Vertical distribution and migration of planktonic rotifers in Xiangxi Bay of the three Gorges Reservoir, China

We investigated diel vertical migrations (DVM) and distributions of rotifers in summer, 2004 and spring, 2005, in Xiangxi Bay of the Three Gorges Reservoir, China. Water temperature, pH, conductivity, and phytoplankton were closely related to rotifer vertical distribution, while dissolved oxygen had no relationship with the vertical distribution of rotifers. The species composition and population density of rotifers changed significantly between seasons. However, rotifer vertical distributions in both seasons were similar. They aggregated at specific depths in the water column. All the rotifer species inhabited the surface layers (0.5-5 m). Generally, the rotifers did not display DVM except for Polyarthra vulgaris (in summer), which performed reverse migration. The reason that rotifers did not perform DVM may be explained by the low abundance of competitors and predators and the high density of food resources at the surface strata.

Digital Elevation Models and GIS for watershed modelling and flood prediction - A case study of Accra Ghana

Geographical Information Systems (GIS) and Digital Elevation Models (DEM) can be used to perform many geospatial and hydrological modelling including drainage and watershed delineation, flood prediction and physical development studies of urban and rural settlements. This paper explores the use of contour data and planimetric features extracted from topographic maps to derive digital elevation models (DEMs) for watershed delineation and flood impact analysis (for emergency preparedness) of part of Accra, Ghana in a GIS environment. In the study two categories of DEMs were developed with 5 m contour and planimetric topographic data; bare earth DEM and built environment DEM. These derived DEMs were used as terrain inputs for performing spatial analysis and obtaining derivative products. The generated DEMs were used to delineate drainage patterns and watershed of the study area using ArcGIS desktop and its ArcHydro extension tool from Environmental Systems Research Institute (ESRI). A vector-based approach was used to derive inundation areas at various flood levels. The DEM of built-up areas was used as inputs for determining properties which will be inundated in a flood event and subsequently generating flood inundation maps. The resulting inundation maps show that about 80% areas which have perennially experienced extensive flooding in the city falls within the predicted flood extent. This approach can therefore provide a simplified means of predicting the extent of inundation during flood events for emergency action especially in less developed economies where sophisticated technologies and expertise are hard to come by. © Springer Science + Business Media B.V. 2009.

Large-payload climbing in complex vertical environments using thermoplastic adhesive bonds

Despite many approaches proposed in the past, robotic climbing in a complex vertical environment is still a big challenge. We present here an alternative climbing technology that is based on thermoplastic adhesive (TPA) bonds. The approach has a great advantage because of its large payload capacity and viability to a wide range of flat surfaces and complex vertical terrains. The large payload capacity comes from a physical process of thermal bonding, while the wide applicability benefits from rheological properties of TPAs at higher temperatures and intermolecular forces between TPAs and adherends when being cooled down. A particular type of TPA has been used in combination with two robotic platforms, featuring different foot designs, including heating/cooling methods and construction of footpads. Various experiments have been conducted to quantitatively assess different aspects of the approach. Results show that an exceptionally high ratio of 500% between dynamic payloads and body mass can be achieved for stable and repeatable vertical climbing on flat surfaces at a low speed. Assessments on four types of typical complex vertical terrains with a measure, i.e., terrain shape index ranging from -0.114 to 0.167, return a universal success rate of 80%-100%. © 2004-2012 IEEE.

Biologically inspired visual odometer for navigation of a flying robot

Experimental research in biology has uncovered a number of different ways in which flying insects use cues derived from optical flow for navigational purposes, such as safe landing, obstacle avoidance and dead reckoning. In this study, we use a synthetic methodology to gain additional insights into the navigation behavior of bees. Specifically, we focus on the mechanisms of course stabilization behavior and visually mediated odometer by using a biological model of motion detector for the purpose of long-range goal-directed navigation in 3D environment. The performance tests of the proposed navigation method are conducted by using a blimp-type flying robot platform in uncontrolled indoor environments. The result shows that the proposed mechanism can be used for goal-directed navigation. Further analysis is also conducted in order to enhance the navigation performance of autonomous aerial vehicles. © 2003 Elsevier B.V. All rights reserved.

Design and control of a pendulum driven hopping robot

In this paper a new kind of hopping robot has been designed which uses inverse pendulum dynamics to induce bipedal hopping gaits. Its mechanical structure consists of a rigid inverted T-shape mounted on four compliant feet. An upright "T" structure is connected to this by a rotary joint. The horizontal beam of the upright "T" is connected to the vertical beam by a second rotary joint. Using this two degree of freedom mechanical structure, with simple reactive control, the robot is able to perform hopping, walking and running gaits. During walking, it is experimentally shown that the robot can move in a straight line, reverse direction and control its turning radius. The results show that such a simple but versatile robot displays stable locomotion and can be viable for practical applications on uneven terrain.

