Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells

This work proposes an online collaborative hunting strategy for multi-robot systems based on obstacle-avoiding Voronoi cells in a complex dynamic environment. This involves firstly designing the construction method using a support vector machine(SVM) based on the definition of buffered Voronoi cells(BVCs). Based on the safe collision-free region of the robots, the boundary weights between the robots and the obstacles are dynamically updated such that the robots are tangent to the buffered Voronoi safety areas without intersecting with the obstacles. Then, the robots are controlled to move within their own buffered Voronoi safety area to achieve collision-avoidance with other robots and obstacles. The next step involves proposing a hunting method that optimizes collaboration between the pursuers and evaders. Some hunting points are generated and distributed evenly around a circle. Next, the pursuers are assigned to match the optimal points based on the Hungarian algorithm.Then, a hunting controller is designed to improve the containment capability and minimize containment time based on collision risk. Finally, simulation results have demonstrated that the proposed cooperative hunting method is more competitive in terms of time and travel distance.

Genomic selection for meat quality traits based on VIS/NIR spectral information

The principle of genomic selection(GS) entails estimating breeding values(BVs) by summing all the SNP polygenic effects. The visible/near-infrared spectroscopy(VIS/NIRS) wavelength and abundance values can directly reflect the concentrations of chemical substances, and the measurement of meat traits by VIS/NIRS is similar to the processing of genomic selection data by summing all ‘polygenic effects' associated with spectral feature peaks. Therefore, it is meaningful to investigate the incorporation of VIS/NIRS information into GS models to establish an efficient and low-cost breeding model. In this study, we measured 6 meat quality traits in 359Duroc×Landrace×Yorkshire pigs from Guangxi Zhuang Autonomous Region, China, and genotyped them with high-density SNP chips. According to the completeness of the information for the target population, we proposed 4breeding strategies applied to different scenarios: Ⅰ, only spectral and genotypic data exist for the target population;Ⅱ, only spectral data exist for the target population;Ⅲ, only spectral and genotypic data but with different prediction processes exist for the target population;and Ⅳ, only spectral and phenotypic data exist for the target population.The 4 scenarios were used to evaluate the genomic estimated breeding value(GEBV) accuracy by increasing the VIS/NIR spectral information. In the results of the 5-fold cross-validation, the genetic algorithm showed remarkable potential for preselection of feature wavelengths. The breeding efficiency of Strategies Ⅱ, Ⅲ, and Ⅳ was superior to that of traditional GS for most traits, and the GEBV prediction accuracy was improved by 32.2, 40.8 and 15.5%, respectively on average. Among them, the prediction accuracy of Strategy Ⅱ for fat(%) even improved by 50.7% compared to traditional GS. The GEBV prediction accuracy of Strategy Ⅰ was nearly identical to that of traditional GS, and the fluctuation range was less than 7%. Moreover, the breeding cost of the 4 strategies was lower than that of traditional GS methods, with Strategy Ⅳ being the lowest as it did not require genotyping.Our findings demonstrate that GS methods based on VIS/NIRS data have significant predictive potential and are worthy of further research to provide a valuable reference for the development of effective and affordable breeding strategies.

有限维空间中Ray Avoiding映射的不动点定理

在Hilbert空间中引入RayAvoiding映射 ,证明了在一定条件下 ,Hilbert空间的有界闭凸集D中RayAvoiding映射至少存在 3个不动点 .

Application of A* Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles

This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV.

A Study on Development of a Hybrid Aerial/Terrestrial Robot System for Avoiding Ground Obstacles by Flight

To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various terrestrial robots, such as snake-like, humanoid, spider-type, and wheeled units. Another area of active research in recent years has been aerial robots with small helicopters for operation indoors and outdoors. However,less research has been performed on robots that operate both on the ground and in the air. Accordingly, in this paper, we propose a hybrid aerial/terrestrial robot system. The proposed robot system was developed by equipping a quadcopter with a mechanism for ground movement. It does not use power dedicated to ground movement, and instead uses the flight mechanism of the quadcopter to achieve ground movement as well. Furthermore, we addressed the issue of obstacle avoidance as part of studies on autonomous control. Thus, we found that autonomous control of ground movement and flight was possible for the hybrid aerial/terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.

