Comparing autonomous underwater vehicle (AUV) and vessel-based tracking performance for locating acoustically tagged fish

Autonomous underwater vehicles (AUV’s) are increasingly used to collect physical, chemical, and biological information in the marine environment. Recent efforts include merging AUV technology with acoustic telemetry to provide information on the distribution and movements of marine fish. We compared surface vessel and AUV tracking capabilities under rigorous conditions in coastal waters near Juneau, Alaska. Tracking surveys were conducted with a REMUS 100 AUV equipped with an integrated acoustic receiver and hydrophone. The AUV was programmed to navigate along predetermined routes to detect both reference transmitters at 20–500 m depths and tagged fish and crabs in situ. Comparable boat surveys were also conducted. Transmitter depth had a major impact on tracking performance. The AUV was equally effective or better than the boat at detecting reference transmitters in shallow water, and significantly better for transmitters at deeper depths. Similar results were observed for tagged animals. Red king crab, Paralithodes camtschaticus, at moderate depths were recorded by both tracking methods, while only the AUV detected Sablefish, Anoplopoma fimbria, at depths exceeding 500 m. Strong currents and deep depths caused problems with AUV navigation, position estimation, and operational performance, but reflect problems encountered by other AUV applications that will likely diminish with future advances, enhanced methods, and increased use.

