Comparison between compsopogon coeruleus and porphyra yezoensis in their O-2 evolution rates and phycobilisome composition

In order to investigate the possible effects of the ecological environment on photosynthetic activity and the major light harvesting complex, the oxygen evolution rates and composition of phycobilisome from marine red alga Porphyra yezoensis Ueda and freshwater red alga Compsopogon coeruleus (Balbis) Montagne, which could grow and reproduce under salinity up to 35 ppt, were studied. The results showed that the oxygen evolution rate of P. yezoensis in seawater was significantly higher than that of C. coeruleus in freshwater, and P. yezoensis tolerated inorganic ions at a relatively higher concentration than C. coeruleus. Moreover, the phycoerythrin (PE) of P yezoensis was R-phycoerythrin containing alpha, beta, and gamma subunits comprised phycoerythrobilin and phycourobilin. In contrast, the PE from C. coeruleus consisted of alpha, beta, and gamma subunits comprised only phycoerythrobilin but not phycourobilin, suggesting that the PE from C. coeruleus was of a new type.

Comparison of Gene Expression Profiles of Fenneropenaeus chinensis Challenged with WSSV and Vibrio

Microarray technique was used to analyze the gene expression profiles of shrimp when they were challenged by WSSV and heat-inactivated Vibrio anguillarum, respectively. At 6 h post challenge (HPC), a total of 806 clones showed differential expression profile in WSSV-challenged samples, but not in Vibrio-challenged samples. The genes coding energy metabolism enzyme and structure protein were the most downregulated elements in 6 h post WSSV-challenged (HPC-WSSV) tissues. However, a total of 155 clones showed differential expression in the Vibrio-challenged samples, but not in WSSV-challenged samples. Serine-type endopeptidase and lysosome-related genes were the most upregulated elements in tissues 6 h post Vibrio challenge (HPC-Vibrio). Totally, 188 clones showed differential expression in both 6 and 12 HPC-WSSV and HPC-Vibrio samples. Most of the differentially expressed genes (185/188) were downregulated in the samples of 12 HPC-WSSV, whereas upregulated in the samples at 6 and 12 HPC-Vibrio and 6 HPC-WSSV. The expression profiles of three differentially expressed genes identified in microarray hybridization were analyzed in hemocytes, lymphoid organ, and hepatopancreas of shrimp challenged by WSSV or Vibrio through real-time PCR. The results further confirmed the microarray hybridization results. The data will provide great help for us in understanding the immune mechanism of shrimp responding to WSSV or Vibrio.

Warming trend in northern East China Sea in recent four decades

Global warming has become a notable trend especially since an abrupt climate change in 1976. Response of the East China Sea (ECS) to the global warming trend, however, is not well understood because of sparse long-term observation. In this paper, hydrographic observation data of 1957-1996 are collected and reviewed to study climatological variability in northern ECS. Significant warming trends are found in both summer and winter. In summer, the average SST is about 0.46A degrees C higher during the period of 1977-1996 than that of 1957-1976, and the Taiwan Warm Current Water (TWCW) was strengthened. In winter, despite of the cooling effect in the coastal areas adjacent to the Changjiang (Yangtze) River Estuary (CRE), the average SST increase was about 0.53A degrees C during the same period. The causes of this SST warming up in summer are different from in winter. The warming trend and intensification of the TWCW in summer were primarily influenced by the strengthening of the Kuroshio transport, while the warming in winter was mainly induced by the variability of the climate system.

