Recombination and heterologous expression of allophycocyanin gene in the chloroplast of Chlamydomonas reinhardtii

Heterogeneous expression of multiple genes in the nucleus of transgenic plants requires the introduction of an individual gene and the subsequent backcross to reconstitute multi-subunit proteins or metabolic pathways. In order to accomplish the expression of multiple genes in a single transformation event, we inserted both large and small subunits of allophycocyanin gene (apcA and apcB) into Chlamydomonas reinhardtii chloroplast expression vector, resulting in papc-S. The constructed vector was then introduced into the chloroplast of C. reinhardtii by micro-particle bombardment. Polymerase chain reaction and Southern blot analysis revealed that the two genes had integrated into the chloroplast genome. Western blot and enzyme-linked immunosorbent assay showed that the two genes from the prokaryotic cyanobacteria could be correctly expressed in the chloroplasts of C. reinhardtii. The expressed foreign protein in transformants accounted for about 2%-3% of total soluble proteins. These findings pave the way to the reconstitution of multi-subunit proteins or metabolic pathways in transgenic C. reinhardtii chloroplasts in a single transformation event.

The recombination and expression of the allophycocyanin beta subunit gene in the chloroplast of Chlamydomonas reinhardtii

A Chlamydomonas reinhardtii (C. reinhardtii) chloroplast expression vector, papc-B, containing the apc-B gene that encodes the beta subunit of the light-harvesting antenna protein allophycocyanin (APC) of cyanobacteria, was constructed and transferred to the chloroplast genome of C. reinhardtii by the biolistic method. The transformants were identified by Southern blot, Western blot and ELISA assays after selection on resistant medium. The recombinant APC beta subunit was expressed in the C. reinhardtii chloroplast and accounted for up to 2-3% (w/w) of the total soluble protein (TSP), suggesting a promising prospect of using C. reinhardtii chloroplasts to produce functional plant-derived proteins.

Behavioural reaction of root vole (Microtus oeconomus pallas) males of different social ranks to familiar and novel odour of conspecific males

In this experiment, we tested the hypothesis that males of root voles (Microtus oeconomus Pallas) of different social ranks display different behavioural strategies. To document behavioural differences between social ranks, we investigated patterns in the behavioural responses to urine cues from familiar and novel individu in a choice maze. Ten pairs of male voles were efectively used in this experiment. All behaviour was recorded with OBSERVER 5.0. When experiment was finished, video tapes were transformed into digital data. Then all data were analyzed by SPSS. The results showed that the approach latency of subordinates was shorter for familiar odours than novel ones, dominant individuals preferentially entered the strange odourant box, subordinates preferred familiar odours over novel ones, subordinates spent more time visiting familiar odours compared to the novel odours, dominants preferred novel odours to familiar ones, subordinates approached familiar odours more frequently than novel ones and self-groomed more often in the familiar odourant box than in the novel box, and dominant and subordinate individuals showed significantly different countermarking behaviours to familiar and novel odours. In conclusion, the dominants and subordinates displayed different behaviour patterns when faced to familiar and novel conspecific males' urine cues. The data support our hypothesis that differences in social rank induce differences in behavioural patterns.

一种轮式移动机器人实时速度估计方法

环境和机器人自身的不确定性影响轮式移动机器人的轨迹跟踪控制性能,此时仅仅使用里程计往往不能正确表达机器人的状态信息。在无速度传感器的情况下,讨论了使用加速度传感器和位置传感器的输出实时估计轮式移动机器人的速度。首先使用滑模观测器进行里程计信号处理,然后对车体加速度信号进行带通滤波提取车体扰动信息,通过频域融合信号表达轮式移动机器人的速度,并针对正交轮式全方位移动机器人进行了轨迹跟踪控制研究。试验结果表明采用融合数据可以更准确提供机器人的状态信息并得到更好的控制性能。

柔性机械臂基于观测的逆动力学轨迹跟踪控制

本文探讨了稳定逆动力学与基于观测的状态误差反馈镇定器集成实现柔性机械臂末端轨迹跟踪的控制策略．基于观测器可以充分利用由稳定逆动力学生成的理想状态轨迹信息，实现全状态误差的反馈镇定以消除末端轨迹跟踪的扰动误差。