Cultivation of the brown alga Hizikia fusiformis (Harvey) Okamura: stress resistance of artificially raised young seedlings revealed by chlorophyll fluorescence measurement

Commercial farming of the intertidal brown alga Hizikia fusiformis (Harvey) Okamura in China and South Korea in the sea depends on three sources of seedlings: holdfast-derived regenerated seedlings, young plants from wild population and zygote-derived seedlings. Like many successfully farmed seaweed species, the sustainable development of Hizikia farming will rely on a stable supply of artificial seedlings via sexual reproduction under controlled conditions. However, the high rate of detachment of seedlings after transfer to open sea is one of the main obstacles, and has limited large-scale application of zygote-derived seedlings. To seek the optimal condition for growing seedlings on substratum in land-based tanks for avoidance of detachment in this investigation, young seedlings were grown in both outdoor tanks exposed directly to sunlight and in indoor raceway tanks in reduced, filtered sunlight. Results showed that young seedlings, immediately after fertilization, could withstand a daily fluctuation of direct solar irradiance up to a level of 1800 mu mol photons m(-1)s(-1), and maintained a faster growth rate than seedlings grown in indoor tanks. Detailed experiments by use of chlorophyll fluorescence measurements further demonstrated that the overnight (12 h) recovery of optimal fluorescence quantum yield (F-v/F-m) of seedlings after 1 h treatment at 40 degrees C was 98%, and the 48 h recovery of F-v/F-m of seedlings after 1 h exposure to 1800 mu mol m(-2)s(-1) was 92%. Forty-one-day-old seedlings showed no significant decrease of optimal fluorescence quantum yield at salinity ranging from 30 to 5 ppt for a treatment up to 17 h. Six-hour desiccation treatment did not have any influence on the optimal fluorescence quantum yield. Exposure to 18 mmol L-1 sodium hypochlorite for 10 min did not damage the PSII efficiency, and thus could be used to remove epiphytic algae. The strong tolerance of young seedlings to high temperature, high irradiance, low salinity and desiccation found in this investigation supports the view that mass production of Hizikia seedlings should be performed in ambient light and temperature instead of in shaded greenhouse tanks.

Characterization of the life history of Bangia fuscopurpurea (Bangiaceae, Rhodophyta) in connection with its cultivation in China

Bangia fuscopurpurea (Rhodophyta) was cultivated in Putian (Fujian province, China). The characteristics of the life history concerned with cultivation were investigated and the cultivation procedure was presented. The gametophytic phase (thallus) and the sporophytic phase (conchocelis) occurred alternately in the life history of B. fuscopurpurea. Young thalli produced archeospores, and the number depended on the environmental factors. Temperature affected the number of archeospore release and percent of germination, and photo flux density (PFD) mainly affected the time of spore release and germination. Thalli matured from December to February and developed into the conchocelis phase through sexual reproduction. The conchocelis grown in shells had three developmental stages: vegetative conchocelis, conchosporangiall formation and conchospore formation. Pit-connections were present in the first 2 stages but absent after conchospore formation. Vegetative conchocelis and conchosporangial. branches can transform into each other. However, conchospores only developed into the gametophytic phase. Cultivation of B. fuscopurpurea was based on characterization of the life history, consisting of 3 steps: zygotospores collection, indoor cultivation of conchocelis and outdoor cultivation of thalli. Young thalli that developed from conchospores produced numerous archeospores before December. Over 90% of the crop was from the development of archeospores. The results indicated that conchosporelings were a good source of archeospores, and the development of the large quantity of archeospores acted as a more prevailing means to increase the population size. (C) 2008 Elsevier B.V. All rights reserved.