皱纹盘鲍的遗传育种与养殖技术研究

优良的种质是产业发展的重要保证，品种更新和养殖技术的发展已经给世界农业带来了令人瞩目的成就，然而我国水产生物的育种工作刚处于起步阶段，而育种技术的研究则更是滞后。借鉴陆生生物中发展起来的相对成熟的研究方法，可以帮助加快海洋生物遗传育种相关研究的进度。本研究以我国北方海区重要的海洋经济动物－皱纹盘鲍为研究对象，从表型遗传、数量性状遗传等2个方面开展了皱纹盘鲍的遗传育种研究，同时从幼鲍培育密度与分选效应等方面研究了皱纹盘鲍的中间培育技术。 主要结果如下： 1. 皱纹盘鲍的贝壳颜色遗传、食物对贝壳颜色表现型的影响，贝壳颜色与生长速度间的关系 将贝壳颜色为橘红色（O表型）的突变型皱纹盘鲍与贝壳颜色为绿色（G表型）的野生型皱纹盘鲍进行了连续2代的交配实验。结果表明：皱纹盘鲍橘红色的贝壳颜色相对于绿色的贝壳颜色为隐性性状，皱纹盘鲍的贝壳颜色表型受单位点、2个等位基因遗传控制，其中基因型为oo的个体，贝壳颜色的表现型为橘红色（O表型），而基因型为GG或Go的个体，贝壳颜色的表现型为野生型（G表型）。 为探讨食物类型对不同基因型皱纹盘鲍贝壳颜色表现型的影响，对不同贝壳颜色表型的个体投喂不同种类的食物，结果表明，除遗传因素外，皱纹盘鲍的贝壳颜色表现型显著地受食物类型的调控。其中oo基因型的个体，在摄食底栖硅藻（Navicula sp.）和红藻时，贝壳颜色的表型为橘红色；而在摄食褐藻、绿藻和以海带粉为唯一海藻源的人工配合饵料时，贝壳颜色的表型为黄色。GG和Go基因型的个体，在摄食底栖硅藻、红藻时，贝壳颜色的表型为褐红色；在摄食褐藻、绿藻和以海带粉为唯一海藻源的人工配合饵料时，贝壳颜色的表型为绿色。该结果表明，相同基因型的皱纹盘鲍在摄食不同类型的食物时，贝壳表现型不同，即不同类型的食物可以导致2种基因型皱纹盘鲍的贝壳颜色表现型在一定范围内发生转换：oo基因型的个体，贝壳的颜色可以表现为橘红色或者黄色，不会出现野生型皱纹盘鲍的褐红色或绿色；而GG与Go基因型的个体，相应的贝壳颜色表型只能是褐红色或者绿色，不会出现oo基因型可能表现的橘红色或黄色。特定基因型的皱纹盘鲍，在摄食特定类型的食物时贝壳的相应部位可表现出特定的颜色。皱纹盘鲍的这种“食物－贝壳颜色”的相关性可作为一种形态标记，用于标识皱纹盘鲍的个体和群体，该标记技术可用于皱纹盘鲍的养殖技术和遗传学研究。 此外，选用了贝壳颜色遗传学实验中建立的贝壳颜色发生分离的家系为实验材料，以壳长为指标，分析比较了来自相同家系的O表型与G表型个体之间的生长速度。结果表明，在幼鲍发育至412天止的3-5个统计时段内，没有在同一家系来源的2种贝壳颜色表型个体之间检验到生长速度的显著差异。 2. 皱纹盘鲍不同选育群体及杂交群体的贝壳形态参数分析 在皱纹盘鲍的7个群体中（包括已经对生长速度为指标进行了多代人工选育的群体4个、野生群体之间直接杂交繁育的杂交F1群体3个），测量了4-6龄成体样本的壳长（L）、壳宽（W）、壳高（H）和壳重（Sw），并计算了L/（L+W+H）、W/（L+W+H）、H/（L+W+H）和Sw/（L×W×H）等4个壳形态学参数。用方差分析方法（MANOVA、ANOVA）统计并比较了这些壳形态参数在皱纹盘鲍群体间的遗传变异。