智能机器人技术在南极科学考察事业中的试验应用

智能机器人技术在极地科学考察事业中有着广阔的应用前景。2007/2008年度第24次南极科学考察中,我国开发的冰雪面移动和低空飞行机器人在南极成功实现了首次应用。扼要介绍国外开发的应用于南极的智能机器人技术,重点介绍我国开发的冰雪面移动和低空飞行机器人及其在南极现场的试验应用情况。此外,作者思考了我国南极考察事业对智能机器人技术的一些潜在需求,以期能对未来的机器人技术开发提供参考。

旋翼飞行机器人故障诊断与容错控制技术综述

对故障诊断和容错技术的发展过程进行了简要概述,以旋翼飞行机器人为研究对象,在分析了旋翼飞行机器人故障诊断与容错控制特点的基础上,介绍了当前国内外在该领域的研究进展和主要方法.最后,总结了该领域待解决的难点问题,并指出了该研究领域的发展趋势.

Development of Mini Space Bioreactor System

微重力对空间细胞培养的影响规律一直是国际空间生物学的重点研究领域。而空间细胞培养技术和方法作为空间细胞生物学研究的基础，其概念性和原理性设计是正确区分重力对细胞的直接作用和间接作用的前提。另外，空间实验成本高昂，空间细胞培养装置的体积、重量、功耗是首要的制约因素。为保证充分物质交换，满足细胞代谢需求，同时尽可能降低由细胞供液形式产生的力学环境对细胞的影响，区分重力对细胞的直接作用和间接作用，我们研制了逆流片层式微型细胞培养装置。实验表明为使培养液流动对细胞生长影响最小，流动剪切应变率应小于1s-1。通过理论计算分析的逆流片层式微型细胞培养装培养室内流场及流动剪切范围表明，该装置可以满足要求。通过实验检测细胞培养时的氧耗、糖耗等，可以确定不同种类细胞的培养液流量范围。培养室内采用经表面改性的聚合物网架作为细胞载体，使得培养空间得到充分利用，并利于操作。从而为空间细胞培养研究提供了一种新的技术手段。

Self-adaptive optical systems for long-distance flying optics

The focusing characteristics of long-distance flying optics were studied systemically for TEMmn Gaussian beams. The results show that the ABCD law of parameter q can be extended to Gaussian modes of any order when waist radius w in the imaginary part of parameter q is replaced by Rayleigh range Z(R) of a certain resonator in the equation. The difference between the real focal length and the geometric focal length, defined as Delta f, was calculated for laser applications. A novel self-adaptive optical system was demonstrated for precisely controlling the focusing characteristics of long-distance flying optics, Theoretical analyses and experimental results were consistent. (c) 2006 Optical Society of America.

Avoidant Learning Ability in Free Flying Housefly (Aldrichina grahami)by Electric Shock

下载PDF阅读器研究证实:蜜蜂和果蝇具有良好的学习记忆能力.利用自主改良的研究装置对另一种具有强大生存本能的双翅目昆虫--巨尾阿丽蝇(Aldrichina grahami)在自由状态下电击同避学习能力进行研究.结果表明,巨尾阿丽蝇具有良好的学习记忆能力,因为当刺激电压范围为5V到45V时,观察到巨尾阿丽蝇有显著的回避电刺激行为,而当电压达到60V时会受到明显伤害.由此推测,巨尾阿丽蝇适合作为神经系统研究的动物模型.该实验所采用的实验范例较以往有所改进,适合作为自由状态下研究昆虫的工具.

Predation on giant flying squirrels (Petaurista philippensis) by black crested gibbons (Nomascus concolor jingdongensis) at Mt. Wuliang, Yunnan, China

Predation on vertebrates is infrequent in gibbons. In a 14-month field study of the central Yunnan black crested gibbon (Nomascus concolor jingdongensis) at Mt. Wuliang, Yunnan, China, we observed gibbons attacking, killing and eating giant flying squirre

Molecular phylogeny and biogeography of woolly flying squirrel (Rodentia : Sciuridae), inferred from mitochondrial cytochrome b gene sequences

