Identification of the steering control behaviour of five test subjects following a randomly curving path in a driving simulator

The paper is concerned with the identification of theoretical preview steering controllers using data obtained from five test subjects in a fixed-base driving simulator. An understanding of human steering control behaviour is relevant to the design of autonomous and semi-autonomous vehicle controls. The driving task involved steering a linear vehicle along a randomly curving path. The theoretical steering controllers identified from the data were based on optimal linear preview control. A direct-identification method was used, and the steering controllers were identified so that the predicted steering angle matched as closely as possible the measured steering angle of the test subjects. It was found that identification of the driver's time delay and noise is necessary to avoid bias in identification of the controller parameters. Most subjects' steering behaviour was predicted well by a theoretical controller based on the lateral/yaw dynamics of the vehicle. There was some evidence that an inexperienced driver's steering action was better represented by a controller based on a simpler model of the vehicle dynamics, perhaps reflecting incomplete learning by the driver. Copyright © 2014 Inderscience Enterprises Ltd.

Histological and cytological studies on the developing thymus of mandarin fish Siniperca chuatsi (Perciformes : Teleostei)

The thymus of the mandarin fish, Siniperca chuatsi, was examined by light and transmission electron microscopy to understand its formation and cellular composition. Larvae of the mandarin fish were collected and sectioned from 1 to 35 days post-hatching (dph). On dph 7 the thymus was packed with lymphocytes. From 12 dph onward, mucous cells were observed on the epithelial layer; from 23 dph, three zones could be differentiated in the thymic parenchyma. The thymus was connected with the extension of the third, fourth and fifth branchial pouches throughout early development, remaining in a superficial position in the adult S. chuatsi. In the thymus of the adult fish, thymic epithelial cells (TECs) characteristic of tonofilaments were observed, with limiting TECs (LECs) found in subcapsular, subseptal, perivascular and nurse-like TECs containing viable intact lymphocytes inside their vacuoles. In addition, three kinds of granulocytes were observed throughout the thymus, and an incomplete blood-thymus barrier was found in the inner zone. Other cell components such as cystic cells, macrophages and plasma cells, were also described in the thymus of the adult S. chuatsi. The thymus development in mandarin fish agrees, to some extent, with the ontogenetic patterns observed in other fish species.

Expression pattern and developmental behaviour of cellular nucleic acid-binding protein (CNBP) during folliculogenesis and oogenesis in fish

In vertebrates, folliculogeneis establishes an intricate system for somatic cell-oocyte interaction, and ultimately leads to the acquisition of their respective competences. Although the formation process and corresponding interactions are strikingly similar in diverse organisms, knowledge of genes and signaling pathways involved in follicle formation is very incomplete and the underlying molecular mechanisms remain enigmatic. CNBP has been identified for more than ten years, and the highest level of CNBP transcripts has been observed in adult zebrafish ovary, but little is known about its functional significance during folliculogeneis and oogenesis. In this study, we clone CNBP cDNA from gibel carp (Carassius auratus gibelio), and demonstrate its predominant expression in gibel carp ovary and testis not only by RTPCR but also by Western blot. Its full-length cDNA is 1402 bp, and has an ORF of 489 nt for encoding a peptide of 163 aa. And its complete amino acid sequence shared 68.5%-96.8% identity with CNBPs from other vertebrates. Based on the expression characterization, we further analyze its expression pattern and developmental behaviour during folliculogeneis and oogenesis. Following these studies, we reveal an unexpected discovery that the CagCNBP is associated with follicular cells and oocytes, and significant distribution changes have occurred in degenerating and regenerating follicles. More interestingly, the CagCNBP is more highly expressed in some clusters of interconnected cells within ovarian cysts, no matter whether the cell clusters are formed from the original primordial germ cells or from the newly formed cells from follicular cells that invaded into the atretic oocytes. It is the first time to reveal CNBP relevance to folliculogeneis and oogenesis. Moreover, a similar stage-specific and cell-specific expression pattern has also been observed in the gibel carp testis. Therefore, further studies on CNBP expression pattern and developmental behaviour will be of significance for understanding functional roles of CNBP during gametogenests. (c) 2005 Elsevier B.V. All rights reserved.