结果表明，4个壳形态参数在不同群体间变异系数分别为0.34、0.74、2.62和6.54，其中，H/（L+W+H）与Sw/（L×W×H）在各供试群体间均具有较高的多态性且差异达显著水平，表明这2个参数在不同群体间存在较高的遗传变异。由于在活体情况下无法测量壳重（Sw）性状，建议以参数H/（L+W+H）为指标对皱纹盘鲍贝壳形态（如壳型）等进行人工选择。 3. 皱纹盘鲍成体阶段生长性状的遗传参数估计 采用巢式设计，分析了成体阶段不同发育期皱纹盘鲍的壳长与生长速率的遗传力、不同发育期的壳长性状之间的遗传相关、以及不同发育期的生长速率之间的遗传相关，结果表明：（1）壳长遗传力在受精后第70 、130、320、320、380、490与550天的雄性组分估计值分别为0.161 ± 0.075、0.312 ± 0.131、0.326 ± 0.331、0.135 ± 0.228、0.153 ± 0.185和0.180 ± 0.106；雌亲组分估计分别为0.312 ± 0.172、0.699 ± 0.168、0.695 ± 0.168、0.977 ± 0.407、0.427 ± 0.195和0.449 ± 0.027。（2）生长速率遗传力在受精后第320~380天、490 ~ 550天，雄、雌组分估计值分别为0.080 ± 0.120（雄）、 0.210 ± 0.191（雌）以及0.299 ± 0.146（雄）、0.306± 0.148（雌）。雌亲组分的壳长遗传力和生长速率遗传力估计值较大且均达显著水平，表明皱纹盘鲍在成体阶段依然受母性效应的影响。成体阶段生长性状遗传力水平的估计对制定科学的皱纹盘鲍育种方案有指导意义。（3）雄亲组分估计的不同发育期（第390 ~ 550天）壳长间遗传相关为0.597 ~ 1.000，雌亲组分估计为0.589 ~ 1.177。由雄亲、雌亲组分估计，受精后第320~380天与第490 ~ 550天两个发育阶段生长速率间遗传相关均接近于0。雌亲组分估计不同发育期壳长间遗传相关均达显著水平（t0.05, d.f.=13 = 4.33 ~ 11.69，P<0.01），表明壳长性状早期选择有效，即在皱纹盘鲍早期阶段依据壳长性状对个体进行择优或去劣可在后期阶段获得壳长较大的个体。由于使用的雄亲数目少（8个父系半同胞），实验中以雄亲组分估计的遗传参数误差较大。 4. 皱纹盘鲍选育系间的群体杂交 进行了皱纹盘鲍4个人工选育系之间的完全双列杂交实验，以群体交配的方式共建立了16个组合；此外，以大连“98”选群与汕头“S”选群为亲本，以群体交配的方式建立了4个交配组合。对不同方向的杂交组合进行了中亲杂种优势、超亲杂种优势以及配合力等方面的评价。 （1）测量了4个选育群体（R、97、S和J）及其各杂交组合在受精后第9、20和30天时的壳长，统计分析了不同选育系间壳长性状的差异、评价了不同方向杂交组合的中亲与超亲杂种优势、以及配合力。结果如下： 选育系群体内交配繁育的4个组合，在受精后第9、20和30天的壳长均有显著差异，其中，97  97组合在早期发育各阶段均为最小，分别为0.462 ± 0.023mm、0.698 ± 0.057mm和1.476 ± 0.234mm；S  S组合的3次测量值均为最大，分别为0.522 ± 0.023mm、0.824 ± 0.084mm和1.798 ± 0.229mm。 