AUV自主导航航位推算算法的分析研究

地球形状的不规则性,各种导航传感器本身的误差,以及仪器的安装偏差等,使得AUV(自治水下机器人)在进行远距离自主航行时,自主导航的精度大大下降。针对以上问题及实际工程需要,论文对AUV自主导航的航位推算算法做了进一步研究并加以改进,以提高其自主导航精度。最后,利用2004年中国科学院沈阳自动化所水下机器人研究中心进行AUV湖试所获得的数据,对文中提出的算法进行了验证。结果表明,AUV的自主导航精度得到大大提高,可以用于修正原来的自主导航算法。

AUV自主导航航位推算算法的研究

对AUV(AutonomousUnderwaterVehicle)自主导航的航位推算算法做了进一步研究并加以改进,以提高其自主导航精度.然后,利用AUV湖试所获得的数据,对本文提出的修正算法进行了验证.结果表明, AUV的自主导航精度得到很大提高,可以用于修正原来的自主导航算法.

金鱼DEAD-box家族基因p68和p110在配子发生中的表达特征

利用组织原位杂交技术,以地高辛标记的反义RNA为探针,检测了金鱼(Carassius auratus)DEAD-box家族基因p68和p110在卵子发生及精子发生中的表达分布特点。结果表明:在金鱼配子发生中,p68基因在各个时期的卵母细胞均有表达,Ⅰ、Ⅱ期卵母细胞中的表达水平较Ⅲ、Ⅳ期卵母细胞中更高。p68基因的表达只限于精原细胞和初级精母细胞中。p110基因在金鱼精子发生各阶段持续表达,其中精原细胞和初级精母细胞中表达水平较高;在卵子发生中,Ⅰ期卵母细胞中没有p110 RNA阳性信号,Ⅱ期卵母细胞中信号

黄鳝DEAD-box家族PL10基因的克隆与序列分析

通过PCR克隆的方法,从黄鳝(Monopterus albus)中得到两个PL10 基因的cDNA片段Mo PL10A和Mo PL10B,长度均为1.127 kb,推测其编码375个氨基酸的蛋白片段.结合其他PL10类同源物序列,对这两条cDNA进行了分析和初步的功能推测.根据此片段的氨基酸序列构建的系统发育树与形态分类结果一致.在不同组织中的RT PCR结果表明Mo PL10A和Mo PL10B的mRNA在各组织中的分布有差异.

Effect of dead carbon on the C-14 dating of the speleothem

IEECAS SKLLQG

Experimental study on the microstructure and nanomechanical properties of the wing membrane of dragonfly

Detailed investigations on the microstructure and the mechanical properties of the wing membrane of the dragonfly are carried out. It is found that in the direction of the thickness the membrane was divided into three layers rather than a single entity as traditionally considered, and on the surfaces the membrane displays a random distribution rough microstructure that is composed of numerous nanometer scale columns coated by the cuticle wax secreted. The characteristics of the surface structure are measured and described. The mechanical properties of the membranes taken separately from the wings of live and dead dragonflies are investigated by the nanoindentation technique. The Young's moduli obtained here are approximately two times greater than the previous result, and the reasons that yield the difference are discussed.

Microstructure and nanomechanical properties of the wing membrane of dragonfly

Detailed investigations on the microstructure and the mechanical properties of the wing membrane of the dragonfly were carried out. It was found that in the direction of the thickness the membrane was divided into three layers rather than as traditionally considered as a single entity, and on the surfaces the membrane displayed a random distribution rough microstructure that was composed of numerous nanometer scale columns coated by the cuticle wax secreted. The characteristics of the surfaces were accurately measured and a statistical radial distribution function of the columns was presented to describe the structural properties of the surfaces. Based on the surface microstructure, the mechanical properties of the membranes taken separately from the wings of living and dead dragonflies were investigated by the nanoindentation technique. The Young's moduli obtained here are approximately two times greater than the previous result, and the reasons that yield the difference are discussed. (C) 2007 Elsevier B.V. All rights reserved.

Effects of rainfall infiltration on deep slope failure

With the finite element method and the limit equilibrium method, a numerical model has been estab-lished for examining the effects of rainfall infiltration on the stability of slopes. This model is able to reflect the variations in pore water pressure field in slopes, dead weight of the soil, and soil softening caused by rainfall infiltration. As a case study, an actual landslide located at the Nongji Jixiao in Chongqing was studied to analyze the effects of rainfall infiltration on the seepage field and slope sta-bility. The simulated results showed that a deep slope failure is prone to occur when rainfall infiltration leads to a remarkable variation in the seepage field, especially when the pore water pressure in slopes increases in a large range.

