马尾藻种群遗传及早期发育的研究

本研究运用RAPD和ISSR两种分子标记技术，对采自山东半岛4个不同地理位置的鼠尾藻（Sargassum thunbergii）和海黍子（S. muticum）种群进行了遗传多样性和遗传结构的研究，从而对其种群间的地理隔离、基因流动水平及其影响因素做出估计和判断，为马尾藻自然资源的保护和开发提供依据。在室内对鼠尾藻有性生殖幼苗的早期发育和生长进行了研究，了解其繁殖生物学特性，为鼠尾藻人工种苗的培育提供依据。主要研究结果如下： 对4个鼠尾藻（S. thunbergii）地理种群的遗传多样性研究中，筛选出了28条RAPD 引物和19条ISSR引物，分别扩增产生了174和125个位点。选用的三种不同指标，即多态位点比率（P％，percentage of polymorphic loci），平均预期杂合度（H，the expected heterozygosity）和 Shannon's 信息多样性指数（I，Shannon's information index），均可反映出鼠尾藻种群内部的遗传多样性呈较低水平。而群体间遗传距离（D，Nei’s unbiased genetic distance）矩阵和固定化指数（FST,the fixation index）矩阵均反映出群体间高度的遗传分化。通过分子变异分析（AMOVA，Analysis of molecular variance）来区分来自种群内部和种群之间的遗传变异，揭示出多数的遗传变异（57.57% 或59.52%）来自于鼠尾藻种群之间。另外，Mantel分析表明，4个鼠尾藻种群间的遗传分化与地理距离呈正相关（r>0.5），遵循传统的IBD（isolation by distance）模式，UPGMA（unweighted pair group method with arithmetic averages）聚类分析也反映出相似的结果。 对4个海黍子（S. muticum）地理种群遗传结构的研究中，筛选出的24条RAPD 引物和19条ISSR引物分别扩增出164和122个位点。遗传多样性评估结果表明，海黍子种群内部存在较低或者中等水平的遗传多样性，而D矩阵和FST 矩阵均显示种群间存在高水平的遗传分化。并且，发现D和FST 矩阵在RAPD和ISSR分析中均具有高且显著的相关性。AMOVA分析显示，种群之间的遗传变异高于种群内部。Mantel分析和UPGMA聚类分析均发现海黍子种群间的遗传分化遵循IBD模式，即与地理隔离呈正相关（r>0.6）。 并且，RAPD和ISSR分析的结果高度一致（r>0.9，P<0.05），均揭示4个海黍子种群之间存在高度的遗传分化。 对鼠尾藻有性生殖幼苗早期生长发育的研究结果表明，其早期发育过程属于马尾藻科（Sargassaceae）中典型的“8核1卵”型。在一定条件下培养两个月后，产生了1～2个小叶，幼苗的长度达2～3毫米。生长实验发现，温度（10, 15, 20, 25℃）和光照强度（9, 18, 44, 88 µEm-2s-1）对培养第一周幼苗的生长均有显著的影响（ANOVA, P<0.01）。在两个月的培养中，幼苗对温度和光强的耐受范围较宽，在10℃～25℃，9～88 µEm-2s-1条件下均可生长，最适温度和光强为25℃，44 µEm-2s-1；低温（10℃）对幼苗的生长有显著抑制。不同光质对幼苗生长的影响显著（P<0.01），相同光强条件下，蓝光和白光相比较，蓝光显然不能满足鼠尾藻幼苗早期生长的需要。

基于神经网络的机器人视觉伺服控制

视觉伺服可以应用于机器人初始定位自动导引、自动避障、轨线跟踪和运动目标跟踪等控制系统中。传统的视觉伺服系统在运行时包括工作空间定位和动力学逆运算两个过程,需要实时计算视觉雅可比矩阵和机器人逆雅可比矩阵,计算量大,系统结构复杂。本文分析了基于图像的机器人视觉伺服的基本原理,使用BP神经网络来确定达到指定位姿所需要的关节角度,将视觉信息直接融入伺服过程,在保证伺服精度的情况下大大简化了控制算法。文中针对Puma560工业机器人的模型进行了仿真实验,结果验证了该方法的有效性。

