Floral organogenesis and development of two taxa of the Solanaceae - Anisodus tanguticus and Atropa belladonna

Floral organogenesis and development of two Solanaceae species, Anisodus tanguticus and Atropa belladonna, were studied by using scanning electron microscopy (SEM) as part of a project on systematics and evolution in the tribe Hyoscyameae. These two species share the following common characters of floral organ initiation and development: (1) initiation of the floral organs in the two species follows Hofmeister's rule; (2) the mode of corolla tube development belongs to the "late sympetaly" type, namely, petals are initiated separately and later become joined by fusion of their basal meristem, then rise together and form a corolla tube; (3) primordia of the floral appendages are initiated in a pentamerous pattern and acropetal order: sepals are initiated first, followed by the petals and stamens, and finally the carpels. The whorl of five stamen primordia forms almost simultaneously and originates opposite the sepal primordia, but initiation of the sepal primordia shows different modes in the two species. The sepal primordia of Anisodus tanguticus have simultaneously whorled initiation, while those of Atropa belladonna have helical initiation. The systematic significance of the present results in the genera Anisodus and Atropa is discussed in this paper.

冗余度机器人作业区域轨迹的自动规划

机器人化是提高工程机械施工控制自动化的关键问题。对于工程机械机器人 ,特别是具有空间冗余度的工程机械机器人 ,其执行机构末端的轨迹规划的自动实现研究对提高其自动化程度有着重要意义。本文以泵车为例 ,提出了一种泵车布料机构的浇筑过程的自动轨迹规划算法 ,该算法通过将其所浇筑区域离散成浇筑点集 ,对两浇筑点的轨迹利用冗余度机器人学的最小关节范数法 ,并通过在关节速度和加速度非连续之处采用平滑或连续处理 ,从而实现了泵车布料机构浇筑过程的自动轨迹规划。