Primary succession of algal community structure in desert soil

The microbiotic crust study is among new focuses in investigating on the desertification control. Based on determination of algal crusts with different successive ages (4-, 8-, 17-, 34-, 42-year-old) and unconsolidated sand in the desert area, species composition and clustering analyses were carried out in this study. Results on successional orientation revealed that (1) the abundance of Cyanophyta, specially of Scytonema javanicum gradually decreased; (2) the abundance of Chlorophyta, Bacillariophyta and a species of Cyanophyta, Phormidium tenue increased; (3) the biodiversity increased gradually with the community succession; and (4) biomass of microalgae increased at the early stage, but decreased at the later stage due to the abundance of lichens and mosses. But, the speed of natural succession was so slow that the community-building species was still the first dominant species after 42 years, except that its dominant degree decreased just slightly. However, successive speed and trend were affected by water, vegetation coverage, terrain, time and soil physico-chemical properties as well, especially Mn content in the soil appeared to have a threshold effect.

Experimental study of trophic cascade effect of silver carp (Hypophthalmichthys molitrixon) in a subtropical lake, Lake Donghu: on plankton community and underlying mechanisms of changes of crustacean community

An enclosure experiment was carried out to test trophic cascade effect of filter-feeding fish on the ecosystem: growth of crustacean zooplankton, and possible mechanism of changes of crustacean community structure. Four fish biomass levels were set as follows: 0, 116, 176 and 316 g m(-2), and lake water ( containing ca. 190 g m(-2) of filter-feeding fishes) was comparatively monitored. Nutrient levels were high in all treatments during the experiment. Lowest algal biomass were measured in fishless treatment. Algal biomass decreased during days 21-56 as a function of fish biomass in treatments of low (LF), medium (MF) and high (HF) fish biomass. Crustaceans biomass decreased with increasing fish biomass. Small-bodied cladocerans, Moina micrura, Diaphanosoma brachyurum and Scapholeberis kingii survived when fish biomass was high whilst, large-bodied cladocerans Daphnia spp. and the cyclopoids Theromcyclops taihokuensis, T. brevifuratus, Mescyclops notius and Cyclops vicinus were abundant only in NF enclosures. Evasive calanoid Sinodiaptomus sarsi was significantly enhanced in LF, but decreased significantly with further increase of fish biomass. Demographic data indicated that M. micrura was well developed in all treatments. Our study indicates that algal biomass might be controlled by silver carp biomass in eutrophic environment. Changes of crustacean community are probably affected by the age of the first generation of species. Species with short generation time were dominant and species with long generation time survived less with high fish biomass. Evasive calanoids hardly developed in treatments with high fish biomass because of the ( bottle neck) effect of nauplii. Species abundance were positively related to fish predation avoidance. Other than direct predation, zooplankton might also be suppressed by filter-feeding fish via competition.

Ontogenetic behavior and migration of Chinese sturgeon, Acipenser sinensis

The Chinese sturgeon, Acipenser sinensis, is an anadromous protected species that presently only spawns in the Yangtze River. Using laboratory experiments, we examined the behavioral preference of young Chinese sturgeon to physical habitat (water depth, illumination intensity, substrate color, and cover) and monitored their downstream migration. Hatchling free embryos were photopositive, preferred open habitat, and immediately upon hatching, swam far above the bottom using swim-up and drift. Downstream migration peaked on days 0-1, decreased about 50% or more during days 2-7, and ceased by day 8. Days 0-1 migrants were active both day and night, but days 2-7 migrants were most active during the day. After ceasing migration, days 8-11 embryos were photonegative, preferred dark substrate and sought cover. Free embryos developed into larvae and began feeding on day 12, when another shift in behavior occurred-larvae returned to photopositive behavior and preferred white substrate. The selective factor favoring migration of free embryos upon hatching and swimming far above the bottom may be avoidance of benthic predatory fishes. Free embryos, which must rely on yolk energy for activity and growth, only used 19 cumulative temperature degree-days for peak migration compared to 234 degree-days for growth to first feeding larvae, a 1 : 12 ratio of cumulative temperature units. This ratio suggests that sturgeon species with large migratory embryos, like Chinese sturgeon, which require a high level of energy to swim during migration, may migrate only a short time to conserve most yolk energy for growth.