Effects of different light sources and illumination methods on growth and body color of shrimp Litopenaeus vannamei

Shrimps Litopenaeus vannamei with initial body weight of 2.108 +/- 0.036 g were sampled for specific growth rates (SGR) and body color measurements for 50 days under different light sources (incandescent lamp, IL; cool-white fluorescent lamp, FL; metal halide lamp, MHL; and control without lamp) and different illumination methods (illumination only in day, IOD, and illumination day and night, IDN). Body color of L. vannamei was measured according to the free astaxanthin concentration (FAC) of shrimp. The SGR, food intake (FI), feed conversion efficiency (FCE) and FAC of shrimps showed significant differences among the experimental treatment groups (P < 0.05). Maximum and minimum SGR occurred under IOD by MHL and IDN by FL, respectively (difference 56.34%). The FI of shrimp for the control group did not rank lowest among treatments, confirming that shrimp primarily use scent, not vision, to search for food. FI and FCE of shrimps were both the lowest among treatment groups under IDN by FL and growth was slow, thus FL is not a preferred light source for shrimp culture. Under IOD by MHL, shrimps had the highest FCE and the third highest FI among treatment groups ensuring rapid growth. FAC of shrimp were about 3.31 +/- 0.20 mg/kg. When under IOD by MHL and IDN by FL, FAC was significantly higher than the other treatments (P < 0.05). To summarize, when illuminated by MHL, L. vannamei had not only vivid body color due to high astaxanthin concentration but also rapid growth. Therefore, MHL is an appropriate indoor light source for shrimp super-intensive culture. SGR of shrimp was in significantly negative correlation to FAC of shrimp (P < 0.05). Thus, when FAC increased, SGR did not always follow, suggesting that the purpose of astaxanthin accumulation was not for growth promotion but for protection against intense light. (c) 2005 Elsevier B.V. All rights reserved.

Corrosion resistance of hot-dipped zinc and zinc alloy coated sheet steels under offshore atmospheric environment

The application of hot-dipped zinc and zinc-aluminum alloy coatings were introduced. Exposure tests of the steels with these coatings were conducted in the offshore atmosphere in Qingdao and Xiamen for 12 years separately. Effects of the coating thickness, alloy composition and atmospheric environment on the corrosion performance were studied. Results of the onsite exposure tests were compared with the results of a previous indoor salt spray accelerated corrosion tests. The study supports that zinc-aluminum alloy coatings are useful in providing better corrosion resistance and can be further developed for future applications.

基于线性不变矩和角度向量的立体匹配算法

针对室内场景双目立体匹配有别于一般场景立体匹配的特殊性,提出了一种计算简便、准确度高的立体图像匹配算法。该算法首先利用canny算子检测物体的边缘,根据边缘的线性不变矩寻找出目标物体,然后提取出目标物体轮廓的特征点,利用角度直方图计算出左右图像的旋转角度,最后利用角度向量实现左右图像的对应像素点的匹配。线性不变矩有效地将计算复杂度由二维降低到一维,大大降低了计算量。角度向量的提出降低了特征点匹配的复杂度,而且计算简便,准确率高。实验表明,该算法对图像的缩放、旋转、平移均免疫,具有较高的识别精度和良好的抗干扰性,计算效率高于传统方法,有着较高的应用价值。

用于移动机器人自定位的视觉路标设计

为了实现室内移动机器人的自定位,提出了一种简易美观的新型视觉人工路标以及基于对数极坐标系投影直方图的路标识别方法,并用基于共面四点的位姿估计算法计算机器人位姿。实验结果说明,路标检测具有很高的鲁棒性;路标识别方法抗噪声和形变的能力强;位姿精度足够满足室内移动机器人自定位的需要。

移动机器人路径规划方法研究

针对室内动态非结构化环境下的移动机器人路径规划问题,提出了一种能够将全局路径规划方法和局部路径规划方法相结合、将基于反应的行为规划和基于慎思的行为规划相结合的路径规划方法.全局路径规划器采用A*算法生成到达目标点的子目标节点序列;局部路径规划器采用改进的人工势场方法对子目标节点序列中相邻两节点进行路径平滑和优化处理.在考虑了移动机器人运动学约束的前提下,该方法不但能够充分利用已知环境信息生成全局最优路径,而且还能及时处理所遇到的随机障碍信息.仿真研究与在室内复杂环境下的实际运行结果验证了该方法的有效性.

