引入改进蝠鲼觅食优化算法的水下无人航行器三维路径规划

针对复杂环境下传统群体智能优化算法在求解水下无人航行器(UUV)路径规划的过程中存在路径搜索能力不足、易陷入局部最优等问题,提出了一种引入改进蝠鲼觅食优化算法的UUV三维路径规划方法。首先,根据UUV在水下航行时的实际环境,建立相关地形模型和威胁源模型;其次,对传统的蝠鲼觅食优化算法进行改进,相关改进包括在初始化过程中加入局部反向学习机制优化种群的位置,提高了种群的多样性;根据每次迭代后种群个体适应度的不同,改进蝠鲼翻滚觅食的翻滚因子S,由此实现一种自适应翻滚,有利于跳出局部最优;同时,在蝠鲼螺旋觅食过程中融合莱维飞行-柯西变异策略,扩大了搜索路径和种群搜索范围,提升了算法寻找全局最优的能力;最后,将改进的蝠鲼觅食优化算法引入到UUV的路径规划中,进行相应的实验模拟。实验结果表明：在地形1中采用改进的蝠鲼觅食优化算法所规划的路径相比于灰狼算法和蝠鲼觅食优化算法分别降低了32.49 km和23.88 km,航迹代价分别降低了9.68和4.04;在地形2中采用改进的蝠鲼觅食优化算法所规划的路径相较于灰狼算法和蝠鲼觅食优化算法分别降低了20.83 km和29.95 km,航迹代价分别降低了1...     

Ancestral polyploidy in seed plants and angiosperms

Whole-genome duplication (WGD), or polyploidy, followed by gene loss and diploidization has long been recognized as an important evolutionary force in animals, fungi and other organisms, especially plants. The success of angiosperms has been attributed, in part, to innovations associated with gene or whole-genome duplications, but evidence for proposed ancient genome duplications pre-dating the divergence of monocots and eudicots remains equivocal in analyses of conserved gene order. Here we use comprehensive phylogenomic analyses of sequenced plant genomes and more than 12.6 million new expressed-sequence-tag sequences from phylogenetically pivotal lineages to elucidate two groups of ancient gene duplications-one in the common ancestor of extant seed plants and the other in the common ancestor of extant angiosperms. Gene duplication events were intensely concentrated around 319 and 192 million years ago, implicating two WGDs in ancestral lineages shortly before the diversification of extant seed plants and extant angiosperms, respectively. Significantly, these ancestral WGDs resulted in the diversification of regulatory genes important to seed and flower development, suggesting that they were involved in major innovations that ultimately contributed to the rise and eventual dominance of seed plants and angiosperms.     

体育教师入职后专业发展研究

体育是教育的重要组成部分,体育教师承担着增进人类健康和培养全面发展的人的重要使命。在我国教育改革实际需要和目前教师教育领域多方面积重难返的情形下,体育教师怎样才能尽快达到课程改革所需要的专业水平成为社会关注的重点,本文通过对安阳市中学体育教师专业化水平的研究,一定程度上对上述问题的解决有着其现实意义。本文采用文献资料,访谈,问卷调查和数理统计法,对安阳市体育教师进行抽样调查分析,探讨安阳市中学体育教师入职后专业发展的现状及存在的问题,旨在为此市中学体育教师队伍专业成长提供一定的理论参考。     

光谱在晶体材料测试方面的应用

总结了目前用于检测晶体材料的四种常用的光谱分析方法:晶体衍射谱、红外光谱、拉曼光谱和THz光谱,及其各自的材料应用范围.分析实验所得的LiTaO3和LiNbO3拉曼光谱图,并计算LN晶体中Li的组分含量.     

Insights into hominid evolution from the gorilla genome sequence

Gorillas are humans' closest living relatives after chimpanzees, and are of comparable importance for the study of human origins and evolution. Here we present the assembly and analysis of a genome sequence for the western lowland gorilla, and compare the whole genomes of all extant great ape genera. We propose a synthesis of genetic and fossil evidence consistent with placing the human-chimpanzee and human-chimpanzee-gorilla speciation events at approximately 6 and 10 million years ago. In 30% of the genome, gorilla is closer to human or chimpanzee than the latter are to each other; this is rarer around coding genes, indicating pervasive selection throughout great ape evolution, and has functional consequences in gene expression. A comparison of protein coding genes reveals approximately 500 genes showing accelerated evolution on each of the gorilla, human and chimpanzee lineages, and evidence for parallel acceleration, particularly of genes involved in hearing. We also compare the western and eastern gorilla species, estimating an average sequence divergence time 1.75 million years ago, but with evidence for more recent genetic exchange and a population bottleneck in the eastern species. The use of the genome sequence in these and future analyses will promote a deeper understanding of great ape biology and evolution.