内蒙古锡林河流域草原群落土壤呼吸的时空变异及其影响因子研究

　　土壤呼吸是全球碳循环中的一个重要环节，其对全球碳平衡的影响是近年来人们关注的焦点之一。探讨碳素的失汇(missing sink)问题，对陆地生态系统土壤呼吸的研究是必不可少的。环境因子与土壤呼吸之间的关系可以用于将土壤呼吸从“chamber”水平的测量放大到整个生态系统或更大尺度。而温度、水分和植被状况都是对土壤呼吸有重要影响的因子，随着全球气候的变化，这些因子也会发生相应的改变，在这种情况下，它们极有可能与土壤CO2排放之间形成正反馈。温带草原是主要的陆地生态系统类型之一，目前非常缺乏有关土壤呼吸的研究资料。因此，在2001年生长季，我们在内蒙古锡林河流域南部集水区设定了一条东西长约160km、南北宽约30km的样带，从中选择了11个不同的植物群落，采用碱液吸收法周期性地对这些群落的土壤呼吸速率进行同步测定，并对土壤呼吸的时空动态及其与温度、土壤水分和植被状况之间的关系进行了研究。现将主要研究结果概述如下： 　　①锡林河流域南部集水区的土壤呼吸表现出明显的季节变化和空间变异。温度是影响土壤呼吸季节变化的主要因子之一，指数模型能够较好地揭示各群落土壤呼吸对温度变化的响应，但低温时模型的拟合效果更好。各群落土壤呼吸的季节动态与温度变化不完全同步，表明温度并不是影响土壤呼吸的唯一因子 。 　　②土壤呼吸的温度敏感性在各群落之间存在着一定的差异。春小麦群落的Q10值高于草原群落，说明不同的土地利用方式会影响到土壤呼吸对温度变化的敏感程度。水分对土壤呼吸的温度敏感性有重要影响，秩相关分析的结果表明，土壤水分与Q10值之间存在着显著的正相关关系。此外，依据不同土壤层次的温度得出的Q10值各不相同，基于变化幅度大的浅层土壤温度和气温得出的Q10值较小，而根据变化幅度小的深层土壤温度得出的Q10值较大。 　　③水分对各群落的土壤呼吸也有较大影响，但其影响程度有一定的季节差异，生长旺季水分对土壤呼吸的影响显著高于其它季节。从各群落的具体情况来看，水分对土壤呼吸的影响明显受制于群落的水分供应状况。水分供应状况比较好的和水分变化幅度小的群落中，土壤呼吸与水分之间没有显著的函数关系，而水分相对欠缺的群落则存有显著的线性关系。消除温度的影响后，这种线性关系显著增强。土壤水分含量较低的芨芨草群落中，土壤呼吸与表层水分之间的关系也不明显，这与芨芨草根系分布较深，能够利用土壤中较深层次的水分有关。 　　④土壤呼吸季节变化与植被之间的关系与各群落内水分状况以及植被对水分的利用机制有关。所有群落土壤呼吸速率随着绿色活体生物量的增长有上升趋势，且在水分供应充足的群落和植被较为耐旱或能够利用深层土壤水的群落中，这二者之间呈显著或极显著的指数关系，其它群落中相关关系不够显著。由于植被立枯量大小反映了水热的综合状况，所以群落的土壤呼吸速率随立枯量的增长呈下降趋势，二者之间的关系也可以用指数方程来表示。 　　⑤土壤呼吸在锡林河流域南部的空间变异主要受水分和植被状况的影响。总体来看，土壤水分含量高、地上生物量（包括绿色活体生物量）大或地上净第一性生产力高的草地群落，其土壤呼吸速率也较高。基础呼吸速率对于改进土壤呼吸模型在时间和空间上的预测精度有重要意义。我们的研究结果表明，在平均温度低、水分状况好、地上和地下生物量大、地上净第一性生产力高的地方，基础土壤呼吸速率也相应较高。

Single UV excitation of Hoechst 33342 and propidium iodide for viability assessment of rhesus monkey spermatozoa using flow cytometry

Many fluorescent probes excited by visible light have been used to assess sperm quality by flow cytometry. Developing a viability evaluation method using UV excited stains would be useful for multiparameter analysis of sperm function. This investigation was conducted to determine the efficacy of Hoechst 33342 (H342) and propidium iodide (PI) dual staining for evaluating rhesus monkey sperm viability through use of flow cytometry and excited by a single UV laser. The results showed that the live cells stained only with H342 strongly correlated with expected sperm viability, and flow cytometric analyses were highly correlated with fluorescence microscopic observation. Using H342/PI/SYBR-14 triple staining method, it was found that the live/dead sperm distributions were completely concordant in both H342/PI and SYBR-14/PI assays. In addition, this dual staining was extended with fluorescein isothiocyanate-conjugated peanut agglutinin (FITC-PNA) to simultaneously analyze viability and acrosome integrity of sperm cryopreserved using two different extenders, TTE and TEST, and indicated that TTE offered better Preservation of plasma and acrosome integrity than TEST Therefore, the H342/PI dual staining provides an accurate technique for evaluating viability of rhesus monkey sperm and should be valuable for multiparameter flow cytometric analysis of sperm function.

