage maps, Mendelian ratio test of individual markers, estimates of recombination frequencies, LOD scores, and genetic distances, and the input files for using the BIP, SDL,and MET functionalities. More than 30 output files are generated by BIP, including results at all scanning positions, identified QTL, permutation tests, and detection powers for up to six mapping methods. Three supplementary tools have also been developed to display completed genetic linkage maps, to estimate recombination frequency between two loci,and to perform analysis of variance for multi-environmental trials.展开更多
移动机器人导航功能的实现需要同时定位与建图(simultaneous localization and mapping,SLAM)和路径规划这两方面的技术,其中由SLAM技术生成的栅格地图是移动机器人运用路径规划算法的前提。2D激光SLAM由于其建图精度较高、性能稳定且...移动机器人导航功能的实现需要同时定位与建图(simultaneous localization and mapping,SLAM)和路径规划这两方面的技术,其中由SLAM技术生成的栅格地图是移动机器人运用路径规划算法的前提。2D激光SLAM由于其建图精度较高、性能稳定且价格便宜,在室内移动机器人中应用十分广泛。2D激光SLAM是指移动机器人在自身所处环境及位置先验信息未知的情况下,以2D激光雷达为主要传感器,感知周围环境信息,从而实现自身位姿的估计和地图的构建。将2D激光SLAM分为两部分,第一部分从激光测距原理入手,对三角法和飞行时间法进行了详细介绍和优缺点比较。第二部分从前端扫描匹配、后端优化、回环检测和地图构建这四个方面分别详细阐述了2D激光SLAM系统框架。同时对主流2D激光SLAM算法进行了深入分析和优缺点比较,并对激光SLAM未来的发展进行了展望。展开更多
基金supported by the Natural Science Foundation of China (31271798)the Generation Challenge Program (GCP)HarvestP lus Challenge Program of CGIAR
文摘QTL Ici Mapping is freely available public software capable of building high-density linkage maps and mapping quantitative trait loci(QTL) in biparental populations. Eight functionalities are integrated in this software package:(1) BIN: binning of redundant markers;(2) MAP: construction of linkage maps in biparental populations;(3) CMP: consensus map construction from multiple linkage maps sharing common markers;(4) SDL: mapping of segregation distortion loci;(5) BIP: mapping of additive, dominant, and digenic epistasis genes;(6) MET: QTL-by-environment interaction analysis;(7) CSL: mapping of additive and digenic epistasis genes with chromosome segment substitution lines; and(8) NAM: QTL mapping in NAM populations. Input files can be arranged in plain text, MS Excel 2003, or MS Excel 2007 formats. Output files have the same prefix name as the input but with different extensions. As examples, there are two output files in BIN, one for summarizing the identified bin groups and deleted markers in each bin, and the other for using the MAP functionality. Eight output files are generated by MAP, including summary of the completed linkage maps, Mendelian ratio test of individual markers, estimates of recombination frequencies, LOD scores, and genetic distances, and the input files for using the BIP, SDL,and MET functionalities. More than 30 output files are generated by BIP, including results at all scanning positions, identified QTL, permutation tests, and detection powers for up to six mapping methods. Three supplementary tools have also been developed to display completed genetic linkage maps, to estimate recombination frequency between two loci,and to perform analysis of variance for multi-environmental trials.
文摘移动机器人导航功能的实现需要同时定位与建图(simultaneous localization and mapping,SLAM)和路径规划这两方面的技术,其中由SLAM技术生成的栅格地图是移动机器人运用路径规划算法的前提。2D激光SLAM由于其建图精度较高、性能稳定且价格便宜,在室内移动机器人中应用十分广泛。2D激光SLAM是指移动机器人在自身所处环境及位置先验信息未知的情况下,以2D激光雷达为主要传感器,感知周围环境信息,从而实现自身位姿的估计和地图的构建。将2D激光SLAM分为两部分,第一部分从激光测距原理入手,对三角法和飞行时间法进行了详细介绍和优缺点比较。第二部分从前端扫描匹配、后端优化、回环检测和地图构建这四个方面分别详细阐述了2D激光SLAM系统框架。同时对主流2D激光SLAM算法进行了深入分析和优缺点比较,并对激光SLAM未来的发展进行了展望。
