Chromosome inheritance in triploid Pacific oyster Crassostrea gigas thunberg

Reproduction and chromosome inheritance in triploid Pacific oyster (Crassostrea gigas Thunberg) were studied in diploid female x triploid male (DT) and reciprocal (TD) crosses. Relative fecundity of triploid females was 13.4% of normal diploids. Cumulative survival from fertilized eggs to spat stage was 0.007% for DT crosses and 0.314% for TD crosses. Chromosome number analysis was conducted on surviving progeny from DT and TD crosses at 1 and 4 years of age. At Year 1, oysters from DT crosses consisted of 15% diploids (2n = 20) and 85% aneuploids. In contrast, oysters from TD crosses consisted of 57.2% diploids, 30.9% triploids (3n = 30) and only 11.9% aneuploids, suggesting that triploid females produced more euploid gametes and viable progeny than triploid males. Viable aneuploid chromosome numbers included 2n + 1, 2n + 2, 2n + 3, 3n - 2 and 3n - 1. There was little change over time in the overall frequency of diploids, triploids and aneuploids. Among aneuploids, oysters with 2n + 3 and 3n-2 chromosomes were observed at Year 1, but absent at Year 4. Triploid progeny were significantly larger than diploids by 79% in whole body weight and 98% in meat weight at 4 years of age. Aneuploids were significantly smaller than normal diploids. This study suggests that triploid Pacific oyster is not completely sterile and cannot offer complete containment of cultured populations.

Effects of azadirachtin on six inorganic cation distributions in Ostrinia furnacalis (G.)

Azadirachtin (Az), as a botanical insecticide, is relatively safe and biodegradable. It affects a wide vaariety of biological processes, including the reduction of feeding, suspension of molting, death of larvae and pupae, and sterility of emerged adults in a dose-dependent manner. However, the mode of action of this toxin remains obscure. By using ion chromatography, we analyzed changes in six inorganic cation (Li+, Na+, NH4+, K+, Mg2+, and Ca2+) distributions of the whole body and hemolymph in Ostrinia furnacalis (G.) after exposure to sublethal doses of Az. The results showed that Az dramatically interfered with Na+, NH4+, K+, Mg2+, and Ca2+ distributions in hemolymph of O. furnacalis (G.) and concentrations of these five cations dramatically increased. However, in the whole body, the levels of K+, Mg2+, and Ca2+ significantly, decreased after exposure to Az, except that Na+ and NH4+ remained constant. Li+ was undetected in both the control and treated groups in the whole body and hemolymph. It is suggested that Az exerts its insecticidal effects on O. furnacalis (G.) by interfering with the inorganic cation distributions related to ion channels.

轮式移动仿人机器人的动力学建模与分析

利用高效迭代牛顿-欧拉方法对一个21自由度的轮式移动仿人机器人进行了整体动力学建模,该模型虽然维数较高,但消除了分块建模中需要对模块之间相互作用力进行建模的难点问题,并且由于机器人双臂的对称结构,当合理规划双臂运动时,动力学模型将得到部分简化。本文还对某关节运动时在各个关节所产生的力或力矩进行了仿真分析。解析及仿真结果表明,合理规划上臂各关节的协调运动,将极大地削弱车体及腰部各关节所受的力或力矩扰动,为基于动力学的机器人运动控制以及稳定性分析提供理论依据。

拟人机器人交互作用力的研究

拟人机器人的动力学具有高度非线性、高度耦合的特点,分析清楚各组成部分之间的交互作用力是实施高级控制方法的基础。文章在以往分析移动机械手的基础上,从整体建模的角度入手,对拟人机器人的交互作用力提出了一个新的模型,即神经网络模型。利用该模型对一个特殊的单一手臂运动的例子进行了拟合,其结果是收敛的。这说明提出的模型是有效的,此后,我们将陆续给出研究成果。