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.

三种海水经济鱼类早期发育生物学的研究

海水经济鱼类的养殖在我国已经形成第四次海水养殖浪潮，经济效益显著，有力地推动了我国海水养殖的产业结构调整和可持续发展。然而在海水养殖发展过程中也存在着诸多问题，尤其是早期发育阶段的高死亡率，严重制约了我国海水养殖产业的稳定和健康发展。 海水鱼类养殖的关键为高质量，高存活率苗种的生产和培育，由于鱼类种类繁多，生物多样性丰富，对应实际的繁育技术，尤其是新品种的开发，必须要做出相应的调整。这就要求我们必须对每一种鱼类早期发育有所了解，并将形态和组织上的数据用于指导生产。 本文通过显微观察和组织学研究，主要描述和研究了我国北方三种重要的海水经济鱼类(条斑星鲽、杂交鲆、条石鲷)的早期发育生物学，并结合实际生产进一步阐明关键期的产生原因，机理以及采用相应的对策。具体结果如下： 1.条斑星鲽：作为冷温性鲆鲽鱼类，条斑星鲽早期发育过程的特征主要有： ① 条斑星鲽受精卵无油球，卵子呈半浮性；不同步卵裂现象提前，发生在第三次卵裂；卵裂期裂球大小差异大。孵化过程较长，在水温8 ± 0.3℃，盐度33的条件下，经9 d孵化。条斑星鲽胚胎发育的不同时期对温度的敏感性不同，其中原肠期对温度比较敏感。 ②在8-10℃，盐度33的条件下，8-9 dph开口摄食。且开口时，其吻前端出现有一点状黑褐色素，构成了条斑星鲽仔鱼“开口期”的重要标志。卵黄囊于消失。在后期仔鱼末期，背鳍和臀鳍上形成特有的黑褐色条斑带。 ③杯状细胞首先出现在咽腔后部和食道前段，胃腺和幽门盲囊出现于29 dph，变态期始于30dph。在条斑星鲽早期发育过程中，观察到其直肠粘膜层细胞质出现大量嗜伊红颗粒，为仔鱼肠道上皮吸收的蛋白质。 ④首先淋巴化的免疫器官是头肾，然后是胸腺和脾脏，这与大部分硬骨鱼类不同。条斑星鲽除头肾和脾脏外，胸腺实质也形成MMCs。其中以脾脏形成MMCs最为丰富，形态多样。 2. 杂交鲆：为同属的牙鲆和夏鲆间的远缘杂交种，其发育过程的特点为： ① 在温度为15.4～16.0℃，杂交鲆胚胎从受精到孵化所需的时间为76 h左右，胚孔关闭前期，胚胎先出现视囊及克氏囊，而后形成体节。孵出前胚体在卵膜内环绕不到1周。 ② 孵化后消失。杂交鲆群体变态间隔长(34-60 dph)，且变态高峰期出现的冠状幼鳍不明显(与母本牙鲆相比)，数量为7-8根。 ③组织学观察发现，其消化系统中胃腺出现较晚，且胃腺发育过程缓慢(与母本牙鲆相比)。甲状腺滤泡增生不明显，颜色较浅，数量较少。杂交鲆在早期发育过程中，并没有出现鳔原基。 3. 条石鲷作为岩礁性的暖水性鱼类，早期发育过程也较为特殊，包括外形以及内部的器官结构。主要特点有： ① 受精卵：受精卵卵黄上具有龟裂结构，为鱼卵的分类特征之一。 ② 初孵仔鱼：初孵仔鱼背鳍膜上的黑色素，从体背面向背鳍膜边缘移动，到3dph仔鱼基本消失，此为本种仔鱼发育所特有的特点。 ③ 后期仔鱼和稚鱼：肠道肌肉层加厚明显，仔稚鱼胃肠排空率急剧上升，死亡率增加，通过改善常规的投饵方式部分解决了这个死亡高峰的问题。在幼鱼初期，牙齿融合为骨喙，为石鲷科鱼类的特征。 ④胸腺上皮分泌细胞：类似的现象同样在虹鳟鱼中发现，但是虹鳟鱼胸腺上皮分泌细胞不如条石鲷的丰富，同样也不如条石鲷的排列整齐，而是零星分布在胸腺上皮与咽腔接触的表面。除了正常的造血器官—脾脏和头肾外，肝脏、胰腺和鳔等多种组织等也出现MMCs，此现象在硬骨鱼类不多见，一般发生在软骨鱼类。