WORST SUBCARRIER AVOIDING WATER-FILLING SUBCARRIER ALLOCATION SCHEME FOR OFDM-BASED CRN

Efficient and reliable subcarrier power joint allocation is served as a promising problem in cognitive OFDM-based Cognitive Radio Networks (CRN). This paper focuses on optimal subcarrier allocation for OFDM-based CRN. We mainly propose subcarrier allocation scheme denoted as Worst Subcarrier Avoiding Water-filling (WSAW), which is based on Rate Adaptive (RA) criterion and three constraints are considered in CRN. The algorithm divides the assignment procedure into two phases. The first phase is an initial subcarrier allocation based on the idea of avoiding selecting the worst subcarrier in order to maximize the transmission rate; while the second phase is an iterative adjustment process which is realized by swapping pairs of subcarriers between arbitrary users. The proposed scheme could assign subcarriers in accordance with channel coherence time. Hence, real time subcarrier allocation could be implemented. Simulation results show that, comparing with the similar existing algorithms, the proposed scheme could achieve larger capacity and a near-optimal BER performance.

Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment

Monocular vision-based navigation is a considerable ability for a home mobile robot. However, due to diverse disturbances, helping robots avoid obstacles, especially nonManhattan obstacles, remains a big challenge. In indoor environments, there are many spatial right-corners that are projected into two dimensional projections with special geometric configurations. These projections, which consist of three lines,might enable us to estimate their position and orientation in 3 D scenes. In this paper, we present a method for home robots to avoid non-Manhattan obstacles in indoor environments from a monocular camera. The approach first detects non-Manhattan obstacles. Through analyzing geometric features and constraints,it is possible to estimate posture differences between orientation of the robot and non-Manhattan obstacles. Finally according to the convergence of posture differences, the robot can adjust its orientation to keep pace with the pose of detected non-Manhattan obstacles, making it possible avoid these obstacles by itself. Based on geometric inferences, the proposed approach requires no prior training or any knowledge of the camera’s internal parameters,making it practical for robots navigation. Furthermore, the method is robust to errors in calibration and image noise. We compared the errors from corners of estimated non-Manhattan obstacles against the ground truth. Furthermore, we evaluate the validity of convergence of differences between the robot orientation and the posture of non-Manhattan obstacles. The experimental results showed that our method is capable of avoiding non-Manhattan obstacles, meeting the requirements for indoor robot navigation.

T_GRASP: Optimization Algorithm of Ship Avoiding Typhoon Route

AGRASP-based algorithm called T_GRASP for avoiding typhoon route optimization is suggested to increase the security and effectiveness of ship navigation.One of the worst natural calamities that can disrupt a ship’s navigation and result in numerous safety mishaps is a typhoon.Currently,the captains manually review the collected weather data and steer clear of typhoons using their navigational expertise.The distribution of heavy winds andwaves produced by the typhoon also changes dynamically as a result of the surrounding large-scale air pressure distribution,which significantly enhances the challenge of the captain’s preparation for avoiding typhoon navigation.It is now necessary to find a solution to the challenge of designing a highsafety and effective ship navigation path to avoid typhoons.The T_GRASP algorithm is suggested to optimize the candidate set’s structure based on the GRASP algorithm’s frame.The algorithm can guarantee the safety of the ship to avoid typhoons and assure high route efficiency by using the lowest risk function,the shortest sailing time,and the least fuel consumption as the objective functions and the ship speed and highest safety as the model constraints.The outcomes of the simulation demonstrate the superiority of the suggested T_GRASP algorithm over both the conventional A∗algorithm and the ant colony algorithm.In addition to addressing issues with the traditional A∗algorithm,like its wide search space and poor efficiency,the proposed algorithm also addresses issues with the ant colony algorithm,like its excessive iterations and sluggish convergence.

关于k-sum-avoiding子集基数的估计

对sum-avoiding子集进行推广,对任意正整数k(k 2),若集合S是A■N的一个子集,且S中任意k个元素的和都不属于A,则S称为集合A的k-sum-avoiding子集.估计了当|A|=n时,A的k-sum-avoiding子集S的最大基数.