火炬松体细胞无性系建立及其形态发生调控的研究

火炬松（Pinus taeda L.）原产美国东南部，是世界南方松中最重要的绿化和造林用速生针叶树种，现广泛分布于全球亚热带和部分热带地区，在我国的栽植面积居世界第2位，仅次于美国。目前，火炬松离体快速繁殖、遗传转化和品种改良研究中最大的障碍是没有获得良好的植株再生体系。本研究以火炬松的成熟种子为试材，建立了可调控的体细胞胚胎发生和器官发生植株再生系统，并对再生过程中的形态学变化进行了细胞学观察和扫描电镜观察;建立了胚性细胞悬浮系，测定了其重要生长参数的变化动态，优化了悬浮条件下体细胞胚胎发生的培养条件及悬浮细胞原生质体直接体细胞胚胎发生的培养条件。 进行了HA、HB、HC、MA、MB、MC、LA和LB等8种不同基因型的成熟合子胚在BMS、DCR、GD、LM、LP、MNCI、MS、SH及自行设计的TE等9种不同基本培养基上的愈伤组织诱导试验，筛选获得了愈伤组织发生频率较高的基因型HB、MA和MC，及基本培养基DCR和TE。激素组合试验表明，2,4-D和BA最有利于愈伤组织发生。两因子5水平等重复的愈伤组织诱导试验及方差分析结果证实，8 mg•L~(-1)2,4-D和4 mg•L~(-1)BA是愈伤组织诱导的最佳激素组合。诱导产生的愈伤组织经2次继代后，可明显分为4种类型，它们是1）白色、半透明、有光泽的粘性愈伤组织（WTGM）;2）淡黄色、疏松、有光泽的颗粒状愈伤组织（YLGG）;3）淡绿色、疏松的颗粒状愈伤组织（GLG）;和4）浅白色、水浸状的粘性愈伤组织（WMM）。其中白色、半透明、有光泽的粘性愈伤组织有较强的体细胞胚胎发生能力，淡黄色、疏松、有光泽的颗粒状愈伤组织有较强的不定芽发生能力。这两种愈伤组织的最高诱导频率分别是28.1%和35.7%。 在附加2,4-D、IBA和BA的DCR体细胞胚诱导培养基上，白色、半透明、有光泽的粘性愈伤组织中的胚性细胞形成胚性胚柄细胞团和早期原胚。提高培养基中的渗透压后，早期原胚发育成后期原胚。在附加ABA、PEG和活性炭的DCR体细胞胚成熟培养基上，后期原胚发育成子叶胚。在无激素DCR培养基上，子叶胚萌发形成再生完整植株。体细胞胚转换成小植株的最高频率是18.4%。在直接体细胞胚诱导增养基和直接体细胞胚发育培养基的作用下，成熟合子胚的子叶和胚轴上直接形成体细胞胚。直接体细胞胚胎发生的最高频率是18%。 在附加NAA、IBA和BA的TE不定芽原基诱导培养基上，淡黄色、疏松、有光泽的颗粒状愈伤组织中的胚性细胞形成不定芽原基。在附加IBA和BA的TE不定芽分化培养基上，不定芽原基分化产生不定芽。用基因型HB、MA和MC的淡黄色、疏松、有光泽的颗粒状愈伤组织进行的试验表明，不定芽分化的最佳低温（4 ℃）处理时间是5～6周，最佳蔗糖浓度是25～30 g•L~(-1)。分化产生的不定芽在附加IBA、GA_3和活性炭的TE培养基上，幼茎伸长。附加IBA、BA和GA_3的TE培养基上，伸长的不定芽生根形成完整植株。伸长不定芽的最高生根频率是46%。成熟合子胚在直接不定芽原基诱导培养基及直接不定芽分化培养基的作用下，从子叶和胚轴的不同部位产生直接不定芽。直接不定芽发生的最高频率是58.2%。 由成熟合子胚诱导愈伤组织形成过程中的形态学观察表明：在附加2,4-D和BA的DCR愈伤组织诱导培养基上，HB、MA和MC3种基因型中，MA主要在下胚轴形成愈伤组织，MC主要在子叶和胚根形成愈伤组织，HB主要在胚根形成体积较小的愈伤组织。在附加NAA和BA的TE愈伤组织诱导培养基上，HB、MA和MC3种基因型中，MA在单个子叶的顶端形成生长较快的愈伤组织，MC的所有子叶都形成愈伤组织，HB在所有子叶的顶端形成愈伤组织。 石蜡切片观察表明：4类愈伤组织的细胞组成不同．第1类愈伤组织主要由核大、质浓、体积小的园形胚性细胞及核呈柱状或新月形的体积较大的非胚性细胞组成;第2类愈伤组织主要由核大、质浓、体积小的园形胚性细胞组成，第3类愈伤组织主要由体积较大的棒状、葫芦形、新月形、盾片状细胞组成、第4类愈伤组织主要由体积较大的薄壁细胞和细胞壁加厚、细胞间连结紧密、无细胞核的分化细胞组成，第1类愈伤组织上形成的早期原胚的特点是：胚性头部由排列紧密、体积小的园形细胞组成，轮廓十分清晰、呈半圆形，胚柄由排列疏松的长形细胞组成，细胞体积大、细胞中有大的液泡，早期原胚在发育过程中和母体组织保持一定的隔离状态。第2类愈伤组织上形成的不定芽的特点是t结构上为单极性，其维管束和母体组织保持密切联系。扫描电镜观察表明;直接体细胞胚基部和母体组织保持较少的联系，其子叶是直立生长的．直接不定芽基部和母体组织保持较多的联系，其幼叶是向心卷曲生长的。 在培养周期内，基因型HB、MA和MC胚性细胞悬浮培养物的几个生长参数的变化动态相似。鲜重增长高峰在12—15 d，干重增长高峰在15～18 d，细胞体积增长高峰和胚数增长高峰在18—21 d。在培养的18—21 d，培养液中的pH值、电导率和蔗糖浓度接近或降到最低点。在悬浮培养条件下，体细胞胚形成的最佳起始细胞密度是5～6×103个／ml。继代培养时间延长，体细胞胚胎发生能力下降。热激处理促进基因型HB和MA体细胞胚的形成，抑制基因型MC体细胞胚的形成。在悬浮培养物中，观察到了裂生多胚。 对数生长期的火炬松胚性悬浮细胞，在以甘露醇作为渗透压稳定剂的酶混合液Cel-lulase“Onozuka”RS l%+Cellulase“Onozuka”R-10 2.5%+Pectolyase Y-23 0.2%的作用下，原生质体的产量和活力均最高。原生质体在DCR和KM8P两种培养基上形成了体细胞胚（包括胚性胚柄细胞团、早期原胚和后期原胚）．体细胞胚形成的最佳起始原生质体密度是7×l04个/ml，最佳ABA浓度是4 mg．L-I．

Isolation, purification, and full NMR assignments of cyclopamine from Veratrum californicum

The Hedgehog signaling pathway is essential for embryogenesis and for tissue homeostasis in the adult. However, it may induce malignancies in a number of tissues when constitutively activated, and it may also have a role in other forms of normal and maladaptive growth. Cyclopamine, a naturally occurring steroidal alkaloid, specifically inhibits the Hedgehog pathway by binding directly to Smoothened, an important Hedgehog response element. To use cyclopamine as a tool to explore and/or inhibit the Hedgehog pathway in vivo, a substantial quantity is required, and as a practical matter cyclopamine has been effectively unavailable for usage in animals larger than mice.

