Templates and anchors for antenna-based wall following in cockroaches and robots

The interplay between robotics and neuromechanics facilitates discoveries in both fields: nature provides roboticists with design ideas, while robotics research elucidates critical features that confer performance advantages to biological systems. Here, we explore a system particularly well suited to exploit the synergies between biology and robotics: high-speed antenna-based wall following of the American cockroach (Periplaneta americana). Our approach integrates mathematical and hardware modeling with behavioral and neurophysiological experiments. Specifically, we corroborate a prediction from a previously reported wall-following template - the simplest model that captures a behavior - that a cockroach antenna-based controller requires the rate of approach to a wall in addition to distance, e.g., in the form of a proportional-derivative (PD) controller. Neurophysiological experiments reveal that important features of the wall-following controller emerge at the earliest stages of sensory processing, namely in the antennal nerve. Furthermore, we embed the template in a robotic platform outfitted with a bio-inspired antenna. Using this system, we successfully test specific PD gains (up to a scale) fitted to the cockroach behavioral data in a "real-world" setting, lending further credence to the surprisingly simple notion that a cockroach might implement a PD controller for wall following. Finally, we embed the template in a simulated lateral-leg-spring (LLS) model using the center of pressure as the control input. Importantly, the same PD gains fitted to cockroach behavior also stabilize wall following for the LLS model. © 2008 IEEE.

水样不同处理方式对高锰酸盐指数测定值的影响

研究了水样不同处理方式对三峡水库干流江段高锰酸盐指数(COD_(Mn))测定值的影响。结果表明,悬浮颗粒物浓度(SS)是澄清样和浑样之间、清样和浑样之间、清样和澄清样之间高锰酸盐指数差别的主要影响因子;用非线形回归方法得出了水样不同处理方式下高锰酸盐指数间的经验关系,并用实测数据进行了验证,结果表明,计算值和实测值吻合良好。依据SS和所得经验关系,可计算高锰酸盐指数所表征有机物(COD_(Mn))即OS(COD_(Mn))作为一个整体在水-固两相之间的分配,及其在粗颗粒物和细颗粒物上的赋存比例。河床上覆水

中山市淡水浮游动物区系调查

2005年6～7月和12月对中山市主要淡水水体的浮游动物区系进行了调查。结果表明,中山市主要淡水水体浮游动物由38目92科129属317种组成。区系特点以原生动物最丰富,有30目82科102属263种,占浮游动物物种总数的83%;其次为轮虫,有4目4科19属37种组成,占12%;枝角类和桡足类物种数最少。各样点浮游动物种类在11～168种之间,种类最少的出现在洪奇沥,最多的出现在逍遥谷。研究结果表明,中山市淡水浮游动物资源比较丰富。各区系浮游动物的分布与水体的营养状态密切相关,污染严重的水体,种类数较少,

三峡水库上游消落区生态渔业模式研究

根据生态渔业系统的需要,结合不同鱼的食性和空间生态位要求,对开县当地常规放养模式的品种和结构进行了合理调整。确定以草鱼为主养鱼,鲢、鳙为配养鱼,由食性相似而价值较高的异育银鲫代替常规的鲤鱼,并套养黄颡鱼,各种鱼的放养比例大致为草鱼45.7%、异育银鲫11%、黄颡鱼0.6%、鲢25%、鳙17.8%。结果表明,该模式单产约7267.5kg/hm2,毛利润约18757.5元/hm2,增产比例为53.7%,经济效益提高143%。

鲤吉陶单极虫免疫原性的研究

以鲤吉陶单极虫孢子的可溶性抗原 ,采用 B淋巴细胞杂交瘤融合技术制备了 4A8、6 B8、7B93株杂交瘤细胞 ,并用该抗原免疫新西兰白兔制备了高免血清。通过对虫体进行抗原检测、定位和 Western- blot试验 ,结果发现 :4A8、6 B8、7B9和多抗经间接 EL ISA可检出抗原的最低质量浓度分别为 0 .14、0 .2 0、0 .32和 0 .86 mg/ L;IFA定位显示 ,单、多抗检出的抗原都定位于虫壁 ,其中 4A8的抗原主要位于虫体后部 (胚核附近 ) ,6 B8和 7B9的抗原主