基于视觉的室内移动机器人自定位技术研究

在关于移动机器人的诸多研究领域中，机器人自定位是十分关键的技术，是实现机器人自主运动和其他任务的基础，而且涉及领域广泛，有很多难点有待解决，因而是一个具有重要研究价值的课题。 本论文以沈阳新松机器人股份有限公司自主研发的家庭服务机器人为研发平台，系统地研究了基于计算机视觉的室内移动机器人自定位问题，成功设计了基于单目视觉人工路标以及粒子滤波的室内移动机器人自定位系统。 本文首先根据室内移动机器人自主导航定位的要求，设计了一种简易美观的新型视觉人工路标，并且研究与实现了该路标的实时准确检测以及不同路标的识别。 其次，在位姿计算方面，本文研究了共面P4P（4点透视）问题的解法及其在位姿计算方面的应用，并分析比较了两种不同P4P解法的优缺点，成功地将两种算法结合起来用于机器人位姿计算。 最后，在机器人自定位方面，本文将单目彩色摄像机作为传感器，在基于贝叶斯滤波理论的自定位理论框架下，利用粒子滤波自定位方法融合视觉信息与码盘信息，实现了自主移动机器人的自定位。 实践证明，本文设计的基于单目视觉人工路标的自定位系统能够成功地应用在室内移动机器人上，具有较高的应用推广价值。

基于障碍预估与概率方向权值的移动机器人动态路径规划

主要研究了移动机器人在未知动态环境中的路径规划问题.提出一种将障碍预估与概率方向权值相结合的动态路径规划新方法.该方法将卡尔曼滤波引入到规划算法中,使得对障碍物运动状态的实时有效预估成为可能.同时,为实现移动机器人的实时路径规划,提出一种新的概率方向权值方法,基于周期规划将障碍物与目标信息进行融合,能够有效处理室内环境下对于障碍物的速度和运动轨迹均未知的动态路径规划问题.仿真结果以及基于SmartROB2移动机器人平台所进行的实验结果验证了该方法的有效性和实用性.

移动机器人基于激光测距和单目视觉的室内同时定位和地图构建

该文研究了部分结构化室内环境中自主移动机器人同时定位和地图构建问题.基于激光和视觉传感器模型的不同,加权最小二乘拟合方法和非局部最大抑制算法被分别用于提取二维水平环境特征和垂直物体边缘.为完成移动机器人在缺少先验地图支持的室内环境中的自主导航任务,该文提出了同时进行扩展卡尔曼滤波定位和构建具有不确定性描述的二维几何地图的具体方法.通过对应用于SmartROB-2移动机器人平台所获得的实验结果和数据的分析讨论,论证了所提出方法的有效性和实用性.

