A possible evolutionary lag in the relationship between freshwater mussels and European bitterling

The coevolutionary dynamics between European bitterling Rhodeus amarus and freshwater unionid mussels, which the former parasitize by laying eggs on their gills, were tested. In a series of experiments fish preferences and mussel responses were compared in parasites and hosts of recent (Europe) and ancient (Asia) sympatry. Rhodeus amarus readily oviposited on the gills of all mussel species tested. Fish that laid their eggs on the gills of Asian Anodonta woodiana, however, suffered a dramatic reduction in reproductive success compared to fish that oviposited on the gills of European mussels: Unio pictorum, Unio tumidus, Anodonta anatina and Anodonta cygnea. This difference was the result of egg ejection behaviour by mussels rather than the unsuitability of the internal gill environment for European bitterling embryo development. The ejection response of mussels with a long sympatry with European bitterling was considerably more pronounced than that of mussels with a substantially shorter sympatry. The data support a coevolutionary arms race between bitterling and mussels and point to an evolutionary lag in the relationship between R. amarus and its European mussel hosts. (c) 2007 The Authors. Journal compilation (c) 2007 The Fisheries Society of the British Isles.

Two-photon asymmetric color-locking second-order stochastic correlation of attosecond polarization beats

Based on the phase-conjugation polarization interference between two two-photon processes, we theoretically investigated the attosecond scale asymmetry sum-frequency polarization beat in four-level system (FASPB). The field correlation has weak influence on the FASPB signal when the laser has narrow bandwidth. Conversely, when the laser has broadband linewidth, the FASPB signal shows resonance-nonresonance cross correlation. The two-photon signal exhibits hybrid radiation-matter detuning terahertz; damping oscillation, i.e., when the laser frequency is off resonance from the two-photon transition, the signal exhibits damping oscillation and the profile of the two-photon self-correlation signal also exhibits zero time-delay asymmetry of the maxima. We have also investigated the asymmetry of attosecond polarization beat caused by the shift of the two-photon self-correlation zero time-delay phenomenon, in which the maxima of the two two-photon signals are shifted from zero time-delay point to opposite directions. As an attosecond ultrafast modulation process, FASPB can be intrinsically extended to any level-summation systems of two dipolar forbidden excited states.

Propulsion characteristics of wing-in-ground effect dual-foil propulsors

Propulsion characteristics of wing-in-ground effect propulsors were investigated using a comparative analysis of thrust and powering characteristics between wing-in-ground (WIG) effect thrusters and traditional screw propellers. WIG thrusters were found to have constant thrust production and efficiency, nearly independent of speed of advance, as contrary to screw propellers, whose optimum efficiency occurs at only one speed point. To produce the same amount of thrust as equivalent screw propellers, WIG thrusters have to work under heavily loaded operating conditions. WIG thrusters were also found to produce a relatively lower but nearly constant efficiency and thrust, independent of speed. Another distinguishing propulsion characteristic revealed for WIG thrusters is that they are capable of operating at much higher speeds, in a range of three to six times that of screw propellers of the same size. While the speed range of screw propellers is mainly limited by their geometric pitch, the speed range of WIG thrusters has no speed limit in ideal fluid. In reality, the speed range is only limited by viscous drag and cavitation, or compressibility, in water or air, respectively. This suggests a potential for WIG thrusters of higher speed application than screw propellers. An experimental investigation and validation of the propulsion system is warranted. Crown Copyright (C) 2010 Published by Elsevier Ltd. All rights reserved.

Biopotentials of marine sponges from China oceans: past and future

An extensive literature survey of over 17 Journals was carried out on Chinese sponges and their natural products in the period from 1980 to 2001. This review is thus intended to provide the first thorough overview of research on marine sponges from China Ocean territories. Information is provided about the rather-limited taxonomic study of Chinese marine sponges, with an analysis on their distribution and diversity. Research findings on the natural products and their bioactivity screening from Chinese sponges are summarized. The weaknesses, gaps and problems in the past R&D program of Chinese sponges are identified, which point to the future opportunities in exploiting these huge untapped sponge resources. The report is expected to serve as an entry point for understanding Chinese sponges and for furthering R&D on their bioactive compounds for new drug development. (C) 2003 Elsevier Science B.V. All rights reserved.

Theoretical study on the mechanism of the reaction of CH4+MgO

The reactions of (1) CH4 + MgO --> MgOH. + CH3. and (2) CH4 + MgO --> Mg + CH3OH have been studied on the singlet spin state potential energy surface at the MP2/6-311+G(2d,2p) level. These two reaction channels, both involving intermediates and transition states, have been rationalized by the structures of the species involved, natural bond orbital (NBO), and vibrational frequency analysis. We have considered two initial interacting models between CH4 and MgO: a collinear C-H approach to the O end of the MgO forming the MgOCH4 complex with C-3nu symmetry and three hydrogen atoms of the methane point to the Mg end of the MgO forming the OMgCH4 complex with C-1 symmetry. The calculations predict that reactions 1 and 2 are exothermic by 39.8 and 86.5 kJ mol(-1), respectively. Also, the former reaction proceeds more easily than the latter, and the complex HOMgCH3 is energetically preferred in the reaction of MgO + CH4.

