Vortex dynamics in the studies of looping in tropical cyclone tracks

This paper proposes criteria for predicting the tendency of looping in tropical cyclone tracks using the approach of vortex dynamics. We model the asymmetric structure of a cyclone by a system of vortex patches. The evolution of such system of vortices is simulated by the method of contour dynamics. A new set of exact analytic formulas for contour dynamics calculations is derived, which is shown to be more computationally effective. Based on point-vortex models, we derive analytic formulas for the criteria of looping in a cyclone track. From numerical experiments, the simulated trajectories obtained from the point-vortex system and vortex patch system agree quite well. Hence, the looping criteria obtained from the point-vortex system can be applied by forecasters to stay alert for tendency of looping in a cyclone track. To demonstrate the applicability of the proposed criteria, the trajectory of Typhoon Yancy (9012), whose field data are available from ''TCM-90'', is simulated. The case study shows that the asymmetric structure similar to the pattern of a beta gyre is responsible for its recurvature when Yancy landed Fujian Province, China on 20 August 1990.

Gene duplication in the genome of parasitic Giardia lamblia

Background: Giardia are a group of widespread intestinal protozoan parasites in a number of vertebrates. Much evidence from G. lamblia indicated they might be the most primitive extant eukaryotes. When and how such a group of the earliest branching unicellular eukaryotes developed the ability to successfully parasitize the latest branching higher eukaryotes (vertebrates) is an intriguing question. Gene duplication has long been thought to be the most common mechanism in the production of primary resources for the origin of evolutionary novelties. In order to parse the evolutionary trajectory of Giardia parasitic lifestyle, here we carried out a genome-wide analysis about gene duplication patterns in G. lamblia. Results: Although genomic comparison showed that in G. lamblia the contents of many fundamental biologic pathways are simplified and the whole genome is very compact, in our study 40% of its genes were identified as duplicated genes. Evolutionary distance analyses of these duplicated genes indicated two rounds of large scale duplication events had occurred in G. lamblia genome. Functional annotation of them further showed that the majority of recent duplicated genes are VSPs (Variant-specific Surface Proteins), which are essential for the successful parasitic life of Giardia in hosts. Based on evolutionary comparison with their hosts, it was found that the rapid expansion of VSPs in G. lamblia is consistent with the evolutionary radiation of placental mammals. Conclusions: Based on the genome-wide analysis of duplicated genes in G. lamblia, we found that gene duplication was essential for the origin and evolution of Giardia parasitic lifestyle. The recent expansion of VSPs uniquely occurring in G. lamblia is consistent with the increment of its hosts. Therefore we proposed a hypothesis that the increment of Giradia hosts might be the driving force for the rapid expansion of VSPs.

Otolith characteristics and age determination of an endemic Ptychobarbus dipogon (Regan, 1905) (Cyprinidae: Schizothoracinae) in the Yarlung Tsangpo River, Tibet

We describe the microincrements, checks and annuli in the lapilli of the schizothoracine Ptychobarbus dipogon, an endemic species of the Tibetan plateau. We collected samples in the Yarlung Tsangpo River and its tributaries on a monthly basis (from April 2004 to August 2006). We describe the shape features of the three pairs of otoliths and document the full trajectory of lapillus development. We found that five to seven checks were clearly visible in the opaque zone of the first annulus. The pattern of 21-23 daily growth increments within each check might be explained as a lunar-induced deposition. We counted between 137 and 154 increments within the first annulus. Annuli appeared as a sequence of gradually declining increment widths, whereas false rings were characterized by abrupt checks. Our oldest estimates were 23(+)years for males and 44(+) for females. The time of annulus completion was clearly between March and April each year using monthly marginal increments analysis. We consider the factors responsible for daily increment formation as an endogenous circadian rhythm. Environmental information, such as strong sunlight and cold water temperatures in the Tibetan Plateau, could reinforce the endogenous daily cycle. Our results provided important data addressing the ecology and population dynamics of P. dipogon.