宽鳍(?)Zacco platypus(Temminck et Schlegel)的形态变异

采用形态度量与框架度量相结合方法测量了13个地理区域的宽鳍鳃标本,并进行了主成分分析。结果表明:宽鳍鳃的形态变异主要表现在躯体纵轴及头部特征上。头部的形态变异大于躯体的形态变异。宽鳍鳃的分布没有明显的地理位置方面的南北和东西变化特点,各地理区域的宽鳍鳃应视为一个种。

草鱼出血病病毒873株基因组外发现缺损性干扰颗粒的亚基因组成份

草鱼出血病病毒基因组由 11条dsRNA片段组成。最近在研究其基因组时发现 ,在病毒基因组外存在许多核酸成份 ,但在核苷酸数量上少于基因组成份 ,表现为较小分子量的RNA片段。在完整地克隆了这些片段的全长cDNA后 ,测定了其中两个克隆的序列组成 ,发现它们为病毒基因组经剪切后的部分片段 ,已经重新装配 ,而且都含有原基因组某一片段 3′端和 5′端的保守区和倒转重复区 ,缺失中间部分。根据其特点来看 ,它们应为目前病毒学研究的重要材料———缺损性干扰颗粒的亚基因组成份。

武昌六前鞭虫胞器超微结构的研究

对武昌六前鞭虫胞器的超微结构进行了观察，发现Ｒ鞭毛复合体的内下方有分散的微管，两根Ｒ鞭毛复合体之间和外方具少量的粗面内质网，而虫体周边分布较多。粗面内质同外周被发达的微管。生毛体与胞核之间有胞咽和小盾结构。胞质中有较多的食物泡，未见到线粒体、高尔基体和表膜下微管结构。另外对粗面内质网的结构、功能以及种的鉴定等方面也作了讨论。

Direct comparison of the gravimetric responsivities of ZnO-based FBARs and SMRs

Film bulk acoustic resonators (FBARs) and solidly mounted resonators (SMRs) have the potential to significantly improve upon the sensitivity and minimum detection limit of traditional gravimetric sensors based on quartz crystal microbalances (QCMs) and surface acoustic wave resonators (SAWs). To date, neither FBAR nor SMR devices have been demonstrated to be superior to the other; hence the choice between them depends primarily on the users' ability to design/fabricate membranes and/or Bragg reflectors. In this work, it is shown that identically designed FBAR and SMR devices resonating at the same frequency exhibit different responsivities to mass loadings, Rm, and that the SMRs are less responsive than the FBARs. For the specific device design and resonant frequency (~2 GHz) of the resonators presented here, the FBARs' mass responsivity is ~20% greater than that of the SMRs', and although this value is not universal for all possible device designs, it clearly shows that FBAR devices should be favoured over SMRs in gravimetric sensing applications where the FBARs' fragility is not an issue. Numerical calculations based on Mason's model offer an insight into the physical mechanisms behind the greater FBARs responsivity, and it was shown that the Bragg reflector has an effect on the acoustic load at one of the facets of the piezoelectric films which is in turn responsible for the SMRs' lower responsivity to mass loadings. © 2013 Elsevier B.V.

The role of artificial intelligence as 'text' within design

The paper describes a new approach to artificial intelligence (AI) and its role in design. This approach argues that AI can be seen as 'text', or in other words as a medium for the communication of design knowledge and information between designers. This paper will apply these ideas to reinterpreting an existing knowledge-based system (KBS) design tool, that is, CADET - a product design evaluation tool. The paper will discuss the authorial issues, amongst others, involved in the development of AI and KBS design tools by adopting this new approach. Consequently, the designers' rights and responsibilities will be better understood as the knowledge medium, through its concern with authorship, returns control to users rather than attributing the system with agent status. © 1998 Elsevier Science Ltd. All rights reserved.

玛利安蚓属一新种(环节动物门:寡毛纲:线蚓科)

描述线蚓科Enchytraeidae玛利安蚓属MarioninaMichaelsen 1889一新种 长白山玛利安蚓M .changbaishanensisXie ,LiangetWang ,sp .nov .。该种的主要特点为 :刚毛每束 2～ 4条 ,直棒状 ,一束内刚毛长度不等 ;肾管在隔膜前仅包含肾漏斗 ;储精囊单个 ,发达 ;受精囊腔有 2个近球形的分支 ,分支内具精子环