EFFECT OF RATION SIZE ON THE GROWTH AND ENERGY BUDGET OF THE GRASS CARP, CTENOPHARYNGODON-IDELLA VAL

Young grass carp (12-13 g) were kept at five ration levels ranging from starvation to ad libitum feeding at 30-degrees-C. They were fed duckweed. Food consumption, absorption efficiency and growth were determined directly, and metabolism and nitrogenous excretion calculated indirectly from energy and nitrogen budgets, respectively. The relationship between specific growth rate and ration size was linear. Absorption efficiency for energy was not affected by ration size and averaged 50.6 +/- 0.57% (mean +/- s.e.). Depending on ration size, energy lost in excretion accounted for 4.5-5.9% of the food energy, energy channelled to metabolism accounted for 34.4-48.3% of the food energy, and energy retained as growth accounted for 6.7-11.9% of the food energy. Regardless of ration, a constant proportion of food energy (30.7%) was accounted for by feeding metabolism (total metabolism minus fasting metabolism). The energy budget at the maximum ration was: 100 C = 49.1F + 4.5U + 3.6R(fa) + 30.9R(fe) + 11.9G, where C, F, U, R(fa), R(fe) and G represent food consumption, faecal production, excretion, fasting metabolism, feeding metabolism and growth, respectively.

LABORATORY OBSERVATIONS ON THE CIRCADIAN FEEDING PATTERNS IN THE GRASS CARP (CTENOPHARYNGODON-IDELLA VAL) FED 3 DIFFERENT DIETS

Feeding intensities (number of bites per minute) were recorded each hour over a 24-h diel cycle for young grass carp fed three diets. The grass carp did not show distinct meals. Grass carp receiving plant diets (duckweed or elodea) fed almost continuously throughout the 24 h, while fish fed the animal diet (tubificids) ceased feeding or had very low feeding intensities for about a quarter of the diel cycle. The average feeding intensity in fish fed duckweed was three times higher than that in fish fed elodea and tubificids. Average dry matter intake per bite was much higher in fish fed the animal diet than in those fed the plant diets. In most individuals, there was no significant difference in feeding intensity between daytime and nighttime.

VAL系统的分析和部分改进

本文是对PUMA－760型机器人的主控制器软件，并进行向VAL－II系统改进。PUMA－760是属于程序控制系统类型的机器人，它包括时间控制装置，信息处理器和执行装置。PUMA－760 的系统控制方式是采用分级控制方式，由一台 PDP－11/23机和八台八位微机组成的二级控制系统，PDP-11/23 作为主控机，六台微机分另对六个轴进行伺服控制，一台微机用于示教盒控制，最后一台微机用于软盘管理。VAL-II 系统在 VAL 系统的基础上，加入了数值运算功能，网络管理和结构化程序设计语句，使得 VAL-II 语言更加清晰，它的向条结构化语句类似于 PASCAL语言中的结构语句（面向用户），网络管理上它采用DEC公司的网络设计标准，数值运算由于引进了浮点运算器，所以它比起 VAL 语言有更强的运算能力。目前汉字卡片的应用，使得终端汉字化成为可能，这里暂且进行了显示信息的改造。关于传感器指令，经分析VAL系统，我所的 PUMA－760 已具备力觉，视觉等指令。

VAL-II系统通讯功能的研究与开发

VAL-II是当今世界上得到广泛应用的一种高级机器人控制系统和编程语言，尤以其卓越的管理通讯功能越来越受到广大用户的欢迎。它采用DDCMP协议的一个子集，通过计算机局部网络来支持与管理计算机的通讯，管理计算机能完全监控VAL-II系统的运行，为离线编程和面向任务型控制创造了条件。基于对PUNA 562机器人中的VAL-II系统目标代码的剖析，本文用IBM PC/AT计算机成功地开发出了VAL-II通信子系统的中层和底层，并与Unimation 公司的DDCMP 和 TESTDDC测试程序进行了联调，证实了其有效性。本文介绍了该子系统的结构，功能及其运行结果。

面向VAL语言和机器人仿真和离线编程

本文将介绍一个面向VAL语言和机器人仿真和离线编程系统ROSOP（Robot Simulation and off-line programming system）。该系统是中科院沈阳自动化所结合国家863高技术课题（“智能机器在人系统仿真”和“双机器人协调工作实验系统”），为两个PUMA机器人双手协调工作的研究而开发研制的。本文将主要讨论如下内容：● 系统总体结构和数据结构。● 3D交互式机器人及环境CAD建模。● VAL语言的离线编程和示数。● 3D图形动画仿真和碰撞检测。● Sum-3工作站开发环境及人机交互技术。