Compensatory growth response in three-spined stickleback in relation to feed-deprivation protocols

Different protocols of food deprivation were used to bring two groups of juvenile three-spined sticklebacks Gaslerosteus aculeatus to the same reduced body mass in comparison with a control group fed daily ad libitum. One group experienced I week or deprivation then 2 weeks on maintenance rations. The second group experienced I week of ad lithium feeding followed by 2 weeks of deprivation. The deprived groups were reduced to a mean mass ore. 80% of controls. The compensatory growth response shown when ad libitum feeding was resumed was independent of the trajectory by which the three-spined sticklebacks had reached the reduced body mass. The compensatory response was Sufficient to return the deprived groups to the mass and length trajectories shown by the control group within 4 weeks. There was full compensation for dry mass and total lipid, but incomplete compensation for lipid-free dry mass. Hyperphagia and increased growth efficiency were present in the re-feeding phase, but there was a lag of a week before the hyperphagia was established. The consistency of the compensatory response of immature three-spined sticklebacks provides a potential model system for the analysis and prediction of appetite and growth in teleosts. (C) 2003 The Fisheries Society of the British isles.

Effect of interaction between periodic delta-doping in both well and barrier layers on modulation of superlattice band structure

The modulation of superlattice band structure via periodic delta-doping in both well and barrier layers have been theoretically investigated, and the importance of interaction between the delta-function potentials in the well layers and those in the barrier layers on SL band structure have been revealed. It is pointed out that the energy dispersion relation Eq. (3) given in [G. Ihm, S.K. Noh, J.I. Lee, J.-S. Hwang, T.W. Kim, Phys. Rev. B 44 (1991) 6266] is an incomplete one, as the interaction between periodic delta-doping in both well and barrier layers had been overlooked. Finally, we have shown numerically that the electron states of a GaAs/Ga0.7Al0.3As superlattice can be altered more efficiently by intelligent tuning the two delta-doping's positions and heights. (c) 2007 Elsevier B.V. All rights reserved.

Two opposite gradients of hole density in as-grown and annealed (Ga,Mn)As layers

The depth distribution of the hole density p in 500 nm-thick (Ga,Mn)As layers is investigated. From Raman scattering spectra, it is found that the gradients of p are opposite in the as-grown and annealed layers. At the region around the free surface, with increasing etching depth, p significantly increases in the as-grown layer; however, p decreases distinctly in the annealed layer. Then, in the bulk, p becomes almost homogeneous for both cases. The etching-depth dependence of Curie temperature obtained from magnetic measurements is in agreement with the distribution characterization of p. These results suggest that annealing induces outdiffusion of Mn interstitials towards the free surface, and incomplete outdiffusion during the growth leads to an accumulation of Mn interstitials around the free surface of the as-grown (Ga,Mn)As. (c) 2006 Elsevier B.V. All rights reserved.

Subband electron properties of highly doped InAlAs/InGaAs metamorphic high-electron-mobility transistors on GaAs substrates

A Shubnikov-de Haas (SdH) oscillation measurement was performed on highly doped InAlAs/InGaAs metamorphic high-electron-mobility transistors on GaAs substrates at a temperature of 1.4 K. By analyzing the experimental data using fast Fourier transform, the electron densities and mobilities of more than one subband are obtained, and an obvious double-peak structure appears at high magnetic field in the Fourier spectrum. In comparing the results of SdH measurements, Hall measurements, and theoretical calculation, we found that this double-peak structure arises from spin splitting of the first-excited subband (i=1). Very close mobilities of 5859 and 5827 cm(2)/V s are deduced from this double-peak structure. The sum of the carrier concentration of all the subbands in the quantum well is only 3.95x10(12) cm(-2) due to incomplete transfer of the electrons from the Si delta -doped layer to the well. (C) 2001 American Institute of Physics.

