Four new species of the Genera Eudesme and Sphaerotrichia (Chordariaceae, Heterokontophyta) from the Chinese Coast

Four new species, Eudesme huanghaiensis Ding et Lu, E. qingdaoensis Ding et Lu, E. shandongensis Ding et Lu and Sphaerotrichia huanghaiensis Ding et Lu, from the western Yellow Sea coast of China are described. Eudesme huanghaiensis is mainly characterized by its spherical or sub-spherical sub-cortical cells, its rhizoidal filaments developing from the basal cells of sub-cortex and its broad sub-cortical and medullary layers. E. qingdaoensis is mainly characterized by its long medullary cells, generally hollow center of the medulla, short sub-cortex with only 3-4 cylindrical cells and long, slender and clavate terminal cells of the rhizoidal filaments. E. shandongensis is mainly characterized by its hollow frond, thick cell walls of both medulla and inner sub-cortical layers and the spherical terminal cells of the rhizoid filaments. Sphaerotrichia huanghaiensis is mainly characterized by its cylindrical, sparsely branched frond with acute angle, and its thick 5-6 layered sub-cortex with long assimilating filaments of 6-10 cells.

Genetic improvement on Chinese shrimp (Fenneropenaeus chinensis): growth and viability performance in F1 hybrids of different populations

Fenneropenaeus chinensis distributed in the Yellow Sea and Bohai Sea of China and the west coast of the Korean Peninsula. Different geographical populations represent potentially different genetic resources. To learn further the characteristics of different geographical population, crosses among two wild and three farmed populations were produced. The two wild populations were from the Yellow Sea and Bohai Sea (WYP), and the west coast of the Korean Peninsula and coast (WKN). The three farmed populations included the offspring of first generation of wild shrimp from coast in Korea (FKN), the Huang Hai (the Yellow Sea in Chinese) No.1 (HH1), and JK98. The phenotypes growth and survival rates of these populations were compared to confirm the feasibility for crossbreeding. The body length (BL), carapace length (CL), carapace width (CW), height of the second and third abdominal segment (HST), width of the second and third abdominal segment (WST), length of the first abdominal segment (LF), length of the last abdominal segment (LL), live body weight (BW), and survival rate were measured. Different combinations were statistically performed with ANOVA and Duncan's Multiple Range Test. The results show that the survival rate of JK98(a (TM) Euro)xWKN(a (TM),) was the highest, followed by WYP(a (TM) Euro)xWKN(a (TM),), FKN(a (TM) Euro)xWYP(a (TM),), FKN(a (TM) Euro)xHH1(a (TM),) and WYP(a (TM) Euro)xFKN(a (TM),); the body weight of FKN(a (TM) Euro)sxHH1(a (TM),) was the highest, followed by FKN(a (TM) Euro)xWYP(a (TM),), WYP(a (TM) Euro)xWKN(a (TM),), WYP(a (TM) Euro)xFKN(a (TM),) and JK98(a (TM) Euro)xWKN(a (TM),); the total length had the same ranking as the body weight. All growth traits in hybrids JK98(a (TM) Euro)xWKN(a (TM),) were the lowest among all combinations. F1 hybrids had significant difference (P < 0.05) in BL, CL, HST, LL, and BW; and insignificant difference (P > 0.05) in other growth traits and survival rate. The results of Duncan's Multiple Range Test are that BL and CL of JK98(a (TM) Euro)xWKN(a (TM),) were significantly different from the other combinations; HST different from the combination of FKN(a (TM) Euro)xWYP(a (TM),), FKN(a (TM) Euro)xHH1(a (TM),) and WYP(a (TM) Euro)xWKN(a (TM),); and BW different from FKN(a (TM) Euro)xWYP(a (TM),) and FKN(a (TM) Euro)xHH1(a (TM),). As a whole, the results indicate that the FKN(a (TM) Euro)xHH1(a (TM),) was the best combination in all growth traits. Therefore, hybridization can introduce the variation to base populations. The systematic selection program based on additive genetic performance may be more effective than crossbreeding.

