在DJI Mini 3型无人机执行任务时,只能计算总任务航程,导致分配准确率较低,因此设计复杂任务环境下对DJI Mini 3型无人机任务协调分配优化算法。在复杂任务环境中构建航程矩阵和路径矩阵,迭代更新航程和路径信息,计算最短任务航程。建...在DJI Mini 3型无人机执行任务时,只能计算总任务航程,导致分配准确率较低,因此设计复杂任务环境下对DJI Mini 3型无人机任务协调分配优化算法。在复杂任务环境中构建航程矩阵和路径矩阵,迭代更新航程和路径信息,计算最短任务航程。建立任务协调分配模型,该模型旨在最小化各无人机最短任务航程的交接等待时间。利用任务协调分配模型探索更优的任务执行序列,利用适应度函数得到最优分配结果,完成多DJI Mini 3型无人机任务协调分配优化算法的设计。实验结果表明,设计算法无人机任务分配结果与实际场景高度吻合,并且对于文献[1]-[4]平均提升效率为2.8%~4.9%,仅需4次迭代即达稳定值,证明其准确性更好。展开更多
Spatiotemporal regulation of gene expression by polycomb repressive complex 2(PRc2)is critical for animal and plant development.The Arabidopsis fertilization independent seed(FIS)-PRC2 complex functions specifically d...Spatiotemporal regulation of gene expression by polycomb repressive complex 2(PRc2)is critical for animal and plant development.The Arabidopsis fertilization independent seed(FIS)-PRC2 complex functions specifically during plant reproduction from gametogenesis to seed development.After a double fertilization event,triploid endosperm proliferates early,followed by the growth of a diploid embryo,which replaces the endosperm in Arabidopsis and many dicots.Key genes critical for endosperm proliferation such as IKkU2 and MINI3 are activated after fertilization.Here we report that two MADS-box AGAMOUS-LIKE(AGL)proteins associate with the key endosperm proliferation loci and recruit the FIS-PRC2 repressive complex at 4-5 days after pollination(DAP).Interestingly,AGL9 and AGL15 only accumulate toward the end of endosperm proliferation at 4-5 DAP and promote the deposition of H3K27me3 marks at key endosperm proliferation loci.Disruption of AGL9 and AGL15 or overexpression of AGL9 or AGL15 significantly influence endosperm proliferation and cellularization.Genome-wide analysis with cleavage Under Targets and tagmentation(CUT&Tag)sequencing and RNA sequencing revealed the landscape of endosperm H3K27me3 marks and gene expression profiles in Col-0 and agl9 agl15.CUT&Tag qPCR also demonstrated the occupancy of the two MADS-box proteins and FIS-PRC2 on a few representative target loci.Our studies suggest that MADS-box proteins could potentially recruit PRc2 to regulate many other developmental processes in plants or even in fungi and animals.展开更多
文摘在DJI Mini 3型无人机执行任务时,只能计算总任务航程,导致分配准确率较低,因此设计复杂任务环境下对DJI Mini 3型无人机任务协调分配优化算法。在复杂任务环境中构建航程矩阵和路径矩阵,迭代更新航程和路径信息,计算最短任务航程。建立任务协调分配模型,该模型旨在最小化各无人机最短任务航程的交接等待时间。利用任务协调分配模型探索更优的任务执行序列,利用适应度函数得到最优分配结果,完成多DJI Mini 3型无人机任务协调分配优化算法的设计。实验结果表明,设计算法无人机任务分配结果与实际场景高度吻合,并且对于文献[1]-[4]平均提升效率为2.8%~4.9%,仅需4次迭代即达稳定值,证明其准确性更好。
基金a grant from National Science Foundation IOS-1933291(M.N.).
文摘Spatiotemporal regulation of gene expression by polycomb repressive complex 2(PRc2)is critical for animal and plant development.The Arabidopsis fertilization independent seed(FIS)-PRC2 complex functions specifically during plant reproduction from gametogenesis to seed development.After a double fertilization event,triploid endosperm proliferates early,followed by the growth of a diploid embryo,which replaces the endosperm in Arabidopsis and many dicots.Key genes critical for endosperm proliferation such as IKkU2 and MINI3 are activated after fertilization.Here we report that two MADS-box AGAMOUS-LIKE(AGL)proteins associate with the key endosperm proliferation loci and recruit the FIS-PRC2 repressive complex at 4-5 days after pollination(DAP).Interestingly,AGL9 and AGL15 only accumulate toward the end of endosperm proliferation at 4-5 DAP and promote the deposition of H3K27me3 marks at key endosperm proliferation loci.Disruption of AGL9 and AGL15 or overexpression of AGL9 or AGL15 significantly influence endosperm proliferation and cellularization.Genome-wide analysis with cleavage Under Targets and tagmentation(CUT&Tag)sequencing and RNA sequencing revealed the landscape of endosperm H3K27me3 marks and gene expression profiles in Col-0 and agl9 agl15.CUT&Tag qPCR also demonstrated the occupancy of the two MADS-box proteins and FIS-PRC2 on a few representative target loci.Our studies suggest that MADS-box proteins could potentially recruit PRc2 to regulate many other developmental processes in plants or even in fungi and animals.