两个方向杂交组合与选育系亲本群体内交配组合的平均值和高亲值比较，得到如下结果：（A）受精后第9天壳长表现正向中亲杂种优势的组合有6个、表现负向中亲杂种优势的组合6个，其中J  97组合的中亲优势率最高，为9.05%；R  S组合最低，为-6.61%。正向高亲杂种优势组合有4个、负向高亲杂种优势组合有8个，其中S  J组合的高亲优势率最高，为5.77%；R  S组合最低，为-7.96%。（B）受精后第20天壳长表现正向中亲杂种优势的组合有7个、表现负向中亲杂种优势的组合5个，其中J  97组合的中亲优势率最高，为12.60%；J  R组合最低，为-8.72%。正向高亲杂种优势组合有3个、负向高亲杂种优势组合有11个，其中J  97组合的高亲优势率最高，为12.20%；J  R组合最低，为-12.67%。（C）受精后第30天壳长表现正向中亲杂种优势的组合有7个、负向中亲杂种优势的组合5个，其中97  S组合的中亲优势率最高，为24.08%；S  97组合最低，为-12.69%。正向高亲杂种优势组合有6个、负向高亲杂种优势组合有6个，其中97  S组合的高亲优势率最高，为15.95%；S  J组合最低，为-19.44%。上述结果表明，皱纹盘鲍不同选育系之间的交配组合，杂种优势率差异很大，因此，通过组配实验，将杂种优势率高的交配组合选择出来应用于生产，可望显著提高目标性状的产量。 对早期发育阶段各生长期壳长性状，亲本一般配合力（GCA）、各杂交组合间特殊配合力（SCA）以及正反交（REC）效应值进行方差分析，结果表明：各亲本GCA差异显著，说明各选育群体存在显著的遗传差异，其中汕头选群“S”在测量的各个生长期均为正值且显著大于其它各亲本；特殊配合力（SCA）以及正反交（REC）效应值较大在各杂交组合间存在显著差异，说明在早期生长发育阶段非加性遗传效应（显性和上位效应）占主导地位。综合各个生长期亲本GCA和杂交组特殊配合力（SCA）以及正反交（REC）效应值，杂交组合97×S在早期生长阶段不仅有较高SCA值而且两个亲本也具有较大的GCA值，表明选育系97和S较适宜作为杂交亲本使用。 （2）大连“98”选群与汕头“S”选群进行2×2因子设计的群体杂交实验，比较了各交配组合早期存活相关性状如受精率、孵化率、变态率以及壳长性状，评价了两个方向杂交组合平均以及不同方向杂交组合的中亲杂种优势率。结果表明早期发育阶段各组合间的受精率无显著差异，而孵化率、变态率等两个杂交方向平均的中亲杂种优势率为5.49%与12.53%，高于壳长性状的优势率（0.936-1.534%）。方差分析结果表明不同方向的杂交组合在早期发育阶段存活相关性状以及壳长性状存在显著差异。孵化率、变态率性状，S×98的中亲杂种优势率分别为13.21%与21.10%，均高于98×S的-3.84%与3.85%；而第10和25d壳长性状，S×98的中亲杂种优势率为1.14%与-2.52%，低于98×S的1.93%与4.41%。 为进一步评价“98”选群与“S”选群不同交配组合在不同温度条件下的生长，进行了基因型与环境的互作研究。从“98”选群与“S”选群的4个交配组合中分别取5月龄幼鲍100头，各组合随机分成3组，每组1个重复，分别于12°C、16°C和 22°C温度条件下进行培育，比较各交配组合基因型与温度对幼鲍生长的影响。不同温度条件下，各组合壳长生长的方差分析结果表明，基因型和温度都能够对幼鲍生长以及最终壳长产生极显著的影响（P < 0. 