模块化嵌入式机器人控制单元设计

针对当前机器人控制器设计开发过程中存在的问题,提出了以DSP为核心的模块化控制单元设计方法。采用DSP为微控制器,提高了运算速度,增强了控制性能。控制单元由CPU、驱动、通讯、I／O等模块组合而成,可以通过增减模块实现功能的重组,使系统具有一定的开放性,实现了功能的可配置。

不同类型量表的线上调查和传统纸笔调查的比较研究

During the past 11 years, with the rapid development of the Internet, more and more psychologists began to realize and take advantage of it, which led to a growing number of psychological test administrated on the internet for data collection. But there were some controversy about the reliability and representatively of this new method. To examine the applicability of the Online Survey and how different types of scales used on the internet, we first reversed the measurement instrument, then from three different levels to investigate the equivalence of online survey and paper-and-pencil assessment, namely, sample level, scale level and item level. Both Classical Test Theory and Item Response Theory were used to analyze the invariance of different types of scale applicability on the internet. The main conclusions of this study could be drawn as follows: 1. In the sample-based study, self-select sample of the online survey was compared to the random sampled sample of paper-and-pencil assessment. The results showed there were no gender difference between them (p>0.05), but the online survey sample was characterized with high qualifications, high-income and younger features (88% of the sample with post-secondary education or above, and 71% aged 20 -29 years). There were significant differences on the scores of all scales between online survey and paper-and-pencil assessment (p<0.01). With demographic controlled, there was no significant difference on the variable of Neurotic between different surveys (p>0.05). 2. With in-group design, it was proved equivalence of the scale of BI (Attitude toward Brand Importance), BT (Attitude toword Brand Switcher), Extraversion, and Conscientiousbess in the compared study in the reliability, construct validity and average scores. 3. On the item level, the results based on the Item Response Theory analysis showed that 2PLM is appropriate for personality and attitude scales. With regard to personality scale, there emerged some items with DIF in the dimensions of Openness to the experience subscale and Agreeable subscale. However, there were no significant differences about the test function. 4. Exploring the psychometrics properties of answer formats of five-, six-, seven-, ten-points, it was showed that different measurement validity between online survey and paper-and-pencil test. It was also described the lower reliability and validity of six-point scale. In conclusion, the results support the application of personality scale online, but for attitude scale, we need to choose prudently.

Genetic Diversity of the Plankton Community and Its Relation to Taxonomic Composition and Environmental Factors in Lake Xiliang

Genetic diversity of the plankton community in Lake Xiliang was depicted by polymerase chain reaction-denaturing gradient gel electrophoresis (PCR-DGGE) fingerprinting. Seventy-seven bands (33 of 16S rDNA and 44 of 18S rDNA) were detected, sixty-two planktonic taxa were identified in six sample stations in November 2007. The most common taxa were Ceratium hirundinella, Bdelloidea, Keratella cochlearis, Polyarthra trigla, and copepod nauplii. Based on environmental factors, taxonomic composition, and PCR-DGGE fingerprinting, unweighted pair-group method using arithmetic averages clustering and principal components analysis were used to analyze habitat similarities. There was distinct spatial heterogeneity in Lake Xiliang, and the genetic diversity of the plankton community was closely related to taxonomic composition and environmental factors.

Genetic diversity of plankton community as depicted by PCR-DGGE fingerprinting and its relation to morphological composition and environmental factors in lake donghu