Genome 10K: A Proposal to Obtain Whole-Genome Sequence for 10 000 Vertebrate Species

The human genome project has been recently complemented by whole-genome assessment sequence of 32 mammals and 24 nonmammalian vertebrate species suitable for comparative genomic analyses. Here we anticipate a precipitous drop in costs and increase in sequ

Sensor graphs for guaranteed cooperative localization performance

A group of mobile robots can localize cooperatively, using relative position and absolute orientation measurements, fused through an extended Kalman filter (ekf). The topology of the graph of relative measurements is known to affect the steady-state value of the position error covariance matrix. Classes of sensor graphs are identified, for which tight bounds for the trace of the covariance matrix can be obtained based on the algebraic properties of the underlying relative measurement graph. The string and the star graph topologies are considered, and the explicit form of the eigenvalues of error covariance matrix is given. More general sensor graph topologies are considered as combinations of the string and star topologies, when additional edges are added. It is demonstrated how the addition of edges increases the trace of the steady-state value of the position error covariance matrix, and the theoretical predictions are verified through simulation analysis.

Impact of heterogeneous link qualities and network connectivity on binary consensus

In this paper we consider a network that is trying to reach consensus over the occurrence of an event while communicating over Additive White Gaussian Noise (AWGN) channels. We characterize the impact of different link qualities and network connectivity on consensus performance by analyzing both the asymptotic and transient behaviors. More specifically, we derive a tight approximation for the second largest eigenvalue of the probability transition matrix. We furthermore characterize the dynamics of each individual node. © 2009 AACC.

五氯苯酚在武汉东湖底质颗粒物上的吸附研究

通过静态吸附实验,研究了五氯苯酚在武汉东湖底质颗粒物上的吸附行为,并考察了pH值、颗粒物浓度、盐度和腐殖酸对吸附行为的影响.结果表明,25℃时五氯苯酚在该颗粒物上的吸附行为可用Freundlich吸附等温式描述,在pH值3.0~10.0范围内,五氯苯酚在颗粒物上的平衡吸附量先减小后又缓慢增加;颗粒物浓度在0.1~2.0g.L-1之间变化时,东湖底质颗粒物对五氯苯酚的吸附具有浓度效应;腐殖酸和盐度在一定范围内对五氯苯酚在颗粒物上吸附行为的影响为先促进其平衡吸附量增加,然后这种促进作用趋于缓和.

Electronic load interface for improving PV dual-converter system operational margin

An electronic load interface (ELI) for improving the operational margin of a photovoltaic (PV) dual-converter system under dynamic conditions is presented. The ELI - based on a modified buck-boost converter - interfaces the output of the converters and the load system. It improves the operational margin of the PV dual-converter system by extending the conditions under which the dual-converter system operates at the maximum power point. The ELI is activated as and when needed, so as minimise system losses. By employing the ELI, utilisation and efficiency of a PV dual-converter system increases. In general, the concept of the ELI can be applied to multi-converter PV systems - such as multi-converter inverters, and multi-converter DC-DC converter systems - for performance and efficiency improvement. © 2013 The Institution of Engineering and Technology.

Single-sensor maximum power point tracking algorithms

Single-sensor maximum power point tracking algorithms for photovoltaic systems are presented. The algorithms have the features, characteristics and advantages of the widely used incremental conductance (INC) algorithm. However; unlike the INC algorithm which requires two sensors (the voltage sensor and the current sensor), the single-sensor algorithms are more desirable because they require only one sensor: the voltage sensor. The algorithms operate by maximising power at the DC-DC converter output, instead of the input. © 2013 The Institution of Engineering and Technology.