A mechanistic model of algal photoinhibition induced by photodamage to Photosystem-II

Photoinhibition is a central problem for the understanding of plasticity in photosynthesis vs. irradiance response. It effectively reduces the photosynthetic rate. In this contribution, we present a mechanistic model of algal photoinhibition induced by photodamage to photosystem-II. Photosystem-IIs (PSIIs) are assumed to exist in three states: open, closed and inhibited. Photosynthesis is closely associated with the transitions between the three states. The present model is defined by four parameters: effective cross section of PSII, number of PSIIs, turnover time of electron transfer chains and the ratio of rate constant of damage to that of repair of D1 proteins in PSIIs. It gives a photosynthetic response curve of phytoplankton to irradiance (PI-curve). Without photoinhibition, the PI-curve is in hyperbola with the first three parameters. The PI-curve with photoinhibition can be simplified to the same form as the hyperbola by replacing either the number of PSIIs with the number of functional PSIIs or the turnover time of electron transfer chains with the average turnover time.

Preliminary study of the dynamic origin of the distribution pattern of bottom sediments on the continental shelves of the Bohai Sea, Yellow Sea and East China Sea

The bottom sediment types in the Bohai Sea, Yellow Sea and East China Sea (BYECS) are diversified, and their distribution pattern is very complicated. However, the bottom sediment types can be simplified to be sandy sediment, clayey sediment and mixed sediment, which comprise the complicated distribution pattern of bottom sediment in the BYECS. The continental shelves of the BYECS are broad, with shallow water depths and tidal currents which are permanent and dominate the marine dynamics in the BYECS. Based on numerical simulation of tidal elevations and currents in the BYECS, the rates of suspended load transport and bed load transport during a single tidal cycle for sediments of eight different grain size ranges are calculated. The results show that any sediment, whose threshold velocity is less than that of tidal current, has the same transport trend. Suspended load transport rare, bed load transport rate, and the ratio of the former to the latter decrease with grain size becoming coarser and coarser. The erosion/accretion patterns of sediments with different grain sizes are determined by the sediment transport rate divergences, and the results show that the patterns are the same for sediments with different grain sizes. Three main bottom sediment types, i.e. sandy sediment mainly composed of fine sand, clayey sediment mainly composed of silty clay, and mixed sediment mainly composed of fine sand, silt, and clay, are obtained by computation. The three bottom sediment types and their distribution pattern are consistent not only with sediment transport field and the sea bed erosion/accretion pattern obtained by simulation, but also with field data of bottom sediment types and divisions. In the BYECS, sand ridges form mainly in the areas with strong rectilinear tidal currents, sand sheets form mainly in the areas dominated by strong rotatory tidal currents, and clayey sediments, i.e. mud patches, form mainly in the areas with weak tidal currents. Hence, not only the sandy sediments but also the clayey sediments in the BYECS are formed under the control of the whole tidal current field of the BYECS. The three main bottom sediment types are not isolated respectively-in fact, they constitute a whole tidal depositional system. Under the condition with no cyclonic cold eddy, the clayey sediments in the BYECS can form in weak tidal current environments. Therefore, a cold eddy is not necessary for the deposition of clayey sediments in the BYECS. (C) 2000 Academic Press.

Detection of carbohydrates using new labeling reagent 1-(2-naphthyl)-3-methyl-5-pyrazolone by capillary zone electrophoresis with absorbance (UV)

A novel labeling reagent 1-(2-naphthyl)-3-methyl-5-pyrazolone (NMP) coupled with capillary electrophoresis (CE) with DAD detection for the determination of carbohydrates has been developed. The chromophore in the 1-phenyl-3-methyl-5-pyrazolone (PMP) reagent is replaced by naphthyl functional group, which results in a reagent with very high molar absorptivity (epsilon(251nm) = 5.58 x 10(4) L mol(-1) cm(-1)). This pen-nits NMP-labeled carbohydrates to be detected with UV absorbance in standard 50-mu m-i.d. fused silica capillaries by zone electrophoresis. in this mode, nanomolar concentrations of detection limits are obtained. The method for the derivatization. of carbohydrates with NMP is simplified. The derivatization reaction is rapid and mild in the presence of ammonia catalyst without further transfer steps. Nine monosaccharide derivatives such as mannose, galacturonic acid, glucuronic acid, rhamnose, glucose, galactose, xylose, arabinose and fucose can successfully be detected in CE mode. Good reproducibility can be obtained with relative standard deviation (R.S.D.) values of the migration times and peak area, respectively, from 0.44 to 0.48 and from 3.2 to 4.8. Furthermore, the developed method has been successfully applied to the analysis of carbohydrates in the hydrolyzed rape bee pollen samples. (C) 2008 Published by Elsevier B.V.

基于解耦控制的SCARA机器人轨迹跟踪控制器设计

SCARA型机器人的控制问题由于其动力学模型中没有重力矩项的作用而得以简化,由于在实际应用中经常要求其高速运动,则对具有强耦合的哥氏力与向心力的控制就成为制约其系统性能的重要问题。提出通过线性变换对机器人系统解耦,将高阶系统转化为解耦的低阶系统进行控制的方法,并且应用极点配置对解耦的系统求解机器人控制器。该方法无需测量关节速度和加速度,只需要测量关节位置信号。所提出的控制器既能保证闭环系统全局渐进稳定,又能通过对线性化系统闭环极点的配置来获得期望的闭环系统响应性能。仿真实验证明了所提出的控制器设计方法的可行性。

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。

轮式仿人机器人的ZMP建模及动态稳定判据

介绍了ZMP的概念,比较常见的几种ZMP建模方法,提出将高效牛顿-欧拉算法(RENA)与ZMP的概念相结合的迭代ZMP建模方法,并利用该方法完成轮式仿人机器人的ZMP建模.通过模型分析,得出该轮式仿人机器人的ZMP简化计算公式.最后得出此类轮式仿人机器人的稳定性判据及稳定度的定义.