01），它们的交互作用也达到显著水平（P < 0.05）。杂交子代的幼鲍壳长在12°C、16°C和 22°C温度条件下均表现出杂种优势，双向杂交的中亲杂种优势率分别为5.32%、5.55%和0.03%，表明低温条件（12°C），比高温条件（22°C）下有更强的杂种优势。汕头“S”选群的早期孵化率、变态率、生长性状以及低温条件下幼鲍生长性状的单亲杂种优势率分别为16.64%、42.49%、3.42~5.79%和5.73~9.15%，单亲杂种优势率较大，表明可通过杂交手段，显著地改良汕头“S”选群在早期发育阶段的生长速度、存活率以及幼鲍期的生长性状。本研究的结果支持了Lerner（1954）杂种优势的基因与环境互作学说。 5. 皱纹盘鲍幼鲍的中间培育技术研究 （1）对南方越冬方式的评价 目前，每年的11月前后，将6-7月龄幼鲍运往南方的闽东、闽中、闽南沿海越冬，翌年4月至6月再运回到北方（大连、山东半岛）的养殖模式已经普遍应用于皱纹盘鲍的实际生产，为评价南方越冬的幼鲍培育方式，本研究分别以不同幼鲍材料在闽东三都海湾进行了越冬培育实验。 选择生产上壳长分别为18.37 ± 1.28 mm、15.89 ± 1.10 mm、14.55 ± 1.10 mm与10.59 ± 0.84 mm的幼鲍进行了为期6.5个月的越冬培育，实验结束时，存活率分别为95.56 ± 2.21%、90.55 ± 1.96%、83.97 ± 1.63%与63.30 ± 2.79%。回归分析表明，供试幼鲍在实验起始时的壳长与越冬阶段的存活率成正相关（P = 0.018 < 0.05）。该结果表明，提高幼鲍的规格可显著提高皱纹盘鲍的越冬成活率，因此对于实际生产而言，采取适当措施提高皱纹盘鲍越冬苗种的规格将大幅增加生产的收益，而采用生长速率快的品种、品系或提早采苗均可实现该目标。综合各规格组幼鲍，幼鲍在南方开放性水域进行越冬培育的平均存活率较高，可达到91.38±0.01%，从幼鲍南方越冬的存活曲线可以看出，幼鲍的死亡主要集中在从大连运至福建某地后的15天内，出现死亡高峰的原因可能是由于运输过程的胁迫。此外，2月及4月中下旬水温出现显著降低或回升时也有较明显的死亡出现。该部分结果，对皱纹盘鲍幼鲍的养成管理有指导意义，可以通过合理安排越冬时间、避开死亡的敏感期等措施减少苗种越冬阶段的死亡量。 以中国大连野生群体繁育的子一代为亲本（10♀，10♂），以群体交配的方式繁育F2代个体为实验材料，分别于南方海区以及北方室内升温水方式下进行生长、存活比较，结果表明南方越冬培育方式下，幼鲍壳长的日增长率为81.37-108.89 µm•day-1，与北方室内升温培育条件相比，壳长生长提高了1.08 ~ 1.68倍；而存活率无显著差异。皱纹盘鲍幼鲍南方越冬方式的优势主要体现在鲍鱼幼鲍的生长速度加快，同时节约养殖场的能耗 （2）幼鲍培育过程中的养殖密度与分选效应评价 以3种规格皱纹盘鲍幼鲍为材料比较幼鲍在4个培育密度以及分选或混养条件下壳长的平均日生长及特定生长率。在南方越冬培育方式下实验进行106天，多因素方差分析结果表明实验初始幼鲍的壳长以及培育密度对壳长的生长有显著影响，而且密度效应在不同幼鲍起始规格组中有不同表现；分选没有能够提高不同规格组的生长。本研究的结果对皱纹盘鲍幼鲍的越冬培育有一定的指导作用。

