Tank cultivation of the red alga Palmaria palmata: Year-round induction of tetrasporangia, tetraspore release in darkness and mass cultivation of vegetative thalli

Field-collected tetrasporophytes of Palmaria palmata were tumbled in 300-L outdoor tanks from January to August at ambient daylength or in a constant short-day (SD) regime (8 h light per day), both at 10 or 15 degrees C. Tetrasporangia were massively induced after 2.5 months under SD conditions at 10 degrees C and completely lacking at 15 degrees C, both under SD or ambient daylength conditions, with a few tetrasporangia present at 10 degrees C and ambient daylength. Elongation rates of tagged tetrasporophytic thalli peaked from March to April in all four conditions, when the biomass densities in the outdoor tanks were close to 2.5 kg fresh weight m(-2). Under all four conditions, juvenile proliferations started to appear in June from the margins of the old fronds, and attained approximately 1 cm in length by the end of July. Approximately 80% of the tetraspores were released during the first three dark phases in a light/dark regime, and the remaining 20% during the light phases. A minimum of 10 min darkness was observed to trigger spore release. White light inhibited tetraspore release, while a similar number of spores were released in continuous red light or in the light/dark regime, although with no significant differences of spore release during subjective days and nights. Sporelings were successfully derived from the released tetraspores for mass propagation of the male gametophyte in 2000-L outdoor tanks in a greenhouse. Mass production of male gametophytic sporelings of P. palmata was completed two times by SD induction of tetrasporangia at 10 degrees C, release of spores in darkness and culturing the sporelings until they were ready to be propagated vegetatively in greenhouse tanks. One experiment lasted from January to October 2001, with spore release in June, and the second from September to April 2003, with spore release in January. These results may support the development of sustainable, year-round Palmaria farming. (c) 2005 Elsevier B.V. All rights reserved.

Light energy conversion into H-2 by Anabaena variabilis mutant PK84 dense cultures exposed to nitrogen limitations

Concentrated cultures (25-86 mg Chl a l(-1)) of Anabaena variabilis PK84 were incubated under 99% Ar+1% CO2 atmosphere in the photobioreactor made of coaxial cylinders. Under illumination equal to 353 mu E m(-2) s(-1) they produced hydrogen with the rate more than 20 ml l(-1) h(-1) for several days. The efficiency of light energy conversion into H-2 was approx. 1% and did not depend significantly on initial Chl a concentration. H-2/O-2 ratio reached 41.5% of theoretical value for water photolysis. Data indicate that dense cultures might be used for outdoor systems under direct sun light. Supra-optimal temperatures 36 degrees C were not harmful for cultures even for 2 days period. Short-term incubation of cultures under 36 degrees C even increased H2 production rate and efficiency of light energy bioconversion by 1.25 times. (c) 2006 International Association for Hydrogen Energy. Published by Elsevier Ltd. All rights reserved.

A new three-phase culture method for Manila clam, Ruditapes philippinarum, farming in northern China

Studies on reproduction, hatchery management, and culture of Manila clams Ruditapes philippinarum were carried out in an attempt to optimize their culture conditions and techniques. Results from these studies led to the development of a three-phase culture method for Manila clam farming in northern China. The key components of the new method were: 1) early spawning and over-wintering indoors (greenhouse); 2) optimized larval culture conditions and techniques; 3) juvenile rearing in shallow, fertilized nursery ponds; 4) optimized stocking size and density and substrate for mudflat grow out. Broodstock were maturated indoors for a month from early April to early May. Primarily because of higher water temperatures in the greenhouse the clams spawned more than one month earlier than in the natural environment. From May to July, juveniles were reared for 1-2 months indoors to a size of 2.0-3.0 mm in shell length before being moved to outdoor, pre-disinfected, nursery ponds. Juveniles were then reared in the nursery ponds for one month to about 1.0 cm before being transferred to the mudflat for grow out. Juvenile clams in nursery ponds grew considerably faster than in the natural environment probably because of higher temperatures and more abundant natural food. During grow out, the clams were reared for 4-7 months until they reached a market size (3.0-3.3 cm). Juveniles produced after August were over-wintered in the greenhouse in which the water temperature was about 3 degrees C higher than that of the outdoor environment. Juveniles grew at an average rate of > 20 mu m day(-1), while in the natural environment no growth was observed during winter because of low temperatures. Juveniles in the greenhouse grew to 2-3 mm by the following March before being moved into outdoor nursery ponds. The three-phase culture method not only shortened the production period from spawn to market size from 24-36 months to about 10-14 months, but also prolonged the spawning season from 2 to 7 months, resulting in increased production of seed and market-size clams. Compared with the traditional method, the new method could increase the yield of market-size clams by 10-11 times, and increase the profit per ha mudflat by as much as 124 times and the profit per kg market-size clams produced by 13 times. (c) 2006 Elsevier B.V. All rights reserved.