Reproduction and behavior of plateau pikas (Ochotona curzoniae Hodgson) under predation risk: A field experiment

The mixture of the feces and urine of the red fox (Vulpes vulpes Linnaeus) was used to increase the perception of predation risk of plateau pikas (Ochotona curzoniae Hodgson) in the field. The influence of the predation risk on the reproduction and behavior of plateau pikas was examined through comparing reproductive characteristics and five different kinds of behavior between treatment and control plots. The results showed that 1) the body weight of the pikas was not significantly different between treatment and control plots. 2) The reproductive period of the pikas extended from March to later August in both treatment and control plots. The pregnant ratio, developed testes ratio, reproductive success and sex ratio of the pikas were not significantly different between the treatment and control plots. 3) The pikas increased their observing and calling frequencies and decreased their moving and feeding frequencies when exposed to red fox's feces and urine. 4) The increased red fox's feces and urine had no influence on the behavior of the pikas when the number of their natural enemies increased; the pikas obviously increased the observing frequencies and sharply decreased the calling frequency so as to decrease the direct predation risk. 5) There were no significantly behavioral differences between males and females as well as between adults and young. 6) The results reject the hypothesis 1 that the red fox's feces and urine as indirect predation risk suppresses the reproduction of the pikas and support the hypothesis 2 that the pikas can make decision by changing behavior to avoid the predation risk they encountered whenever.

输电线巡检机器人越障机理与试验

分析超高压输电线路架空地线上的障碍物类型以及跨越这些障碍的过程。可以发现,巡检机器人采用双臂交替跨越障碍,越障过程简单。但是由于受巡检机器人自身重力偏矩的影响和手臂长度尺寸的限制,当单臂悬架在架空地线上时,导致巡检机器人本体倾斜,另一手臂完成脱线和上线任务变得十分困难,有时甚至造成越障失败。为了解决上述问题,提出质量调节的控制方法。该方法通过调节巡检机器人的质心,使巡检机器人的本体保持水平状态。为了验证质量调节控制方法的正确性,采用Lagrange方法建立巡检机器人动力学模型,通过仿真试验、实验室模拟实际架空地线试验以及超高压实际现场试验说明了提出方法的可行性。

全地形轮式移动机器人运动学建模与分析

提出全地形轮式移动机器人的正逆运动学问题。将机器人看成一个混合串-并联多刚体系统,从每个轮-地接触点到机器人车体分别构成一个串联子系统,抛弃车轮纯滚动假设,在轮-地接触点处建立瞬时坐标系,考虑车轮的平面滑移,从而对每个串联子系统形成一个封闭的速度链。对于每个速度闭链,可直接在驱动轮轮心处写出从机器人各驱动轮到机器人本体之间的运动方程,将每个速度闭链的运动方程合并即可得到机器人的整体运动学模型。以一个具有被动柔顺机构的六轮全地形移动机器人为对象进行推导,该方法既考虑了地形不平的影响,又考虑了车轮的前向、侧向及转向滑移,已知机构参数后就可以直接写出机器人的速度方程,且便于运动学求解。该方法对于轮式移动机器人的运动学建模具有一般性,且具有物理意义明确、推导过程简洁等特点。

一种自主越障巡检机器人行走夹持机构

在机器人越障过程中,由于重力的影响使得机器人车体水平姿态发生变化,从而机器人自主越障变得十分困难。分析了超高压输电线路障碍物的类型,提出了一种新的双臂自主越障巡检机器人构型,该构型能够跨越输电线路上的障碍物。针对这种新构型,阐述了机器人行走夹持机构的工作原理和实现形式,着重分析研究了偏心夹持机构对保持车体水平姿态的机理。最后,通过越障实验验证了行走夹持机构的可行性。

车载机械手系统的重心控制

就移动机构上安装机械手的机械手/车辆系统提出了一种用分解运动的方法,通过控制系统的重心,防止机械手/车辆系统倾倒的控制方案。给出了系统的控制原理框图,并通过一个自由度车辆上安装两个自由度机械手系统的实验对方案的可行性进行了验证。

