A close phylogenetic relationship between Sipuncula and Annelida evidenced from the complete mitochondrial genome sequence of Phascolosoma esculenta

Background: There are many advantages to the application of complete mitochondrial (mt) genomes in the accurate reconstruction of phylogenetic relationships in Metazoa. Although over one thousand metazoan genomes have been sequenced, the taxonomic sampling is highly biased, left with many phyla without a single representative of complete mitochondrial genome. Sipuncula (peanut worms or star worms) is a small taxon of worm-like marine organisms with an uncertain phylogenetic position. In this report, we present the mitochondrial genome sequence of Phascolosoma esculenta, the first complete mitochondrial genome of the phylum. Results: The mitochondrial genome of P. esculenta is 15,494 bp in length. The coding strand consists of 32.1% A, 21.5% C, 13.0% G, and 33.4% T bases (AT = 65.5%; AT skew = -0.019; GC skew = -0.248). It contains thirteen protein-coding genes (PCGs) with 3,709 codons in total, twenty-two transfer RNA genes, two ribosomal RNA genes and a non-coding AT-rich region (AT = 74.2%). All of the 37 identified genes are transcribed from the same DNA strand. Compared with the typical set of metazoan mt genomes, sipunculid lacks trnR but has an additional trnM. Maximum Likelihood and Bayesian analyses of the protein sequences show that Myzostomida, Sipuncula and Annelida (including echiurans and pogonophorans) form a monophyletic group, which supports a closer relationship between Sipuncula and Annelida than with Mollusca, Brachiopoda, and some other lophotrochozoan groups. Conclusion: This is the first report of a complete mitochondrial genome as a representative within the phylum Sipuncula. It shares many more similar features with the four known annelid and one echiuran mtDNAs. Firstly, sipunculans and annelids share quite similar gene order in the mitochondrial genome, with all 37 genes located on the same strand; secondly, phylogenetic analyses based on the concatenated protein sequences also strongly support the sipunculan + annelid clade (including echiurans and pogonophorans). Hence annelid "key-characters" including segmentation may be more labile than previously assumed.

Fucoidan protects against dopaminergic neuron death in vivo and in vitro

Parkinson's disease is a neurodegenerative disorder of uncertain pathogenesis characterized by a loss of dopaminergic neurons in substantia nigra pars compacta, and can be modeled by the neurotoxin 1-methyl-4-phenyl-1, 2, 3, 6-tetrahydropyridine (MPTP). Oxidative stress may contribute to MPTP- and Parkinson's disease-related neurodegeneration. Fucoidan is a sulfated polysaccharide extracted from brown seaweeds which possesses a wide variety of biological activities including potent antioxidative effects. Here we investigated the effect of fucoidan treatment on locomoter activities of animals, striatal dopamine and its metabolites and survival of nigral dopaminergic neurons in MPTP-induced animal model of Parkinsonism in C57/BL mice in vivo and on the neuronal damage induced by 1-methyl-4-phenylpyridinium (MPP+) in vitro, and to study the possible mechanisms. When administered prior to MPTP, fucoidan reduced behavioral deficits, increased striatal dopamine and its metabolites levels, reduced cell death, and led to a marked increase in tyrosine hydroxylase expression relative to mice treated with MPTP alone. Furthermore, we found that fucoidan inhibited MPTP-induced lipid peroxidation and reduction of antioxidant enzyme activity. In addition, pre-treatment with fucoidan significantly protected against MPP+-induced damage in MN9D cells. Taken together, these findings suggest that fucoidan has protective effect in MPTP-induced neurotoxicity in this model of Parkinson's disease via its antioxidative activity. (C) 2009 Elsevier B.V. All rights reserved.

Livestock grazing, plateau pikas and the conservation of avian biodiversity on the Tibetan plateau

On the Qinghai-Tibet plateau increased livestock numbers have resulted in degradation of the grasslands with potential impacts on native biodiversity. Concurrently, perceived increases in populations of native small mammals such as plateau pikas (Ochotona curzoniae) have led to poisoning programs, with uncertain impacts on species such as ground-nesting birds. We explored the relationships between the local seasonal abundance of small birds and (1) the density of pika burrows; (2) livestock grazing practices; and (3) local poisoning of pikas. Around Naqu prefecture, central Tibet, we used a nested experimental design to collect data from areas rested from grazing over summer, nearby areas with year-round grazing and areas subjected to pika poisoning. Additional data were collected from a site where grazing had not occurred for at least 4 years prior to the study. Poisoning pikas in spring had no detectable effect on the local abundance of birds the following autumn. However, two ground-nesting species, white-rumped and rufous-necked snowfinches, showed positive associations with the density of pika burrows, indicating that long-term 'pika poisoning could reduce the density of these species by reducing the density of pika burrows. Rufous-necked snowfinches and non ground-nesting species including horned larks and common hoopoes showed positive responses to reduced grazing pressure from livestock, particularly in the long-rested site, indicating current grazing levels could be having a negative impact on these species. Conservation of small passerine biodiversity in this system will require changed management practices for livestock and pikas that consider the complex three-way interaction between livestock grazing, pikas and small birds. (C) 2008 Elsevier Ltd. All rights reserved.