基于双目视觉的运动物体实时跟踪与测距

利用双目视觉信息系统实现三维空间中运动物体实时跟踪与测距。当运动目标超出视野范围时,可通过控制摄像机云台转动搜索目标。此外,还研究了在摄像头运动情况下,无需重新标定,即可实现运动物体测距的算法。这里,自适应背景建模法与CamShift算法用于实现运动物体的辨识与跟踪。实验结果证明了所提出的算法能够有效地追踪物体,并同时准确地测量它的三维位置。

输电线路巡检机器人越障控制研究

介绍了超高压输电线路巡检机器人越障控制方法。根据巡检作业任务的要求,采用遥控与局部自主控制相结合的方法,实现了巡检机器人沿线行走及跨越障碍的功能。采用基于单目摄像头定位和视觉伺服的方法,实现了巡检机器人的自主越障控制。实验结果表明,该机器人可沿线行走并自主跨越障碍,从而验证了控制系统设计的有效性与合理性。

一种混合型4自由度并联机床的位置分析

针对原沈阳自动化研究所研制开发的五轴并联铣床的结构特点 ,提出了一种改进方案 ,并对这种新的构型的运动学进行了分析 ,针对其特点 ,从新的角度给出了位置正解及反解的方程。该构型的位置正解由于使用了附加传感器并充分考虑到机构特点而使得正解方程形式非常简单并且其中只存在一次项 ,从而避免了对复杂数值解法的采用

工业机器人机械手的小脑模型自适应控制

本文为动力学控制工业机器人机械手提出一种综合控制算法。该控制算法,利用小脑模型算术计算机模块模拟机器人机械手的动力学方程并计算实现期望运动所需力矩作为前馈力矩控制项;利用自适应控制器实现反馈控制,以消除由输入扰动和参数变化而引起的机器人机械手运动误差。这种控制方法在时间上是有效的,且很适合于定点实现。控制方法的有效性通过四自由度的直接驱动机器人前两个关节的计算机仿真实验得到验证。

基于神经网络的激光熔覆高度预测

激光成形过程中,对熔覆高度进行实时检测,从而实现熔覆高度闭环控制是成形高质量零件的保证。激光成形过程是一个多参数耦合的非线性过程,大量激光参数对成形熔覆表面质量具有重要影响。在分析激光参数对熔覆高度影响的基础上,建立利用激光工艺参数预测熔覆高度的误差反向传播(Backpropagation,BP)神经网络模型,完成了网络算法设计。通过激光成形试验采集样本,利用训练样本对所建立的网络进行训练,完成网络输入输出高度映射关系,并利用测试样本对所训练的网络进行检验。仿真试验表明,神经网络熔覆高度预测模型具有很高的精度,验证了该预测模型在理论和实践上的可行性与有效性。神经网络熔覆高度预测模型为实现激光加工过程熔覆高度实时预测与闭环控制打下基础,对提高成形产品质量具有重要意义。

Bézier曲线间最近距离的计算方法

针对Bzier曲线间最近距离计算问题,提出一种简捷、可靠的计算方法.该方法以Bernstein多项式算术运算为工具,建立Bzier曲线间最近距离的计算模型;然后充分利用Bzier曲面的凸包性质和de Casteljau分割算法进行求解.该方法几何意义明确,能有效地避免迭代初始值的选择和非线性方程组的求解,并可进一步推广应用于计算Bzier曲线/曲面间的最近距离.实验结果表明,该方法简捷、可靠且容易实现,与Newton-Raphson方法的融合可进一步提高该方法的运行速度.

一种新型并联机器人工作空间分析

对一种新型并联机器人的工作空间问题作了讨论,基于运动学逆解,通过极限边界数值搜索算法求取了并联机器人工作空间,并通过MATLAB仿真得到了该并联机器人工作空间的实体模型。

模糊控制在现场总线控制系统中的应用

介绍了如何把模糊控制算法与现场总线中的CAN总线结合起来应用于控制系统 ,并设计了一种智能型模糊控制算法 ,给出了系统的整体结构和现场模糊控制单元的硬件实现电路及其软件设计思路 ;系统的仿真结果表明 ,该系统实时性好 ,控制精度较高 ,鲁棒性强 ,在现场控制中有效可行