活动构造区区域地壳稳定性研究——以金沙江水电梯级工程规划区为例

The study of regional crustal stability of active tectonic region basically includes analysis of recent activity of Earth's crust, single factor assessment, study of complexity, and comprehensive assessment of crust stability. In this thesis, some work are made as follows: · Based on abundant data from gravity field, aeromagnetic survey, magnetism, magnetotelluric deep sounding, remote sensing and geotectonic as well as earthquakes observed in recent years around this region and adjacent zones, we can get a through understanding about the structural features and activity of the earth's crust in Chuan-Dian region. The results from explosion earthquake and telluric electromagnetic sounding are consistent with the structural features of the crust manifested by the geophysical field. The data of deep geologic structures are important for us to work out a vivid three-dimensional model of the earth's crustal structure of the Jinsha River region. According to a synthesis, the author of this thesis proposes some indicators for dividing the faulted blocks. It can also be inferred that the movement of the Chuan-Dian faulted block, which is the relatively active part of southwestern China, is controlled by the boundary faults, and the intensive activity and deformation are concentrated along the boundaries of the block. · Mainly discussing respectively the mechanism and laws of active faults, earthquakes, and geological hazards activity, and their influences on the stability and security of engineering, also trying to probe into the way to assess the risk of single factor in this section. Especially with the method of fractal geometry, the thesis has discussed how to study the complexity of each factor. These geologic hazards which are distributed at the uppermost part of the crust in this region form a typical mountainous set of the active tectonic areas. The results of survey show that some slopes are liable- to -sliding with a weak layer of low shear strength. Occurrences of landslides are to a great extent related to local geological structures, in particular active faults. This is why numerous landslides have occurred simultaneously around the epicenter of a strong earthquake or the center of a strong rainfall, which are related to active faults. · The analysis of the crustal stability is based on a regional grid division, and a fuzzy comprehensive analysis method is used to determine the grade of the quality in each grid. The evaluation factors and their weights are taken from the results of the hierarchical analysis. The evaluation indexes consist of qualitative and quantitative ones. The qualitative ones can be quantified through the experts weighing system, while the quantitative ones can be obtained from statistical analysis. For quality grades, four levels are used: stable, essentially stable, sub-stable, and unstable. The results of the evaluation on Jinshajiang region demonstrate that the crustal stability become distinctly worse in the areas controlled by active deep faults. Therefore, detailed investigations on the active faulting and geologic hazards, include earthquake activity are especially necessary for those areas adjacent to the deep fault belts. On the bases of the data available and the survey results, we have made a preliminary assessment for the construction conditions and adaptability of every planned site in the middle or lower reaches of Jinsha River. Finally, the thesis prospected the vista of the study of crustal stability.