金鱼配子发生中vasa基因的表达和分布特征

用原位杂交技术,以地高辛标记的反义RNA为探针,检测了金鱼(Carassiusauratus)DEAD box家族基因vasa在卵子及精子发生中的分布及表达。结果表明在金鱼卵子发生中,在各个时期的卵母细胞的胞质中均有金鱼vasaRNA的杂交信号表达。在Ⅰ、Ⅱ期卵母细胞中vasaRNA的杂交信号强烈,均匀地分布在整个胞质。随着卵母细胞的生长发育及卵黄的积累,Ⅲ、Ⅳ期卵母细胞胞质中vasaRNA的杂交信号急剧减弱,而外周皮层区域,其阳性信号仍较强。在金鱼精子发生中,在精原细胞和初级精母细胞中可检测到金鱼vas

The profound effects of microcystin on cardiac antioxidant enzymes, mitochondrial function and cardiac toxicity in rat

Deaths from microcystin toxication have widely been attributed to hypovolemic shock due to hepatic interstitial hemorrhage, while some recent studies suggest that cardiogenic complication is also involved. So far, information on cardiotoxic effects of MC has been rare and the underlying mechanism is still puzzling. The present study examined toxic effects of microcystins on heart muscle of rats intravenously injected with extracted MC at two doses, 0.16LD(50) (14 mu g MC-LReq kg(-1) body weight) and 1LD(50) (87 mu g MC-LReq kg(-1) body weight). In the dead rats, both TTC staining and maximum elevations of troponin I levels confirmed myocardial infarction after MC exposure, besides a serious interstitial hemorrhage in liver. In the 1LD(50) dose group, the coincident falls in heart rate and blood pressure were related to mitochondria dysfunction in heart, while increases in creatine kinase and troponin I levels indicated cardiac cell injury. The corresponding pathological alterations were mainly characterized as loss of adherence between cardiac myocytes and swollen or ruptured mitochondria at the ultrastructural level. MC administration at a dose of 1LD(50) not only enhanced activities and up-regulated mRNA transcription levels of antioxidant enzymes, but also increased GSH content. At both doses, level of lipid peroxides increased obviously, suggesting serious oxidative stress in mitochondria. Simultaneously. complex I and III were significantly inhibited, indicating blocks in electron flow along the mitochondrial respiratory chain in heart. In conclusion, the findings of this study implicate a role for MC-induced cardiotoxicity as a potential factor that should be considered when evaluating the mechanisms of death associated with microcystin intoxication in Brazil. (C) 2009 Elsevier Ireland Ltd. All rights reserved.

Inductive transcription and protective role of fish heme oxygenase-1 under hypoxic stress

Heme oxygenase-1 is the rate-limiting enzyme in the degradation of heme into biliverdin, carbon monoxide and free divalent iron. In this study, we cloned heme oxygenase isoform 1 (CaHO-1) from a hypoxia-tolerant teleost fish Carassius auratus. The full-length cDNA of CaHO-1 is 1247 bp and encodes a protein of 272 amino acids. RT-PCR and real-time PCR analysis indicated that CaHO-1 was predominantly transcribed in posterior kidney, head kidney, gill and intestine, and induction of gene transcription was observed predominantly in posterior kidney under hypoxic stress. Moreover, the hypoxia-induced transcription was confirmed in goldfish larvae and in in vitro cultured CAB cells. Fluorescence of the HO-1-GFP fusion protein revealed a cytoplasmic and plasma membrane localization, which was consistent with the putative transmembrane structure. Subsequently, we established a stably transfected CAB/pcDNA3.1-HO-1 cell line and a control CAB/pcDNA3.1 cell line, and found that the number of dead cells was obviously reduced in the pcDNA3.1-HO-1-transfected group following 4 days of hypoxic (1% O-2) treatment in comparison with numerous detached dead cells in the control pcDNA3.1-transfected cells. Furthermore, a significant cell viability difference between the two kinds of transfected cells during hypoxia-reoxygenation was revealed. Therefore, the data suggest that fish HO-1 might play a significant protective role in cells in response to hypoxic stress.

Applicability of the MTT assay for measuring viability of cyanobacteria and algae, specifically for Microcystis aeruginosa (Chroococcales, Cyanobacteria)

Several assay methods were screened for viability assessment in cyanobacteria using Microcystis aeruginosa FACHB 905. Compared with fluorescent diacetate (FDA), Evan's Blue and autofluorescence, the 3-[4,5-dimethylthiazol-2-yl]2,5-diphenyl tetrazolium bromide (MTT) assay, which was based on the ability of viable cells to reduce MTT to formazan, was found to be reliable and was selected for further study. MTT concentration, incubation time and temperature were optimized for M. aeruginosa. Improvements to the sensitivity and reproducibility of the MTT assay included performing it in the dark to reduce the effects of formazan light sensitivity when extracted in DMSO. Another improvement involved collecting viability data by cell by counting rather than colourimetrically, which was concluded from the fact that oxidoreductase activity, responsible for MTT reduction, would elevate or decrease under stress conditions. Half-life of oxidoreductase in dead cell was calculated to be 3 h. The MTT assay was also found to be applicable to other cyanobacteria and diatoms, including field samples, but not for algae belonging to Chlorophyta, Euglenophyta, Pyrrophyta or Chrysophyta. Based on the above results, we proposed an optimized procedure for the MTT method on Microcystis strains. The use of this assay may be of importance to better understand the dynamics of bloom and the fate of Microcystis under natural or disturbed conditions.