First record of the family Spengeliidae (Hemichordata : Enteropneusta) from Chinese waters, with description of a new species

Six species belonging to two families of Hemichordata have previously been recorded in Chinese waters. This paper records the discovery and description of a new species of the genus Glandiceps found in Jiaozhou Bay, Qingdao, Shandong Province, named Glandiceps qingdaoensis. The new species has a long proboscis with dorsal and ventral grooves, a stomochord with a long vermiform process, a proboscis cavity with a dorsal median, right and left glomeruli, right and left glomeruli very large and encircling the stomochord, a proboscis skeleton in the cavity extends into the median posterior of the collar, a well-developed dorsal ventral muscular septum in the proboscis cavity dividing the cavity completely into two separate parts. The collar cord is without giant nerve roots. The trunk with four distinct regions that can be recognized externally: branchial-genital region, genital region, hepatic region, and intestinal region. The dorsal pharynx is large and the gill pores are small. The tongue bars are encircled by vesicles, and the first gonad commences at the level of the second or third gill slit.

Holosticha hamulata n. sp and Holosticha heterofoissneri Hu and Song, 2001, two urostylid ciliates (Protozoa, Ciliophora) from intertidal sediments of the Yellow Sea

Two marine urostylid ciliates, Holosticha hamulata n. sp. and Holosticha heterofoissneri Hu and Song, 2001, were investigated using live observation and protargol impregnation. Both species were isolated from Korean intertidal sediments of the Yellow Sea. Holosticha hamulata measures about 150 x 25 pro in vivo, and is characterized by a tripartite body shape with a narrow head, an inflated trunk, and a tail that distally projects ventrally forming a hook-like structure. It is the characteristic body shape that distinguishes H. hamulata distinctly from congeners. Holosticha hamulata differs from H. heterofoissneri, possibly the nearest relative, also by the location of the contractile vacuole (ahead of mid-body versus near posterior body third) and the configuration of the macronucleus (on average, 33 scattered nodules assuming a Y-shape versus 17 nodules that may form a U shape). The average number of the macronuclear nodules is a pronounced feature showing great consistency in populations of each species. However, their arrangement is variable in H. heterofoissneri where the nodules are basically scattered or connected by fine fibers forming an elongate U-shape. The location of the contractile vacuole as a taxonomic feature is discussed and a dichotomous key to the species of Holosticha sensu stricto is provided.

轮式移动宜人机器人技术研究

轮式移动宜人机器人项目研究的主要目的是开发自主式仿人机器人样机 ,探索先进的机器人理论和技术。轮式移动宜人机器人由正交轮式移动平台、腰部、躯干及头部和双臂组成 ,共 2 1个自由度。整体结构包括 :电源系统、机械系统、控制系统和传感系统。电源系统采用车载电池供电。机械系统包括变刚度结构 ,提高了机器人与人交互作业的安全性。控制系统分为中央协调层和执行层结构。传感系统主要实现关节位置检测、姿态检测、力检测和视觉。文章讨论了此机器人的研究进展。

供排气管对接机械手的机构研究与参数优化

根据水下救援作业中连接供排气管的需求,失事对象救生围壁的结构形式,遵循水下机械手机构选型原则,设计了一种专用的六功能气管对接水下机械手,并从机械手工作空间和轻量化要求两方面建立了机械手的数学模型,对其机构参数进行了优化设计。最后对优化结果进行了分析和工作空间的仿真。结果表明该机械手的设计能满足供排气管对接作业要求,达到了预期目的。