Radioactivity Concentrations in Soils in the Qingdao Area, China

The specific activity concentrations of radionuclides U-238, Th-212, and K-40 of 2300 sampling points in the Qingdao area were measured by an FD-3022 gamma-ray spectrometer. The radioactivity concentrations of U-238, Th-232, and K-40 ranged from 3.3 to 185.3, from 6.9 to 157.2, and from 15.8 to 7834.4 Bq kg(-1), respectively. The air-absorbed dose at I meter above ground, effective annual dose, external hazard index, and radium equivalent activity were also calculated to systematically evaluate the radiological hazards of the natural radioactivity in Qingdao. The air-absorbed dose, effective annual dose, external hazard index, and radium equivalent activity in the study area were 98.6 nGy h(-1), 0.12 mSv, 0.56, 197 Bq kg(-1), respectively. Compared with the worldwide value, the air-absorbed dose is slightly high, but the other factors are all lower than the recommended value. The natural external exposure will not pose significant radiological threat to the population. In conclusion, the Qingdao area is safe with regard to the radiological level and suitable for living.

Four new species of the Genera Eudesme and Sphaerotrichia (Chordariaceae, Heterokontophyta) from the Chinese Coast

Four new species, Eudesme huanghaiensis Ding et Lu, E. qingdaoensis Ding et Lu, E. shandongensis Ding et Lu and Sphaerotrichia huanghaiensis Ding et Lu, from the western Yellow Sea coast of China are described. Eudesme huanghaiensis is mainly characterized by its spherical or sub-spherical sub-cortical cells, its rhizoidal filaments developing from the basal cells of sub-cortex and its broad sub-cortical and medullary layers. E. qingdaoensis is mainly characterized by its long medullary cells, generally hollow center of the medulla, short sub-cortex with only 3-4 cylindrical cells and long, slender and clavate terminal cells of the rhizoidal filaments. E. shandongensis is mainly characterized by its hollow frond, thick cell walls of both medulla and inner sub-cortical layers and the spherical terminal cells of the rhizoid filaments. Sphaerotrichia huanghaiensis is mainly characterized by its cylindrical, sparsely branched frond with acute angle, and its thick 5-6 layered sub-cortex with long assimilating filaments of 6-10 cells.

植物群落生物量和有机碳对高寒草甸土地利用变化的响应

在中国科学院海北高寒草甸生态系统定位站地区,选择高寒矮嵩草草甸及其开垦后形成的农田和一年生人工草地作为研究对象,研究了高寒草甸不同土地利用方式下生物量和植物-土壤系统固定的有机碳量的变化。结果表明：3种土地利用方式相比较,地上生物量由高到低依次为人工草地〉农田〉高寒草甸（P〈0.01）,分别为11.83、9.78和4.36 t/hm~2;3种土地利用方式下地下生物量剖面分布均呈倒金字塔形,0～40 cm地下生物量为高寒草甸〉人工草地〉农田（P〈0.01）,分别为15.74、5.61和1.24 t/hm~2。随着高寒草甸土地利用方式改变,植物群落碳素固定量也随之减小,其序列由高到低依次为：高寒草甸〉人工草地〉农田（P〈0.05）,其值分别为7.63、6.81和4.51 t/hm~2。

栽培花锚中抗肝炎活性成分的含量在不同生长期变化的研究

研究了花锚中去甲氧基花锚甙和花锚甙的含量随着不同生长期的变化趋势,为药材的合理栽培和采收提供科学依据.RP-HPLC法,使用VP-ODS C18柱,流动相为乙腈∶磷酸∶水(1‰),梯度洗脱程序:0～5.00 min乙腈的体积分数(以下同)为15%、5.01～14.00 min由15%增至25%、14.01～30.00 min由25%增至40%,流速为1 mL/min,柱温25℃,检测波长:254 nm.花锚甙和去甲氧基花锚甙、在花锚全草中的含量在不同生长期有明显变化.

