Metabolism of polychaete Neanthes japonica Izuka: relations to temperature, salinity and body weight

Polychaete Neanthes japonica is a species geographically specific in China and Japan with important scientific implication and commercial value. In this study, the relations of body weight, salinity and temperature to oxygen consumption and ammonia excretion of N. japonica were determined. Three different groups in body weight (large: 2.34 +/- 0.36 g, middle: 1.50 +/- 0.21 g and small: 0.62 +/- 0.12 g) were set for all experiments. Results show that the body weight is negatively related to the rates of oxygen consumption and ammonia excretion; and the relationship is significant. The oxygen consumption and ammonia excretion at 24A degrees C decreased at salinity from 5 to 30 and increased above 30, indicating that both lower and higher salinity are adverse and certain degree of salinity stress is necessary for enhancing the energy demand. At salinity 30, rising temperature from 18A degrees C to 30A degrees C, the oxygen consumption increased before 27A degrees C and then decreased. However, the relation of ammonia excretion and temperature seems more complex. Two-way ANOVA shows that salinity, temperature and body weight all have a significant effect on the oxygen consumption and ammonia excretion of the worm. Moreover, interaction between salinity/temperature and body weight is also significant. O:N (oxygen/nitrogen) ratio varies greatly in this case from 5.97 to 463.22, indicating that N. japonica can regulate the type of metabolic substrate against environment changes.

基于模型参数估计的履带式移动机器人航向保持

履带式移动机器人运动时,由于受到系统误差及履带地面接触效应等不确定因素的影响,会导致航向及路径偏差。本文采用模型参数估计的方法达到履带式移动机器人路径保持的目的。首先,考虑履带与地面的滑动效应,建立起机器人运动学模型;然后,对于模型中受环境影响的参数,利用扩展卡尔曼滤波进行在线估计;最后,采用合适的观测值实现闭环控制。通过在履带式极地冰雪面移动机器人的实验研究,验证所提方法的可行性和有效性。

Robust Learning Control for Manipulators with Uncertainty Disturbances Based on Internal Model

In this paper, a disturbance controller is designed for making robotic system behave as a decoupled linear system according to the concept of internal model. Based on the linear system, the paper presents an iterative learning control algorithm to robotic manipulators. A sufficient condition for convergence is provided. The selection of parameter values of the algorithm is simple and easy to meet the convergence condition. The simulation results demonstrate the effectiveness of the algorithm..

水-盐-气天然流体的物理化学性质模拟与流体包裹体应用研究

Natural fluids with water-salt-gas are often found in every sphere of the Earth, whose physicochemical properties and geochemical behaviors are complicated. To study these properties and behaviors turns out to be one of the challenging issues in geosciences. Traditional approaches mainly depend on experiments and observations. However, it is impossible to obtain a large number of data covering a large T-P space of the Earth by experimental methods in the near future, which will hinder the advance of the theoretical study. Therefore, it is important to model natural fluids by advanced theoretical methods, by which limited experimental data can be extended to a large temperature-pressure-composition space. Physicochemical models developed in this dissertation are not only more accurate, but also extend the applied T-P-m region of the experimental data of the multi-fluid systems by about two times. These models provide the new and accurate theoretical tools for the geochemical research, especially for the water-rock interactions and the study of the fluid inclusions. The main achievements can be summarized as follows: (1) A solubility model on components of natural gases is presented. The solubility model on the systems of CH4-H2O-NaCl, C2H6-H2O-NaCl or N2-H2O-NaCl takes advantage of modern physicochemical theory and methods, and is an improvement over previous models whose prediction and precision are relatively poor. The model can predict not only the gas solubility in liquid phase but also water content in the gas phase. In addition, it can predict gases (methane or nitrogen) solubility in seawater and brine. Isochores can be determined, which are very important in the interpretation of fluid inclusions. (2) A density model on common aqueous salt solutions is developed. The density models with high precision for common aqueous salt solutions (H2O-NaCl, H2O-LiCl, H2O-KCl, H2O-MgCl2, H2O-CaCl2, H2O-SrCl2 or H2O-BaCl2) are absent in the past. Previous density models are limited to the relatively small range of experimental data, and cannot meet the requirement of the study of natural fluids. So a general density model of the above systems is presented by us based on the international standard density model of the water. The model exceeds the other models in both precision and prediction. (3) A viscosity model on common aqueous alkali-chloride solutions is proposed. Dynamic viscosity of water-salt systems, an important physics variable, is widely used in three-dimension simulation of the fluids. But in most cases, due to the lack of viscosity models with a wide T-P range, the viscosity of aqueous salt solutions is replaced by that of the water, giving rise to a relatively large uncertainty. A viscosity model with good prediction for the systems (H2O-NaCl, H2O-LiCl or H2O-KCl) is presented on the base of the international standard viscosity model of water and the density model developed before. (4) Equation of State applied in fluid inclusions. The best Equations of State in the world developed by others or us recently are applied in the study of the fluid inclusions. Phase equilibria and isochores of unitary system (e.g. H2O, CO2, CH4, O2, N2, C2H6 or H2S), binary H2O-NaCl system and ternary H2O-CH4-NaCl system are finished. From these programs and thermodynamic equations of coexisting ores, the physicochemical conditions before or after the deposits form can be determined. To some extent, it is a better tool.

