Study of Self-Organization Model of Multiple Mobile Robot

A good organization model of multiple mobile robot should be able to improve the efficiency of the system, reduce the complication of robot interactions, and detract the difficulty of computation. From the sociology aspect of topology, structure and organization, this paper studies the multiple mobile robot organization formation and running mechanism in the dynamic, complicated and unknown environment. It presents and describes in detail a Hierarchical-Web Recursive Organization Model (HWROM) and forming algorithm. It defines the robot society leader; robotic team leader and individual robot as the same structure by the united framework and describes the organization model by the recursive structure. The model uses task-oriented and top-down method to dynamically build and maintain structures and organization. It uses market-based techniques to assign task, form teams and allocate resources in dynamic environment. The model holds several characteristics of self-organization, dynamic, conciseness, commonness and robustness

Study of Self-Organization Model of Multiple Mobile Robot

A good organization model of multiple mobile robot should be able to improve the efficiency of the system, reduce the complication of robot interactions, and detract the difficulty of computation. From the sociology aspect of topology, structure and organization, this paper studies the multiple mobile robot organization formation and running mechanism in the dynamic, complicated and unknown environment. It presents and describes in detail a HierarchicalWeb Recursive Organization Model (HWROM) and forming algorithm. It defines the robot society leader; robotic team leader and individual robot as the same structure by the united framework and describes the organization model by the recursive structure. The model uses task-oriented and top-down method to dynamically build and maintain structures and organization. It uses market-based techniques to assign task, form teams and allocate resources in dynamic environment. The model holds several characteristics of self-organization, dynamic, conciseness, commonness and robustness

Evaluation and development of pedotransfer functions of saturated hydraulic conductivity for subtropical soils

The determination of soil saturated hydraulic conductivity (Ks) is crucial in environmental and engineering fields. However, the current direct measurement methods of Ks are time-consuming and labor-intensive. As an alternative method, many researchers have developed a series of pedotransfer functions (PTFs) that estimate Ks based on easily accessible soil properties. Unfortunately, most existing PTFs of Ks focus on temperate and tropical regions in the United States and Europe. There is a lack of research discussing the applicability of Ks models in subtropical areas. To resolve this issue, we conduct a study using 515 subtropical soil samples to test the performance of existing PTFs of Ks. The Ks values of investigated soils range from 1.4 × 10-4 to 290 cm h−1. Among the affecting factors, soil bulk density (ρb) and effective porosity (φe) are found to be the most important variables. Current PTFs considering soil pore structural property (i.e., φe) or soil texture solely are not effective in assessing Ks of subtropical soils. To address this limitation, we integrate soil pore structural and textural properties and develop a new PTF based on the Kozeny-Carman equation. The performance and reliability of the new PTF are evaluated using independent Ks datasets from various regions. The results show a significant positive correlation between the measured Ks and the predicted Ks from the new PTF for subtropical soils with an R2 of 0.69, an average RMSE in log10Ks (cm h−1) of 0.496, and a mean bias value of 0.070. Besides, the new PTF is found to perform as well as widely used machine learning tools

Response of <i>Rhododendron simsii</i> and <i>Rhododendron delavayi</i> Superoxide Dismutase Family Genes to High-Temperature Stress

Superoxide dismutases (SODs) are the first line of defense in the antioxidant defense system, and they play an essential role in various adversity stress adaptations in Rhododendron. In this study, 9 Rhododendron simsii SODs (RsSODs) and 11 Rhododendron delavayi SODs (RdSODs) genes were identified in the genomes of R. simsii and R. delavayi. Phylogenetic relationship analysis classified SOD proteins from two Rhododendron species and other related species into three subfamilies. The results of gene structure and conserved motif analysis show that SOD proteins are strongly evolutionarily conserved, and SODs of the same subfamily have similar motif distributions, positions, and lengths. Twenty-two light-responsive elements, eight phytohormone regulatory elements, five adversity stress-related elements, and three growth and development regulatory elements were detected in the RsSOD and RdSOD promoters. Quantitative real-time fluorescence polymerase chain reaction analysis showed that among the 20 candidate genes, except for RdCSD5, the other SODs were expressed in at least one of four tissues, and all of these gene family members had high expression levels in the leaves. We then investigated the response of the RsSOD and RdSOD gene families to high-temperature stress in combination with the following specific stressors: abscisic acid, ethephon, and hydrogen peroxide treatments, followed by high-temperature stress. Different degrees of upregulated expression of the detected SOD gene family members were found for exogenous reagent treatments and different times of high-temperature stress. Thus, we provide a basis for the further functional characterization of SOD genes in R. simsii and R. delavayi in the future