室外自主移动机器人AMOR的导航技术

在非结构化环境,移动机器人行驶运动规划和自主导航是非常挑战性的问题。基于实时的动态栅格地图,提出了一个快速的而又实效的轨迹规划算法,实现机器人在室外环境的无碰撞运动导航。AMOR是自主研发的室外运动移动机器人,它在2007年欧洲C-ELROB大赛中赢得了野外自主侦察比赛的冠军。它装备了SICK的激光雷达,用来获取机器人运动前方的障碍物体信息,建立实时动态的环境地图。以A*框架为基础的改造算法,能够在众多的路径中快速地找到最佳的安全行驶路径,实现可靠的自主导航。所有的测试和比赛结果表明所提方案是可行的、有效的。

基于立体视觉的室外非结构化环境障碍物检测方法研究

随着智能机器人系统的发展，机器人的在线感知能力日益受到重视。障碍物检测能力是机器人在线感知能力的一个重要组成部分。因视觉传感器具有独特优势，基于视觉的障碍物检测方法成为目前关注的重点。 室外非结构化环境因结构复杂，机器人缺乏可有效利用的先验知识描述，导致众多障碍物检测系统在该环境中不能有效工作。本文采用全局-局部策略对场景进行由粗到精的分析，弥补室外非结构化环境先验知识不足的难题，提高机器人的在线感知能力。根据该策略，本文在基于视差图的障碍物检测系统框架中，引入视差投影图模块，提出了基于视差投影图的障碍物检测系统框架。该框架在视差投影图模块中全局分析场景视差分布水平，在立体匹配模块中局部分析场景前景目标的几何轮廓信息。依据该框架，针对实际应用中遇到的各种问题，提出了工作于室外非结构化环境的障碍物检测算法。该算法具有如下特点： 1、通过分析视差投影图的地面关联线信息，获得场景的视差分布水平。该信息一方面用来动态更改匹配算法的视差搜索范围，增强算法的实时性和鲁棒性；另一方面用来移除背景地表，简化障碍物分割过程； 2、采用双域滤波抑制噪声，获得清晰的边缘特征，降低立体匹配算法在深度不连续性区域的匹配难度； 3、借助逆向重投影的思想重采样扫描图像，在立体匹配前等效地实现了立体匹配过程中动态变更视差搜索范围的操作； 4、采用基于连通成分的扩散方法替代传统的SAD局部匹配算法，获得高质量的视差图，最终改善障碍物检测的精确性。 在室外非结构化环境中，本文对该算法进行了实验验证。通过设置不同的基线长度，验证了算法在不同的感知距离内的有效性。经实验证明，本算法在一定距离范围内能够有效的检测出障碍物。

一种基于区域分割的多级环境建模方法

针对现有移动机器人路径规划中各种环境建模方法存在使用范围有限、复杂问题处理能力不足和运行效率低、缺乏灵活性等问题，结合二维半描述和知识利用原理，提出了一种可以比较圆满地解决诸如建筑物内不同楼层连接、室内室外环境交替出现等实用结构性空间问题的基于区域分割的多级环境建模方法。

越野移动机器人自动驾驶专家系统的研究

本文研究越野移动机器人驾驶专家系统等有关问题．首先介绍了系统的硬件支持环境，然后阐述了自动驾驶专家系统的总体结构，有关知识库的内容以及使用知识的各功能模块的作用与运行机理．该系统已部分得以应用，能够完全代替驾驶员完成各种驾驶操作，并能进行自主导航、运动规划、自动绕障、动态跟踪目标、原路返回以及示教再现等复杂任务。