Energy exchange between the atmosphere and a meadow ecosystem on the Qinghai-Tibetan Plateau

To reveal the potential contribution of grassland ecosystems to climate change, we examined the energy exchange over an alpine Kobresia meadow on the northeastern Qinghai-Tibetan Plateau. The annual pattern of energy exchange showed a clear distinction between periods of frozen soil with the daily mean soil temperature at 5 cm (T-s5 &LE; 0 &DEG; C) and non-frozen soil (T-s5 > 0 &DEG; C). More than 80% of net radiation was converted to sensible heat (H) during the frozen soil period, but H varied considerably with the change in vegetation during the non-frozen soil period. Three different sub-periods were further distinguished for the later period: (1) the pre-growth period with Bowen ratio (β) > 1 was characterized by a high β of 3.0 in average and the rapid increase of net radiation associated with the increases of H, latent heat (LE) and soil heat; (2) during the Growth period when β &LE; 1, the LE was high but H fluxes was low with β changing between 0.3 and 0.4; (3) the post-growth period with average β of 3.6 when H increased again and reached a second maximum around early October. The seasonal pattern suggests that the phenology of the vegetation and the soil water content were the major factors affecting the energy partitioning in the alpine meadow ecosystem. © 2005 Elsevier B.V. All rights reserved.

Influence of lanthanum on the uptake of trace elements in cucumber plant

The effects of La3+ on the uptake of trace elements (Se, Co, V, and Tc) in cucumber plants were studied by a radioactive multitracer technique. It was observed that the uptake and distribution of these trace elements in roots, stems, and leaves are different under different La3+, treatments. Furthermore, in the control, the plant accumulates Se-75, Co-56, and V-48 all in the order roots>leaves>stems, whereas Tc-95m was in the order leaves>stems>roots. The accumulations of Se-75 and Tc-95m in plants treated with different La3+ concentration were in the same order as those in the control, but the uptakes percentages of other kinds of element changed differently. The results indicate that lanthanum treatments to a growing cucumber lead to the change of uptake of trace elements, which suggest that a rare earth element is directly or indirectly involved in the ion transport of the plant and affects plant growth by regulating the uptake and distribution of elements that influence the plant cell physiology and biochemistry.

链式可变形模块化机器人控制系统研究

随着机器人技术的不断发展，机器人的能力不断提高，其应用的领域和范围正在不断扩展。各式各样的机器人正逐步走入各行各业和社会的各个领域，并在其中发挥着越来越重要的作用，特别是在科学考察、军事侦察、灾难救援等对人类来讲极度危险的领域。它所具有的优势越来越受到世界各国普遍关注和重视，日益成为各国的战略必争装备和竞争核心技术。 应用于危险环境的机器人在作业时往往面对极为复杂的非结构环境。传统的机器人受其自身的机械结构限制，一般不能够适应这种多变的地形。具有改变自身构形能力的机器人的出现，解决了这一问题。国外自80年代开始研究可重构机器人。可重构机器人一般是由多个模块组成，通过模块的数量以及相对位置的变化，使机器人形成新的构形。由于这种机器人在变形时要消耗大量的时间，同时需要计算能力较强的控制单元，因此很难应用于实际作业。 本文叙述了灾难救援机器人的研究和发展现状，并提出了一种新颖的用于灾难救援和军事侦察的可变形机器人。该机器人由三模块组成，通过模块间的关节运动改变自身构形。三模块可变形机器人采用了基于CAN总线的集中式控制系统。本文在论述了机器人控制系统的硬件平台构建后，给出了基于此硬件平台的软件实现。 本文在对三模块可变形机器人的变形机理进行分析和计算的基础上，提出了“协同变形法”改善了机器人的变形过程，使其更为合理。通过协同变形实验验证了改进后变形方法的合理性和优越性；通过转弯实验验证了可变形机器人的机动性能；通过整体变形实验和通过性实验验证了控制系统的可行性以及机器人极强的通过能力。变形机器人基于该控制系统能够完成前进、后退、转向以及变形等运动，运动平滑，系统响应迅速。最后，本文对可变形机器人的发展和后继研究工作进行了展望。

未来十年全球无人无缆自主式潜水器的发展趋势

本文阐述了全球无人无缆自主式潜水器（ＡＵＶ）应用背景和重要性，以及它的开发和应用，同时也阐述了中国的开发现状。最后展望未来十年全球无人无缆自主式潜水器（ＡＵＶ）的发展趋势。

