Impact of environmental and innate factors on the food habit of Chinese perch Siniperca chuatsi (Basilewsky) (Percichthyidae)

Laboratory and field investigations were conducted to study the food habit of Chinese perch Siniperca chuatsi (Basilewsky) from first feeding through adult stage. Only fish larvae were consumed by Chinese perch larvae (2-21 days from hatching), and the presence of zooplankton did not have any significant effect on their survival rate. The ability of Chinese perch to feed on zooplankton is clearly limited by some innate factor. Instead of gill rakers, Chinese perch larvae have well-developed sharp teeth at the first feeding stage, and are well adapted to the piscivorous feeding habit unique to the larvae of Chinese perch, e.g. they bite and ingest the tails of other fish larvae. At the first feeding stage (2 days from hatching), daily rations were both very low, either in light or complete darkness. Although early-staged Chinese perch larvae (7-17 days from hatching) could feed in complete darkness, their daily rations were always significantly higher in light than in complete darkness. Late-staged Chinese perch larvae (21 days from hatching) were able to feed in complete darkness as well as in light, similar to the case of Chinese perch yearlings. Chinese perch yearlings (total length, 14-16 cm) consumed prey fish only and refused shrimp when visual cues were available (in light), but they consumed both prey when visual cues were not available (in complete darkness), suggesting that prey consumption by Chinese perch yearlings is affected by their sensory modality in predation. Both prey were found in the stomachs of similar-sized Chinese perch (total length, 14-32 cm) from their natural habitat, suggesting that shrimp are consumed by Chinese perch at night. Prey selection of Chinese perch with a length >38 cm, which consumed only fish in the field, appears to be based upon prey size instead of prey type. These results suggest that although environmental factors (e.g. light intensity) affect prey detection by Chinese perch, this fish is anatomically and behaviourally predisposed to prey on live fish from first feeding. This makes it a difficult fish to cultivate using conventional feeds.

HYDROGRAPHIC VARIATIONS IN SIZE STRUCTURE OF PLANKTON BIOMASS IN A CHANGJIANG FLOODPLAIN LAKE

The size structure of the planktonic community in a Changjiang floodplain lake (Lake Chenhu, Hubei, P. R. China) was described for the inundation period of May through September 1983. The modality of the Sheldon-type size distributions changed hydrographically with the spectral profiles being bimodal during low, rising, mid-high and falling water phases, and trimodal soon after filling and shortly before falling. The modal peaks corresponded respectively to the dominant organisms of chlorophytes and nauplii, while the troughs centered on the bacteria and macrocrustacean size classes in the lake. The slope of the normalized biomass spectrum (an index of plankton size distribution) was less than -1.0 for the filling and falling phases or close to -1.0 for the high water period, indicating that the planktonic biomass tended to decrease or evenly distributes across logarithmically ordered size classes, respectively. This observed variation in the size distribution of the plankton community mainly resulted from changes in water levels and contents of particulate inorganic matter (PIM) in the lake.

Compact Reconfigurable Binary-Decision-Diagram Logic Circuit on a GaAs Nanowire Network

We describe a reconfigurable binary-decision-diagram logic circuit based on Shannon's expansion of Boolean logic function and its graphical representation on a semiconductor nanowire network. The circuit is reconfigured by using programmable switches that electrically connect and disconnect a small number of branches. This circuit has a compact structure with a small number of devices compared with the conventional look-up table architecture. A variable Boolean logic circuit was fabricated on an etched GaAs nanowire network having hexagonal topology with Schottky wrap gates and SiN-based programmable switches, and its correct logic operation together with dynamic reconfiguration was demonstrated.

一种空间飞行器编队重组的轨道优化方法

现有的空间飞行器编队重组的轨道规划方法在求解能量最优策略时,都预先给定了变轨花费的时间,但没有说明给定的时间是怎么选择的。将空间飞行器主从编队重组的轨道规划视为一个多目标优化问题,提出了一种小生境进化算法。该方法通过使用特定的染色体表示方法和进化算子,能有效的搜索到飞行器编队重组轨道规划问题的时间-能量前沿,并引入等值分享法保证优秀个体具有较大的选中概率和前沿的多样性。该方法能同时提供多种变轨方案,编队飞行的任务制定者从而可以根据实际应用情况选择最合适的方案。仿真结果表明了该方法的正确性。

一种基于进化计算的空间飞行器编队重构轨道规划方法

基于进化算法提出了一种两层结构的空间飞行器编队重构的轨道规划算法,高层算法通过优化构型映射来优化编队的总燃耗,实现全局规划并确保飞行器之间保持一定的安全距离以避免相互碰撞;低层规划算法采用Chebyshev多项式逼近控制变量空间,为每颗飞行器规划满足约束条件的最优轨道。该方法充分利用了编队的分布式结构,由各飞行器并行实现各自的轨道规划,能有效解决大型编队的轨道规划问题。仿真结果表明了该方法的有效性。