Altitudinal differences in the leaf fitness of juvenile and mature alpine spruce trees (Picea crassifolia)

In many plant species, leaf morphology varies with altitude, an effect that has been attributed to temperature. It remains uncertain whether such a trend applies equally to juvenile and mature trees across altitudinal gradients in semi-arid mountain regions. We examined altitude-related differences in a variety of needle characteristics of juvenile (2-m tall) and mature (5-m tall) alpine spruce (Picea crassifolia Kom.) trees growing at altitudes between 2501 and 3450 m in the Qilian Mountains of northwest China. We found that stable carbon isotope composition (delta C-13), area- and mass-based leaf nitrogen concentration (N-a, N-m), number of stomata per gram of nitrogen (St/N), number of stomata per unit leaf mass (St/LM), projected leaf area per 100 needles (LA) and leaf mass per unit area (LMA) varied nonlinearly with altitude for both juvenile and mature trees, with a relationship reversal point at about 3 100 m. Stomatal density (SD) of juvenile trees remained unchanged with altitude, whereas SD and stomatal number per unit length (SNL) of mature spruce initially increased with altitude, but subsequently decreased. Although several measured indices were generally found to be higher in mature trees than in juvenile trees, N-m, leaf carbon concentration (C.), leaf water concentration. (LWC), St/N, LA and St/LM showed inconsistent differences between trees of different ages along the altitudinal gradient. In both juvenile and mature trees, VC correlated significantly with LMA, N-m, N-a, SNL, St/LM and St/N. Stomatal density, LWC and LA were only significantly correlated with delta C-13 in mature trees. These findings suggest that there are distinct ecophysiological differences between the needles of juvenile and mature trees that determine their response to changes in altitude in semi-arid mountainous regions. Variations in the fitness of forests of different ages may have important implications for modeling forest responses to changes in environmental conditions, such as predicted future temperature increases in high attitude areas associated with climate change.

Molecular phylogeny of some genera of Pamphagidae (Acridoidea, Orthoptera) from China based on mitochondrial 16S rDNA sequences

Based on the mitochondrial 16S ribosomal DNA partial sequences (473 bp) of 9 species of Pamphagidae (Acridoidea, Orthoptera) from China and of 4 species of Pamphagidae and 2 species of Pyrgomorphidae and Acrididae (as outgroups) retrieved from GenBank, we constructed the molecular phylogeny using the Neighbor Joining (NJ) and Minimum Evolution ( ME) methods based on the nucleotide Kimura 2-parameter model. The results of our study shown that: 1) the ranges of the 16S rDNA nucleotide divergence between two species of a genus were 0.21%, among genera of a subfamily were 0.42-3.38%, and among subfamilies of Pamphagidae were 1.90-8.88%, respectively. The phylogenetic tree shows that: 1) all Pamphagidae taxa form a monophyletic clade, and are well separated from the outgroup; 2) the African taxa Porthetinae (Lobosceliana brevicornis) and Akicerinae (Batrachotetrix sp.) are distinctly separated from the Chinese taxa Prionotropisinae; 3) Haplotropis bruneriana and Glauia terrea of Pamphaginae are nested in the middle of the tree, but their phylogenetic status is uncertain in this study; 4) 8 genera of Asiotmethis, Beybienkia, Mongolotmethis, Sinotmethis, Rhinotmethis, Filchnerella, Eotmethis and Pseudotmethis from China are all grouped into the subfamily Prionotropisinae, but their phylogenetic relationships are not clearly resolved.

基于对称极多项式曲线的移动机器人平滑路径生成

详细分析了对称极多项式曲线作为移动机器人跟踪路径所具有的各种优异的几何特性,并将对称极多项式曲线应用于移动机器人的平滑路径生成,提高了移动机器人的灵活性,同时将有助于改善移动机器人的路径跟踪精度,扩展移动机器人的应用领域.

