Flying lemurs – The 'flying tree shrews'? Molecular cytogenetic evidence for a Scandentia-Dermoptera sister clade

Background: Flying lemurs or Colugos (order Dermoptera) represent an ancient mammalian lineage that contains only two extant species. Although molecular evidence strongly supports that the orders Dermoptera, Scandentia, Lagomorpha, Rodentia and Primates form a superordinal clade called Supraprimates (or Euarchontoglires), the phylogenetic placement of Dermoptera within Supraprimates remains ambiguous. Results: To search for cytogenetic signatures that could help to clarify the evolutionary affinities within this superordinal group, we have established a genome-wide comparative map between human and the Malayan flying lemur (Galeopterus variegatus) by reciprocal chromosome painting using both human and G. variegatus chromosome-specific probes. The 22 human autosomal paints and the X chromosome paint defined 44 homologous segments in the G. variegatus genome. A putative inversion on GVA 11 was revealed by the hybridization patterns of human chromosome probes 16 and 19. Fifteen associations of human chromosome segments (HSA) were detected in the G. variegatus genome: HSA1/3, 1/10, 2/21, 3/ 21, 4/8, 4/18, 7/15, 7/16, 7/19, 10/16, 12/22 (twice), 14/15, 16/19 (twice). Reverse painting of G. variegatus chromosome-specific paints onto human chromosomes confirmed the above results, and defined the origin of the homologous human chromosomal segments in these associations. In total, G. variegatus paints revealed 49 homologous chromosomal segments in the HSA genome. Conclusion: Comparative analysis of our map with published maps from representative species of other placental orders, including Scandentia, Primates, Lagomorpha and Rodentia, suggests a signature rearrangement (HSA2q/21 association) that links Scandentia and Dermoptera to one sister clade. Our results thus provide new evidence for the hypothesis that Scandentia and Dermoptera have a closer phylogenetic relationship to each other than either of them has to Primates.

中国松鼠科 Sciuridae (Non-flying squirrels) 动物的分类和分布及系统发育研究

松鼠科隶属于哺乳纲、啮齿目，是一类世界广布性动物，全世界共计36 属 234 种。本文通过形态分析及分子生物学方法，研究了我国松鼠科动物的分类及 系统发育关系，内容包括以下两个方面： 一、中国松鼠科动物的分类 本研究查看了中科院昆明动物研究所、中科院动物研究所、云南大学、四川 省林业科学研究院、四川大学、陕西师范大学、陕西动物研究所、西北大学、上 海自然历史博物馆、广东昆虫所馆藏该科各类群标本。同时，结合相关文献，对 各类群的外形特征进行了详细的描述和系统分类整理，我国共计10 属34 种。测 取可量性状数据共计20800 个（完整头骨共计1300 号），而且还运用多变量及单 变量分析方法进行数据分析，对部分类群的种下分类结果进行分析：1.探讨了分 布于中国境内的明纹花鼠（Tamiops mcclellandii）3 亚种的有效性。2.研究了 隐纹花鼠（Tamiops swinhoei）在中国的分化并描记了分布于四川马尔康地区的 隐纹花鼠为一新亚种（Tamiops swinhoei markamensis）。3.描记了分布于云南 省东北部昭通地区的赤腹松鼠为一新亚种：昭通亚种（Callosciurus erythraeus zhaotongensis）。4. 提出了分布于云南省无量山区的泊氏长吻松鼠为一新亚种： 无量山亚种（Dremomys pernyi wuliangshanensis）。 二、中国松鼠科动物的系统发育研究 2004－2005 年相继到滇西北高黎贡山、香格里拉，滇西南临沧地区，滇东 南马关、麻栗坡、富宁，滇东北昭通地区进行标本采集，基本收集到我国南方松 鼠科属、种样品进行分子生物学研究。 1.中国松鼠科动物各属的系统发育关系 在分析线粒体细胞色数b 基因（1040bp）序列的基础上，运用贝叶斯法 （Bayesian phylogenetic reconstruction approaches）、最简约法（Maximum parsimony method）、邻接法（Neighbor Joining method）构建中国松鼠科动物 所有属间系统发育树。结果表明：所分析的10 属分别聚集为3 群，巨松鼠属Ratufa单独成为一群，丽松鼠属Callosciurus、长吻松鼠属Dremomys、花松鼠属 Tamiops 以及线松鼠属Menetes 成为一群，松鼠属Sciurus、岩松鼠属 Sciurotamias、花鼠属Tamias、旱獭属Marmota 以及黄鼠属Spermophilus 成 为一群。在此基础上我们进一步探讨了中国松鼠科动物的分化与环境变化的关 系。 2.长吻松鼠属的系统发育关系 在分析线粒体细胞色数b 基因（378bp）序列的基础上，我们重建了长吻松 鼠属内5 个类群间的系统发育关系，结合对5 类群外部形态特征的详细比较，我 们探讨并论证了红腿长吻松鼠、橙喉长吻松鼠作为种的地位的有效性，同时论证 了该属内泊氏长吻松鼠最早分化，其次为橙腹长吻松鼠，第三是红腿长吻松鼠， 红颊长吻松鼠和橙喉长吻松鼠是最后分化的类群。