To investigate the genetic diversity between the populations of woolly flying squirrels (Eupetaurus) from the eastern and western extremes of the Himalayas, partial mitochondrial cytochrome b gene sequences (390-810bp) that were determined from the museum specimens were analyzed using maximum parsimony (MP) and maximum likelihood (ML) methods. The molecular data reveal that the two specimens that were collected in northwestern Yunnan (China) are members of the genus Eupetaurus. Reconstructed phylogenetic relationships show that the populations of Eupetaurus in the eastern and western extremes of the Himalayas are two distinct species with significant genetic differences (12%) and diverged about 10.8 million years ago. Eupetaurus is significantly different from Petaurista and Pteromys. The level of estimated pairwise-sequence divergence observed between Eupetaurus and Petaurista or Pteromys is greater than that observed between Eupetaurus and Trogopterus, Belomys, Glaucomys, or Hylopetes. Considering the divergence time of the two Eupetaurus groups, the glaciations and the uplift of the Himalayas and Qinghai-Tibet plateau during the Pliocene-Pleistocene period might be the major factors affecting the present distribution of Eupetaurus along the Himalayas. (C) 2004 Elsevier Inc. All rights reserved.

A mini-staged multi-stacked quantum cascade laser for improved optical and thermal performance

In this paper, a mini-staged multi-stacked quantum cascade laser structure with a designed wavelength of 4.7 mu m is presented. By introducing five 0.5 mu m thick high thermal conductivity InP interbuffer layers, the 60-stages active region core of the quantum cascade laser is divided into six equal parts. Based on simulation, this kind of quantum cascade laser with a 10 mu m ridge width gives nearly circular two-dimensional far-field distribution (FWHM = 32.8 degrees x 29 degrees) and good beam quality parameters M-2 = 1.32 x 1.31 in the fast axis (growth direction) and the slow axis (lateral direction). Due to the enhancement of lateral heat extraction through the interbuffer layers, compared to the conventional structure, a decrease of about 5-6% for the maximum temperature in the active region core of the mini-staged multi-stacked quantum cascade laser with indium-surrounded and gold-electroplated packaging profiles is obtained at all possible dissipated electrical power levels.

Flying lemurs – The 'flying tree shrews'? Molecular cytogenetic evidence for a Scandentia-Dermoptera sister clade

Background: Flying lemurs or Colugos (order Dermoptera) represent an ancient mammalian lineage that contains only two extant species. Although molecular evidence strongly supports that the orders Dermoptera, Scandentia, Lagomorpha, Rodentia and Primates form a superordinal clade called Supraprimates (or Euarchontoglires), the phylogenetic placement of Dermoptera within Supraprimates remains ambiguous. Results: To search for cytogenetic signatures that could help to clarify the evolutionary affinities within this superordinal group, we have established a genome-wide comparative map between human and the Malayan flying lemur (Galeopterus variegatus) by reciprocal chromosome painting using both human and G. variegatus chromosome-specific probes. The 22 human autosomal paints and the X chromosome paint defined 44 homologous segments in the G. variegatus genome. A putative inversion on GVA 11 was revealed by the hybridization patterns of human chromosome probes 16 and 19. Fifteen associations of human chromosome segments (HSA) were detected in the G. variegatus genome: HSA1/3, 1/10, 2/21, 3/ 21, 4/8, 4/18, 7/15, 7/16, 7/19, 10/16, 12/22 (twice), 14/15, 16/19 (twice). Reverse painting of G. variegatus chromosome-specific paints onto human chromosomes confirmed the above results, and defined the origin of the homologous human chromosomal segments in these associations. In total, G. variegatus paints revealed 49 homologous chromosomal segments in the HSA genome. Conclusion: Comparative analysis of our map with published maps from representative species of other placental orders, including Scandentia, Primates, Lagomorpha and Rodentia, suggests a signature rearrangement (HSA2q/21 association) that links Scandentia and Dermoptera to one sister clade. Our results thus provide new evidence for the hypothesis that Scandentia and Dermoptera have a closer phylogenetic relationship to each other than either of them has to Primates.