Single-base editing in IGF2 improves meat production and intramuscular fat deposition in Liang Guang Small Spotted pigs

Background Chinese indigenous pigs are popular with consumers for their juiciness,flavour and meat quality,but they have lower meat production.Insulin-like growth factor 2(IGF2) is a maternally imprinted growth factor that promotes skeletal muscle growth by regulating cell proliferation and differentiation.A single nucleotide polymorphism(SNP) within intron 3 of porcine IGF2 disrupts a binding site for the repressor,zinc finger BED-type containing 6(ZBED6),leading to up-regulation of IGF2 and causing major effects on muscle growth,heart size,and backfat thickness.This favorable mutation is common in Western commercial pig populations,but absent in most Chinese indigenous pig breeds.To improve meat production of Chinese indigenous pigs,we used cytosine base editor 3(CBE3)to introduce IGF2 intron3-C3071T mutation into porcine embryonic fibroblasts(PEFs) isolated from a male Liang Guang Small Spotted pig(LGSS),and single-cell clones harboring the desired mutation were selected for somatic cell nuclear transfer(SCNT) to generate the founder line of IGF2^(T/T) pigs.Results We found the heterozygous progeny IGF2^(C/T) pigs exhibited enhanced expression of IGF2,increased lean meat by 18%-36%,enlarged loin muscle area by 3%-17%,improved intramuscular fat(IMF) content by 18%-39%,marbling score by 0.75-1,meat color score by 0.53-1.25,and reduced backfat thickness by 5%-16%.The enhanced accumulation of intramuscular fat in IGF2^(C/T) pigs was identified to be regulated by the PI3K-AKT/AMPK pathway,which activated SREBP1 to promote adipogenesis.Conclusions We demonstrated the introduction of IGF2-intron3-C3071T in Chinese LGSS can improve both meat production and quality,and first identified the regulation of IMF deposition by IGF2 through SREBP1 via the PI3KAKT/AMPK signaling pathways.Our study provides a further understanding of the biological functions of IGF2and an example for improving porcine economic traits through precise base editing.

Dynamic changes of rumen microbiota and serum metabolome revealed increases in meat quality and growth performances of sheep fed bio‑fermented rice straw

Background Providing high-quality roughage is crucial for improvement of ruminant production because it is an essential component of their feed.Our previous study showed that feeding bio-fermented rice straw(BF)improved the feed intake and weight gain of sheep.However,it remains unclear why feeding BF to sheep increased their feed intake and weight gain.Therefore,the purposes of this research were to investigate how the rumen micro-biota and serum metabolome are dynamically changing after feeding BF,as well as how their changes influence the feed intake,digestibility,nutrient transport,meat quality and growth performances of sheep.Twelve growing Hu sheep were allocated into 3 groups:alfalfa hay fed group(AH:positive control),rice straw fed group(RS:negative control)and BF fed group(BF:treatment).Samples of rumen content,blood,rumen epithelium,muscle,feed offered and refusals were collected for the subsequent analysis.Results Feeding BF changed the microbial community and rumen fermentation,particularly increasing(P<0.05)relative abundance of Prevotella and propionate production,and decreasing(P<0.05)enteric methane yield.The histomorphology(height,width,area and thickness)of rumen papillae and gene expression for carbohydrate trans-port(MCT1),tight junction(claudin-1,claudin-4),and cell proliferation(CDK4,Cyclin A2,Cyclin E1)were improved(P<0.05)in sheep fed BF.Additionally,serum metabolome was also dynamically changed,which led to up-regulating(P<0.05)the primary bile acid biosynthesis and biosynthesis of unsaturated fatty acid in sheep fed BF.As a result,the higher(P<0.05)feed intake,digestibility,growth rate,feed efficiency,meat quality and mono-unsaturated fatty acid concentration in muscle,and the lower(P<0.05)feed cost per kg of live weight were achieved by feeding BF.Conclusions Feeding BF improved the growth performances and meat quality of sheep and reduced their feed cost.Therefore,bio-fermentation of rice straw could be an innovative way for improving ruminant production with mini-mizing production costs.

