智能机器人系统中局部环境特征的提取

本文基于栅格地图和滚动视窗的控制方法 ,提出了一种提取机器人局部障碍物群环境特征的数据融合新方法 .该方法在多个级别对原始数据进行不同程度的抽象和压缩 ,减少机器人内部模块之间或机器人之间、机器人与控制中心进行通讯的数据量 ,提高系统的动态性能 .同时 ,该方法对复杂环境具有良好的自适应性和实时性 .本文分别列举了仿真实验和物理实验结果 ,表明了机器人采用障碍物群的环境特征提取方法可以成功地完成躲避障碍物和路径规划的任务

Development of novel EST-SSR markers in common carp by data mining from public EST sequences

Expressed sequence tags (ESTs) are a source for microsatellite development. In the present study, EST-derived microsatelltes (EST-SSRs) were generated and characterized in the common carp (Cyprinus carpio) by data mining from updated public EST databases and by subsequent testing for polymorphism. About 5.5% (555) of 10,088 ESTs contain repeat motifs of various types and lengths with CA being the most abundant dinucleotide one. Out of the 60 EST-SSRs for which PCR primers were designed, 25 loci showed polymorphism in a common carp population with the alleles per locus ranging from 3 to 17 (mean 7). The observed (H-O) and expected (HE) heterozygosities of these EST-SSRs were 0.13-1.00 and 0.12-0.91, respectively. Six EST-SSR loci significantly deviated from the Hardy-Weinberg equilibrium (HWE) expectation, and the remaining 19 loci were in HWE. Of the 60 primer sets, the rates of polymorphic EST-SSRs were 42% in common carp, 17% in crucian carp (Carassius auratus), and 5% in silver carp (Hypophthalmichthys molitrix), respectively. These new EST-SSR markers would provide sufficient polymorphism for population genetic studies and genome mapping of the common carp and its closely related fishes. (c) 2007 Published by Elsevier B.V.