中国松鼠科 Sciuridae (Non-flying squirrels) 动物的分类和分布及系统发育研究

松鼠科隶属于哺乳纲、啮齿目，是一类世界广布性动物，全世界共计36 属 234 种。本文通过形态分析及分子生物学方法，研究了我国松鼠科动物的分类及 系统发育关系，内容包括以下两个方面： 一、中国松鼠科动物的分类 本研究查看了中科院昆明动物研究所、中科院动物研究所、云南大学、四川 省林业科学研究院、四川大学、陕西师范大学、陕西动物研究所、西北大学、上 海自然历史博物馆、广东昆虫所馆藏该科各类群标本。同时，结合相关文献，对 各类群的外形特征进行了详细的描述和系统分类整理，我国共计10 属34 种。测 取可量性状数据共计20800 个（完整头骨共计1300 号），而且还运用多变量及单 变量分析方法进行数据分析，对部分类群的种下分类结果进行分析：1.探讨了分 布于中国境内的明纹花鼠（Tamiops mcclellandii）3 亚种的有效性。2.研究了 隐纹花鼠（Tamiops swinhoei）在中国的分化并描记了分布于四川马尔康地区的 隐纹花鼠为一新亚种（Tamiops swinhoei markamensis）。3.描记了分布于云南 省东北部昭通地区的赤腹松鼠为一新亚种：昭通亚种（Callosciurus erythraeus zhaotongensis）。4. 提出了分布于云南省无量山区的泊氏长吻松鼠为一新亚种： 无量山亚种（Dremomys pernyi wuliangshanensis）。 二、中国松鼠科动物的系统发育研究 2004－2005 年相继到滇西北高黎贡山、香格里拉，滇西南临沧地区，滇东 南马关、麻栗坡、富宁，滇东北昭通地区进行标本采集，基本收集到我国南方松 鼠科属、种样品进行分子生物学研究。 1.中国松鼠科动物各属的系统发育关系 在分析线粒体细胞色数b 基因（1040bp）序列的基础上，运用贝叶斯法 （Bayesian phylogenetic reconstruction approaches）、最简约法（Maximum parsimony method）、邻接法（Neighbor Joining method）构建中国松鼠科动物 所有属间系统发育树。结果表明：所分析的10 属分别聚集为3 群，巨松鼠属Ratufa单独成为一群，丽松鼠属Callosciurus、长吻松鼠属Dremomys、花松鼠属 Tamiops 以及线松鼠属Menetes 成为一群，松鼠属Sciurus、岩松鼠属 Sciurotamias、花鼠属Tamias、旱獭属Marmota 以及黄鼠属Spermophilus 成 为一群。在此基础上我们进一步探讨了中国松鼠科动物的分化与环境变化的关 系。 2.长吻松鼠属的系统发育关系 在分析线粒体细胞色数b 基因（378bp）序列的基础上，我们重建了长吻松 鼠属内5 个类群间的系统发育关系，结合对5 类群外部形态特征的详细比较，我 们探讨并论证了红腿长吻松鼠、橙喉长吻松鼠作为种的地位的有效性，同时论证 了该属内泊氏长吻松鼠最早分化，其次为橙腹长吻松鼠，第三是红腿长吻松鼠， 红颊长吻松鼠和橙喉长吻松鼠是最后分化的类群。

Electrochemiluminescent microoptoprobe with mini-grid working electrode and self-contained sample container

A new electrochemiluminescence (ECL) microoptoprobe with simple structure. small sampling volume and high efficiency was developed. It was constructed by fixing the transparent gold mini-grid on the end surface of the optical fiber, and by surrounding the fiber with the counter- and reference electrodes to form a self-contained three-electrode system. The use of mini-grid electrode increased the surface area and collection efficiency. which resulted in higher ECL signal and better sensitivity. The counter electrode together with one end of the fiber formed a mini-vessel, which eliminated the need of additional container and allowed to perform ECL detection in a very small volume (about 10 mul). The microoptoprobe obtained was characterized with the Ru(bpy)(3)(2-)-tripropylamine system and was applied for the determination of oxalate and chlorpromazine (CPZ). Detection limits (S/N = 3) were 5 x 10(-7) and 1 x 10(-6) mol l(-1) for oxalate and CPZ. respectively. The linear range for oxalate and CPZ extended from 1 x 10(-6) to 1 x 10(-3) mol l(-1), and from 5 x 10(-6) to 5 x 10(-4) mol l(-1). respectively.

Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。

Stabilization of Dynamic Systems for Multiple Omni-Directional Mobile Robots

本文考虑了由2个全方位移动机器人组成的混合动力学系统的协调拟镇定问题.利用机器人位置之间的向量与机器人目标之间向量的内积,设计了多步拟镇定律,该控制律能够在避碰后按指数速率运动到目标点,且在整个过程中两机器人之间的距离不小于避碰的安全距离.最后对2个全方位移动机器人进行了仿真,验证了所给方法的有效性。