An ant colony optimization with artificial potential field(ACOAPF)algorithm is proposed to solve the cooperative search mission planning problem of unmanned aerial vehicle(UAV)swarm.This algorithm adopts a distributed...An ant colony optimization with artificial potential field(ACOAPF)algorithm is proposed to solve the cooperative search mission planning problem of unmanned aerial vehicle(UAV)swarm.This algorithm adopts a distributed architecture where each UAV is considered as an ant and makes decision autonomously.At each decision step,the ants choose the next gird according to the state transition rule and update its own artificial potential field and pheromone map based on the current search results.Through iterations of this process,the cooperative search of UAV swarm for mission area is realized.The state transition rule is divided into two types.If the artificial potential force is larger than a threshold,the deterministic transition rule is adopted,otherwise a heuristic transition rule is used.The deterministic transition rule can ensure UAVs to avoid the threat or approach the target quickly.And the heuristics transition rule considering the pheromone and heuristic information ensures the continuous search of area with the goal of covering more unknown area and finding more targets.Finally,simulations are carried out to verify the effectiveness of the proposed ACOAPF algorithm for cooperative search mission of UAV swarm.展开更多
Information flow between the prefrontal and visual cortices is critical for visual behaviors such as visual search. To investigate its mechanisms, we simultaneously recorded spike and local field potential (LFP) signa...Information flow between the prefrontal and visual cortices is critical for visual behaviors such as visual search. To investigate its mechanisms, we simultaneously recorded spike and local field potential (LFP) signals in the frontal eye field (FEF) and area V4 while monkeys performed a free-gaze visual search task. During free-gaze search, spike-LFP coherence between FEF and V4 was enhanced in the theta rhythm (4–8 Hz) but suppressed in the alpha rhythm (8–13 Hz). Cross-frequency couplings during the Cue period before the search phase were related to monkey performance, with higher FEF theta-V4 gamma coupling and lower FEF alpha-V4 gamma coupling associated with faster search. Finally, feature-based attention during search enhanced spike-LFP coherence between FEF and V4 in the gamma and beta rhythms, whereas overt spatial attention reduced coherence at frequencies up to 30 Hz. These results suggest that oscillatory coupling may play an important role in mediating interactions between the prefrontal and visual cortices during visual search.展开更多
Four solanaceous plant species, namely hot pepper (Capsicum frutescensL.), potato (Solanum tuberosumL.), tobacco (Nicotiana tabacumL.) and tomato (Lycopersicon esculentumMiller) were anatomically screened for compatib...Four solanaceous plant species, namely hot pepper (Capsicum frutescensL.), potato (Solanum tuberosumL.), tobacco (Nicotiana tabacumL.) and tomato (Lycopersicon esculentumMiller) were anatomically screened for compatibility/incompatibility to field dodder (Cuscuta campestrisYuncker, Cuscutaceae). The development of field dodder haustorium within stem tissues of the studied solanaceous plants was found to depend on the latter’s response to the former’s penetration. In hot pepper and tobacco, which showed a positive response, the haustorium was well developed and its searching hyphae established connections with their vascular tissues. However, potato and tomato showed a negative response and acquired different defense mechanisms against the parasitism of field dodder. In both of them, the field dodder haustorium and/or its searching hyphae exhibited distorted appearance and failed to establish connection with their vascular tissues. Thus, the tested solanaceous plant species could be classified as either compatible (hot pepper and tobacco) or incompatible (potato and tomato) hosts to field dodder.展开更多
The paper deals with magnetic field mapping outside a finite length solenoid electromagnet, by an in-house designed and calibrated inductive pick-up or search coil. The search coil is calibrated in a unique methodolog...The paper deals with magnetic field mapping outside a finite length solenoid electromagnet, by an in-house designed and calibrated inductive pick-up or search coil. The search coil is calibrated in a unique methodology based on the azimuthal magnetic field component generated by a straight wire. This unique calibration technique helps us to avoid additional circuitry to integrate the signal obtained from search coil. The methodology proves advantageous in diffusion, implosion studies where the signal frequency changes with dimension and material of experimental job-piece (hollow metal tube). Remedial measures have been taken to avoid electrostatic capacitive pick-up (which eventually exacerbates with integration) keeping measurement simple and accurate. The experimentally measured field values have also been compared with electromagnetic field results obtained from mathematical calculations and finite element based simulations. Two different mathematical approaches have been demonstrated for field computation based on Biot-Savart Law. Both the methods have taken into account the exact geometry of the solenoid, including the inter-turn gaps. The methods use appropriate combination of closed-form mathematical expression and numerical integration techniques and are capable of determining all the vector components of magnetic field anywhere around the finite length solenoid. The mathematical computations are equally significant contributions in the paper especially because exact determination of magnetic fields outside finite length solenoids has not been discussed in sufficient specific details in already existing literature. The mathematical computations, finite element simulations and experimental verification together provide a holistic solution to magnetic field determination problems in pulse power applications that have not been discussed in available literature or books in specific details.展开更多
基金supported by the National Natural Science Foundation of China (Nos.61973158, 61673209)the Aeronautical Science Foundation (No.2016ZA52009)
文摘An ant colony optimization with artificial potential field(ACOAPF)algorithm is proposed to solve the cooperative search mission planning problem of unmanned aerial vehicle(UAV)swarm.This algorithm adopts a distributed architecture where each UAV is considered as an ant and makes decision autonomously.At each decision step,the ants choose the next gird according to the state transition rule and update its own artificial potential field and pheromone map based on the current search results.Through iterations of this process,the cooperative search of UAV swarm for mission area is realized.The state transition rule is divided into two types.If the artificial potential force is larger than a threshold,the deterministic transition rule is adopted,otherwise a heuristic transition rule is used.The deterministic transition rule can ensure UAVs to avoid the threat or approach the target quickly.And the heuristics transition rule considering the pheromone and heuristic information ensures the continuous search of area with the goal of covering more unknown area and finding more targets.Finally,simulations are carried out to verify the effectiveness of the proposed ACOAPF algorithm for cooperative search mission of UAV swarm.