保重心脉冲压缩滤波及其在速度自动拾取中的应用

To pick velocity automatically is not only helpful to improve the efficiency of seismic data process, but also to provide quickly the initial velocity for prestack depth migration. In this thesis, we use the Viterbi algorithm to do automatic picking, but the velocity picked usually is immoderate. By thorough study and analysis, we think that the Viterbi algorithm has the function to do quickly and effectually automatic picking, but the data provided for picking maybe not continuous on derivative of its curved surface, viz., the curved face on velocity spectrum is not slick. Therefore, the velocity picked may include irrational velocity information. To solve the problem above, we develop a new method to filter signal by performing nonlinear transformation of coordinate and filter of function. Here, we call it as Gravity Center Preserved Pulse Compressed Filter (GCPPCF). The main idea to perform the GCPPCF as follows: separating a curve, such as a pulse, to several subsection, calculating the gravity center (coordinate displacement), and then assign the value (density) on the subsection to gravity center. When gravity center departure away from center of its subsection, the value assigned to gravity center is smaller than the actual one, but non other than gravity center anastomoses fully with its subsection center, the assigned value equal to the actual one. By doing so, the curve shape under new coordinate breadthwise narrows down compare to its original one. It is a process of nonlinear transformation of coordinate, due to gravity center changing with the shape of subsection. Furthermore, the gravity function is filter one, because it is a cause of filtering that the value assigned from subsection center to gravity center is obtained by calculating its weight mean of subsetion function. In addition, the filter has the properties of the adaptive time delay changed filter, owing to the weight coefficient used for weight mean also changes with the shape of subsection. In this thesis, the Viterbi algorithm inducted, being applied to auto pick the stack velocity, makes the rule to integral the max velocity spectrum ("energy group") forward and to get the optimal solution in recursion backward. It is a convenient tool to pick automatically velocity. The GCPPCF above not only can be used to preserve the position of peak value and compress the velocity spectrum, but also can be used as adaptive time delay changed filter to smooth object curved line or curved face. We apply it to smooth variable of sequence observed to get a favourable source data ta provide for achieving the final exact resolution. If there is no the adaptive time delay-changed filter to perform optimization, we can't get a finer source data and also can't valid velocity information, moreover, if there is no the Viterbi algorithm to do shortcut searching, we can't pick velocity automatically. Accordingly, combination of both of algorithm is to make an effective method to do automatic picking. We apply the method of automatic picking velocity to do velocity analysis of the wavefield extrapolated. The results calculated show that the imaging effect of deep layer with the wavefield extrapolated was improved dominantly. The GCPPCF above has achieved a good effect in application. It not only can be used to optimize and smooth velocity spectrum, but also can be used to perform a correlated process for other type of signal. The method of automatic picking velocity developed in this thesis has obtained favorable result by applying it to calculate single model, complicated model (Marmousi model) and also the practical data. The results show that it not only has feasibility, but also practicability.

