针对Informed-RRT(rapidly-exploring random tree)^(*)算法收敛速度慢、优化效率低和生成路径无法满足实际需求等问题,开展了基于MI-RRT^(*)(Modified Informed-RRT^(*))算法的路径规划研究,通过引入贪心采样和自适应步长的方法提高算...针对Informed-RRT(rapidly-exploring random tree)^(*)算法收敛速度慢、优化效率低和生成路径无法满足实际需求等问题,开展了基于MI-RRT^(*)(Modified Informed-RRT^(*))算法的路径规划研究,通过引入贪心采样和自适应步长的方法提高算法的收敛率,减少路径生成时间、降低内存占用;利用最小化Snap曲线优化的方法使路径平滑的同时动力也变化平缓,达到节省能量的效果,并提供实际可执行的路径。最后通过多组不同复杂度的实验环境表明,较Informed-RRT^(*)算法MI-RRT^(*)算法稳定性更高、所得规划路径平滑可执行,并且能够减少20%的迭代次数和25%的搜索时间,得出在开阔以及密集环境中MI-RRT^(*)算法较Informed-RRT^(*)和RRT^(*)算法有明显的优势。展开更多
By using Windows QTL Cartographer v2.5 software, QTLs for five weight traits of Liangshan semi-fine wool sheep were detected based on nine microsatellite markers on chromosome 3. According to the results, ① in refere...By using Windows QTL Cartographer v2.5 software, QTLs for five weight traits of Liangshan semi-fine wool sheep were detected based on nine microsatellite markers on chromosome 3. According to the results, ① in reference family 191, the QTL affecting weaning weight was detected at 110.01 cM with an additive effect of 6.860, explaining 29.3% of the phenotypic variance; ② in reference family 190, the QTL affecting weaning daily gain was detected at 227.41 cM with an additive effect of 0.013, explaining 1.7% of the phenotypic variance; ③there was no QTL affect- ing birth weight, 1.5-year weight and 2.5-year weight of Liangshan semi-fine wool sheep.展开更多
目的探讨B mi-1基因过度表达在脑胶质瘤诊断中的临床意义。方法收集2013-06—2014-06在我院诊疗被确诊为脑胶质瘤患者脑组织切片65例份,称为实验组;根据病理分级又将实验组分为高级别胶质瘤组和低级别胶质瘤组,简称为实验高组和实验低...目的探讨B mi-1基因过度表达在脑胶质瘤诊断中的临床意义。方法收集2013-06—2014-06在我院诊疗被确诊为脑胶质瘤患者脑组织切片65例份,称为实验组;根据病理分级又将实验组分为高级别胶质瘤组和低级别胶质瘤组,简称为实验高组和实验低组。同时间段正常脑组织切片45例份为对照组。应用PCR技术和蛋白印迹法测定B mi-1基因在实验组和对照组中的B mi-1mRNA以及蛋白表达水平。结果 B mi-1mRNA在实验组呈高表达,其阳性表达率和蛋白表达水平与对照组相比差异有统计学意义(P<0.05);实验高组与低组之间相比,差异均有统计学意义(P<0.05);且随着胶质瘤的病理分级越高表达阳性率也越高。结论 B mi-1基因表达与脑胶质瘤的病理分级呈正相关,在脑胶质瘤发生、发展与预后的治疗中有着重要的提示意义。展开更多
文摘针对Informed-RRT(rapidly-exploring random tree)^(*)算法收敛速度慢、优化效率低和生成路径无法满足实际需求等问题,开展了基于MI-RRT^(*)(Modified Informed-RRT^(*))算法的路径规划研究,通过引入贪心采样和自适应步长的方法提高算法的收敛率,减少路径生成时间、降低内存占用;利用最小化Snap曲线优化的方法使路径平滑的同时动力也变化平缓,达到节省能量的效果,并提供实际可执行的路径。最后通过多组不同复杂度的实验环境表明,较Informed-RRT^(*)算法MI-RRT^(*)算法稳定性更高、所得规划路径平滑可执行,并且能够减少20%的迭代次数和25%的搜索时间,得出在开阔以及密集环境中MI-RRT^(*)算法较Informed-RRT^(*)和RRT^(*)算法有明显的优势。
基金Supported by Fund of the Federal Ministry of Education and Research(BMBF),Germany(CHN 00316)Project of Science and Technology Department of Sichuan Province(2012JY0126)~~
文摘By using Windows QTL Cartographer v2.5 software, QTLs for five weight traits of Liangshan semi-fine wool sheep were detected based on nine microsatellite markers on chromosome 3. According to the results, ① in reference family 191, the QTL affecting weaning weight was detected at 110.01 cM with an additive effect of 6.860, explaining 29.3% of the phenotypic variance; ② in reference family 190, the QTL affecting weaning daily gain was detected at 227.41 cM with an additive effect of 0.013, explaining 1.7% of the phenotypic variance; ③there was no QTL affect- ing birth weight, 1.5-year weight and 2.5-year weight of Liangshan semi-fine wool sheep.
文摘目的探讨B mi-1基因过度表达在脑胶质瘤诊断中的临床意义。方法收集2013-06—2014-06在我院诊疗被确诊为脑胶质瘤患者脑组织切片65例份,称为实验组;根据病理分级又将实验组分为高级别胶质瘤组和低级别胶质瘤组,简称为实验高组和实验低组。同时间段正常脑组织切片45例份为对照组。应用PCR技术和蛋白印迹法测定B mi-1基因在实验组和对照组中的B mi-1mRNA以及蛋白表达水平。结果 B mi-1mRNA在实验组呈高表达,其阳性表达率和蛋白表达水平与对照组相比差异有统计学意义(P<0.05);实验高组与低组之间相比,差异均有统计学意义(P<0.05);且随着胶质瘤的病理分级越高表达阳性率也越高。结论 B mi-1基因表达与脑胶质瘤的病理分级呈正相关,在脑胶质瘤发生、发展与预后的治疗中有着重要的提示意义。