H+ISFET-based biosensor for determination of penicillin G

A biosensor based on an H+ ion sensitive field effect transistor (H+-ISFET) and penicillin G acylase has been developed. The response time of the sensor to different concentrations of penicillin G was 30 s. In a 20 mM phosphate buffer at pH 7.0, the linear range of the calibration curve was from 0.5 to 8 mM. The coefficients of variation for three samples with 20 repeated measurements were below 5%. Stability of the sensor could reach about 6 months and more than 1000 runs were performed without a significant decrease of the output value. The sensor was tested for measurement of the penicillin G content in penicillin fermentation broth. Forty samples with low and high concentrations of penicillin G were chosen for the correlation test. The values assayed by the sensor method were compared with the values assayed by HPLC method, the correlation coefficient (r) was 0.9944 and the regression equation was y = 1.034X - 2083.7 respectively. The different measuring methods are discussed in the text. (C) 1998 Published by Elsevier Science S.A. All rights reserved.

广东典型藻类特点及其能源利用可能性研究

大型海藻的生产力高，生产成本低，是一种理想的能源作物。广东省是我国海洋大省之一，约35万平方公里的海域，海藻物种丰富，为海藻养殖提供了有利的条件。我省是能源消耗大省，大部分依靠外省调入和进口，发展海藻能源技术是缓解能源问题的重要途径之一。目前，海藻作为生物质的利用技术还不成熟。在本论文中，选用我省常见的江蓠、马尾藻和麒麟菜三种的大型的海藻进行热解和发酵实验。 首先，对海藻在不同温度下（400℃～900℃）热解得到的各产物（气体、焦油和残渣）产率和热值以及气体组分进行了分析，研究了各热解产物产率、热值和气体组分随温度的变化规律，分析热解过程中的K、Ca、Na、Mg等元素的析出和迁移规律。用去离子水和稀盐酸对海藻进行洗滤预处理，研究其热解特性，进行热重分析，建立海藻热解的反应动力学模型，并计算海藻的动力学参数。分析结果表明：热解气体中的主要成分为H2、CO、CH4、C2H4、C2H6等，热解气低位热值介于5～15 MJ/m3之间。海藻本身具有灰分含量较高和热值较低的特点，水洗可以有效地脱除部分的碱金属，并可以减少灰分含量，改善海藻的热解特性。 其次，以江蓠和马尾藻为底物进行发酵。结果表明：海藻中含有大量金属阳离子，直接发酵容易溶解到料液中，抑制微生物生长，影响发酵效果。用淡水浸泡以后的海藻能容易进行发酵。江蓠的产气率要高于马尾藻。在发酵温度为35℃，简单破碎，料液浓度为5%的条件下，江蓠TS（总固体）产气率是390.6L/kg 。在55℃，颗粒大小0.6～0.9mm，料液浓度为5%的条件下，马尾藻TS产气率是173.1L/kg。 通过对比海藻热解和发酵过程及结果的比较可以发现，海藻热解产气率低，碱金属容易析出；海藻发酵可以直接利用湿原料，产气率高，但发酵时间较长，需要合适的菌种。在目前没有特殊专有技术的情况下，采用发酵比采用热解实现海藻的能源化利用可能性更大。 最后，对本论文的研究探讨进行总结，并对今后进一步完善该工作提出了建议。