Reflections on China’s Targeted Poverty Alleviation Strategy from the Perspective of Drawing on Advantages and Avoiding Disadvantages in the New Era

The new era has put forward new requirements for targeted poverty alleviation.Coordinating disaster prevention,mitigation and relief and ecological civilization construction to assist targeted poverty alleviation has become an important direction for alleviating poverty from the perspective of drawing on advantages and avoiding disadvantages.The Outline of the 13th Five-Year Plan for National Economic and Social Development of the People's Republic of China has planned and deployed to fully implement the task of poverty alleviation.The current poverty alleviation is extending from fixed-point poverty alleviation to collaborative poverty alleviation and targeted poverty alleviation.Combining the needs of disaster response,climate adaptation,resource utilization,ecological construction,and information utilization in poverty-stricken areas,the role of disaster risk monitoring,forecasting and early warning services is displayed.The disaster prevention,mitigation and relief and poverty alleviation in the new era should be integrated into the national poverty alleviation pattern,actively serve poverty alleviation projects of industry development,relocation and ecological protection,deeply explore the value of disaster risk information and improve the effective supply of disaster prevention,mitigation and relief services,letting disaster prevention,mitigation and relief and ecological civilization construction help the implementation of targeted poverty alleviation.

Reconstruction of Knowledge and Medical Images in the Convergence of Chinese and Western Medicine:Taking “Sweet Meat” as an Example

The pancreas is neither part of the five Zang organs(五脏) nor the six Fu organs(六腑).Thus,it has received little attention in Chinese medical literature.In the late 19th century,medical missionaries in China started translating and introducing anatomical and physiological knowledge about the pancreas.As for the word pancreas,an early and influential translation was “sweet meat”(甜肉),proposed by Benjamin Hobson(合信).The translation “sweet meat” is not faithful to the original meaning of “pancreas”,but is a term coined by Hobson based on his personal habits,and the word “sweet” appeared by chance.However,in the decades since the term “sweet meat” became popular,Chinese medicine practitioners,such as Tang Zonghai(唐宗海),reinterpreted it by drawing new medical illustrations for “sweet meat” and giving new connotations to the word “sweet”.This discussion and interpretation of “sweet meat” in modern China,particularly among Chinese medicine professionals,is not only a dissemination and interpretation of the knowledge of “pancreas”,but also a construction of knowledge around the term “sweet meat”.

Non-Associative Property of 123-Avoiding Class of Aunu Permutation Patterns

This paper presents the non-associative and non-commutative properties of the 123-avoiding patterns of Aunu permutation patterns. The generating function of the said patterns has been reported earlier by the author [1] [2]. The paper describes how these non-associative and non commutative properties can be established by using the Cayley table on which a binary operation is defined to act on the 123-avoiding and 132-avoiding patterns of Aunu permutations using a pairing scheme. Our results have generated larger matrices from permutations of points of the Aunu patterns of prime cardinality. It follows that the generated symbols can be used in further studies and analysis in cryptography and game theory thereby providing an interdisciplinary approach and applications of these important permutation patterns.

Avoiding obstacles by using a proximity infrared sensor skin

Placement and wiring of vast amount of sensor elements on the 3-dimensionally configured robot sur-face to form soft sensor skin is very difficult with the traditional technology. In this paper we propose a new method to realize such a skin.By implanting infrared sensors array in an elastic body, we obtain an elastic and tough sensor skin that can be shaped freely.The developed sensor skin is a large-area, flexi-ble array of infrared sensors with data processing capabilities.Depending on the skin electronics, it en-dows its carrier with an ability to sense its surroundings.The structure, the method of infrared sensor sig-nal processing, and basic experiments of sensor skin are presented. The validity of the infrared sensor skin is investigated by preliminary obstacle avoidance trial.

Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.

The meat of the matter: plant-based meat analogue versus traditional meat product nutritional quality

Plant-based meat analogues(PBMA)are formulated to mimic the sensory characteristics of traditional meat products(TMP)using vegetarian ingredients and are increasingly popular with the trend towards plantbased diets,even among meat-eating consumers.This narrative review compared the nutritional quality of PBMA and TMP to broaden the discussion on the suitability of simulated meat products to substitute TMP,while exploring other attributes for their comparison.The complexity of PBMA and TMP means they are not entirely interchangeable.Importantly,PBMA health effects extend beyond their basic nutrient content and quality.Postprandial metabolism and satiety,for example,can be affected by product formulation,ingredient interactions,and thermomechanical processing involved in producing organoleptically acceptable PBMA.There are specific opportunities for low-sodium PBMA products to contribute to a healthy shift toward plantbased diets.In conclusion,PBMA cannot be assumed to be healthier than TMP.They should be designed with comprehensive consideration of composition and processing to ensure they support consumers who are adopting plant-based diets in realizing the theoretical health benefits.

