In floristic research,the grid mapping method is a crucial and highly effective tool for investigating the flora of specific regions.This methodology aids in the collection of comprehensive data,thereby promoting a th...In floristic research,the grid mapping method is a crucial and highly effective tool for investigating the flora of specific regions.This methodology aids in the collection of comprehensive data,thereby promoting a thorough understanding of regional plant diversity.This paper presents findings from a grid mapping study conducted in the Surkhan-Sherabad botanical-geographic region(SShBGR),acknowledged as one of the major floristic areas in southwestern Uzbekistan.Using an expansive dataset of 14,317 records comprised of herbarium specimens and field diary entries collected from 1897 to 2023,we evaluated the stages and seasonal dynamics of data accumulation,species richness(SR),and collection density(CD)within 5 km×5 km grid cells.We further examined the taxonomic and life form composition of the region's flora.Our analysis revealed that the grid mapping phase(2021–2023)produced a significantly greater volume of specimens and taxonomic diversity compared with other periods(1897–1940,1941–1993,and 1994–2020).Field research spanned 206 grid cells during 2021–2023,resulting in 11,883 samples,including 6469 herbarium specimens and 5414 field records.Overall,fieldwork covered 251 of the 253 grid cells within the SShBGR.Notably,the highest species diversity was documented in the B198 grid cell,recording 160 species.In terms of collection density,the E198 grid cell produced 475 samples.Overall,we identified 1053 species distributed across 439 genera and 78 families in the SShBGR.The flora of this region aligned significantly with the dominant families commonly found in the Holarctic,highlighting vital ecological connections.Among our findings,the Asteraceae family was the most polymorphic,with 147 species,followed by the continually stable and diverse Poaceae,Fabaceae,Brassicaceae,and Amaranthaceae.Besides,our analysis revealed a predominance of therophyte life forms,which constituted 52%(552 species)of the total flora.The findings underscore the necessity for continual data collection efforts to further enhance our understanding of the biodiversity in the SShBGR.The results of this study demonstrated that the application of grid-based mapping in floristic studies proves to be an effective tool for assessing biodiversity and identifying key taxonomic groups.展开更多
For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence a...For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence and local optimum.Firstly,the pheromone updating mechanism of ant colony is designed by a hybrid strategy of global map updating and local grids updating.Then,some angles between the vectors of artificial potential field and the orientations of current grid are introduced to calculate the visibility of eight-neighbor cells of cellular automata,which are adopted as ant colony's inspiring factor to calculate the transition probability based on the pseudo-random transition rule cellular automata.Finally,mobile robot dynamic path planning and the simulation experiments are completed by this algorithm,and the experimental results show that the method is feasible and effective.展开更多
Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony al...Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony algorithm for use in a new environment is proposed.First,the feature points of an obstacle are extracted to preprocess the grid map environment,which can avoid entering a trap and solve the deadlock problem.Second,these feature points are used as pathfinding access nodes to reduce the node access,with more moving directions to be selected,and the locations of the feature points to be selected determine the range of the pathfinding field of view.Then,based on the feature points,an unequal distribution of pheromones and a two-way parallel path search are used to improve the construction efficiency of the solution,an improved heuristic function is used to enhance the guiding role of the path search,and the pheromone volatilization coefficient is dynamically adjusted to avoid a premature convergence of the algorithm.Third,a Bezier curve is used to smooth the shortest path obtained.Finally,using grid maps with a different complexity and different scales,a simulation comparing the results of the proposed algorithm with those of traditional and other improved ant colony algorithms verifies its feasibility and superiority.展开更多
In this article, the overset grid assembly method is improved to efficiently solve several critical problems that occur when applying overset grids to the complicated geometries and moving body. First, instead of usin...In this article, the overset grid assembly method is improved to efficiently solve several critical problems that occur when applying overset grids to the complicated geometries and moving body. First, instead of using the two-step searching (i.e. cut and paste), a single-step searching method based on the grid cell size is proposed to modify holes and optimize the grid overlapping automatically. Second, discrepancies between the wall surface representations, where the grids overlap, are handled by introducing the wall's normal directions to the hole-map and projecting the interpolated points on the recipient mesh into the donor mesh. Finally, the dynamic overset method is modified to address the complex moving body problem. At every time step, the initial hole surface of the previous time step is dynamically adjusted to accomplish hole cutting and avoid the time consuming hole-map procedure. Numerical experiments show that the enhanced overset grid assembly method obtains satisfactory results.展开更多
基金supported by the grant from the State Programs"Grid Mapping of the Flora of Uzbekistan'during 2020–2024"the grant from the State Programs"Creation of the Digital Platform of the Plant World of Central Uzbekistan"during 2025–2029the State Research Project"Taxonomic Revision of Polymorphic Plant Families of the Flora of Uzbekistan"from the Institute of Botany,Academy of Sciences of the Republic of Uzbekistan (A-FA-2021-427)