仿人机器人腰部机构的动力学建模、控制与仿真

本文介绍的仿人机器人具有差动腰部机构,它除了受自身的动力学影响以外,还受到手臂和车体运动以及外力、外力矩等对腰部机构关节力矩的影响。笔者利用高效牛顿-欧拉算法完成了仿人机器人的整体建模;在不考虑各关节间耦合运动的情况下,对整体动力学模型进行适当简化,得到了腰部机构的动力学模型。简化后的动力学模型既反映了机器人车体、腰部及双臂的动力学关系,又大大地减小了计算量,易于实现基于动力学的控制算法。基于动力学模型,给出了腰部机构PD伺服轨迹跟踪控制算法,并结合计算力矩方法用于补偿腰部机构两关节受到的力矩扰动。仿真分析表明,该控制方法可以明显提高腰部机构的位置跟踪精度,并提高仿人机器人的整体作业精度。

轮式移动仿人机器人的动力学建模与分析

利用高效迭代牛顿-欧拉方法对一个21自由度的轮式移动仿人机器人进行了整体动力学建模,该模型虽然维数较高,但消除了分块建模中需要对模块之间相互作用力进行建模的难点问题,并且由于机器人双臂的对称结构,当合理规划双臂运动时,动力学模型将得到部分简化。本文还对某关节运动时在各个关节所产生的力或力矩进行了仿真分析。解析及仿真结果表明,合理规划上臂各关节的协调运动,将极大地削弱车体及腰部各关节所受的力或力矩扰动,为基于动力学的机器人运动控制以及稳定性分析提供理论依据。

基于主动建模的无人直升机增强LQR控制

为了解决无人直升机控制问题,通过把主动建模与LQR(Linear Quadratic Regulator)控制相结合,提出一种能补偿模型差的控制方法。该方法在悬停状态下,采用简化模型设计LQR控制器,并通过UKF(Un-scented-Kalman-Filter)在线估计简化模型与全状态模型的模型差,使用模型差作为补偿项对LQR控制增强。针对实际直升机动力学模型进行仿真,验证了基于UKF的估计和增强LQR控制的有效性。仿真实验结果证明,基于UKF的主动建模技术能够快速估计状态和参数变化,并且增强LQR控制能够使系统适应模型不确定性。

轮式移动机器人轨迹跟踪的最优控制

深入分析了轮式移动机器人的运动状态,建立了WMR路径偏差系统的非线性数学模型。应用小偏差线性化理论,将该多输入多输出非线性系统简化成一个单输入单输出线性系统。然后基于线性二次型调节器理论进行了系统最优控制器的设计,并针对该理论中加权矩阵Q与R难以确定的问题,从控制效果出发,采用自适应遗传算法对其进行了优化。实现了移动机器人对预定轨迹的满意鲁棒跟踪,同时满足了实时性要求。实验结果证明了该方法的正确性与实用性。

排爆作业机器人模拟训练系统研究

介绍了一种排爆机器人模拟训练系统.该系统提供了友好的人机交互界面,使操作人员可以进行各种模拟训练,并提高操作水平.重点介绍了该模拟训练系统的体系结构及关键实现技术,包括排爆机器人及其工作环境的建模方法、机器人运动学和动力学简化模型、碰撞检测和技能评定等.通过实验,证明了该模拟训练系统的可行性和有效性.

蛇形机器人的扭转运动研究

通过扭转运动,蛇形机器人能够在粗糙的地面运动,甚至可以翻越一些障碍物。对扭转运动进行了运动学解析,提出了实现扭转运动的简化输入模型。实现了蛇形机器人二维平面内的U形和V形扭转运动,并将扭转运动与其他运动方式结合,实现蛇形机器人的复合运动方式。通过实验验证了所提出的简化模型的有效性。

小型自治水下机器人运动控制系统研究

以主推加舵控制的小型自治水下机器人为研究对象,建立了水下机器人的数学模型并进行了分析。根据机器人结构的特点,对模型进行了必要的简化。设计了机器人的运动控制系统。通过湖试验正控制器的性能。

水下滑翔机器人运动调节机构设计与运动性能分析

描述了水下滑翔机器人3个运动调节机构的设计,即浮力调节机构、俯仰调节机构和横滚调节机构,分析了运动调节机构与运动之间的关系.提出了采用CFX水动力计算软件分析水下滑翔机器人运动性能的方法.根据CFX计算结果,用最小二乘法参数辨识方法辨识出定常滑翔运动的水动力参数.简化了空间螺旋回转运动过程,通过CFX水动力计算方法进行回转特性分析,估算回转半径.

关系数据库中一种混合类不完全信息的引入

本文介绍了关系数据库中信息不完全性的含义及其表现，论述了关系数据库中不同范畴不完全性同时存在的可能性和必然性，并在关系模式中引入一种混合类不完全信息。为了能够表示和处理关系数据库中这种混合类不完全信息，文中最后给出了一种简化的扩展关系模型。