城市生活有机垃圾厌氧降解的过程机理与工程应用研究

首先进行城市生活有机垃圾典型组分的厌氧发酵产甲烷和产氢特性研究，在此基础上，设计厌氧发酵联产氢气和甲烷的组合工艺提高能源回收效率，并采用厨余垃圾和废纸联合厌氧消化的方式避免厨余垃圾单独厌氧消化的挥发性脂肪酸抑制。其次，结合国内近年出现的城市生活垃圾分选技术，分别以机械干分选有机垃圾和水分选有机垃圾为原料进行厌氧发酵产甲烷实验，并根据实验结果设计日处理500吨城市生活垃圾厌氧沼气工程及进行经济性评价。主要结论如下：（1）糖和淀粉类的生化产甲烷能力为260 mL/gVS，纤维素，粗纤维、蛋白类和脂类分别为244、145、258 、757 mL/gVS；蛋白质类原料在厌氧消化过程中容易形成“抑制型稳态”；脂类原料容易导致长链脂肪酸抑制。（2）碳水化合物（糖、淀粉和纤维素）是最佳的厌氧发酵制氢原料，蛋白类、脂类和木质纤维类均不适宜作为厌氧发酵制氢原料。采用厌氧发酵联产氢气和甲烷的组合工艺可以显著提高能源回收率。（3）厨余垃圾单独厌氧发酵容易受到VFAs的强烈抑制，采用厨余垃圾与废纸联合厌氧发酵，能够避免VFAs抑制。（4）水分选有机垃圾的生物可降解性优于机械干分选有机垃圾，在原料TS浓度为11%~16%时的甲烷产率为273~314 L/kgVS。（5）国家财政补贴，税收优惠和CDM额外收益决定了城市生活垃圾的厌氧消化与热电肥联产工程的经济可行性。

硅酸盐细菌的优选和发酵培养基的改进

硅酸盐细菌具有分解含钾矿物释放速效钾和产生植物生长刺激物质的作用，以硅酸盐细菌芽孢制成的硅酸盐细菌菌剂是生物肥料的一类重要产品.菌种性能、芽孢浓度和芽孢的存活能力是影响硅酸盐细菌菌剂质量的主要因素.该课题通过考察硅酸盐细菌菌株的适应性，辅以解钾活性综合评价了五株生产菌株的性能.研究探讨了芽孢存活能力与芽孢大小、芽孢浓度的关系，芽孢大存活能力强，芽孢浓度低易获得较大的芽孢.优化了原生产培养基，芽孢浓度稳定提高了4倍以上，芽孢形成率达98%，芽孢大小适中，生长时间、芽孢浓度稳定提高了4倍以上，芽孢形成率达98%，芽孢大小适中，生长时间、芽孢形成时间、发酵液pH和粘度均达到生产要求.同时对K<'+>对硅酸盐细菌生长的影响进行了研究，结果表明低浓度的K<'+>（约1×10<'-3>mol/L）对硅酸盐细菌的生长是有利的.

维生素C二步混菌发酵中L-山梨糖脱氢酶的研究

以氧化葡萄糖酸杆菌和巨大芽孢杆菌混合培养物的无细胞抽提液建立了Vc二步发酵离体实验系统.反应体系中加入山梨糖在pH7.0,35℃下保温24h，2-酮基-L-古龙酸（2KGA）生成.巨大芽孢杆菌胞外活性物质对离体系统的产酸没有影响，一定量的L-山梨糖脱氢酶可促进产酸.从氧化葡萄糖酸杆菌细胞质中分离纯化出L-山梨糖脱氢酶.L-山梨糖脱氢酶酶活与2KGA的形成呈正相关：L-山梨糖的转化是在细胞内进行的;亲缘关系相差甚远的伴生菌均能促进小菌产酸，且“伴生”效率相近;伴生菌通过促进产酸菌生长和提高其L-山梨糖脱氢酶比活力而提高发酵系统中L-山梨糖脱氢酶总活力，并且通过促进产酸菌合成新的RNA而增强其代谢力，从而促进产酸;通过对不同发酵时间L-山梨糖脱氢酶酶活及2KGA累积量的比较表明，此酶可作为生产上2KGA生成的实时监控的指示酶;环境因子通过提高酶活力促进产酸.

维生素C二步混菌发酵中伴生菌作用机制的研究

该文对维生素C“二步发酵法”第二步混合发酵中伴生菌对产酸菌——氧化葡萄糖酸杆菌作用机制进行了研究.除巨大芽孢杆菌外，还选用另外几种芽孢杆菌及酵母菌作为产酸菌的伴生菌.各伴生菌及其胞外液对产酸菌生长和2-酮基-L-古龙酸合成能力均有刺激作用，表明产酸菌的伴生菌具有广谱性.利用膜超滤浓缩、柱层析及电泳等技术，从伴生菌B2980胞外液中分离纯化出达电泳均一纯的高纯度活性蛋白质样品，并对其部分基本特性进行分析.结果表明：该活性物质是分子量为36300道尔顿，等电点为4.75的酸性蛋白质，并且是由一个亚基构成的单体蛋白.活性蛋白质的结晶呈规则的菱形形状，其水溶液显著提高产酸菌中SDH酶活性.试验中依伴生菌胞外液对产酸菌中SDH酶活性的作用，建立了该研究中目标活性物质的快速检测方法.