东营凹陷沙三中亚段湖相浊积岩储层特征及油气成藏规律研究

Turbidity sandstone reservoirs have been an important field of hydrocarbon exploration and development in the basins all over the world, as well as in China. Lithologic pools are composed of turbidity sandstones and other sandstones are frequently found in the Jiyang Depression that is a Mesozoic-Cenozoic non-marine oil-bearing basin. The Dongying Sag lies in the sedimentary center of the basin. The subtle traps with turbidity reservoirs are generally difficult to be predicted and described by using current techniques. The studies on turbidity reservoirs plays thus an important theoretical and theoretical practical role in exploration and development in the Jiyang Depression. The attention is, in this thesis, focused on the petrologic properties and oil accumulating behaviors in lake turbidity sedimentary systems in the middle part of the third section of Shahejie Formation in the Dongying Sag, especially in Dongxin area, which lies on the central uplift of the Sag. The paper has disclosed the origin types of turbidity sandstones, distribution pattern and controlling factors of turbidity sandstones, and set up hydrocarbon accumulation patterns of the middle part of the third section of Shahejie Formation in Dongxin, based on nonmarine high resolution sequence stratigraphy, event sedimentology and new theories of hydrocarbon forming. By studying prediction method and technology of turbidity sandstone reservoirs, using precise geological model developing, new techniques of high resolution seismic inversion constrained by logging, the paper has forecast low permeability turbidity sandstone reservoirs and pointed out advantage exploration aims to progressive exploration and development. The paper has obtained mainly many productions and acknowledges as follows: 1.Turbidity sandstone reservoirs of the third section of Shahejie Formationin Dongying Sag are formed in such specifical geological background as rift and extension of basin. The inherited Dongying delta and transgression make up many turbidity distribution areas by overlaying and joining together. The hydrocarbon migrates from depression area to adjacent turbidity sandstone continuously. Accumulation area which is sufficient in oil is formed. 2.The paper has confirmed distinguishable sign of sequence boundary , established stratigraphic framework of Dongying Sag and realized isotime stratigraphic correlation. Es3 of Dongying delta is divided into eleven stages. Among them, the second period of the lower section in Es3, the sixth period of the middle section in Es3, the third period of the upper section in Es3 correspond to eleven sedimentary isotime surface in seismic profile, namely Es3 is classified into eleven Formations. 3.According to such the features of turbidity sandstone as deep in burial, small in area, strong in subtle property, overlaying and joining together and occurring in groups, management through fault and space variations of restriction quantum are realized and the forecast precision of turbidity sandstone by using precise geological model developing, new techniques of high resolution seismic inversion constrained by logging, based on the analysis of all kinds of interwell seismic inversion techniques. 4.According to the features of low permeable turbidity sandstone reservoirs, new method of log interpretation model is put forward. At the same time, distinguish technology of familiar low resistivity oil layer in the turbidity sandstone reservoirs is studied based on petrophysical laboratory work and "four properties" interrelationship between lithological physical Jogging and bearing hydrocarbon properties. Log interpretation model and reservoir index interpretation model of low resistivity oil layer are set up. So the log interpretation precision is improved. 5.The evolution law and its difference of the turbidity sandstone are embodies as follows: the source of sediments come from the south and east of the study area in the middle period of Es3. East source of sediments is pushed from west to east. However, the south source supply of sediments in the early and middle period of Es3 is in full, especially in Es3. subsequently, the supply is decreased gradually. Turbidity fan moves back toward the south and the size of fan is minished accordingly. The characteristic of turbidity sandstone in Dongying Sag is different in different structural positions. Dongxin in the middle-east of the central lift and Niuzhuang Sag He in Dongying delta front and prodelta deep lake subfacies. Although the turbidity sandstone of the two areas root in the Dongying delta sedimentary system, the sand body has different remarkably characteristic. 6.The sedimentary model of the turbiditys in study area have three types as follows: (1) collapse turbidity fan in respect of delta; (2) fault trench turbidity fan; (3) other types of microturbidity sandstone. Middle fan and outer fan, can be found mainly in sublacustrine fan. Middle fan includes braided channel microfacies, central microfacies and braided interchannel microfacies, which is main prospecting oil-bearing subfacies. The middle section of the third section of Shahejie Formation in study area (for example the central lift) can be divided into middle-lower and upper part. The middle-lower part is characteristic of turbidity fan. The upper part is sedimented mainly by delta-collapse fan. 7.The turbidity reservoirs of the middle part of the third section of Shahejie Formation in study area characterize by low maturity both in component and texture, strong in diagenesis and low in permeability. The reservoir can be classified into four types. Type III is the body of reservoir and comprises two types of H a and HI b. M a belongs to middle porosity - low permeability reservoir and distributes in the central lift. Hlb belongs to low porosity - low permeability and distributes in Haojia region. 8.A11 single sand body of lens turbidity reservoir of the middle part of the third section of Shahejie Formation in study area are surrounded by thick dark source rocks. The oil-water system is complex and behaves that every sandstone is single seal unit. The water body is 1/3-1-5 of the sand body. The edge water is not active. The gas exists in the top of reservoir in the form of mixed gas. For far-range turbidity fan with big scale channel, the area and volume of sand body is large and the gap is big in oil packing degree. There are lots of edge water and bottom water, and the latter increases rapidly during the course of development. 9.By exerting the modern hydrocarbon forming theories, the third section of Shahejie Formation in study area belongs to abnormally pressured fluid compartment. The lithological reservoir of the third section of Shahejie Formation is formed in the compartment. The reservoir-formed dynamic system belongs to lower self-source enclosed type. The result and the practice indicate that the form and accumulation of lithological oil reservoirs are controlled by the temperature and pressure of stratum, microfacies, thickness of sand body, fault and reservoir heterogeneity. 10. Based on studies above, the emphases focus on in south and north part of Dongying structure, west Dongxin region and south part Xinzhen structure in the application of production. The practice proves that the turbidity sandstone reservoirs in Ying 11 block and the fault-lithological reservoirs in Xin 133 block have been obtained significant breakthrough. The next target is still sandstone groups of the third section of Shahejie Formation in the bordering areas of Dongxin region for instance Xin 149 area, He 89 area, Ying 8 area etc.

