In this paper,a bioinspired path planning approach for mobile robots is proposed.The approach is based on the sparrow search algorithm,which is an intelligent optimization algorithm inspired by the group wisdom,foragi...In this paper,a bioinspired path planning approach for mobile robots is proposed.The approach is based on the sparrow search algorithm,which is an intelligent optimization algorithm inspired by the group wisdom,foraging,and anti-predation behaviors of sparrows.To obtain high-quality paths and fast convergence,an improved sparrow search algorithm is proposed with three new strategies.First,a linear path strategy is proposed,which can transform the polyline in the corner of the path into a smooth line,to enable the robot to reach the goal faster.Then,a new neighborhood search strategy is used to improve the fitness value of the global optimal individual,and a new position update function is used to speed up the convergence.Finally,a new multi-index comprehensive evaluation method is designed to evaluate these algorithms.Experimental results show that the proposed algorithm has a shorter path and faster convergence than other state-ofthe-art studies.展开更多
In order to study selection indices for improving rice grain yield, a cross was made between an Iranian traditional rice (Oryza sativa L.) variety, Tarommahalli and an improved indica rice variety, Khazar in 2006. The...In order to study selection indices for improving rice grain yield, a cross was made between an Iranian traditional rice (Oryza sativa L.) variety, Tarommahalli and an improved indica rice variety, Khazar in 2006. The traits of the parents (30 plants), F1 (30 plants) and F2 generations (492 individuals) were evaluated at the Rice Research Institute of Iran (RRII) during 2007. Heritabilities of the number of panicles per plant, plant height, days to heading and panicle exsertion were greater than that of grain yield. The selection indices were developed using the results of multivariate analysis. To evaluate selection strategies to maximize grain yield, 14 selection indices were calculated based on two methods (optimum and base) and combinations of 12 traits with various economic weights. Results of selection indices showed that selection for grain weight, number of panicles per plant and panicle length by using their phenotypic and/or genotypic direct effects (path coefficient) as economic weights should serve as an effective selection criterion for using either the optimum or base index.展开更多
Based on the spectral now and the stratification structures of the symplectic group Sp(2n, c) , the Maslov-type index theory and its generalization, the w-index theory parameterized by all ω on the unit circle, for a...Based on the spectral now and the stratification structures of the symplectic group Sp(2n, c) , the Maslov-type index theory and its generalization, the w-index theory parameterized by all ω on the unit circle, for arbitrary paths in Sp(2n, C) are established. Then the Bott-type iteration formula of the Maslov-type indices for iterated paths in Sp(2n, C) is proved, and the mean index for any path in Sp(2n, C) is defined. Also, the relation among various Maslov-type index theories is studied.展开更多
基金supported by the National Key R&D Program of China(Grant No.2018YFB1309200)the Opening Project of Shanghai Robot Industry R&D and Transformation Functional Platform.
文摘In this paper,a bioinspired path planning approach for mobile robots is proposed.The approach is based on the sparrow search algorithm,which is an intelligent optimization algorithm inspired by the group wisdom,foraging,and anti-predation behaviors of sparrows.To obtain high-quality paths and fast convergence,an improved sparrow search algorithm is proposed with three new strategies.First,a linear path strategy is proposed,which can transform the polyline in the corner of the path into a smooth line,to enable the robot to reach the goal faster.Then,a new neighborhood search strategy is used to improve the fitness value of the global optimal individual,and a new position update function is used to speed up the convergence.Finally,a new multi-index comprehensive evaluation method is designed to evaluate these algorithms.Experimental results show that the proposed algorithm has a shorter path and faster convergence than other state-ofthe-art studies.
文摘In order to study selection indices for improving rice grain yield, a cross was made between an Iranian traditional rice (Oryza sativa L.) variety, Tarommahalli and an improved indica rice variety, Khazar in 2006. The traits of the parents (30 plants), F1 (30 plants) and F2 generations (492 individuals) were evaluated at the Rice Research Institute of Iran (RRII) during 2007. Heritabilities of the number of panicles per plant, plant height, days to heading and panicle exsertion were greater than that of grain yield. The selection indices were developed using the results of multivariate analysis. To evaluate selection strategies to maximize grain yield, 14 selection indices were calculated based on two methods (optimum and base) and combinations of 12 traits with various economic weights. Results of selection indices showed that selection for grain weight, number of panicles per plant and panicle length by using their phenotypic and/or genotypic direct effects (path coefficient) as economic weights should serve as an effective selection criterion for using either the optimum or base index.
基金National Natural Science Foundation of China MCSEC of China Qiu Shi Science and Technology Foundation.
文摘Based on the spectral now and the stratification structures of the symplectic group Sp(2n, c) , the Maslov-type index theory and its generalization, the w-index theory parameterized by all ω on the unit circle, for arbitrary paths in Sp(2n, C) are established. Then the Bott-type iteration formula of the Maslov-type indices for iterated paths in Sp(2n, C) is proved, and the mean index for any path in Sp(2n, C) is defined. Also, the relation among various Maslov-type index theories is studied.