带燃料均衡的空间多飞行器编队重构的轨道规划方法

航天任务需求的多样化对空间多飞行器编队重构的轨道规划问题不仅提出了燃料或时间最优的要求,还提出了燃料和时间最优以及燃料均衡的要求。将带燃料均衡的多飞行器编队重构的轨道规划建模为一个多目标优化问题,通过将进化计算与问题领域的知识相结合,提出了一种基于小生境进化算法的最优轨道规划方法。该方法能从变轨时间、燃料消耗和燃料消耗方差三方面分别评价一个变轨方案的最优性,并且一次规划能够提供多个Pareto最优变轨方案。仿真结果证明了该方法的正确性和有效性,还揭示了编队重构轨道规划问题的三个优化目标之间的关系,对于制定任务计划具有重要的参考价值.

Biologically Inspired Tensor Features

According to the research results reported in the past decades, it is well acknowledged that face recognition is not a trivial task. With the development of electronic devices, we are gradually revealing the secret of object recognition in the primate's visual cortex. Therefore, it is time to reconsider face recognition by using biologically inspired features. In this paper, we represent face images by utilizing the C1 units, which correspond to complex cells in the visual cortex, and pool over S1 units by using a maximum operation to reserve only the maximum response of each local area of S1 units. The new representation is termed C1 Face. Because C1 Face is naturally a third-order tensor (or a three dimensional array), we propose three-way discriminative locality alignment (TWDLA), an extension of the discriminative locality alignment, which is a top-level discriminate manifold learning-based subspace learning algorithm. TWDLA has the following advantages: (1) it takes third-order tensors as input directly so the structure information can be well preserved; (2) it models the local geometry over every modality of the input tensors so the spatial relations of input tensors within a class can be preserved; (3) it maximizes the margin between a tensor and tensors from other classes over each modality so it performs well for recognition tasks and (4) it has no under sampling problem. Extensive experiments on YALE and FERET datasets show (1) the proposed C1Face representation can better represent face images than raw pixels and (2) TWDLA can duly preserve both the local geometry and the discriminative information over every modality for recognition.