逆向物流流量不确定闭环供应链鲁棒运作策略设计

考虑一类同时具有再分销、再制造和再利用的闭环供应链在逆向物流流量不确定环境下的运作问题.采用具有已知概率的离散情景描述逆向物流流量的不确定性,利用基于情景分析的鲁棒线性优化方法建立该闭环供应链的多目标运作模型.设计了一个数值算例,其结果验证了运作策略的鲁棒性.在该算例基础上,分析了逆向物流流量的大小对闭环供应链系统运作性能的影响.

使用补偿策略的机器人遥操作系统的控制研究

利用混杂动态系统的思想通过同时采用事件和时间驱动的执行器方案来弥补机器人遥操作系统中的不确定时延现象。即作为控制节点的操作者的控制决策发出时间是事件驱动的(满足一定条件下),执行器节点的接收也是事件驱动的,但是执行则是时间驱动的。通过这样的方法确保网络遥操作系统在每一采样周期内都能得到新的控制信号,从而补偿网络延迟。

加速度空间中基于线性规划的移动机器人路径规划方法

针对动态不确定环境下移动机器人的路径规划问题,提出了加速度空间中一种基于线性规划(Linear programming,LP)的方法.在机器人的加速度空间中利用相对信息,把机器人路径规划这一非线性问题,描述成满足一组线性约束同时使目标函数极小的线性规划问题,嵌入基于线性规划方法的规划器,得到一条满足性能要求的最优路径.仿真试验验证了算法的实用性及有效性,与势场引导进化计算的方法(Artificial potential guided evolution algorithm,APEA)相比更优化,更实时.

类Lyapunov理论在类人形机器人任务空间内跟踪的应用

考虑了类人形机器人的各种不确定因素,提出了其手臂控制的新方法.基于类Lyapunov方法,设计出具有鲁棒性功能的任务空间控制器.该方法得到的控制器不但在有限确定时间内达到稳定跟踪,而且不需要雅可比矩阵求逆,对一定类型的外部干扰具有鲁棒性功能.最后通过数值仿真显示了所得结果的有效性及其应用方法.

基于人工协调场的多移动机器人实时协调避碰规划

为克服传统人工势场在动态未知环境下机器人避碰规划中存在的缺陷,提出人工协调场法(ACF).将场函数与机器人的风险状态相结合,给出并讨论了人工协调场的基本设计.基于人工协调场,考虑机器人的运动约束,实现了多机器人之间以及机器人与环境间的实时协调避碰,提出了一个多移动机器人无死锁实时避碰规划算法.理论分析和仿真试验证明所提方法的有效性.

一个面向复杂任务的多机器人分布式协调系统

基于多智能体系统理论，研讨在非结构，不确定环境下面向复杂任务的多机器人分布式协调系统的实现原理，方法和技术。提出的递阶混合式协调结构，基于网络的通讯模式和基于有限状态机的规划与控制集成方法，充分考虑了复杂任务和真实自然环境的特点，通过构建一个全实物的多移动机器人实验平台，对规划，控制，传感，通讯，协调与合作的各关键技术进行了开发和集成，使多机器人分布式协调技术的研究直接面向实际应用，编队和物料搬运的演示实验结果展示了多机器人协调技术的广阔应用前景。

远程自治水下机器人三维实时避障方法研究

海洋环境通常是不确定、非结构化和未知的 ,而远程AUV(LAUV)的避障声纳对环境感知有一定的局限 ,因此很难建立起精确、完整和统一的三维环境模型 .LAUV实时避障是一个实时性很强的动态过程 ,它不但与环境有关 ,而且还与LAUV的运动学约束、动力学特性和操纵性有关 .针对上述问题本文提出了一种基于复合控制的三维实时模糊避障方法

一类时滞不确定非线性系统的鲁棒控制器设计

针对一类具有单输入滞后不确定非线性系统 ,采用精确反馈线性化方法和 Lyapunov方法设计出一种使系统终极有界 ( UUB)的无记忆光滑状态反馈鲁棒控制器 .仿真算例表明了本文所采用方法的有效性 .

动基座机器人的末端受限鲁棒跟踪控制

结合具有扰动基座末端受限机器人的动力学特性，提出了虚构线性不确定系统的匹配模型概念．通过引入线性不确定系统的鲁棒跟踪控制器设计方法，发展了一种新的受约束机器人的力鲁棒跟踪控制方法．文中给出了动基座ＰＵＭＡ５６２机器人的实验结果。