非饱和膨胀土力学特性及其工程处置研究

The unsaturated expansive soil is a hotspot and difficulty in soil mechanics inland and outland. The expansive soil in our China is one of the widest in distributing and greatest in area, and the disaster of expansive soil happens continually as a result. The soil mechanics test, monitor, numerical simulation and engineering practice are used to research swell and shrinkage characteristic, edge strength characteristic and unsaturated strength characteristic of Mengzi expansive soil. The seep and stability of the slope for expansive soil associated with fissure are analyzed and two kinds of new technique are put forward to be used in expansive soil area, based on disaster mechnics proposed of the slope.The technique of reinforcement in road embankment is optimized also. Associated with engineering geology research of Mengzi expansive soil, mineral composition, chemical composition, specific area and cation content, dissolubility salt and agglutinate, microcosmic fabric characteristic, cause of formation and atmosphere effect depth are analyzed to explain the intrinsic cause and essence of swell and shrinkage for expansive soil. The rule between swell-shrinkage and initial state, namely initial water content, initial dry density and initial pressure, can be used to construction control. Does Response model is fit to simulate the rule, based on ternary regression analysis. It has great meaning to expansive soil engineering in area with salt or alkali. The mechanics under CD, CU and GCU of expansive soil is researched by edge surface theory to explain the remarkable effect of consolidation pressure, initial dry density, initial water content, cut velocity, drainage and reinforcement to the edge strength characteristic. The infirm hardening stress strain curves can be fitted with hyperbola model and the infirm softening curves can be fitted with exponential model. The normalization theory can be used to reveal the intrinsic unity of the otherness which is brought by different methods to the shear strength of the same kinds of samples. The unsaturated strain softening characteristic and strength envelope of remolding samples are researched by triaxial shear test based on suction controlled, the result of which is simulated by exponential function. The strength parameters of the unsaturated samples are obtained to be used in the unsaturated seep associated with rainfall. The elasticity and plasticity characters of expansive soil are researched to attain the model parameters by using modified G-A model. The humidification destroy characteristic of expansive soil is discussed to research the disaster mechanism of the slope with the back pressure increasing and suction decreasing under bias pressure consolidation. The indoor and outdoor SWCCs are measured to research the effect factors and the rule between different stress and filling environment. The moisture absorption curves can express the relationship between suction and water content in locale. The SWCCs of Mengzi expansive soil are measured by GDS stress path trixial system. The unsaturated infiltration function is gained to research seep and stability of the slope of expansive soil. The rainfall infiltration and ability of slope considering multifarious factors are studied by analyzing fissure cause of Mengzi expansive soil. The mechanism of the slope disaster is brought forward by the double controlling effect between suction and fissure. Two new kinds of technique are put forward to resolve disaster of expansive soil and the technique of reinforcement on embankment is optimized, which gives a useful help to solving engineering trouble.

基于GIS的高速公路养护管理信息系统的设计与开发

China is experiencing a rapid development of highway ever since 1990s. By the end of 2004, the total length of the highway summed up to 33 thousand kilometers, ranking 2n in the world. After the open of highway, the accumulation of time and traffic causes the decrease of its capability. To ensure its good quality, security and operation functions, we should take some reasonable measures to maintain it periodically. At present, a big problem is that the traditional maintain measures can no longer meet the increasing requirements. Due to the characters of highway, the relationship of various maintenance data and geographic positions is even closer than any others. If we wan to improve the quality and efficiency of the maintenance work, particularly when there is need for decision-making, a great number of data that is related to geographic positions are absolutely necessary. Evidently, Geographical Information System (GIS) has incomparably advantages in dealing with these spatial information. As a result, a management system for highway maintenance work based on GIS became inevitable for the development of the maintenance of highway. The purpose of this paper is to establish a management system for highway maintenance work base on Geographical Information System (GIS), Global Positioning System (GPS) and spatial database, to manage all kinds of problems encountered in the work, and to provide support on information and methods. My study mainly includes: (1) Analysis on the current status of the maintenance and management work; overview on the history of domestic and international highway maintenance management systems; identifying the necessity and importance for establishing a management system for highway maintenance work based on GIS. (2) Based on the requirement analysis, I proposed a general design for this management system, and discussed the objective, design principles, framework, systematical structure and function design. (3) Outdoor data collection is not only a prime way to understand the current situation of the road, but also an important method for data update after the system is put into use. This paper also intends to establish a set of plan to collect data efficiently and precisely which is based on GIS and GPS technologies. (4) The maintenance management database is a supporting platform for various maintenance decision-makings. Such decisions need the support of a great amount of data, which would cause other problems, such as the diversity of the data source, difference of data formats. This paper also discussed how to deal with these problems and establish such a database. (5) To propose an approach to assess the condition of pavement, based on GIS and related maintenance models. Among all the maintenance models, the two for assessing and forecasting pavement condition are the most important and mature. This paper also analyzed these two models and introduced them in terms of the integration of models. (6) This paper took the Guangshen Highway for example, explaining how to realize a GIS for management of highway maintenance work.