针对工业装配任务,尤其是不规则轴孔工件装配中,基于学习的前期样本质量低、训练过程不稳定等问题,提出一种融合引斥力模型(Attraction-Repulsion Model,ARM)引导机制和长短期记忆网络(Long Short Term Memory,LSTM)的柔性演员-评论家(S...针对工业装配任务,尤其是不规则轴孔工件装配中,基于学习的前期样本质量低、训练过程不稳定等问题,提出一种融合引斥力模型(Attraction-Repulsion Model,ARM)引导机制和长短期记忆网络(Long Short Term Memory,LSTM)的柔性演员-评论家(Soft Actor-Critic,SAC)算法。首先,为解决训练初期探索效率低的问题,提出一种基于引斥力模型的策略引导机制,通过目标位置信息引导机械臂运动,加速收敛过程;其次,基于长短期记忆网络对算法的策略网络和价值网络进行改进,有效利用历史信息,增强策略学习能力,提高算法的收敛速度和稳定性。仿真结果表明,所提出的算法在行星减速器中心轴装配任务中取得显著的效果,装配成功率高达99.4%,与普通SAC算法相比,平均最大接触力和力矩分别降低了68.8%和79.2%。在物理环境中装配成功率达95%以上,最大接触力和力矩分别小于10 N和1.5 N·m,验证了算法的有效性。展开更多
An in situ hybridization technique for localization of calmodulin(CaM) mRNA in isolated entire embryo sacs and proembryos in Nicotiana tabacum L.cv.W38 has been developed. This technique can be applied to smal...An in situ hybridization technique for localization of calmodulin(CaM) mRNA in isolated entire embryo sacs and proembryos in Nicotiana tabacum L.cv.W38 has been developed. This technique can be applied to small amounts of materials in which a whole view of CaM mRNA distribution can be obtained. The authors revealed that CaM mRNA expression changes dramatically before and after fertilization. Especially interesting is that a prominent CaM mRNA band appears between the egg apparatus and polar nuclei temporarily during the period of pollination and fertilization. The band disappears just prior to fertilization and expands to a fan_shaped region that occupies the micropylar portion of the embryo sac. After fertilization, CaM mRNA accumulates in the elongated zygotes with higher concentration in their chalazal portion than in the micropylar portion. Such an asymmetrical pattern continues to manifest in the early proembryos. It is supposed that CaM mRNA may be involved in the early events and signaling steps associated with double fertilization and zygote polarization in higher plants.展开更多
文摘针对工业装配任务,尤其是不规则轴孔工件装配中,基于学习的前期样本质量低、训练过程不稳定等问题,提出一种融合引斥力模型(Attraction-Repulsion Model,ARM)引导机制和长短期记忆网络(Long Short Term Memory,LSTM)的柔性演员-评论家(Soft Actor-Critic,SAC)算法。首先,为解决训练初期探索效率低的问题,提出一种基于引斥力模型的策略引导机制,通过目标位置信息引导机械臂运动,加速收敛过程;其次,基于长短期记忆网络对算法的策略网络和价值网络进行改进,有效利用历史信息,增强策略学习能力,提高算法的收敛速度和稳定性。仿真结果表明,所提出的算法在行星减速器中心轴装配任务中取得显著的效果,装配成功率高达99.4%,与普通SAC算法相比,平均最大接触力和力矩分别降低了68.8%和79.2%。在物理环境中装配成功率达95%以上,最大接触力和力矩分别小于10 N和1.5 N·m,验证了算法的有效性。
文摘An in situ hybridization technique for localization of calmodulin(CaM) mRNA in isolated entire embryo sacs and proembryos in Nicotiana tabacum L.cv.W38 has been developed. This technique can be applied to small amounts of materials in which a whole view of CaM mRNA distribution can be obtained. The authors revealed that CaM mRNA expression changes dramatically before and after fertilization. Especially interesting is that a prominent CaM mRNA band appears between the egg apparatus and polar nuclei temporarily during the period of pollination and fertilization. The band disappears just prior to fertilization and expands to a fan_shaped region that occupies the micropylar portion of the embryo sac. After fertilization, CaM mRNA accumulates in the elongated zygotes with higher concentration in their chalazal portion than in the micropylar portion. Such an asymmetrical pattern continues to manifest in the early proembryos. It is supposed that CaM mRNA may be involved in the early events and signaling steps associated with double fertilization and zygote polarization in higher plants.
