Dynamic Event-Triggered Fixed-Time Consensus Control and Its Applications to Magnetic Map Construction

This article deals with the consensus problem of multi-agent systems by developing a fixed-time consensus control approach with a dynamic event-triggered rule. First, a new fixedtime stability condition is obtained where the less conservative settling time is given such that the theoretical settling time can well reflect the real consensus time. Second, a dynamic event-triggered rule is designed to decrease the use of chip and network resources where Zeno behaviors can be avoided after consensus is achieved, especially for finite/fixed-time consensus control approaches. Third, in terms of the developed dynamic event-triggered rule, a fixed-time consensus control approach by introducing a new item is proposed to coordinate the multi-agent system to reach consensus. The corresponding stability of the multi-agent system with the proposed control approach and dynamic eventtriggered rule is analyzed based on Lyapunov theory and the fixed-time stability theorem. At last, the effectiveness of the dynamic event-triggered fixed-time consensus control approach is verified by simulations and experiments for the problem of magnetic map construction based on multiple mobile robots.

An improved Gmapping algorithm based map construction method for indoor mobile robot

With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.

CONSTRUCTION OF A CONTIG MAP OF THE RICE GENOME

In August 1992, the State S&T Commission(SSTC) of China announced that China would launch a Rice Genome Program, a counterpart to the US Program of Human Genome, in a bid to decipher the genetic code of rice at the molecular level and then apply the obtained results to the cultivation of improved strains of the crop.

Review of Simultaneous Localization and Mapping Technology in the Agricultural Environment

Simultaneous localization and mapping(SLAM)is one of the most attractive research hotspots in the field of robotics,and it is also a prerequisite for the autonomous navigation of robots.It can significantly improve the autonomous navigation ability of mobile robots and their adaptability to different application environments and contribute to the realization of real-time obstacle avoidance and dynamic path planning.Moreover,the application of SLAM technology has expanded from industrial production,intelligent transportation,special operations and other fields to agricultural environments,such as autonomous navigation,independent weeding,three-dimen-sional(3D)mapping,and independent harvesting.This paper mainly introduces the principle,sys-tem framework,latest development and application of SLAM technology,especially in agricultural environments.Firstly,the system framework and theory of the SLAM algorithm are introduced,and the SLAM algorithm is described in detail according to different sensor types.Then,the devel-opment and application of SLAM in the agricultural environment are summarized from two aspects:environment map construction,and localization and navigation of agricultural robots.Finally,the challenges and future research directions of SLAM in the agricultural environment are discussed.

Constructing Molecular Marker Linkage Maps of Chromosome 14Sh and 22Sh and QTL Mapping for Major Traits by Use of Substitution Lines of Gossypium hirsutum L.

CSB14Sh,which is isogenic for its recurrent parent TM-1 except for chromosome 14 short arm,was crossed with TM-1,and the F2 population was produced.A total of 3800 SSR primer pairs covering the whole genome were used to screen polymorphism among two parents,TM-1 and CSB14Sh,

Spatio-temporal Evolution of Urban Expansion Based on a Novel Adjusted Index and GEE: A Case Study of Central Plains Urban Agglomeration, China

It is crucial to investigate the urban agglomerations spatio-temporal evolution patterns and driving factors for analyzing the urban spatial structure-functional division and promoting the coordinated development of urban agglomerations.In this study,a novel vegetation-building-nighttime light-adjusted index(VBNAI)was established for rapid and effective mapping of urban construction land(UCL)in Central Plains Urban Agglomeration(CPUA),China during 2000–2020 based on Google Earth Engine(GEE)platform.Compared with traditional indices,VBNAI can significantly decrease the blooming effect,Normalized Difference Vegetation Index(NDVI)saturation,and soil background of nighttime light data.In addition,the urban expansion indices and standard deviation ellipse model were synthetically adopted to analyze the spatio-temporal evolution pattern of urban expansion.The gravity model and the geographically weighted regression model were employed to determine the spatial interaction forces and drivers of urban expansion,respectively.The results showed that the VBNAI index has obvious advantages in efficiency and accuracy to extract UCL with the overall accuracy of more than 91%.The UCL of CPUA had increased by 4489.84 km2 during 2000–2020 with the gravity center moving towards southeast continuously.From 2000 to 2010,the urban expansion was in a‘center-hinterland’pattern which had benefit from the favorable effect of the traffic shaft belt.During 2010–2020,the urban network structure had basically established.Urban expansion had been influenced by a variety of socio-economic and demographic factors,and the impact degree varied from region to region.This study could provide scientific references for facilitating the intensive utilization of urban resources and optimizing the spatial development pattern of urban agglomeration.