济阳地区深部结构与含油气性讨论

Oil and gas exploration of marine strata in China's Pre-Cenozoic residual basins is regarded as a worldwide puzzle because of existent problems and cruxes. Objectively speaking, the subsurface geologic structure is complicated, and the surface conditions of some areas are tough. On the other hand, there are still many problems to be solved in oil and gas exploration technologies of Pre-Cenozoic marine fades, and theoretic cognition about petroleum geology is not profound yet. Therefore, it is principal to explore integrated geophysical research ways of Pre-Cenozoic residual basins. Seismic prospecting and geophysical integrated interpretation technologies aimed at middle Paleozoic marine facies with deeper burial and complicated geologic conditions have not formed due to bad quality of deep strata data. Pre-Cenozoic strata, and especially extension, thickness and internal structure of Paleozoic strata can not be recognized from seismic profiles, so it is hard to systematically cognize structural features and oil-gas resources prospect of Pre-Cenozoic basins. To further investigation of fabric and structural features, basin prototype, formation and evolution pattern of Pre-Cenozoic basins, and also their control over formation, migration and aggregation of oil and gas, will play a guiding and promotive role in developing new surveying areas, selecting advantageous zones and predicting oil-gas resources.This paper follows the modem macrocontrol theory of "Region constrains local, deep strata controls shallow ones", and uses the integrated geophysical method of "One guide, two hinges, three combinations and multi feedbacks'*. Based on several years of geological and geophysical results of the Shengli Oilfield, and 14 newly-joint regional seismic profiles, deep structure and oil-gas bearing capacity of the Jiyang area are discussed and new cognitions are drawn as below.Seismic identification marks Tr, Tg, Tgl and Tg2 are established for importantPre-Cenozoic geological interfaces, and promoted to the whole Jiyang area.Through area-wide tracking and clogging of important seismic reflection marker,the isochronic framework of pre-Tertiary basin is set up in the Jiyang area for the firsttime, which is vital for basin research.Integrated with geological and geophysical research results, the Jiyang area isdivided into four first-order tectonic sequences- basement, lower tectonic layer,upper tectonic layer, and top tectonic layer. The basement and lower tectonic sequence which are related to Pre-Cenozoic are studied with emphasis.Through the research of regional seismic profiles, the point of view is given thatthe Kongdian Formation of Jiyang is structural transition period. The top-bottomunconformable interface of the Kongdian Formation is found out for the first time,and the basin model is determined primarily, which lay a basis for prototype basinresearch of the Jiyang Kongdian Formation.The distribution status of Middle-Paleozoic is delineated in the Jiyang area.The maximum thickness of Paleozoic lies in the top of the south declivity of half-graben. The thickness gets thinner towards the center of Mesozoic and Cenozoic half-graben basin, and even disappears. Structural action in the west-north affects the distribution of Paleozoic residual strata.6. The features of second-order tectonic sequence of the Jiyang depression isstudied and its evolution history of is rebuilt.Combined with the 5-stage evolution history of the China continent and structure evolution features of the Jiyang area, the structure sedimentary process since Paleozoic is divided into 5 periods - basement forming , Indosinian orogenic, Yanshan negative reversal, Himalayan extension and Neogene subsidence period.Combined with the research results of gravity, magnetic surveying and regionalprofiles, this paper brings forward the idea for the first time that the western boundaryof the Jiyang depression is the Ningjin-Yangpan fracture zone, and forms aside-column assemblage with the Wudi fracture zone.The opinion that under Middle-Cenozoic basins in the middle Jiyang area theremight superimpose an old residual basin is given for the first time. And if it is provedto be true, a new exploration space will be pioneered for Jiyang and even north China.There exists many types of tectonic-stratigraphic traps formed under piezotropy,extension and compound action in Pre-Cenozoic Jiyang. Therein all kinds of burialhills are the most important oil-gas trap type of Pre-Cenozoic, which should besurveyed layeredly according to the layout of oil sources.As such a new challenging project and field, the paper systematically analyses different geophysical responses of the Jiyang area, frames the deep structure of the area, and preliminarily recognizes the Pre-Cenozoic residual basins. It breaks through to a certain extent in both theory and practice, and is expected to provide new geophysical and geotectonic clues for deep exploration in Shengli.

