Chromosomal mapping of the major ribosomal RNA genes in the dwarf surfclam (Mulinia lateralis Say)

Chromosomal location of the major ribosomal RNA genes (rRNA) were studied in the dwarf surfclam (Mulinia lateralis, Say) using fluorescence in situ hybridization (FISH). FISH probes for the rRNA genes were made by polymerase chain reaction (PCR), labeled with digoxigenin-11-dUTP and detected with fluorescein-labeled antidigoxigenin antibodies. Mulinia lateralis had a diploid number of 38 chromosomes and all chromosomes were telocentric. FISH with the rRNA probe produced positive and consistent signals on two pairs of chromosomes: Chromosome 15 with a relative length of 4.6% and Chromosome 19, the shortest chromosome. Both loci were telomeric. The rRNA location provides the first physical landmark of the M. lateralis genome.

用于移动机器人自定位的视觉路标设计

为了实现室内移动机器人的自定位,提出了一种简易美观的新型视觉人工路标以及基于对数极坐标系投影直方图的路标识别方法,并用基于共面四点的位姿估计算法计算机器人位姿。实验结果说明,路标检测具有很高的鲁棒性;路标识别方法抗噪声和形变的能力强;位姿精度足够满足室内移动机器人自定位的需要。

自主移动机器人三角定位的路标优化

针对给出的机器人三角定位算法，推导出路标设置对定位影响的几何精度标准，证明了参与定位的路标数目为3个和3个以上的情况下，如果路标与机器人的距离都相等，那么当相邻路标与机器人所成夹角都相等时，机器人的定位精度最高；进而给出了最优路标选取算法.实验和实践结果也进一步证明所得结论的有效性。

路标定位中的优化选择策略

基于合作路标的三角定位是自主式移动机器人的主要定位方法。路标的优化选择是提高定位算法精度的关键。本文在给出该算法原理的基础上 ,通过理论分析和实验证明了路标优化选择对提高定位算法精度的作用 ,并介绍了路标优化选择的准则