Phylogenetic analyses were performed using multiple nuclear (ITS and ETS) and chloroplast regions (ndhF-trnL, psbA-trnH, psbD-trnT, and trnT-trnL) to test the monophyly of Aconitum subgen. Lycoctonum (Ranunculaceae) and reconstruct the phylogenetic relationships within the subgenus. The subgenus as currently circumscribed is revealed to be polyphyletic. To achieve its monophyly, sect. Galeata a...

Within the context of multiple mobile robot systems, this chapter explores the current state of the art. After a brief introduction, we first examine architectures for multirobot cooperation, exploring the alternative approaches that have been developed. Next, we explore communications issues and their impact on multirobot teams in Sect. 40.3, followed by a discussion of swarm robot systems in ...

Flavonoids from Trollius chinensis Bunge.(Flos Trollii) were extracted by different method were investigated in the present study. Simultaneous determination of two flavonoids(orientin and vitexin) was accomplished by a useful, rapid and simple HPLC/DAD-ESI-MS method. A central composite design (CCD) combined with response surface methodology(RSM) was used to study the effects of extraction tim...

Within the context of multiple mobile, and networked robot systems, this chapter explores the current state of the art. After a brief introduction, we first examine architectures for multirobot cooperation, exploring the alternative approaches that have been developed. Next, we explore communications issues and their impact on multirobot teams in Sect. 53.3, followed by a discussion of networke...

In this chapter, we introduce legged robots. After introducing the history of legged robot research in Sect. 16.1, we start to discuss hopping robots and analyze a simple passive walker as a typical cycling walking robot in Sect. 16.2; the Poincaré map is one of the most important tools to analyze its dynamics and stability. In Sect. 16.3, the dynamics and control of general biped robots are di...

the genus onobrychis belongs to family fabaceae and has about 130 species throughout the world. onobrychis sect. hymenobrychis with nearly 14 species in iran is one of the important sections of the genus. the chromosome number and meiotic behaviour were studied in two populations of onobrychis chorassanica belonging to this section native to iran. this report is the first cytogenetic analysis o...

We consider in this report systems modeled by timed automata. The timing bounds involved in the action guards and location invariants of our timed automata are not constants, but parameters. Those parametric timed automata allow to model various kinds of timed systems, e.g. communication protocols or asynchronous circuits. We will also assume that we are given an initial tuple π0 of values for ...

In recent decade security systems based on biometric technologies have played an important role in our community. Fingerprint identification is one of the most important biometric approaches. The uniqueness of a fingerprint is exclusively determined by the local ridge characteristics called minutiae. The automatic fingerprint matching depends on the comparison of these minutiae and their relati...

This chapter introduces the first basic concepts of co-modelling and co-simulation, including notions of system, model and co-model, simulation and co-simulation, etc. It also describes the ways in which co-modelling and co-simulation can be integrated with established development processes such as IEEE 15288 (Systems and Software Engineering—System Life Cycle Processes, [45]) and IEEE 12207 (S...