耐酸产甲烷菌的分离及其复合菌剂的研究

本文从成都龙泉垃圾填埋场和宜宾造纸厂分离到耐酸性能优良的高温产甲烷菌RY3和中温产甲烷菌SH4，并将其与实验室现有的利用不同底物的产甲烷菌配伍组合成了复合菌剂。采用活性污泥作为固体附着物，研制出了固体产甲烷菌复合菌剂。 菌株RY3的pH耐受范围为5.5～10.5，最适生长pH 6.0～8.0。菌株RY3为革兰氏阳性，长杆状，多数单生，不运动；菌落浅黄色，形状近圆形；利用H2+CO2或甲酸盐作为唯一碳源生长，不利用乙酸盐，对氯霉素非常敏感。该菌最适生长温度为55℃～65℃，最适NaCl浓度为0～2%。根据形态和生理生化特性及16S rDNA序列分析将其初步定为热自养甲烷热杆菌（Methanothermobacter thermautotrophicus）。添加RY3菌液与仅添加厌氧污泥作为接种物相比一周内可使达到最大产甲烷速率所需时间缩短三分之二，甲烷总产量提高约1.8倍。菌株SH4的生长pH范围5.5～9.5，其对酸碱具有良好的适应性，培养3天后，在初始pH值为6.0～8.0的培养基中甲烷产量相差不大，且基本达到最大产量。SH4革兰氏染色阳性，短杆状，多数单生，不运动；菌落近圆形，微黄；利用H2+CO2或甲酸盐作为唯一碳源生长，不利用乙酸盐，对氯霉素非常敏感。SH4最适生长pH 为7.0，最适生长温度为35℃，最适NaCl浓度为0～1.5%。实验表明，添加SH4菌液与仅添加厌氧污泥作为接种物相比可使产甲烷启动时间缩短三分之一，甲烷总产量亦有大幅提高。从形态和生理生化特征以及16S rDNA序列分析表明SH4为嗜树木甲烷短杆菌（Methanobrevibacter arboriphilus）。 以活性污泥为附着物，与培养基和菌种经搅拌后厌氧发酵可得产甲烷菌固体复合菌剂。固体复合菌剂的pH耐受范围为5.5～9.5，温度耐受范围为15℃～65℃，表明其对环境的适应性较强。以猪粪为底物进行厌氧发酵，接种复合菌剂进行试验，以接种实验室长期富集的产甲烷厌氧污泥作为对照，在20℃时，发酵甲烷浓度与对照基本一致，但每日产气量优于对照，第15天时接种复合菌剂的发酵瓶每日产气量是对照的1.59倍；50℃时达到最大甲烷含量所需时间比对照缩短三分之二，三周内总产气量约为对照的2.7倍，甲烷总产量约为2.8倍。以不加接种物为对照，接种复合菌剂20℃时发酵甲烷含量达到50%约需2周，对照2周内甲烷含量最高仅为4.3%；50℃时接种复合菌剂发酵仅需约1周甲烷含量便可达50%，对照则至少需要2周。 In this paper, high-temperature Methanogen RY3 and middle-temperature SH4 were isolated from Chengdu Longquan refuse landfill and Yibin paper mill. They could be used to make compound inoculum that producing methane with the existing Methanogens utilized different substrate. With using anaerobic activated sludge be solid fixture, the process had been designed to produce solid compound inoculum. Strain RY3 possessed excellent capacity of acid and alkali-tolerant. The pH-tolerant scale of RY3 was 5.5～10.5 and its optimum pH value for growth was 6.0～8.0. RY3 was G+, long-rod shape, monothetic and nonmotile, the colony was pale yellow with suborbicular-shape. Formate or H2+CO2 but not acetate was utilized by RY3 as sole C-source, and it was very sensitive to chloramphenicol. Besides, strain RY3 grew fastest at 55℃～65 and 0℃～2% NaCl. Characteristics of modality and physiology with sequence analysis of the 16s rDNA gene of strain RY3 preliminarily showed that it was Methanothermobacter thermautotrophicus. The experiments indicated that the time which began to produce methane with the highest velocity could be shortened two third by adding RY3 in one week, and the total methane production also was 1.8 times than before. Strain SH4 possessed wide scale of growing pH（5.5～9.5）and excellent ability of acclimatizing itself to acid-alkali. The methane production had no apparent difference among those cultivated in different initial pH（6.0～8.0）after three days and equaled to the maximum production basically. Cells of SH4 were G+, short-rod sharp, monothetic and nonmotile. The colony was pale yellow with suborbicular-shape. Formate or H2+CO2 but not acetate was utilized by SH4 as sole C-source, and it was very sensitive to chloramphenicol. Besides, it grew fastest at pH 7.0，55 ℃～65 and 0℃～2% NaCl concentration. The experiment indicated the time that began to produce methane could be shortening one third by adding SH4. And the total methane production also rose apparently. Characteristic of modality and physiology with sequence analysis of the 16S rDNA gene of strain SH4 demonstrated it was Methanobrevibacter arboriphilus. The activated sludge was utilized as fixture, mixed with culture medium and inocolum, that the solid compound inoculum could be produced by anaerobic fermentation. The compound inoculum could grow between pH 5.5～9.5, 15℃～65. It demonstrated the compound inoculum ha℃ve great ability of adapting to circumstance. In the experiment that making pig manure be substrate and taking the anaerobic sludge producing methane that cultured in long term in laboratory to be comparison, the concentration of methane in fermentation added compound inoculum almost equal to the comparison at 20℃, but the volume of gas production could be a little higher. The gas production everyday inoculated compound inoculum was 1.59 times to comparison. The time that the concentration of methane to maximum could be shortening by two third by adding compound inoculum, and the total gas production was 2.7 times to comprison while the total methane production was 2.8 times. If take the no inoculum be the comprasion, anaerobic fermentation added compound inoculum made the concentration of methane to 50% in 2 weeks but the comparison only to 4.3% at 20℃. The time that the concentration of methane to 50% by adding compound inoculum only need 1 week, but the comparison need 2 weeks at 50℃.

Advance in in-beam PET

Tumor radiotherapy was a promising modality and over 100 years. Beams of heavy-charged particles show high RBE advantages and become the optimum tool for tumors therapy. Newly, along with the development of accelerators, scintillators, micro-electronics and computers, the heavy ion tumor therapy has been recognized more and developed.