文摘In floristic research,the grid mapping method is a crucial and highly effective tool for investigating the flora of specific regions.This methodology aids in the collection of comprehensive data,thereby promoting a thorough understanding of regional plant diversity.This paper presents findings from a grid mapping study conducted in the Surkhan-Sherabad botanical-geographic region(SShBGR),acknowledged as one of the major floristic areas in southwestern Uzbekistan.Using an expansive dataset of 14,317 records comprised of herbarium specimens and field diary entries collected from 1897 to 2023,we evaluated the stages and seasonal dynamics of data accumulation,species richness(SR),and collection density(CD)within 5 km×5 km grid cells.We further examined the taxonomic and life form composition of the region's flora.Our analysis revealed that the grid mapping phase(2021–2023)produced a significantly greater volume of specimens and taxonomic diversity compared with other periods(1897–1940,1941–1993,and 1994–2020).Field research spanned 206 grid cells during 2021–2023,resulting in 11,883 samples,including 6469 herbarium specimens and 5414 field records.Overall,fieldwork covered 251 of the 253 grid cells within the SShBGR.Notably,the highest species diversity was documented in the B198 grid cell,recording 160 species.In terms of collection density,the E198 grid cell produced 475 samples.Overall,we identified 1053 species distributed across 439 genera and 78 families in the SShBGR.The flora of this region aligned significantly with the dominant families commonly found in the Holarctic,highlighting vital ecological connections.Among our findings,the Asteraceae family was the most polymorphic,with 147 species,followed by the continually stable and diverse Poaceae,Fabaceae,Brassicaceae,and Amaranthaceae.Besides,our analysis revealed a predominance of therophyte life forms,which constituted 52%(552 species)of the total flora.The findings underscore the necessity for continual data collection efforts to further enhance our understanding of the biodiversity in the SShBGR.The results of this study demonstrated that the application of grid-based mapping in floristic studies proves to be an effective tool for assessing biodiversity and identifying key taxonomic groups.
基金National Natural Science Foundation of China(No.61373110)the Science-Technology Project of Wuhan,China(No.2014010101010005)
文摘For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence and local optimum.Firstly,the pheromone updating mechanism of ant colony is designed by a hybrid strategy of global map updating and local grids updating.Then,some angles between the vectors of artificial potential field and the orientations of current grid are introduced to calculate the visibility of eight-neighbor cells of cellular automata,which are adopted as ant colony's inspiring factor to calculate the transition probability based on the pseudo-random transition rule cellular automata.Finally,mobile robot dynamic path planning and the simulation experiments are completed by this algorithm,and the experimental results show that the method is feasible and effective.
基金the National Natural Science Founda-tion(Nos.62063019 and 61763026)the Gansu Nat-ural Science Foundation Project(No.20JR10RA152)the Gansu Provincial Department of Educa-tion:Excellent Graduate“Innovation Star”Project(No.2021CXZX-507)。
文摘Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony algorithm for use in a new environment is proposed.First,the feature points of an obstacle are extracted to preprocess the grid map environment,which can avoid entering a trap and solve the deadlock problem.Second,these feature points are used as pathfinding access nodes to reduce the node access,with more moving directions to be selected,and the locations of the feature points to be selected determine the range of the pathfinding field of view.Then,based on the feature points,an unequal distribution of pheromones and a two-way parallel path search are used to improve the construction efficiency of the solution,an improved heuristic function is used to enhance the guiding role of the path search,and the pheromone volatilization coefficient is dynamically adjusted to avoid a premature convergence of the algorithm.Third,a Bezier curve is used to smooth the shortest path obtained.Finally,using grid maps with a different complexity and different scales,a simulation comparing the results of the proposed algorithm with those of traditional and other improved ant colony algorithms verifies its feasibility and superiority.
基金This work was supported in part by the Foundation of Guangdong Educational Committee （2014KTSCX191） and the National Natural Science Foundation of China （61201087）.
基金National Natural Science Foundation of China (90716010)
文摘In this article, the overset grid assembly method is improved to efficiently solve several critical problems that occur when applying overset grids to the complicated geometries and moving body. First, instead of using the two-step searching (i.e. cut and paste), a single-step searching method based on the grid cell size is proposed to modify holes and optimize the grid overlapping automatically. Second, discrepancies between the wall surface representations, where the grids overlap, are handled by introducing the wall's normal directions to the hole-map and projecting the interpolated points on the recipient mesh into the donor mesh. Finally, the dynamic overset method is modified to address the complex moving body problem. At every time step, the initial hole surface of the previous time step is dynamically adjusted to accomplish hole cutting and avoid the time consuming hole-map procedure. Numerical experiments show that the enhanced overset grid assembly method obtains satisfactory results.
