Multi-Objective Rule System Based Control Model with Tunable Parameters for Swarm Robotic Control in Confined Environment

Enhancing the adaptability of Unmanned Aerial Vehicle (UAV) swarm control models to cope with different complex working scenarios is an important issue in this research field. To achieve this goal, control model with tunable parameters is a widely adopted approach. In this article, an improved UAV swarm control model with tunable parameters namely Multi-Objective O-Flocking (MO O-Flocking) is proposed. The MO O-Flocking model is a combination of a multi rule control system and a virtual-physical-law based control model with tunable parameters. To achieve multi-objective parameter tuning, a multi-objective parameter tuning method namely Improved Strength Pareto Evolutionary Algorithm 2 (ISPEA2) is designed. Simulation experiment scenarios include six target orientation scenarios with different kinds of objectives. Experimental results show that both the ISPEA2 algorithm and MO O-Flocking control model have good performance in their experiment scenarios

Genomic and Transcriptional Characteristics of Strain Rum-meliibacillus sp. TYF-LIM-RU47 with an Aptitude of Directly Producing Acetoin from Lignocellulose

Rummeliibacillus sp. TYF-LIM-RU47, isolated from the fermentation substrate of grain vinegar, could produce acetoin using a variety of carbon sources, including pentose, hexose and lignocellulose. The draft genome of TYF-LIM-RU47 was constructed and the genomic information revealed that TYF-LIM-RU47 contains genes related to starch and sucrose metabolism, pyruvate metabolism, the oxidative phosphorylation metabolic pathway and lignocellulosic metabolism. The acetoin anabolic pathway of TYF-LIM-RU47 has been deduced from the sequencing results, and acetoin is produced from α-acetolactate via decarboxylation and diacetyl reductase catalytic steps. The results of quantitative real-time PCR tests showed that the synthesis and degradation of acetoin had a dynamic balance in acetoin metabolism, and the transcription of the α-acetolactate synthase gene might exist to the extent of feedback regulation. This study can help researchers to better understand the bioinformation of thermophilic-lignocellulosic bacteria and the mechanisms of the acetoin biosynthesis pathway