Microdefects and electrical uniformity of InP annealed in phosphorus and iron phosphide ambiances

Microdefects originating from impurity-dislocation interactions in undoped InP that had been annealed in phosphorus and iron phosphide ambiances have been studied using optical microscopy. The electrical uniformity of the annealed wafer is improved by removing impurity aggregation around dislocations and by eliminating impurity striations in the annealing process. Compared to as-grown Fe-doped semi-insulating (SI) material, SI wafers obtained by annealing undoped InP in iron phosphide ambiances have better uniformity. This is attributed to the avoidance of Fe aggregation around dislocations and dislocation clusters, Fe precipitation and impurity striations, and is related to the use of a low concentration of Fe in the annealed material. The influence of Fe diffusion on the migration of dislocations in the annealing process has been studied and reviewed. (C) 2003 Elsevier B.V. All rights reserved.

Magnetic Properties of FePt Nanoparticles Prepared by a Micellar Method

FePt nanoparticles with average size of 9 nm were synthesized using a diblock polymer micellar method combined with plasma treatment. To prevent from oxidation under ambient conditions, immediately after plasma treatment, the FePt nanoparticle arrays were in situ transferred into the film-growth chamber where they were covered by an SiO2 overlayer. A nearly complete transformation of L1(0) FePt was achieved for samples annealed at temperatures above 700 A degrees C. The well control on the FePt stoichiometry and avoidance from surface oxidation largely enhanced the coercivity, and a value as high as 10 kOe was obtained in this study. An evaluation of magnetic interactions was made using the so-called isothermal remanence (IRM) and dc-demagnetization (DCD) remanence curves and Kelly-Henkel plots (Delta M measurement). The Delta M measurement reveals that the resultant FePt nanoparticles exhibit a rather weak interparticle dipolar coupling, and the absence of interparticle exchange interaction suggests no significant particle agglomeration occurred during the post-annealing. Additionally, a slight parallel magnetic anisotropy was also observed. The results indicate the micellar method has a high potential in preparing FePt nanoparticle arrays used for ultrahigh density recording media.

超大规模地形场景的高性能漫游

超大规模地形场景包含大量的几何和纹理数据，无法一次性载入内存，并具有极高的复杂度，因而无法进行实时绘制．提出一种高性能的外存地形场蒂实时漫游技术．该方法使用离散层次细节技术并结合视点相关的动态连续层次细节选择和过渡．算法为地表的简化提出一种新的基于受限法向锥的误差计算方法，使得模型简化具有轮廓保持和光照保持特性．当生成网格包含三角形数目相当时，该方法比传统的基于几何误差的简化更加符合漫游时视觉的感知规律．场景简化过程中提取出的潜在轮廓特征可以通过巧妙地构建漫游时视线方向上的增量地平线来随时更新场蒂不同部分的可见性信息，并以此控制无用数据页面的载入和无效场景部分的绘制，提高绘制速度．漫游系统采用多线程技术．使CPU、GPU、I／O三者的效率得到充分发挥．并可实时生成具有光照和阴影效果的漫游图像．

动态地形可视化研究

动态地形是指在视景仿真过程中由于环境变化或仿真模型之间的交互而产生的高程和影像数据变化，它是战场仿真的重要研究对象，对战场仿真的逼真度和可信度有着重要影响，直接决定战场模型和地形之间的相互作用方式，如炮弹爆炸产生弹坑，弹坑影响车辆通行。因此，动态地形研究具有重要意义。 本文在开源地形渲染库libMini基础上对动态地形算法进行了研究。libMini库依据视点距离、视角和地形起伏程度对地形进行渲染，具有很好的细节层次模型连续性和较快的渲染速度，支持多分辨率分块地形，在国际上应用广泛，在此基础上进行算法改进和增强可以达到较好的实际应用效果。 首先介绍了libMini的地形渲染算法，并针对该算法计算地形粗糙度的自上而下方法的弱点，提出了自下而上的动态地形高程局部更新算法，将高程计算和渲染速度大约提高了三个数量级，大大改善了动态地形可视化的实时性。由于libMini缺乏动态地形影像更新功能，因此在OpenGL及S3TC纹理压缩算法的分析基础上设计了一种影像更新算法。然后结合高程和影像更新这两个算法实现了一种完整的能够适应多分辨率分块地形的动态地形可视化算法。 最后以虚拟地形工程为例给出了算法的实际应用过程以及相应的弹坑和堑壕模型的动态渲染结果，验证了算法的有效性、实时性和可用性。