基于Vega Prime的多水下机器人视景仿真系统的设计与实现

介绍了一套多水下机器人三维视景仿真系统。该系统采用虚拟现实技术，利用虚拟仿真软件VegaPrime 与Visual C++.NET 2003 混合编程实现三维视景仿真。它主要用于海洋环境的模拟和多水下机器人运行时的位姿更新、碰撞检测、环境效果及各种特效的实时显示。此外，它还具有响应各种输入/输出设备的功能和通过人性化图形界面接口与用户进行交互的功能。

Game Vertebrate Densities in Hunted and Nonhunted Forest Sites in Manu National Park, Peru

Manu National Park of southern Peru is one of the most renowned protected areas in the world, yet large-bodied vertebrate surveys conducted to date have been restricted to Cocha Cashu Biological Station, a research station covering <0.06 percent of the 1.7Mha park. Manu Park is occupied by >460 settled Matsigenka Amerindians, 300-400 isolated Matsigenka, and several, little-known groups of isolated hunter-gatherers, yet the impact of these native Amazonians on game vertebrate populations within the park remains poorly understood. On the basis of 1495 km of standardized line-transect censuses, we present density and biomass estimates for 23 mammal, bird, and reptile species for seven lowland and upland forest sites in Manu Park, including Cocha Cashu. We compare these estimates between hunted and nonhunted sites within Manu Park, and with other Neotropical forest sites. Manu Park safeguards some of the most species-rich and highest biomass assemblages of arboreal and terrestrial mammals ever recorded in Neotropical forests, most likely because of its direct Andean influence and high levels of soil fertility. Relative to Barro Colorado Island, seed predators and arboreal folivores in Manu are rare, and generalist frugivores specializing on mature fruit pulp are abundant. The impact of such a qualitative shift in the vertebrate community on the dynamics of plant regeneration, and therefore, on our understanding of tropical plant ecology, must be profound. Despite a number of external threats, Manu Park continues to serve as a baseline against which other Neotropical forests can be gauged.

A critical reassessment of the role of mitochondria in tumorigenesis

Background Mitochondrial DNA (mtDNA) is being analyzed by an increasing number of laboratories in order to investigate its potential role as an active marker of tumorigenesis in various types of cancer. Here we question the conclusions drawn in most of these investigations, especially those published in high-rank cancer research journals, under the evidence that a significant number of these medical mtDNA studies are based on obviously flawed sequencing results. Methods and Findings In our analyses, we take a phylogenetic approach and employ thorough database searches, which together have proven successful for detecting erroneous sequences in the fields of human population genetics and forensics. Apart from conceptual problems concerning the interpretation of mtDNA variation in tumorigenesis, in most cases, blocks of seemingly somatic mutations clearly point to contamination or sample mix-up and, therefore, have nothing to do with tumorigenesis. Conclusion The role of mitochondria in tumorigenesis remains unclarified. Our findings of laboratory errors in many contributions would represent only the tip of the iceberg since most published studies do not provide the raw sequence data for inspection, thus hindering a posteriori evaluation of the results. There is no precedent for such a concatenation of errors and misconceptions affecting a whole subfield of medical research.

KHAWIA SAUROGOBII N. SP (CESTODA: CARYOPHYLLIDEA) FROM FRESHWATER FISH SAUROGOBIO SPP. (CYPRINIDAE) IN CHINA

Khawia saurogobii n. sp. is described from the intestine of the cyprinid fishes Saurogobio dabryi and Saurogobio dumerili in China. The new species belongs to the Lytocestidae and is placed in Khawia because of its afossate scolex, vitelline follicles in the cortical parenchyma, uterus not looping anterior to the cirrus sac, gonopores separate but close together in distinct genital atrium, external seminal vesicle absent, and postovarian follicles present. The new species differs from other congeneric species by the shape of the body markedly tapering posteriorly from the end of the anterior third, the shape of the scolex that is very short and markedly wider than the neck, spatulate without incisions, but shallow superficial grooves, vitelline follicles and testes starting immediately posterior to the scolex, and an ovary with long, posterior arms bent medially, thus giving the shape of an inverted A.

基于VR的视景生成与基于小波变换的图像匹配算法研究

图像匹配是指把一个图像区域从另一个可能在不同时间，不同视点位置或者由不同传感器所获得的图像区域中确定出来或找到它们之间对应关系的一种重要的图像分析与处理技术。 实验结果验证是图像匹配中的一个重要环节。传统的图像匹配实验验证一般是在真实环境中进行。这种验证方式基本都面临实验周期长、成本高、安全性低、不易重复实验、可控性差、受气候条件、实验场地限制等诸多缺陷。在传统实物验证前，我们迫切需要寻找一种新的实验平台。虚拟现实技术的发展为我们构建新的实验平台提供了很好的技术支持代替传统方法。虚拟现实是一种由计算机和电子技术创造的看似真实的虚拟环境。通过多种传感设备，用户可根据自身的感觉，使用人的自然技能对虚拟世界中的物体进行考察和操作，参与其中的事件;同时提供视、听、触等直观而又自然的实时感知，并使参与者“沉浸”于虚拟环境中。作为虚拟现实行业的引导者，由Multigen-Paradigm公司开发的Creator三维建模软件和Vega实时可视化三维视景仿真软件已经广泛应用各种行业。本文采用这两种软件作为我们实验平台的开发工具。结果表明利用虚拟现实技术构建的仿真实验平台能够提供图像和数据，保证图像匹配实验的进行。 基于特征的图像匹配方法是提取图像中的一些特征点，然后借助这些特征点进行匹配。它能够较好的克服基于区域图像匹配算法易受实时性、光照、几何畸变等影响的缺点。边缘特征作为图像的一种基本特征已经广泛应用于图像匹配算法之中。传统的边缘检测方法(如Sobel、Prewitt和Canny算法)对噪声很敏感。 小波变换具有检测局部突变的能力，并且对图像噪声鲁棒，因此是检测图像边缘的有效工具。本文利用小波变换作为图像边缘检测工具，首先对图像分别做两方向的小波变换，进而得到二维小波变换的幅值和梯度，然后利用非极大值抑制方法检测二维小波变换的模极值点作为图像的边缘点。最后利用边缘直方图描述符实现模板边缘与实时图像边缘之间的匹配。 本文完成的主要工作如下： 1、 利用虚拟现实技术进行视景生成，构建图像匹配实验平台。输出实时图像以及加干扰的摄像机拍摄时所对应的水平角、俯仰角、自旋角、高度等指令参数。 2、 根据实时图像及对应参数，利用几何变换将前视图像转换为下视图像。 3、 在图像匹配中，我们在分析传统的边缘检测算子如Sobel、Prewitt、Canny等对噪声敏感的基础上，提出一种基于小波变换的图像边缘检测算法。 本文的实验环境为Vega、VC6.0++、Matlab7.0 实验结果表明本文所提出算法的有效性。