Control mechanisms of diel vertical migration: Theoretical assumptions

We explore control mechanisms underlying the vertical migration of zooplankton in the water column under the predator-avoidance hypothesis. Two groups of assumptions in which the organisms are assumed to migrate vertically in order to minimize realized or effective predation pressure (type-I) and to minimize changes in realized or effective predation pressure (type-II), respectively, are investigated. Realized predation pressure is defined as the product of light intensity and relative predation abundance and the part of realized predation pressure that really affects organisms is termed as effective predation pressure. Although both types of assumptions can lead to the migration of zooplankton to avoid the mortality from predators, only the mechanisms based on type-II assumptions permit zooplankton to undergo a normal diel vertical migration (morning descent and evening ascent). The assumption of minimizing changes in realized predation pressure is based on consideration of DVM induction only by light intensity and predators. The assumption of minimizing changes in effective predation pressure takes into account, apart from light and predators also the effects of food and temperature. The latter assumption results in the same expression of migration velocity as the former one when both food and temperature are constant over water depth. A significant characteristic of the two type-II assumptions is that the relative change in light intensity plays a primary role in determining the migration velocity. The photoresponse is modified by other environmental variables: predation pressure, food and temperature. Both light and predation pressure are necessary for organisms to undertake DVM. We analyse the effect of each single variable. The modification of the phototaxis of migratory organisms depends on the vertical distribution of these variables. (C) 2001 Academic Press.

Social and ecological influences on dispersal and philopatry in the plateau pika (Ochotona curzoniae)

Benefits and costs of dispersal and philopatry of the social plateau pika (Ochotona curzoniae) were studied on the Tibetan plateau for 3 years. Although short-lived, plateau pikas live in cohesive family groups that occupy burrow systems in sedge meadow habitat Most (57.8%) plateau pikas were philopatric, and dispersal movements were extremely restricted. No juvenile females or adult pikas moved more than two family ranges between years; the greatest observed dispersal distances were by two juvenile males that moved five family ranges from the family of their birth. Traversing unfamiliar habitat was not a cost of pika dispersal because most dispersers settled in families that they could easily visit before dispersal. Dispersal movements appeared to result in equalization of density among pika families, an expected result if competition for environmental resources influenced dispersal. Males did not disperse to gain advantages in competition for mates, as evidenced by their moving to families with significantly fewer females. Females, however, moved to families with significantly more males. Males provide abundant paternal care, and significantly more offspring per female survived to become adults from families with more adult males per adult female. Evidence concerning the influence of inbreeding avoidance on natal dispersal was indirect. Some males exhibited natal philopatry; thus some families had opportunity for close inbreeding. Males and females that dispersed had no opposite-sex relatives in their new families. Philopatric pikas may have benefited by remaining in families that exhibited low local densities, and philopatric females might have benefited from social cooperation with relatives.

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.

基于神经网络的机器人视觉伺服控制

视觉伺服可以应用于机器人初始定位自动导引、自动避障、轨线跟踪和运动目标跟踪等控制系统中。传统的视觉伺服系统在运行时包括工作空间定位和动力学逆运算两个过程,需要实时计算视觉雅可比矩阵和机器人逆雅可比矩阵,计算量大,系统结构复杂。本文分析了基于图像的机器人视觉伺服的基本原理,使用BP神经网络来确定达到指定位姿所需要的关节角度,将视觉信息直接融入伺服过程,在保证伺服精度的情况下大大简化了控制算法。文中针对Puma560工业机器人的模型进行了仿真实验,结果验证了该方法的有效性。

具有自适应能力管道机器人的设计与运动分析

提出并研制一种基于自适应移动机构的管内探查机器人。通过对机器人传动机构的设计,实现了在不增加驱动电动机数量的前提下,机器人具有适应不同管道直径的能力。机器人的传动机构能够在管道直径改变时,自动地改变行走部件的输出形式以克服障碍,完成越障任务。在没有应用链式多节构型的情况下,机器人配备一个驱动电动机就能够完成越障任务,改善了传统螺旋驱动式机器人越障能力不高的问题,同时也提高了对驱动电动机的使用效率。为了分析试验中发现的机器人保持架自转现象,对机器人进行运动分析,并由分析结果对相关部分进行改进。试验结果表明,该机器人能够在内径为190 mm和180 mm的管道中行进,并能够顺利通过两节管道间形成的同心台阶障碍,验证了自适应移动机构的行走能力。