滑坡和泥石流致灾条件叠合技术及风险分析-以川藏公路然乌至鲁朗段为例

As one part of national road No. 318, Sichuan-Tibet (Chengdu-Lasha) Highway is one of traffic life lines connecting Tibet municipality to the inland, which is very important to the economic development of Tibet. In addition, it is still an important national defence routeway, with extremely important strategic position on maintaining the stability and solidarity of Tibet municipality and consolidating national defence. Particular geological condition, terrain and landform condition and hydrometeorological condition induce large-scale debris flows and landslides (including landslips) and the like geological hazards frequently occur along the highway. High frequency geological hazards not only result in high casualties and a great property loss, but also block traffic at every turn, obstructing the Sichuan-Tibet highway seriously. On the basis of considerable engineering geological investigation and analysis to the relative studying achievements of predecessors, it is found that one of the dominating reason incurring landslides or debris flows again and again in a place is that abundant loose materials are accumulated in valleys and slopes along the highway. Taking landslides' and debris flows along Ranwu-Lulang section of Sichuan-Tibet highway as studying objects, the sources and cause of formation of loose accumulation materials in the studying area are analyzed in detail, the major hazard-inducing conditions, hazard, dynamic risk, prediction of susceptibility degree of landslides and debris flows, and the relations between landslides and debris flows and various hazard-inducing conditions are systematically researched in this paper. All of these will provide scientific foundation for the future highway renovating and reducing and preventing geological hazards. For the purpose of quantitatively analyzing landslide and debris flow hazards, the conception of entropy and information entropy are extended, the conception of geological hazard entropy is brought forward, and relevant mathematics model is built. Additionally, a new approach for the dynamic risk analysis of landslide and debris flow is put forward based on the dynamic characteristics of the hazard of hazard-inducings and the vulnerability of hazard-bearings. The formation of landslide and debris flow is a non-linear process, which is synthetically affected by various factors, and whose formation mechanics is extremely complex. Aiming at this question, a muli-factors classifying and overlapping technique is brought forward on the basis of engineering geomechanics meta-synthesis (EGMS) thought and approach, and relevant mathematics model is also built to predict the susceptibility degree of landslide or debris flow. The example analysis result proves the validity of this thought and approach. To studying the problem that whether the formation and space distribution of landslides and debris flows are controlled by one or several hazard-inducing conditions, the theme graphics of landslides and debris flows hazard and various hazard-inducing conditions are overlapped to determine the relationship between hazard and hazard-inducing conditions. On this basis, the semi-quantitative engineering zonation of the studying area is carried out. In addition, the overlapping analysis method of the hazard-indue ing conditions of landslides and debris flows based on "digital graphics system" is advanced to orderly organize and effectively manage the spatial and attributive data of hazard and hazard-inducing conditions theme graphics, and to realize the effectively combination of graphics, images and figures.

Relations between A-type granites and copper mineralization as exemplified by the Machangqing Cu deposit

This paper deals with the relations between the Machangqing rockbody which corresponds to the A-type granites and porphyry copper mineralization in terms of petrochemistry, trace element geochemistry, fluid inclusion geochemistry and isotope geochemistry. The results show that the Machangqing porphyry copper deposit was formed from the fluid predominated by mag-matic fluid. This kind of ore-forming fluid was just differentiated from the magma responsible for the A-type granites. therefore,as viewed from whereer they contain water or not,the A-type granites can,at least,be divided into two types: water-bearing and water-free.The water-bearing A-type granites can serve as the host ofporphyry copper deposits under certain geological conditions.