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。

三峡库区巴东组泥灰岩溶蚀作用与岩体力学性质弱化研究

Abstract The karsrt erosion engineering geology became a highlight problem in recent years, in particularly, the karst erosion of marlite of Badong formation made the rock mechanics weaken in Three Gorges Reservoir area, which reduces the safety of slope. During the immigrant construction, many high slopes have been formed, whose instabilities problems pose serious threats to the safety of the people and properties. The accidents of the slope failure take place now and then. By testing, it has been found that the karst erosion pattern and dissolution rate of marlite are not weaker than that of the pure limestone. Furthermore, owning to the weathering and unloading, the karst erosion of the marlite will reach certain depth of the slope, which is named infiltrated karst erosion. The karst erosion made the rock mass quality of slope or foundation worse in a large scale. The karst erosion geological disasters, taken place or not, has become the main restrictive factors to the social stability and economic development. Thus the karst erosion process and mechanism of marlite of Badong formation are studied as the main content of this dissertation. The weakening characteristic of rock mass mechanics parameters are studied along with the rock mass structure deformation and failure processes in the course of the karst erosion. At first, the conditions and influencing factors of the karst erosion are analyzed in the investigative region, on the basis of different karst erosion phenomenon of the marlite and different failure modes of slope. Then via indoor the karst erosion tests, it is analyzed that the karst erosion will change the rock mass composition and its structure. Through test, the different karst erosion phenomena between micro and macro have been observed, and the karst erosion mechanism of the marlite has been summarized. Damage theory is introduced to explain the feature of dissolution pore and the law of crack propagation in the marlite. By microscope and the references data, it can be concluded that the karst erosion process can be divided into rock minerals damage and rock structural damage. And the percent of karst erosion volume is named damage factor, which can be used to describe the quantify karst erosion degree of marlite. Through test, the rock mechanical properties in the different period of karst erosion are studied. Based on the damage mechanics theory and the test result, the relation between the karst erosion degree of marlite and weakening degree of mechanical properties is summarized. By numerical simulations, the karst erosive rock mass mechanics is verified. The conclusion is drawn as below: to the rock mass of marlite, the karst erosion damage made mechanics parameters variation, the deformation modulus, cohesion, and inter friction angle reduce as the negative exponent with the increasing of the karst erosion volume, however, the Poisson ratio increases as the positive exponent with the karst erosion volume increasing. It should be noticed that the deduced formulations are limited to the test data and certain conditions. It is suitable to the rock mass parametric weakening process after the karst erosion of marlite in Three Gorges Reservoir area. Based on the failure types of marlite slope in the field, the karst erosion and weathering process of rock mass are analyzed. And the evolution law of deformation and failure of the marlite mass is studied. The main failure feature of the marlite slope is the karst erosive structure subsidence mode in Three Gorges Reservoir area. The karst erosive structure subsidence mode is explained as follows: the rock mass undergoes the synthetic influence, such as weathering, unloading, corrosion, and so on, many pores and cavities have been formed in the rock mass interior, the rock mass quality is worsen and the rock mass structure is changed, and then the inherent structure of rock mass is collapsed under its gravity, therefore, the failure mode of compaction and subsidence take place. Finally, two examples are used to verify the rock mass parameters in Three Gorges Reservoir area, and the relationship between the marlite slope stability and the time of karst erosion is proposed.

天津滨海新区软土不同含砂量的强度特征研究

Based on the features of soft soil in Tianjing Coastal New Developing Area, this kind of soil with different content of sand was researched systematically, according to the indoor experiment, about its characteristics of strength and deformation. The main results are summarized in the following: Firstly, on the basis of geological engineering investigation, the systemic experiments about the physical characteristics were conducted. The test soil samples were taken from the gray and gray-yellow silty soft soil which was formatted by near-shore marine sediment and marine-continental interactive sediment. The original condition of the sample soil was in saturation and the basic indexes are: liquid limit36.1%, plastic limit 18.8%, plasticity index. Then, the condensation characteristics of the soft soil were analyzed through high-pressure consolidation tests. The results show that，in various loading serials, the coefficient of compressibility under P=100kPa and 200kPa are all larger than 0.5MPa-1. So the sample soil is a kind of high-compressibility soil. Secondly, triaxial strength of undisturbed soil and remoulded soil was researched by using triaxial test. The types of stress-strain curve of both undisturbed and remoulded soil are the stress stabilization and softening type, which show the specific plastic character. Furthermore, the cohesion and friction angle of undisturbed soil changes, when the ambient pressure is different, instead of a stable value for all time; the cohesion and friction angle of remoulded soil changes with the compactness and sand-carrying capacity which is wholly higher than undisturbed soil. At last, the stress-strain results of both undisturbed and remoulded soil were normalized by using the ambient pressure as the normalization factor. The results show that, there are all some normalization characters in both undisturbed and remoulded soil, however, the feature of normalization of undisturbed soil is worse than the remoulded ones. The main reason is that the undisturbed samples are worse in equality and the unavoidable disturb through the process of sampling and experiments will also make them can not put up good normalization. Therefore, it is feasible to normalize the soil in Tianjing Coastal New Developing Area with the ambient pressure as normalization factor.