基于CAN总线的分布式数据采集与控制系统

随着电子技术和计算机技术的不断发展，工业生产过程的控制系统正在向着智能化、数字化和网络化的方向发展。传统的集散控制方式和计算机分层控制方式已经开始让位于智能终端与网络结合的总线网络控制方式。当今，在工厂中过程控制环境下的分布式自动化系统变得越来越复杂，尤其系统内部的各设备之间需要快速交换大量的信息，以便实现对被控系统更为精确的控制和提供一些辅助的评价函数。这就意味着要不断增加带宽和提高通信速率以满足网络通信的需要。在现有的多种可利用网络设备中，CAN总线以其清晰的定义、极高的可靠性及其独特的设计，被认为是最能有效地解决这一问题的途径之一。而且市场上基于通信技术的产品中，就实时性考虑，由于CAN总线采用的非表意性的通信方式，因此其结构更为简单，实时性更好。基于此背景，我们以CAN总线作为通信媒介，将分布于各控制现场的传感器、执行器和控制器有序地连接起来，构成了一个基于CAN总线的分布式局域网络控制系统。本文首先介绍了基于CAN总线的分布式数据采集与控制系统的总体结构。然后从硬件方面描述了基于CAN总线的通信协议转换单元、数据采集单元和输出控制单元的功能、硬件配置及各单元功能的具体实现过程，给出了各单元的性能指标。软件方面，以C语言作为平台，开发了基于CAN总线的上位计算机管理与监控软件，实现了对整个网络设备的系统管理和系统控制功能。对于该总线系统，作者运用了PID控制和模糊控制算法实现了对水箱液位的控制，达到了理想的效果。基于CAN总线的控制系统很好地解决了集散控制系统难以解决的难题，模糊控制的应用能很好地把总线控制系统应用到具有非线性、大时滞和难于获得精确模型的控制系统中。

流动单元四维模型和剩余油预测以濮城油田为例

This study is aimed to reveal macroscopic and microscopic anisotropism by using new theories, new methods and new technology. In order to reveal the forming mechanism and distribution pattern of remaining oil, flow units 4-dimension model and realistic model was established according the data over 20 years development of the Pucheng Oil field. Based on theories of multi-discipline subject, methods and technologies, by using correspondent 4-D data body and computer, combining quantity and quality study, static and development data, macroscopic and microscopic data, the two different geneses' reservoir, eg., braided delta and lake delta, are studied. The two different geneses' reservoir flow units models were established. Main achievement of this thesis are summarized as following: The standard of parameter optimization, identification and appreciation of two different geneses' reservoir were established. Based on the standard, the reservoir were classed into four flow units class as G,E,F and P. The flow unit static models of two different geneses' reservoir were established, and the relation of geometric shape, space distribution and macroscopic remaining oil was revealed. the flow units microscopic model were established, which tells that the changes of all the microscopic factor in the development. (4) Accordig BP arithmetic method, an adapt arithmetic method were designed, and the reservoir flow units were simulated based on the new method. (5) Reservoir realistic model of flow unit were established. Based on the model the microscopic development is simulated, which reveals the oil and water seepage in the reservoir and the mechanism of the microscopic oil formation. (6) The spatial residual oil distribution patterns were summarized. The remaided oil is mainly in the places as not being affected by the injected water, high part of the structures and the place near the sealed faults. There are 3 kinds and 9 distribution modes of microscopic remaining oil. The forming mechanism and distribution rule were pointed out. The study has developed a set of theories, technology and methods for flow units study, including flow units description, characterization and prediction. The study is also an improvement of the development geology theory in continental fault depression lake basin.