Effects of salt and rice flour concentration on microbial diversity and the quality of sour meat,a Chinese traditional meat

This study investigated the effects of salt(3%and 6%,m/m)and rice flour(10%and 20%,m/m)addition in sour meat,a traditional Chinese fermented meat.It was found that salt has greater effect than rice flour addition in spontaneous fermentation.Low-salt groups had lower pH and higher titratable total acid.In the low-salt groups,the dominant genera were Lactobacillus and Lactococcus,whereas Staphylococcus,Weissella,and Tetragenococcus were dominant in the high-salt groups.Higher total free amino acids and essential amino acids,organic acids,hexanoic acid ethyl ester and octanoic acid ethyl ester were found in the low-salt groups.The RDA analysis revealed that Lactococcus was closely related to product quality,with the S3F10(3%salt and 10%rice f lour)group outperforming the others in the sensory evaluation.Therefore,3%salt and 10%rice flour were considered more appropriate for the production of healthy and tasty fermented sour meats.

Identification of key genes and metabolites involved in meat quality performance in Qinchuan cattle by WGCNA

Understanding the genetic and metabolic elements that impact meat quality is crucial to improving production and meeting consumer demands in the beef sector.Differences in meat quality among various muscle areas in beef cattle can impact pricing in the market.Despite progress in genomics,the specific genes and metabolites that affect meat quality characteristics in Qinchuan cattle remain inadequately understood.Therefore,this study aims to evaluate the meat quality characteristics of four specific muscle locations(tenderloin,striploin,high rib,and ribeye muscles)in Qinchuan bulls,including 10 traits(total protein content(TPC),intramuscular fat(IMF),non-esterified fatty acid(NEFA),meat color(L*,a*,and b*),shear force(SF),cooking loss(CL),pH0,and pH24).This experiment uses transcriptome,metabolome sequencing,and sophisticated analytical methodologies such as weighted gene co-expression network analysis(WGCNA)and protein–protein interaction networks(PPI)to identify the key genes and metabolites associated with specific traits.The findings highlight three notable genes(NDUFAB1,NDUFA12,and NDUFB7)linked to intramuscular fat(IMF),three key genes(CSRP3,ACAA3,and ACADVL)correlated with non-esterified fatty acids(NEFA),and one crucial gene(CREBBP)influencing meat color.In conclusion,this investigation offers a new perspective on the differences in bovine muscle locations and contributes to the molecular understanding of bovine meat quality.Future research endeavors could delve deeper into the identified genes and pathways to enhance beef cattle’s quality and yield.

Investigation of the Acceptability of Cultured Meat in University Students

Background: Over the past 20 years, cultured meat has drawn a lot of public attention as a potential solution to issues with animal husbandry, including inadequate use of natural sources, improper animal welfare practices, and possible risks to public health and safety. The novel method of producing meat through culture reduces the need for animals to produce muscle fiber, thereby obviating the necessity for animal slaughter. Apart from its ethical advantages, cultured meat presents a possible way to fulfill the expanding need for food among growing populations. The purpose of this research was to find out whether Turkish students would be willing to pay for and accept cultured meat. Technique: Method: 371 university students who willingly consented to fill out a questionnaire and provide demographic data make up the research sample. Questions from previous studies on the acceptability of cultured meat were compiled to create the survey. The research’s data collection took place in March and April of 2022. The research was completed in June 2022 after the data had been processed and analyzed. Results: The results showed that the majority of participants were female and had omnivorous eating habits. Based on the results of the Bonferroni correction test, students with a higher intention to purchase and consume cultured meat were those who received economics and business education. Students with two years of university education had a higher overall survey score than those with four years of education (p < 0.05). Furthermore, it is discovered that there is a negative correlation between the participants’ ages and their Factor 2 (using cultured meat as an alternative to industrial meat) and Factor 3 (consuming and purchasing it) section points (r = -109, p = 0.036) (r = -0.121, p = 0.019). In conclusion, university students generally have a negative outlook on health-related issues, such as eating cultured meat as an alternative.