输电线巡检机器人越障机理与试验

分析超高压输电线路架空地线上的障碍物类型以及跨越这些障碍的过程。可以发现,巡检机器人采用双臂交替跨越障碍,越障过程简单。但是由于受巡检机器人自身重力偏矩的影响和手臂长度尺寸的限制,当单臂悬架在架空地线上时,导致巡检机器人本体倾斜,另一手臂完成脱线和上线任务变得十分困难,有时甚至造成越障失败。为了解决上述问题,提出质量调节的控制方法。该方法通过调节巡检机器人的质心,使巡检机器人的本体保持水平状态。为了验证质量调节控制方法的正确性,采用Lagrange方法建立巡检机器人动力学模型,通过仿真试验、实验室模拟实际架空地线试验以及超高压实际现场试验说明了提出方法的可行性。

轮-腿复合移动机器人构型控制及越障策略

本文构型和越障控制研究的是如何控制机器人的姿态和如何控制机器人以一系列的构型翻越障碍物,构型及越障控制是轮-腿复合移动机器人技术领域的研究重点,针对轮-腿复合移动机器人的结构特点以及早期方法存在的不足,本文提出了在不平整地面上的构型控制方法和针对沟、坎典型地形环境的越障控制策略,并利用六轮-腿复合移动机器人试验平台开展了验证实验。

轮腿复合移动机器人自主越障姿态设定及轮腿运动协调算法实现

轮腿复合移动机器人具有很好的地面适应能力和越障能力。本文通过对机器人系统结构的分析和其越障高度的静态分析,计算出机器人能够越障的最大高度,并提出了针对典型地形环境(沟、坎、台)越障问题的机器人构型优化以及轮腿运动协调控制算法,而且通过实验验证了算法的有效性。

野外地面移动机器人系统设计与实现

本文针对机器人在野外地形环境下的高机动性要求,设计开发了减震机构,针对机器人轮-腿复合结构和驱动冗余特点,提出并开发了面向高速行进的牵引力控制算法和面向越障的构型控制算法,通过与环境建模技术结合,实现了机器人的遥控、自主导航、自主越障等功能,构成了机器人的分层式控制系统。

地面移动机器人越障动力学建模与分析

对采用轮—腿—履带复合型移动机构的地面移动机器人进行了研究,首先分别描述了机器人采用腿—履带、轮—腿—履带两种方式的越障过程,进而对腿—履带复合越障过程进行了动力学建模,分析了电机驱动力矩与机器人速度及障碍物高度等之间的关系,为确定机器人的复杂环境适应能力提供理论依据.

多目标追逐问题的一种混合整数线性规划解

研究多车辆多目标追逐的路径规划问题。提出两个基于混合整数线性规划(Mixed integer linear programming,MILP)的多目标追逐(Multi-target pursuit,MTP)模型:就近追逐和"一对一"使能追逐。在两个MIP追逐模型中,小车运动的状态方程考虑为具有线性阻尼的质点动力学方程。采用整数变量描述小车与障碍物的相对位置信息,提出"目标膨胀尺寸"的概念来描述对目标的追逐,定义小车的"追逐方向"。采用选取整变量的等高面法求解MILP追逐问题,并给出初始内点整变量的确定方法。最后给出仿真试验1对两个多目标追逐模型进行对比研究,仿真试验2证实了算法的效率。

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。

可变形机器人协同越障方法及控制策略研究

在复杂环境中工作的机器人对越障能力的要求越来越高。为了充分发挥可变形机器人AMOEBA-Ⅰ的越障能力,增强机器人在非结构环境中的适应性,提出了可变形机器人的协同越障方法。建立了数学模型,对机器人越障高度与其重心位置的关系进行了理论分析。从理论上比较了常规越障方法与协同越障方法所能翻越障碍的最大高度。同时提出了自主越障过程的控制策略,采用了根据情感状态的变化对机器人控制策略进行微调,并建立了相应地情感模型。实验验证了协同越障方法及自主越障控制策略的有效性。