Separation of drug enantiomers by capillary electrophoresis in the presence of neutral cyclodextrins

This is a selected review, highlighting our results obtained in an extended screening program ("The German-Chinese Drug Screening Program"), with a focus on a set of original data obtained with heptakis(2,3,6-tri-O-methyl)-beta-cyclodextrin(TM-beta-CD) as the chiral solvating agent (CSA). The enantioseparation of 86 drugs by capillary zone electrophoresis in the presence of this CSA was successful for 47 drugs. The migration separation factors (alpha(m)) and the migration retardation factors (R-m) were compared with those found for native beta-cyclodextrin (beta-CD). The patterns thus obtained were also compared with those observed for hexakis(2,3,6-tri-O-methyl)-alpha-CD (TM-alpha-CD) and octakis(2,3,6-tri-O-methyl)-gamma-CD (TM-gamma-CD), respectively. From the statistical data, it can be concluded that there is a remarkable influence of the analyte structure on the electrophoretic data. A substructure 4H was found in the analyte structure that has a significant influence on the analytes' behaviour. Thus, analytes bearing the substructure 4H do not only have a strong affinity to the CDs but also a high rate of success of chiral separation in all systems reviewed. In light of this, the different ring sizes of native cyclodextrins (alpha-, beta- and gamma-CD) readily explain their behaviour towards a limited test set of chiral drugs. Sterical considerations point to the significance of side-on-binding versus inclusion in the cavity of the host. In addition to the findings from the screening program, numerous references to the Literature are given. (C) 2000 Elsevier Science B.V. All rights reserved.

开发西部切入点的研究──以黄土高原生态环境建设切入点为例

本本文以黄土高原为例，讨论了生态环境建设作为开发西部切入点的科学和实际意 义。从黄土高原毁林毁草耕垦和人为加速侵蚀的发展，剖析了退耕还林还草作为生态环境建 设切入点的科学依据。在此基础上，又进一步剖析了退耕还林还草的切入点及其实施对策。

Biopotentials of marine sponges from China oceans: past and future

An extensive literature survey of over 17 Journals was carried out on Chinese sponges and their natural products in the period from 1980 to 2001. This review is thus intended to provide the first thorough overview of research on marine sponges from China Ocean territories. Information is provided about the rather-limited taxonomic study of Chinese marine sponges, with an analysis on their distribution and diversity. Research findings on the natural products and their bioactivity screening from Chinese sponges are summarized. The weaknesses, gaps and problems in the past R&D program of Chinese sponges are identified, which point to the future opportunities in exploiting these huge untapped sponge resources. The report is expected to serve as an entry point for understanding Chinese sponges and for furthering R&D on their bioactive compounds for new drug development. (C) 2003 Elsevier Science B.V. All rights reserved.

基于USB接口的无线温湿度监测系统

针对环境温湿度检测的需求,设计了一种点对多点的星型无线温湿度监控网络。以无线通信模块nRF401为基础,配合AT89C2051和数字温湿度传感器SHT11构建了从机,以P89C51RD2BN单片机和USB接口芯片PDIUSBD12构建了主机。对系统的硬件原理及温湿度采集方法进行了介绍,对无线通信协议及USB固件设计方法进行了较详细分析。经上位机软件测试,系统运行稳定,具有较好实用性,可应用于多种场合的无线温湿度监测。

全地形轮式移动机器人运动学建模与分析

提出全地形轮式移动机器人的正逆运动学问题。将机器人看成一个混合串-并联多刚体系统,从每个轮-地接触点到机器人车体分别构成一个串联子系统,抛弃车轮纯滚动假设,在轮-地接触点处建立瞬时坐标系,考虑车轮的平面滑移,从而对每个串联子系统形成一个封闭的速度链。对于每个速度闭链,可直接在驱动轮轮心处写出从机器人各驱动轮到机器人本体之间的运动方程,将每个速度闭链的运动方程合并即可得到机器人的整体运动学模型。以一个具有被动柔顺机构的六轮全地形移动机器人为对象进行推导,该方法既考虑了地形不平的影响,又考虑了车轮的前向、侧向及转向滑移,已知机构参数后就可以直接写出机器人的速度方程,且便于运动学求解。该方法对于轮式移动机器人的运动学建模具有一般性,且具有物理意义明确、推导过程简洁等特点。

一种多目标快速识别的自适应灰度量化方法研究

针对实时序列图像多目标识别问题提出了一种快速图像处理方法。该方法依据一定的先验知识和准则，对复杂背景图像进行窗口化，对每一个窗口独立进行自适应快速中值滤波，及基于局部图像灰度信息的自适应重新量化和最大熵分割处理，实现了对全景视场内预定目标的快速准确提取和识别。为动态环境中多目标条件下移动机器人的视觉定位、导航和目标跟踪所需图像处理技术提供了一种新的方法。

一类非完整约束动力学系统的人工场导向控制

对于一类具有轮式移动机构的非完整动力学系统，本文通过建立人工场的方法来实现其位姿镇定、轨迹跟踪和路径跟踪等控制问题。人工场用于导向和控制方向角，而通过辅助的线速度控制以获取最佳收敛路径。控制器设计中同时兼顾动力学扰动及实际系统速度和输出力矩的饱和限制，所得控制器对于跟踪问题仅需知道期望位姿，而且结构简单、鲁棒性强、便于实现。

非完整约束轮式移动机器人人工场导向控制研究

导向控制在非完整约束轮式移动机器人的运动控制中具有重要作用，该文通过建立人工场的方法来引导和控制方向角，通过辅助的线速度控制前进或后退，以获得最佳收敛路径；同时考虑到实际系统速度饱和限制，从而设计出一种新的非连续位姿镇定律，并将该结果扩展，使得平面内任意点-点镇定、轨迹跟踪和路径跟踪问题均可得以实现，且对于跟踪问题仅需知道期望位姿，所得控制器不权设计简单，鲁棒性强，收敛速度快，还具有一定的普遍性。

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。