Abundance and conservation status of the Yangtze finless porpoise in the Yangtze River, China

middle and lower reaches of the Yangtze River, China. It is the only freshwater population of porpoises in the world and is currently listed as Endangered by IUCN. In November and December 2006 we used two boats and line transect methods to survey the entire current range of the population, except for two lakes (Poyang and Dongting). Sighting results were similar for both boats, so we pooled all data and analyzed them using two line transect models and a strip transect model. All models produced similar estimates of abundance (1111, 1225 and 1000). We then added independent estimates of the number of porpoises from the two lakes for a total estimate of approximately 1800 porpoises. Our findings indicate that the population continues to decline and that its distribution is becoming more fragmented. Our current estimate in the main river is slightly less than half the estimate from surveys between 1984 and 1991 (which was probably an underestimate). We also found an apparent gap in the distribution of porpoises between Yueyang and Shishou (similar to 150 km), where sightings had previously been common. Continued threats to Yangtze finless porpoises include bycatch in unregulated and unselective fishing, habitat degradation through dredging, pollution and noise, vessel strikes and water development. Immediate protective measures are urgently needed to ensure the persistence of finless porpoises in the Yangtze River. The survey design and analytical methods developed in this study might be appropriate for surveys of cetaceans in other river systems. (c) 2008 Elsevier Ltd. All rights reserved.

First human-caused extinction of a cetacean species?

The Yangtze River dolphin or baiji ( Lipotes vexillifer), an obligate freshwater odontocete known only from the middle-lower Yangtze River system and neighbouring Qiantang River in eastern China, has long been recognized as one of the world's rarest and most threatened mammal species. The status of the baiji has not been investigated since the late 1990s, when the surviving population was estimated to be as low as 13 individuals. An intensive six-week multivessel visual and acoustic survey carried out in November-December 2006, covering the entire historical range of the baiji in the main Yangtze channel, failed to find any evidence that the species survives. We are forced to conclude that the baiji is now likely to be extinct, probably due to unsustainable by-catch in local fisheries. This represents the first global extinction of a large vertebrate for over 50 years, only the fourth disappearance of an entire mammal family since AD 1500, and the first cetacean species to be driven to extinction by human activity. Immediate and extreme measures may be necessary to prevent the extinction of other endangered cetaceans, including the sympatric Yangtze finless porpoise ( Neophocaena phocaenoides asiaeorientalis).

Revised diagnosis of the genus Bangana Hamilton, 1822 (Pisces : Cyprinidae), with taxonomic and nomenclatural notes on the Chinese species

Most morphological characters diagnostic of the 13 Chinese species of the cyprinid genus Sinilabeo Rendahl, 1932, are identical to those of the genus Bangana Hamilton, 1822. Consequently, these 13 species are transferred to Bangana. A revised diagnosis is provided for the now-expanded genus Bangana, and a dichotomous key and taxonomic and nomenclatural notes are included for the following valid Chinese species: B. decora, B. dero, B. devdevi, B. discognathoides, B. lemassoni, B. lippa, B. rendahli, B. tonkinensis, B. tungting, B. wui, B. xanthogenys, B. yunnanensis, and B. zhui. Literature reports, by Chinese authors, of Sinilabeo dero from the upper Irrawady River basin, in Yunnan, are based on misidentifcations of B. devdevi. Sinilabeo cirrhinoides Wu and Lin in Wu, Lin, Chen, Chen and He, 1977, and S. laticeps Wu and Lin in Wu, Lin, Chen, Chen and He, 1977, are junior subjective synonyms of B. devdevi and B. lippa, respectively. Sinilabeo yunnanensis Wu, Lin, Chen, Chen and He, 1977, is an available name, and a lectotype is designated for the species. Bangana zhui ( Zheng and Chen, 1983) is a valid species distinct from B. yunnanensis.

一种Stewart结构六维力/力矩传感器参数辨识研究

介绍了一种大量程Stewart结构六维力/力矩传感器系统.建立了传感器力/力矩测量数学模型,构建了基于运动学逆解的优化目标函数.提出了一种新的参数标定法,称作分支轮换标定法.基于所研发的六维力/力矩传感器系统进行了实验研究,实验结果表明分支轮换法可以有效地辨识出传感器的结构参数,提高了测量精度.该方法可用于类似结构的六维力/力矩传感器参数标定.

大射电望远镜精调Stewart平台工作空间分析

针对大射电望远镜精调Stewart平台的五自由度运动特性,采用快速极坐标搜索法确定了五自由度大射电望远镜精调Stewart平台的工作空间.通过实例分析验证了所提出的工作空间分析方法的有效性.为大射电望远镜馈源轨迹跟踪实现和精调Stewart平台的设计奠定了坚实的基础.

基于Stewart平台六维力传感器的分区静态标定方法

基于Stewart平台的六维力传感器具有结构紧凑、刚度大、量程宽等特点,它在工业机器人、空间站对接等领域具有广泛的应用前景。好的标定方法是正确使用传感器的基础。由于基于Stewart平台的六维力传感器是一个复杂的非线性系统,所以采用常规的线性标定方法必将带来较大的标定误差从而影响其使用性能。标定的实质是,由测量值空间到理论值空间的映射函数的确定过程。由函数逼近理论可知,当只在已知点集上给出函数值时,可用多项式或分段多项式等较简单函数逼近待定函数。基于上述思想,本文将整个测量空间划分为若干连续的子测量空间,再对每个子空间进行线性标定,从而提高了整个测量系统的标定精度。实验分析结果表明了该标定方法有效。

并联Stewart机构位姿误差分析

从并联机构与串联机构的运动学等效 ,并联机构本身特征与并联机构实际工作空间出发 ,考虑各分支末端误差对最终运动平台末端误差的影响 ,提出了并联机构位姿误差放大因子分析法·依据位姿误差放大因子具有对误差定量分析的特点 ,该分析方法既可用于机构参数优化 ,又可用于结构精度设计· 最后 ,给出了一个实例说明本方法的有效性·