Green Theorems and Qualitative Properties of the Optical Flow

How can one compute qualitative properties of the optical flow, such as expansion or rotation, in a way which is robust and invariant to the position of the focus of expansion or the center of rotation? We suggest a particularly simple algorithm, well-suited to VLSI implementations, that exploits well-known relations between the integral and differential properties of vector fields and their linear behaviour near singularities.

Regulation of yeast oscillatory dynamics

Douglas B. Murray, Manfred Beckmann, and Hiroaki Kitano. (2007). Regulation of yeast oscillatory dynamics. Proceedings of the National Academy of Sciences of the USA, 104 (7), 2241-2246 Sponsorship: Solution-Oriented Research for Science and Technology Agency to the Systems Biology Institute /21st Century Center of Excellence Program and Special Coordination Program of the Ministry of Education, Sports, Culture, Science, and Technology to Keio University RAE2008

SOVEREIGN: A Self-Organizing, Vision, Expectation, Recognition, Emotion, Intelligent, Goal-Oriented Navigation System

Both animals and mobile robots, or animats, need adaptive control systems to guide their movements through a novel environment. Such control systems need reactive mechanisms for exploration, and learned plans to efficiently reach goal objects once the environment is familiar. How reactive and planned behaviors interact together in real time, and arc released at the appropriate times, during autonomous navigation remains a major unsolved problern. This work presents an end-to-end model to address this problem, named SOVEREIGN: A Self-Organizing, Vision, Expectation, Recognition, Emotion, Intelligent, Goal-oriented Navigation system. The model comprises several interacting subsystems, governed by systems of nonlinear differential equations. As the animat explores the environment, a vision module processes visual inputs using networks that arc sensitive to visual form and motion. Targets processed within the visual form system arc categorized by real-time incremental learning. Simultaneously, visual target position is computed with respect to the animat's body. Estimates of target position activate a motor system to initiate approach movements toward the target. Motion cues from animat locomotion can elicit orienting head or camera movements to bring a never target into view. Approach and orienting movements arc alternately performed during animat navigation. Cumulative estimates of each movement, based on both visual and proprioceptive cues, arc stored within a motor working memory. Sensory cues are stored in a parallel sensory working memory. These working memories trigger learning of sensory and motor sequence chunks, which together control planned movements. Effective chunk combinations arc selectively enhanced via reinforcement learning when the animat is rewarded. The planning chunks effect a gradual transition from reactive to planned behavior. The model can read-out different motor sequences under different motivational states and learns more efficient paths to rewarded goals as exploration proceeds. Several volitional signals automatically gate the interactions between model subsystems at appropriate times. A 3-D visual simulation environment reproduces the animat's sensory experiences as it moves through a simplified spatial environment. The SOVEREIGN model exhibits robust goal-oriented learning of sequential motor behaviors. Its biomimctic structure explicates a number of brain processes which are involved in spatial navigation.

A multi-technology approach to identifying the reasons for lateral drift in professional and recreational darts

This work performs an extensive charterisation of precision targeted throwing in professional and recreational darts. The goal is to identify the contributing factors for lateral drift or throwing inaccuracy in the horizontal plane. A multitechnology approach is adopted whereby a custom built body area network of wireless inertial measurement devices monitor tilt, force and timing, an optical 3D motion capture system provides a complete kinematic model of the subject, electromyography sensors monitor muscle activation patterns and a force plate and pressure mat capture tactile pressure and force measurements. The study introduces the concept of constant throwing rhythm and highlights how landing errors in the horizontal plane can be attributable to a number of variations in arm force and speed, centre of gravity and the movements of some of the bodies non throw related extremities.