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Simultaneous localization and mapping (SLAM) is the crucial prerequisite for mobile robots to accomplish autonomy. Aiming at the problem that the positioning and mapping accuracy of the mobile robot decreases due to the particle degradation and poor of the particles in the traditional particle filter, a method of particle filter in SLAM based on heuristic bat optimization algorithm is proposed. First, this paper introduces the inertia weight, improves the position updating formula of the heuristic bat algorithm, accelerates the convergence speed and improves precision. Second, the heuristic bat algorithm is used to optimize the sampling process of the particles, which makes the particles tend to the high likelihood region and improves the global optimization ability and precision. Finally, the experimental results show that the proposed algorithm is obviously improved the positioning precision of the mobile robot, which can meet the requirements of large scale and real-time performance.

In this note, the problem of robust stability for uncertain Takagi-Sugeno (T-S) fuzzy singular systems with constraints is considered. Firstly, based on the generalized Lyapunov stability theory and linear matrix inequality LMI technique, a sufficient condition for unconstrained T-S fuzzy singular systems robust stability is got. And then give an ellipse constraint where the initial state to change the time-domain constraints into a group of LMI binding by using elliptic invariant domain and S-Procesure methods, a sufficient condition for system robust stable and satisfying the time-domain constraints has been obtained.

The document is to observe the changes of ultrastructure of endocrine cell in anterior pituitary after being exposed to PEMW to explore the possible injury characteristics. 28 male Sparague-Dawley rats were divided into 4 groups (7 rats in each group), the control group was put in the boxes without irradiation. At 24 h after exposure to PEMW (E=100 kVmiddotm-1, 10000, 100000, 300000 pulses), the transmission electron microscope was used to observe the ultrastructural changes of anterior pituitary. The result showed that ultrastructures of anterior pituitary were obviously changed in irradiated groups at 10000 pulses, especially in prolactin cells and growth hormone cells, including evacuation of secretory granule, the mitochondrial vacuolization and distinct dilatation of endoplasmic reticulum. The injury gradually aggravate followed by pulses increase. The changes at 300000 pulses were the most severe. In conclusion, PEMW can lead injury to endocrine cells of anterior pituitary in rats, mitochondria and rough endoplasmic reticulum are the main injured organelles.

AIM: The present paper investigated the effect on behavior of female rat 3 months after electromagnetic pulse irradiation. MATERIALS AND METHODS: Mature female rats were randomly divided into control group and EMP irradiation group. Rats in the EMP irradiation group were exposed to EMP. The field intensity was 100 KV/m with 1000 pulses. The changes of behavior were observed with step through test and open-field test in rats 3 months after electromagnetic pulse irradiation. Memory retention, Error scores, Accumulative Distance (AD), Accumulative Distance of Leaving the Border (ADLB), Accumulative Distance in the User Defined Area (ADUDA), AD inside the inner circle(ADIC), AT of Resting (ATREST), AT of Walking (ATWALK) and AD of Walking(ADWALK) were recorded. RESULTS: Analysis of step through test indicated that the EMP irradiation group has a significant decrease in memory retention and a significant increase in error scores of the entries into the dark compartment compared with control group (P

AIM. To investigate the changes of the mice testes and the tight junction (Tj) relative molecular and to identify the molecular mechanisms of the mice blood-testis-barrier (BTB) permea- bility increasing after the mice were exposed to electromagnetic pulse (EMP). METHODS. Observe the changes vimentin of the mice testes by laser scanning confocal technique. RESULTS. After the 200 kVm-1 EMP (the accumulative pulse times was 200) exposure, the vimentin in sustentacular cells of testis became irregularly shortened and derangement, and the intensity of immuno- fluorescence also showed ununiformity compared with control. CONCLUSION. The increasing of mice BTB permeability perhaps caused by the changing of vimentin.

For the Networked Control System with the descriptor system as the controlled object, the model is established, using the distribution of the solution of the primary coefficient matrix, the coefficient matrix of the model is established. Via introducing the new augmented state vector, the state transferred matrix of the system is derived, the sufficiency condition of the system exponential stability is presented, the correctness of the theory is proved by the simulation results at last.

AIM To investigate the effects of exposure to ultra-wide band (UWB) on aerobic metabolism and the activity in the heart and the lung of rats. METHODS TBA colorimetric methods were used to determine the changes in SOD activity and the content of MDA in the heart and the lung of rats after the rats were exposed to a certain dose of UWB. RESULTS The results showed that, compared with control group, the activity of SOD in the heart was significantly reduced at 72 hours after the rats were exposed to 100k pulses (P

Objective: To investigate the effect of PEMW on humoral immunity and provide theoretical basis for formulating the standard of PEMW injury and protection. Methods: We set three groups of rats to receive whole body exposure by using 100, 103 and 104 times pulse electromagnetic wave(PEMW) respectively, whose field intensity is 100kV/m of each, then anesthetized the rats at different time after the exposure, gathered blood and separated the serum.. Immunization nephelometry was used to determine the content of IgA, IgG, IgM in serum. Results: The content of IgA, IgG, IgM in serum began to decrease at 12h after 104 times PEMW exposure, especially that of IgM and IgG decreased significantly (p