植物对环境污染的磁学响应机理研究

With development of industry and acceleration of urbanization, problems of air quality as well as their influences on human health have recently been regarded highly by current international communities and governments. Generally, industrializations can result in exhausting of a lot of industry gases and dusts, while urbanization can cause increasing of modern vehicles. Comparing with traditional chemical methods, magnetic method is simple, rapid, exact, low-cost and non-destructive for monitoring air pollution and has been widely applied in domestic and international studies. In this thesis, with an aim of better monitoring air pollution, we selected plants (highroad-side perennial pine trees (Pinus pumila Regel) along a highroad linking Beijing City and the Capital International Airport, and tree bark and tree ring core samples (willow, Salix matsudana) nearby a smelting industry in northeast Beijing) for magnetic studies. With systemic magnetic measurements on these samples, magnetic response mechanism of contamination（e.g. tree leaves, tree ring）to both short- and long-term environmental pollution has been constructed, and accordingly the pollution range, degree and process of different time-scale human activities could be assessed. A series of rock magnetic experiments of tree leaves show that the primary magnetic mineral of leaf samples was identified to be magnetite, in pseudo-single domain (PSD) grain size range of 0.2-5.0 μm. Magnetite concentration and grain size in leaves are ascertained to decrease with increasing of sampling distance to highroad asphalt surface, suggesting that high magnetic response to traffic pollution is localized within a distance of about 2 m away from highroad asphalt surface. On the other hand, highroad-side trees and rainwater can effectively reduce the concentration of traffic pollution-induced particulate matters (PMs) in the atmosphere. This study is the first time to investigate the relationship of smelting factory activities and vicissitudes of environment with tree rings by magnetic methods. Results indicate that magnetic particles are omnipresent in tree bark and trunk wood. Magnetic techniques including low-temperature experiment, successive acquisition of IRM, hysteresis loops and SIRM measurements suggest that magnetic particles are predominated by magnetite in pseudo-single domain state. Comparison of magnetic properties of tree trunk and branch cores collected from different directions and heights implies that collection of magnetic particles depends on both sampling direction and height. Pollution source-facing tree trunk wood contains significantly more magnetic particles than other sides. These indicate that magnetic particles are most likely intercepted and collected by tree bark first, then enter into tree xylem tissues by translocation during growing season, and are finally enclosed in a tree ring by lignifying. Correlation between magnetic properties such as time-dependent SIRM values of tree ring cores and the annual steel yields of the smelting factory is significant. Considering the dependence of magnetic properties in sampling directions, heights, and ring cores, we proposed that magnetic particles in the xylem cannot move between tree rings. Accordingly, the SIRM and some other magnetic parameters of tree ring cores from the source-facing side could be contributed to historical study of atmospheric pollution produced by heavy metal smelting activities, isoline diagrams of SIRM values of all the tree rings indicate that air pollution is increasing worse. We believed that a synthetic rock magnetic study is an effective method for determining concentration and grain size of ferromagnets in the atmospheric PMs, and then it should be a rapid and feasible technique for monitoring atmospheric pollution.

嵌套式空间中物体空间关系的表征和提取

In human memory, a large environment is divided into several small trunks. Each trunk is represented separately. So it formed a hierarchical representation of the large environment. Carlson-Radvansky & Jiang (1998) reported that different environments may be encoded in different spatial reference frames, and accessing an environmental representation requires activating the corresponding reference frame. According to the theory of intrinsic frames of reference proposed by Mou and his college, people organize the spatial relations of the objects in an environment relative to the intrinsic frames of reference in their representation. Our study focus on how people retrieval the spatial relations of objects in two nested spaces when they do the JRD task. The main findings of our study are: a) In two nested spaces, the objects in each space are represented relative to the intrinsic reference direction of that space. And people’s retrieval of the spatial relations between the objects in the same space according to the recovery and retrieval of the intrinsic reference direction of that space. b) In the JRD task, when retrieval the spatial relationships of objects in different spaces, the performance is depend on the recovery and retrieval of the intrinsic reference direction of the space that the target object in. c) After people retrieval of the spatial relations of objects in different spaces depends on the recovery of the intrinsic reference frame of one of the space, it was very hard for them to use the intrinsic frame of reference frame of the other space in retrieval the spatial relations of objects.