Electrochemiluminescent microoptoprobe with mini-grid working electrode and self-contained sample container

A new electrochemiluminescence (ECL) microoptoprobe with simple structure. small sampling volume and high efficiency was developed. It was constructed by fixing the transparent gold mini-grid on the end surface of the optical fiber, and by surrounding the fiber with the counter- and reference electrodes to form a self-contained three-electrode system. The use of mini-grid electrode increased the surface area and collection efficiency. which resulted in higher ECL signal and better sensitivity. The counter electrode together with one end of the fiber formed a mini-vessel, which eliminated the need of additional container and allowed to perform ECL detection in a very small volume (about 10 mul). The microoptoprobe obtained was characterized with the Ru(bpy)(3)(2-)-tripropylamine system and was applied for the determination of oxalate and chlorpromazine (CPZ). Detection limits (S/N = 3) were 5 x 10(-7) and 1 x 10(-6) mol l(-1) for oxalate and CPZ. respectively. The linear range for oxalate and CPZ extended from 1 x 10(-6) to 1 x 10(-3) mol l(-1), and from 5 x 10(-6) to 5 x 10(-4) mol l(-1). respectively.

Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。

Stabilization of Dynamic Systems for Multiple Omni-Directional Mobile Robots

本文考虑了由2个全方位移动机器人组成的混合动力学系统的协调拟镇定问题.利用机器人位置之间的向量与机器人目标之间向量的内积,设计了多步拟镇定律,该控制律能够在避碰后按指数速率运动到目标点,且在整个过程中两机器人之间的距离不小于避碰的安全距离.最后对2个全方位移动机器人进行了仿真,验证了所给方法的有效性。

Processamento mínimo de mini batatas.

2004

Processamento mínimo de mini beterraba.

2009

Mini-electrochemical detector for microchip electrophoresis

This paper presents the development of a mini-electrochemical detector for microchip electrophoresis. The small size (3.6 x 5.0 cm(2), W x L) of the detector is compatible with the dimension of the microchip. The use of universal serial bus (USB) ports facilitates installation and use of the detector, miniaturizes the detector, and makes it ideal for lab-on-a-chip applications. A fixed 10 M Omega feedback resistance was chosen to convert current of the working electrode to voltage with second gain of 1, 2, 4, 8, 16, 32, 64 and 128 for small signal detection instead of adopting selectable feedback resistance. Special attention has been paid to the power support circuitry and printed circuit board (PCB) design in order to obtain good performance in such a miniature size. The working electrode potential could be varied over a range of +/-2.5 V with a resolution of 0.01 mV. The detection current ranges from -0.3 x 10(-7) A to 2.5 x 10(-7) A and the noise is lower than 1 pA. The analytical performance of the new system was demonstrated by the detection of epinephrine using an integrated PDMS/glass microchip with detection limit of 2.1 mu M (S/N = 3).

Aproveitamento do resíduo gerado na produção de mini beterrabas para a produção de farinha.

2011

The effect of the product cost factor on error handling in industrial robots

N.W. Hardy and M.H. Lee. The effect of the product cost factor on error handling in industrial robots. In Maria Gini, editor, Detecting and Resolving Errors in Manufacturing Systems. Papers from the 1994 AAAI Spring Symposium Series, pages 59-64, Menlo Park, CA, March 1994. The AAAI Press. Technical Report SS-94-04, ISBN 0-929280-60-1.

Research into error recovery for sensory robots

Lee, M., Barnes, D. P., Hardy, N. (1985). Research into error recovery for sensory robots. Sensor Review, 5 (4), 194-197.

Knowledge based error recovery in industrial robots

M. H. Lee, D. P. Barnes, and N. W. Hardy. Knowledge based error recovery in industrial robots. In Proc. 8th. Int. Joint Conf. Artificial Intelligence, pages 824-826, Karlsruhe, FDR., 1983.