基于进化计算的无人飞行器多航迹规划

针对飞行器多航迹规划问题展开研究.在分析多峰值函数优化问题的基础上,提出了一种基于进化计算的飞行器多航迹规划方法.该方法通过使用特定的染色体表示方法和进化算子,可以有效利用各种环境信息,处理各种航迹约束.同时,通过引入聚类算法,将种群中的个体按其空间分布进行聚类,生成若干个不同子种群.在进化过程中,所有个体只在各自的子种群内部进化.当进化结束时,每个子种群将分别生成一条各自的最优航迹,从而为飞行器生成多条不同的可选航迹.仿真结果表明了该方法的有效性.

Multiple in-to-Africa dispersals of labeonin fishes (Teleostei: Cyprinidae) revealed by molecular phylogenetic analysis

An out-of-Africa dispersal route has been proposed for many organisms, including modern man. However, counter examples of in-to-Africa dispersal routes are less common. In the present article, the phylogenetic relationships within the Labeoninae, a subfamily of cyprinid fishes distributed in Asia and Africa, were analyzed to investigate the biogeographic processes governing the modern distribution of these Asian and African cyprinids. The mitochondrial DNA cytochrome b gene was used as a molecular marker. The phylogenetic analysis indicated that the subfamily Labeoninae is a monophyletic group, with some Asian labeonins located at the basal position. Two subclades were found that contained both African and Asian species, which highlighted a need for further biogeographic analysis. Based on this analysis, it is proposed that the centre of origin of the Labeoninae was in East Asia. Molecular clock estimation suggests that the Labeoninae arose by the Early Miocene (similar to 23 MYA) during the period of the second Tibetan uplift. Subsequently, two dispersal events of labeonins from Asia into Africa occured in the Early Miocene (similar to 20 MYA) and Late Miocene (similar to 9 MYA) and serve as examples counter to out-of-Africa dispersal.