Vc二步发酵新菌系B529-V6的构建及其分子生物学特性

从芽抱杆菌属、酵母属二十株菌中筛选到一株优良伴生菌B529，与新选育出的产酸菌V6构成一新菌系B529-V6。新菌系B529-V6表现出了较强的高浓度L-山梨糖耐受能力、较高的底物代谢速率和较高的2-KGA转化能力，在8％山梨糖浓度的发酵培养基中培养48h，糖酸转化率较对照菌系提高了5.94％；山梨糖浓度提高至10％，其生长代谢受影响程度较小，且能不同程度地利用葡萄糖和山梨醇为底物，合成维生素C前体-2-酮基-L-古龙酸（2-KGA），其发酵产物2-KGA经反相高效液相色谱分析其质量符合工业化生产要求。对新菌系生长代谢规律及调控进行了研究，4M3罐和300M3罐发酵实验表明：种子培养基的碳源、葡萄糖／山梨糖浓度比、氮源、生长因子、接种种液质量及环境因子，均可影响新菌系的生长代谢。4M3罐发酵，新菌系具有周期短、糖酸转化率高等特点，连续4批发酵平均转化率较对照菌系提高10.18％，周期缩短23.7％。在300M3罐发酵试运行期间，新菌系糖酸转化率达到90.10％，较原生产菌系提高3.95％，发酵周期平均缩短1.3小时，显示出了较高的应用价值，在东北制药总厂进行了推广应用。研究了新产酸菌V6的基本生物学特性，分析了GC moL％含量，165rDNA同源性，鉴定其在系统发育学上应归入Ketoguloigenium 属，暂命名为Ketogulonigenium sp．V6。选用限制性内切酶Hind IH对新产酸菌V6染色体DNA进行了部分消化，应用载体pGEM-3zf（+）构建了v6的基因文库。结合阳性转化子在以L－山梨糖为唯一碳源培养基上的生长特性，利用PCR技术从该基因文库中，筛选到一株含有L-山梨糖还原酶（sR）基因的阳性克隆，并利用pET-32a（+）表达载体，实现了sR酶基因在大肠杆菌AD494（DE3）中的表达。SDS-PAGE电泳分析测定SR融合蛋白分子量大约在65kD左右，除去硫氧化还原蛋白、S-Tag和His-Tag蛋白，可推测出天然sR酶蛋白分子量约53 kD左右，与从SR基因推测出的分子量大小相符。另外，SR酶学特性研究表明，还原型辅酶II（NADPH）是sR酶蛋白的最适电子供体，其最适反应pH为7.0，pH6.5时保持稳定，酶活力较高；最适反应温度为50 ℃，30 ℃时热稳定性较好；lmM的Cu~(2+)，Fe~(3+)和Mn~(2+)对该酶活抑制作用较大。

Vc“二步发酵法”最佳组合生产菌系的选育及其“工程菌”的构建

对24株不同组合的Vc“二步发酵法”生产菌系中筛选出了最佳组合生产菌系H_(19)S_(19)。对该菌系的形态学及生理生化特性的研究表明，H_(19)为地衣芽孢杆菌，S_(19)的分类地位目前还难以确定，但与尹光琳等报道的氧化葡萄糖酸杆菌相比，具有许多新的不同特点。用单亲本灭活的原生质体融合技术进行了H_(19)和S_(19)以及132及S_(19)的原生质体融合，共获得400株重组子，其中有2株产生2--酮基--L--古龙酸产量高且稳定性好的重组子。其中一株是由H_(19)和S_(19)原生质体以H_(19)为背景融合产生的，另一侏是132和S_(19)原生质体以S_(19)为背景产生的。