基金supported by the National Key R&D Program of China(2017YFC1307500)the National Natural Science Foundation of China(31800900)+2 种基金the CAS-Iranian Vice presidency for Science and Technology Joint Research Project(172644KYSB20160175)Guangdong Innovative and Entrepreneurial Research Team Program(2014ZT05S020)Shenzhen Municipal Grants(KQJSCX20170731164702657,JCYJ20151030140325151,JCYJ20170413165053031,GJHZ20160229200136090,KQTD20140630180249366)
文摘Information flow between the prefrontal and visual cortices is critical for visual behaviors such as visual search. To investigate its mechanisms, we simultaneously recorded spike and local field potential (LFP) signals in the frontal eye field (FEF) and area V4 while monkeys performed a free-gaze visual search task. During free-gaze search, spike-LFP coherence between FEF and V4 was enhanced in the theta rhythm (4–8 Hz) but suppressed in the alpha rhythm (8–13 Hz). Cross-frequency couplings during the Cue period before the search phase were related to monkey performance, with higher FEF theta-V4 gamma coupling and lower FEF alpha-V4 gamma coupling associated with faster search. Finally, feature-based attention during search enhanced spike-LFP coherence between FEF and V4 in the gamma and beta rhythms, whereas overt spatial attention reduced coherence at frequencies up to 30 Hz. These results suggest that oscillatory coupling may play an important role in mediating interactions between the prefrontal and visual cortices during visual search.
文摘Four solanaceous plant species, namely hot pepper (Capsicum frutescensL.), potato (Solanum tuberosumL.), tobacco (Nicotiana tabacumL.) and tomato (Lycopersicon esculentumMiller) were anatomically screened for compatibility/incompatibility to field dodder (Cuscuta campestrisYuncker, Cuscutaceae). The development of field dodder haustorium within stem tissues of the studied solanaceous plants was found to depend on the latter’s response to the former’s penetration. In hot pepper and tobacco, which showed a positive response, the haustorium was well developed and its searching hyphae established connections with their vascular tissues. However, potato and tomato showed a negative response and acquired different defense mechanisms against the parasitism of field dodder. In both of them, the field dodder haustorium and/or its searching hyphae exhibited distorted appearance and failed to establish connection with their vascular tissues. Thus, the tested solanaceous plant species could be classified as either compatible (hot pepper and tobacco) or incompatible (potato and tomato) hosts to field dodder.
文摘The paper deals with magnetic field mapping outside a finite length solenoid electromagnet, by an in-house designed and calibrated inductive pick-up or search coil. The search coil is calibrated in a unique methodology based on the azimuthal magnetic field component generated by a straight wire. This unique calibration technique helps us to avoid additional circuitry to integrate the signal obtained from search coil. The methodology proves advantageous in diffusion, implosion studies where the signal frequency changes with dimension and material of experimental job-piece (hollow metal tube). Remedial measures have been taken to avoid electrostatic capacitive pick-up (which eventually exacerbates with integration) keeping measurement simple and accurate. The experimentally measured field values have also been compared with electromagnetic field results obtained from mathematical calculations and finite element based simulations. Two different mathematical approaches have been demonstrated for field computation based on Biot-Savart Law. Both the methods have taken into account the exact geometry of the solenoid, including the inter-turn gaps. The methods use appropriate combination of closed-form mathematical expression and numerical integration techniques and are capable of determining all the vector components of magnetic field anywhere around the finite length solenoid. The mathematical computations are equally significant contributions in the paper especially because exact determination of magnetic fields outside finite length solenoids has not been discussed in sufficient specific details in already existing literature. The mathematical computations, finite element simulations and experimental verification together provide a holistic solution to magnetic field determination problems in pulse power applications that have not been discussed in available literature or books in specific details.