Effect of cycles of feed deprivation on growth and food consumption of immature three-spined sticklebacks and European minnows

Individual juvenile three-spined sticklebacks Gasterosteus aculeatus and European minnow Phoxinus phoxinus, from sympatric populations, were subjected to four cycles of I week of food deprivation and 2 weeks of ad libitum feeding. Mean specific growth rate during the weeks of deprivation was negative and did not differ between species. The three-spined stickleback showed sufficient growth compensation to recover to the growth trajectory shown by control fish daily fed ad libitum. The compensation was generated by hyperphagia during the re-feeding periods, and in the last two periods of re-feeding, the gross growth efficiencies of deprived three-spined sticklebacks were greater than in control fish. The expression of the compensatory changes in growth and food consumption became clearer over the successive periods of re-feeding. The European minnow developed only a weak compensatory growth response and the mass trajectory of the deprived fish deviated more and more from the control trajectory During re-feeding periods, there were no significant differences in food consumption or gross growth efficiency between control and deprived European minnows. The differences between the two species are discussed in terms of the possible costs of compensatory growth, the control of growth and differences in feeding biology (C) 2003 The Fisheries Society of the British Isles.

Comparison of compensatory growth responses of juvenile three-spined stickleback and minnow following similar food deprivation protocols

The compensatory growth responses of individual juveniles of two co-existing species were compared after identical periods of starvation to determine inter-specific similarities and differences. The carnivorous stickleback Gasterosteus aculeatus was compared with the omnivorous minnow Phoxinus phoxinus. Both species experienced 1 or 2 weeks of starvation before being re-fed ad libitum. The two species differed in their response to the starvation periods, with minnows showing a lower weight-specific loss. Both species showed compensatory responses in appetite, growth and to a lesser extent, growth efficiency. Minnows wholly compensated for 1 and 2 weeks of starvation. At the end of the experiment, sticklebacks starved For 2 weeks were still showing a compensatory response and had nut achieved full compensation. The compensatory responses of the sticklebacks showed a lag of a week before developing in the re-feeding phase, whereas the response of the minnows was immediate. Analysis of lipid and dry matter concentrations suggested that the compensatory response restored reserve lipids while also bringing the fish back to the growth trajectory of continuously fed fish. (C) 2001 The Fisheries Society of the British Isles.

Robust Guaranteed Cost Control for Yaw Control of Helicopter

针对具有时变不确定性且不确定性界为椭球的线性系统提出了一种新的具有自适应机制的鲁棒保性能控制器设计方法。首先,引入一个具有可由自适应律在线调整的可调参数的目标模型,通过该参数来保证由目标模型与被控模型所获得的误差系统渐近稳定。结合保证目标模型稳定性的设计,最终形成保证闭环系统稳定且控制器增益仿射依赖于可调参数的鲁棒保性能跟踪控制器。应用于安装在试验平台上的小型直升机航向控制中,仿真试验表明了该方法的有效性。

Wave Dynamic Processes in Cellular Detonation Reflection from Wedges

When the cell width of the incident detonation wave (IDW) is comparable to or larger than the Mach stem height, self-similarity will fail during IDW reflection from a wedge surface. In this paper, the detonation reflection from wedges is investigated for the wave dynamic processes occurring in the wave front, including transverse shock motion and detonation cell variations behind the Mach stem. A detailed reaction model is implemented to simulate two-dimensional cellular detonations in stoichiometric mixtures of H (2)/O (2) diluted by Argon. The numerical results show that the transverse waves, which cross the triple point trajectory of Mach reflection, travel along the Mach stem and reflect back from the wedge surface, control the size of the cells in the region swept by the Mach stem. It is the energy carried by these transverse waves that sustains the triple-wave-collision with a higher frequency within the over-driven Mach stem. In some cases, local wave dynamic processes and wave structures play a dominant role in determining the pattern of cellular record, leading to the fact that the cellular patterns after the Mach stem exhibit some peculiar modes.

