This paper presents a parallel elite genetic algorithm (PEGA) and its application to global path planning for autonomous mobile robots navigating in structured environments. This PEGA, consisting of two parallel EGAs along with a migration operator, takes advantages of maintaining better population diversity, inhibiting premature convergence, and keeping parallelism in comparison with conventional GAs. This initial feasible path generated from the PEGA planner is then smoothed using the cubic B-spline technique, in order to construct a nearoptimal collision-free continuous path. Both global path planner and smoother are implemented in one field-programmable gate array chip utilizing the system-on-a-programmable-chip technology and the pipelined hardware implementation scheme, thus significantly expediting computation speed. Simulations and experimental results are conducted to show the merit of the proposed PEGA path planner and smoother for global path planning of autonomous mobile robots

The paper presents an adaptive dimming technique to reduce backlight power consumption and enhance image contrast for global backlight applications. The proposed adaptive dimming technique consists of two new algorithms: backlight dimming algorithm and contrast enhancement algorithm. The backlight-dimming algorithm obtains appropriate 0% to 50% backlight power reduction depending on characteristics of the image data. The contrast enhancement algorithm not only reduces the adverse effect of backlight power saving, but also improves 20.75% enhancement of image contrast ratio on the average. Numerous simulation results are used for illustration of the effectiveness and merits of the proposed adaptive dimming technique. Experimental results are conducted to show the performance and usefulness of the proposed technique on a 2.2-inch mobile phone liquid crystal display (LCD) made by thin-film-transistor (TFT) technology

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BackgroundGastrodia elata Blume (Orchidaceae) is an important Chinese medicine with several functional components. In the life cycle of G. elata, the orchid develops a symbiotic relationship with two compatible mycorrhizal fungi Mycena spp. and Armillaria mellea during seed germination to form vegetative propagation corm and vegetative growth to develop tubers, respectively. Gastrodin (p-hydroxymethylphenol-beta-D-glucoside) is the most important functional component in G. elata, and gastrodin significantly increases from vegetative propagation corms to tubers. To address the gene regulation mechanism in gastrodin biosynthesis in G. elata, a comparative analysis of de novo transcriptome sequencing among the vegetative propagation corms and tubers of G. elata and A. mellea was conducted using deep sequencing.ResultsTranscriptome comparison between the vegetative propagation corms and juvenile tubers of G. elata revealed 703 differentially expressed unigenes, of which 298 and 405 unigenes were, respectively up-regulated (fold-change ≥ 2, q-value < 0.05, the trimmed mean of M-values (TMM)-normalized fragments per kilobase of transcript per Million mapped reads (FPKM) > 10) and down-regulated (fold-change ≤ 0.5, q-value <0.05, TMM-normalized FPKM > 10) in juvenile tubers. After Gene Ontology (GO) annotation and Kyoto Encyclopedia of Genes and Genomes (KEGG) pathway analysis, 112 up-regulated unigenes with KEGG Ortholog identifiers (KOids) or enzyme commission (EC) numbers were assigned to 159 isogroups involved in seventy-eight different pathways, and 132 down-regulated unigenes with KOids or EC numbers were assigned to 168 isogroups, involved in eighty different pathways. The analysis of the isogroup genes from all pathways revealed that the two unigenes TRINITY_DN54282_c0_g1 (putative monooxygenases) and TRINITY_DN50323_c0_g1 (putative glycosyltransferases) might participate in hydroxylation and glucosylation in the gastrodin biosynthetic pathway.ConclusionsThe gene expression of the two unique unigenes encoding monooxygenase and glycosyltransferase significantly increases from vegetative propagation corms to tubers, and the molecular basis of gastrodin biosynthesis in the tubers of G. elata is proposed.Electronic supplementary materialThe online version of this article (doi:10.1186/s12864-016-2508-6) contains supplementary material, which is available to authorized users.

This paper presents a backstepping control method using radial-basis-function neural network (RBFNN) for improving trajectory tracking performance of a robotic helicopter. Many well-known nonlinear controllers for robotic helicopters have been constructed based on the approximate dynamic model in which the coupling effect is neglected; their qualitative behavior must be further analyzed to ensure that the unmodeled dynamics do not destroy the stability of the closed-loop system. In order to improve the controller design process, the proposed controller is developed based on the complete dynamic model of robotic helicopters by using an RBFNN function approximation to the neglected dynamic uncertainties, and then proving that all the trajectory tracking error variables are globally ultimately bounded and converge to a neighborhood of the origin. The merits of the proposal controller are exemplified by four numerical simulations, showing that the proposed controller outperforms a well-known controller in (J. Robust Nonlinear Control 2004; 14(12):1035-1059). Copyright (C) 2009 John Wiley & Sons, Ltd