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.

滑坡型泥石流转化机理研究—以四川省达县青宁乡滑坡为例

Slide-debris flow is debris flow which is transformed from landslide consecutively in a short time, it comprises of two phases: First, Landslide starts to slide; Second, landslide changes to debris flow. Slide-debris flow which brings great property and life loss happens frequently at home and abroad. In order to forecast the happening possibility and scope of slide-debris flow, transfromation mechanism of Slide-debris flow must be studied. Research on transformation mechanism of slide-debris flow is intersectant science of landslide kinetics and debris flow starting theory, It is a fringe problem as well as front problem of geological hazard. This paper takes Qingning slide-debris flow in Da County, Sichuan Province for example and has studied the mechanism of its instability and transfromation into debris flow through indoor test (including usual soil test and ring shear test) and digital modeling method.The research gets the following conclusions. Qingning Landslide took place mainly because of confined water head arising from rainfall infiltration. Before Landslide occurring, it rained continuously for 22 days, accumulated precipitation arrived at 521.6mm.Investigation shows that strata of Qingning Landslide contains quaternary loose accumulation, slip soil and highly weathered bedrock, which is a good condition for formation of confined water in the slope. Further more, groundwater seepage in the slope body and corresponding slope safety factor before landslide occurring have been computed through finite element method. The result shows that because of infiltration of rainfall, confined water head in the slope arose sharply, accordingly, the safety factor of the slope declined quickly. The result also shows that force put on the slide body by the rock mass detached from Dazhaiyan mountain was the direct factor for landslide occurring. Qingning slide-debris transformation mode has been summarized, the process the landslide changed into debris flow is divided into three phases in the prospective of macroscopic geological condition: landslide occurring, transformation and debris flow. Landslide occurring phase is from slope’ local creeping slide to Landslide occurring; transformation phase contains slide body sliding on the slide bed after slide occurring and sliding on the slope after shearing opening; debris flow phase is that slide body breaks up completely and flows downward into the ditches. The transformation mechanism of Qingning slide-debris flow has been studied through indoor ring shear test of slip soil. The result shows that transformation mechanism contains two points: first, during slide body sliding on the slide bed and slope after shearing opening, shearing shrinkage, grain crushing and grain layering brought about declining of its volume and produced excess pore water pressure, and because producing velocity of excess pore water pressure is much greater than its dissipating velocity, shear strength of slide body decreased sharply because of accumulated pore water pressure. Second, grains crushing and grains layering during slide body sliding brought about thick liquefied layer at the bottom of the slidebody, liquefied layer contained high water content and its shear strength was very low, its thickness increased as the sliding displacement increasing. Liquefied layer makes slide body sliding fast and easily break down to debris flow. Excess pore water pressure and liquefied layer made shear strength of slidebody became very low, furthermore, water in the pit of slope joining in the slidebody was also a facter that made slidebody accelerate the transformation. Influence of slide body thickness and fine grains content to transformation of slide-debris flow has been studied through ring shear test. The result reaches two conclusions. First, thickness of slide body affects transformation of slide-debris flow by two ways, porewater pressure and effect of “soft base” increases as thickness of slide body increasing.so the thicker slide body is ,the easier transformation is. Second, actual dissipating velocity of porewater pressure should be considered when studying the influence of fine grains content to tranformation of slide-debris flow. There should be a critical content of fine grains which makes the difference of producing and dissipating velocity of water pore pressre greatest, this value is the best for slide-debris transformation. The whole process of slide-debris flow transformation is reproduced through discrete element method. Transformation mechanism of slide-debris flow is studied through monitoring various parameters including pore water pressure, grain crushing and grain layering in the slide body during the transformation. The result confirms and supplements the transformation mechanism of slide-debris flow got from ring shear test well.