混浊介质中光子传播路径的蒙特卡罗模拟研究

发展了一种新的蒙特卡罗方法用于研究超短激光脉冲进入混浊介质后的光子传播路径。这种方法可以获得任一时刻的光子最可几传播路径，研究了混浊介质的光学参数如何影响光子的最可几传播路径，发现吸收系数不影响光子的最可几传播路径。

基于最小疼痛感的机器人操作臂轨迹规划方法

针对机器人操作臂跟踪运动目标的问题,从仿生学的角度提出一种新的轨迹规划方法。将关节加速度的增量进行编码,同时将疼痛感作为优化指标,利用遗传算法在操作臂的关节空间进行轨迹优化,得到操作臂在跟踪运动目标过程中的具有较小疼痛感的轨迹。仿真试验结果表明,所提出的方法是可行的,可以规划出正确的跟踪轨迹,同时有效的减小了操作臂运动过程中的疼痛感。

机器人操作臂跟踪动态目标的轨迹规划方法

针对机器人操作臂跟踪运动目标问题,提出一种基于遗传算法的轨迹规划方法。通过对关节加速度的增量进行编码,实现在操作臂的关节空间进行轨迹优化,得到操作臂在跟踪运动目标过程中所需要的轨迹。仿真计算的结果表明,所提出的方法是有效的。

MWCNT操作的动力学运动学建模研究

为实现MWCNT操作运动过程的视觉显示,本文建立了MWCNT的动力学模型,据此可推导出推动MWCNT所需施加力的大小,并根据探针的实际受力判断其能否运动;同时还建立了MWCNT的运动学模型,根据探针的实际位置可获得探针操作下MWCNT的新位置与姿态,并借助虚拟现实技术对视觉界面进行实时更新,实现了MWCNT运动过程的实时视觉显示。基于上述视觉显示,操作者可在线控制探针的作用位置与运动轨迹、以及施加在探针上作用力的大小与方向,实现对MWCNT操作过程及结果的在线控制。MWCNT的操作实验初步验证了该模型的有效性。

非接触式机器人直线轨迹测量系统

本文给出了一种基于视觉的、造价低廉实用的非接触式机器人直线轨迹测量系统 .该测量系统由结构光视觉传感器、测量轨道、主控计算机及相关软件组成 .视觉传感器可固定于机器人末端 .当机器人末端带动视觉传感器沿测量轨道做直线运动时 ,通过传感器测量相对测量轨道的连续位姿关系 ,就可间接描述机器人末端的运动轨迹 .当重复同一直线运动时 ,可检测出机器人的轨迹重复性 .本文综述了机器人直线轨迹测量设备的研究现状 ,介绍了轨迹检测系统的测量原理 ,重点讨论了该测量系统的两个关键技术 :空间特征点的图象提取技术和三维坐标计算方法 ,并描述了该系统的结构、性能指标和测量试验结果 .

基于修正的最小均方误差分类算法的移动机器人运动规划

研究了不确定性环境下移动机器人躲避运动轨迹未知的移动障碍物的一种新方法．通过实时最小均方误差估计算法预测每个障碍物的位置及运动轨迹，并利用模式识别中最小均方误差分类器的修正模型计算出机器人的局部避障路径，再运用船舶导航中使用的操纵盘技术来确定每个导航周期中移动机器人的速．度仿真结果表明了该方法的可行性

利用计算机仿真与系统辨识求解导弹弹道轨迹

提出了求解某武器系统导弹弹道轨迹的两种方法：计算机仿真和系统辨识方法．详细介绍了导弹系统的计算机仿真模型，并利用控制理论和数值分析的方法对仿真模型求解；根据系统辨识理论，将整个系统看作“黑箱”，建立与输入、输出数据等价的模型，引入折息因子对模型进行辨识．最后分别给出了计算机仿真试验曲线和系统辨识试验曲线，证明了两种求解方法的有效性。

双机械臂协调系统的一类最优轨迹规划方法