To collect information about the genetic diversity of the plankton community and to study how plankton respond to environmental conditions, plankton samples were collected from five stations representing different trophic levels in a shallow, eutrophic lake (Lake Donghu), and investigated by PCR-DGGE fingerprinting. A total of 100 bands (61 of 16S rDNA bands and 39 of 18S rDNA bands) were detected. The DGGE bands unique to any single station accounted for 38% of the total bands, whereas common bands detected at all five stations accounted for only 11%. Using UPGMA clustering and MDS ordination of DGGE fingerprints, stations I and II were found to initially group together into one cluster, which was later joined by station V. Stations III and IV were isolated into two separate groups of one station each. Some differences in grouping relationships were found when analysis was completed on the basis of chemical characteristics and morphological composition, with zooplankton composition showing the greatest variability. However, the most similar stations (I and II) were always initially grouped into one cluster. Moreover, stations that exhibited the same or similar trophic level (stations III and IV), but different concentrations of heavy metals, were further differentiated by the DGGE method. Results of the present study indicated that PCR-DGGE fingerprinting was more sensitive than the traditional methods, as other studies suggested. Additionally, PCR-DGGE appears to be more appropriate for diversity characterization of the plankton community, as it is more canonical, systematic, and effective. Most importantly, fingerprinting results are more convenient for the comparative analyses between different studies. Therefore, the use of the described fingerprinting analysis may provide an operable and sensitive biomonitoring approach to identify critical, and potentially negative, stress within an aquatic ecosystem.

Considerable effects of diversity indices and spatial scales on conclusions relating to ecological diversity

The relationships between ecological diversity and ecosystem functions such as stability and productivity have long been debated and have no final conclusion until now. It is ignored that the debate should be firstly based on the same diversity index, which should be theoretically complete, and on same observation scale. For the issue on the scale of ecotope observation, ecosystems should be distinguished according to intensity of human disturbance. For the issue on the scale of species observation, either number diversity or biomass diversity should be identified. This paper takes grassland ecosystems located within the Bayin Xile grassland of Xilin Gol League of Inner Mongolia Autonomous Region as an example to analyze effects of different diversity indices and spatial scales on the conclusions of ecological diversity and its relationships with ecosystem functions. The analysis results both on the scale of ecotope observation and on the scale of species observation show that different diversity indices might give different conclusions and spatial resolution has a great effect on the relative conclusions. (c) 2005 Elsevier B.V. All rights reserved.

Diversity and spatial distribution of sediment ammonia-oxidizing crenarchaeota in response to estuarine and environmental gradients in the Changjiang Estuary and East China Sea

Ammonia-oxidizing archaea (AOA) have recently been found to be potentially important in nitrogen cycling in a variety of environments, such as terrestrial soils, wastewater treatment reactors, marine waters and sediments, and especially in estuaries, where high input of anthropogenic nitrogen is often experienced. The sedimentary AOA diversity, community structure and spatial distribution in the Changjiang Estuary and the adjacent East China Sea were studied. Multivariate statistical analysis indicated that the archaeal amoA genotype communities could be clustered according to sampling transects, and the station located in an estuarine mixing zone harboured a distinct AOA community. The distribution of AOA communities correlated significantly with the gradients of surface-water salinity and sediment sorting coefficient. The spatial distribution of putative soil-related AOA in certain sampling stations indicated a strong impact of the Changjiang freshwater discharge on the marine benthic microbial ecosystem. Besides freshwater, nutrients, organic matter and suspended particles, the Changjiang Diluted Water might also contribute to the transport of terrestrial archaea into the seawater and sediments along its flow path.

Diversity and Distribution of Sediment NirS-Encoding Bacterial Assemblages in Response to Environmental Gradients in the Eutrophied Jiaozhou Bay, China

A gene-clone-library-based molecular approach was used to study the nirS-encoding bacteria-environment relationship in the sediments of the eutrophic Jiaozhou Bay. Diverse nirS sequences were recovered and most of them were related to the marine cluster I group, ubiquitous in estuarine, coastal, and marine environments. Some NirS sequences were unique to the Jiaozhou Bay, such as the marine subcluster VIIg sequences. Most of the Jiaozhou Bay NirS sequences had their closest matches originally detected in estuarine and marine sediments, especially from the Chesapeake Bay, indicating similarity of the denitrifying bacterial communities in similar coastal environments in spite of geographical distance. Multivariate statistical analyses indicated that the spatial distribution of the nirS-encoding bacterial assemblages is highly correlated with environmental factors, such as sediment silt content, NH4+ concentration, and OrgC/OrgN. The nirS-encoding bacterial assemblages in the most hypernutrified stations could be easily distinguished from that of the least eutrophic station. For the first time, the sedimentological condition was found to influence the structure and distribution of the sediment denitrifying bacterial community.