空间飞行器编队重构建模与规划方法研究

编队重构是实现空间飞行器编队飞行的一项关键技术，也是自动导航和控制的重要研究领域，无论在理论研究还是实际应用上都具有重大意义。本论文针对空间飞行器编队重构问题展开了深入的研究：（1）编队重构建模；（2）空间飞行器多轨道规划；（3）空间飞行器时间-燃耗的轨道规划；（4）编队重构的协同规划；（5）考虑燃料均衡的编队重构规划。围绕编队重构建模问题，本论文在分析其特点的基础上，完善了传统的单目标优化模型，加入了现有研究通常忽略的发动机推力的精度约束，提高了模型精度以降低控制反馈误差。另外，还根据航天任务的特点，从多目标优化的角度建模了问题，优化的性能指标包括变轨时间、编队的总燃料消耗和飞行器间的燃料均衡。在多轨道规划的研究中，作者基于进化计算和参数优化方法，提出了一种空间飞行器多轨道规划算法。通过将可行轨道按其空间分布分类，并采用一种多轨道保持技术，使新提出的算法能够获得多条在空间中分布较为离散的最优/近优轨道，并可以方便地根据环境和任务要求设定希望获得的轨道之间的差异。该算法充分利用了编队飞行相对动力学方程的解耦性，简化了问题，提高了计算速度，并使最终轨道的选择更加灵活多样。作者还针对空间飞行器的变轨时间与燃料消耗的关系问题展开了研究，基于小生境进化算法，提出了一种时间-燃耗的轨道规划方法。该方法采用一种变长实值染色体编码方式和特定的种群初始化方法，能使生成的轨道满足各种约束条件，并引入等值分享法保证优秀个体具有较大的选中概率和前沿的多样性。实验表明，该算法能有效地搜索到飞行器变轨的时间-燃耗前沿，一次规划生成多个Pareto最优解，为任务制定者选择最合适的变轨方案提供可靠的依据。在编队的协同规划方面，通过分解空间飞行器编队重构问题，并与协同进化的思想相结合，提出了一种两层结构的飞行器编队重构规划算法。高层算法通过优化构型映射来优化编队的总燃料消耗，实现全局规划并确保飞行器之间保持一定的安全距离以避免相互碰撞；低层规划算法采用多轨道规划方法为各飞行器规划满足约束条件的轨道。该算法不仅实现了多颗飞行器的轨道子种群间的协同进化，还实现了高、低层规划结果的协同进化。由于利用编队的分布式结构实现了并行计算，该算法能解决大型编队重构的协同规划问题。虽然给出的最优解是唯一的，但在规划过程中为各飞行器都生成了多条散布在空间中的轨道，提供了可替换解以保证编队重构任务的顺利执行。最后本论文从多目标优化的角度建模了带燃料均衡的多飞行器编队重构规划问题，初步研究了变轨时间、燃料消耗和飞行器间的燃料均衡三个重要指标之间的关系。通过将进化计算与问题领域的知识相结合，提出了一种最优轨道规划方法，能从上述三个指标的角度分别评价一个变轨方案的最优性，并且计算量较小，一次规划能提供多个最优解决方案，能用于实际规划之前进行简单的估算，十分适合方案设计阶段应用。

用事态概念概括传统情态与时态的研究

本文在研究“事情”(affair)基本组成角色和因果关系的基础之上,提出将事情的发生可能性、发生、进展与结果状态概括为事态的概念并标记为state_of_affairs(4S体系的第四类符号),以它涵盖传统的情态(modality)与时态(tense)等概念.文中采取4S内涵表方法将事态表示为一系列的数字,在语言的可信赖翻译过程中,应该持有不变性,是一个需要认真分析和保持的不动点.

一种可变形移动机器人协同构形变换方法

提出了一种可变形移动机器人AMOEBA-I的协同构形变换方法,建立了机器人系统的数学模型,对各个模块之间的协同变换及运动特性进行了分析.研究了机器人3个模块在协同变换过程中的电流变化情况,实现了3种特殊构形之间的变换.通过理论分析和实验比较了协同构形变换方法的特点,实验验证了在多种地面条件下机器人协同构形变换方法的有效性.

一种FPGA的嵌入式可重构机器人控制系统

提出一种基于FPGA的可重构嵌入式微处理器控制系统.在FPGA中嵌入两个NiosⅡ软核,用VHDL语言编写用户自定义组件.在一个由NiosⅡ软核组成的处理器上实现PWM信号生成、编码器信号处理以及多电机同步伺服运算等,在另一个处理器实现机器人任务管理.该控制系统针对微小型爬壁机器人的控制系统设计,不仅具有良好的实时多任务处理能力,而且具有可重构的特点,因而可应用于一类微小型机器人控制系统以提高其设计的灵活性.

轮-腿复合移动机器人构型控制及越障策略

本文构型和越障控制研究的是如何控制机器人的姿态和如何控制机器人以一系列的构型翻越障碍物,构型及越障控制是轮-腿复合移动机器人技术领域的研究重点,针对轮-腿复合移动机器人的结构特点以及早期方法存在的不足,本文提出了在不平整地面上的构型控制方法和针对沟、坎典型地形环境的越障控制策略,并利用六轮-腿复合移动机器人试验平台开展了验证实验。

野外地面移动机器人系统设计与实现

本文针对机器人在野外地形环境下的高机动性要求,设计开发了减震机构,针对机器人轮-腿复合结构和驱动冗余特点,提出并开发了面向高速行进的牵引力控制算法和面向越障的构型控制算法,通过与环境建模技术结合,实现了机器人的遥控、自主导航、自主越障等功能,构成了机器人的分层式控制系统。