心算年老化的认知心理机制及功能磁共振成像研究

Mechanisms underlying cognitive psychology and cerebral physiological of mental arithmetic with increasing are were studied by using behavioral methods and functional magnetic resonance imaging (fMRI). I. Studies on mechanism underlying cognitive psychology of mental arithmetic with increasing age These studies were accomplished in 172 normal subjects ranging from 20 to 79 years of age with above 12 years of education (Mean = 1.51, SD = 1.5). Five mental arithmetic tasks, "1000-1", "1000-3", "1000-7", "1000-13", "1000-17", were designed with a serial calculation in which subjects sequentially subtracted the same prime number (1, 3, 7, 13, 17) from another number 1000. The variables studied were mental arithmetic, age, working memory, and sensory-motor speed, and four studies were conducted: (1) Aging process of mental arithmetic with different difficulties, (2) mechanism of aging of mental arithmetic processing. (3) effects of working memory and sensory-motor speed on aging process of mental arithmetic, (4) model of cognitive aging of mental arithmetic, with statistical methods such as MANOVA, hierarchical multiple regression, stepwise regression analysis, structural equation modelling (SEM). The results were indicated as following: Study 1: There was an obvious interaction between age and mental arithmetic, in which reaction time (RT) increased with advancing age and more difficult mental arithmetic, and mental arithmetic efficiency (the ratio of accuracy to RT) deceased with advancing age and more difficult mental arithmetic; Mental arithmetic efficiency with different difficulties decreased in power function: Study 2: There were two mediators (latent variables) in aging process of mental arithmetic, and age had an effect on mental arithmetic with different difficulties through the two mediators; Study 3: There were obvious interactions between age and working memory, working memory and mental arithmetic; Working memory and sensory-motor speed had effects on aging process of mental arithmetic, in which the effect of working memory on aging process of mental arithmetic was about 30-50%, and the effect of sensory-motor speed on aging process of mental arithmetic was above 35%. Study 4: Age, working memory, and sensory-motor speed had effects on two latent variables (factor 1 and factor 2), then had effects on mental arithmetic with different difficulties through factor 1 which was relative to memory component, and factor 2 which relative to speed component and had an effect on factor 1 significantly. II. Functional magnetic resonance imaging study on metal arithmetic with increasing age This study was accomplished in 14 normal right-handed subjects ranging from 20 to 29 (7 subjects) and 60 to 69 (7 subjects) years of age by using functional magnetic resonance imaging apparatus, a superconductive Signa Horizon 1.5T MRI system. Two mental arithmetic tasks, "1000-3" and "1000-17", were designed with a serial calculation in which subjects sequentially subtracted the same prime number (3 or 17) from another number 1000 silently, and controlling task, "1000-0", in which subjects continually rehearsed number 1000 silently, was regarded as baseline, based on current "baseline-task" OFF-ON subtraction pattern. Original data collected by fMRI apparatus, were analyzed off-line in SUN SPARC working station by using current STIMULATE software. The analytical steps were composed of within-subject analysis, in which brain activated images about mental arithmetic with two difficulties were obtained by using t-test, and between-subject analysis, in which features of brain activation about mental arithmetic with two difficulties, the relationship between left and right hemisphere during mental arithmetic, and age differences of brain activation in young and elderly adults were examined by using non-parameter Wilcoxon test. The results were as following:

A Perturbation Scheme for Spherical Arrangements with Application to Molecular Modeling

We describe a software package for computing and manipulating the subdivision of a sphere by a collection of (not necessarily great) circles and for computing the boundary surface of the union of spheres. We present problems that arise in the implementation of the software and the solutions that we have found for them. At the core of the paper is a novel perturbation scheme to overcome degeneracies and precision problems in computing spherical arrangements while using floating point arithmetic. The scheme is relatively simple, it balances between the efficiency of computation and the magnitude of the perturbation, and it performs well in practice. In one O(n) time pass through the data, it perturbs the inputs necessary to insure no potential degeneracies and then passes the perturbed inputs on to the geometric algorithm. We report and discuss experimental results. Our package is a major component in a larger package aimed to support geometric queries on molecular models; it is currently employed by chemists working in "rational drug design." The spherical subdivisions are used to construct a geometric model of a molecule where each sphere represents an atom. We also give an overview of the molecular modeling package and detail additional features and implementation issues.

A Simple Model of Circuit Design

A simple analog circuit designer has been implemented as a rule based system. The system can design voltage followers. Miller integrators, and bootstrap ramp generators from functional descriptions of what these circuits do. While the designer works in a simple domain where all components are ideal, it demonstrates the abilities of skilled designers. While the domain is electronics, the design ideas are useful in many other engineering domains, such as mechanical engineering, chemical engineering, and numerical programming. Most circuit design systems are given the circuit schematic and use arithmetic constraints to select component values. This circuit designer is different because it designs the schematic. The designer uses a unidirectional CONTROL relation to find the schematic. The circuit designs are built around this relation; it restricts the search space, assigns purposes to components and finds design bugs.