俯冲带深部流体特征——以西南天山变质俯冲杂岩为例

The subduction zone is an important site of the fluid activity and recycling of chemical elements. The fluid characteristic of deep subduction zones is a top scientific problem attracting the petrologists, geochemists and tectonists. In this dissertation, the characteristics of fluid activity within a deep subduction zone have been explored on the basis of the studies on the petrography, mineral chemistry, fluid inclusions, geochemistry and metamorphic P–T conditions of the omphacite-bearing high-pressure veins and related hosts from the low-temperature/high-pressure metamorphic belt in southwestern Tianshan, China. Multiple high-pressure veins are exposed in host eclogites and blueschists. The veins are composed predominantly of omphacite, garnet, quartz, and other minerals. Some veins contain cm-sized rutiles. In general, the vein can be divided into three types, the ‘in situ dehydration’ vein, the ‘external transport’ vein and the ‘composite’ vein. The omphacites within the veins and related host rocks contain lots of two-phase or three-phase primary fluid inclusions. The final melting temperature (Tfm) of fluid inclusions varies mainly from -0.6 to -4.3 °C, the homogeneous temperature (Th) varies from 185 to 251 °C, the salinity varies from 1.1 to 6.9 wt.% NaCl equivalent and the density varies from 0.81 to 0.9 g/cm3. The fluids were released under the conditions of T = 520–580°C and P = 15–19 kbar at blueschist facies to eclogite facies transition. The fluids include not only Li, Be, LILE, La, Pb-enriched and HFSE- and HREE-depleted aqueous fluids but also HFSE (Ti-Nb-Ta)-rich aqueous fluids. The complex composed of aluminosilicate polymers and F was the catalyst which had caused the Ti-Nb-Ta to be dissolved into the fluids. During the transport of the LILE-rich and HFSE- and HREE-poor fluids, they can exchange some chemical elements with country rocks and leach some trace elements in some extent. The rutile could be precipitated from the HFSE (Ti-Nb-Ta)-rich aqueous fluids when CO2 was added into the fluids. The host rocks could obtain some elements, such as Ca, Cs, Rb, Ba and Th, from the external fluids. The fluids with complex composition had been released within the deep subduction zone (>50 km) in Early Carboniferous during the subduction of the South Tianshan Ocean under the Yili–Central Tianshan Plate. The results obtained in this dissertation have made new progress compared with the published data (e.g. Tatsumi, 1989; Becker et al., 1999; Scambelluri and Philippot, 2001; Manning, 2004; Hermann et al., 2006; Spandler and Hermann, 2006).

安多地区早中侏罗世岩浆岩岩石地球化学和同位素年代学研究及其对构造演化的制约

Anduo area is located in the Central Tibet, the middle segment of the Bangonghu-Nujiang suture. Anduo Block is the northern part of Lhasa terrane. The relationships among the different geological bodies were determined during the 1: 250000 regional geological surveying. Petrography, petrologic geochemistry, isotopic geochemistry and geochronology of igneous rocks from the suture and granitoids from Anduo Block were analyzed systematically as a whole for the first time. Then, their tectonic setting and history are discussed.Anduo ophiolitic melange consists of metamorphic peridotites, cumulates, plagiogranites, sheeted dykes swarm, pillow lava and radiolarian cherts. The concentration of Cr and Ni in the metamorphic peridotites is very high, with Mg# about 0.94 ~ 0.97, higher 87Sr/86Sr and Pb isotopic ratios, and lower 143Nd/i44Nd ratio. LREE is enriched relative to HREE and positive Eu anomaly is very clear. The REE distribution curve is U shape. Nb and Ta anomalies from cumulate gabbro and sheeted dyke swarm are not clear, while that are slightly negative from pillow lava. Plagiogranite belongs to strong calc-alkaline series with high Si, middle Al, low Fe, Mg and low K contents. Eu anomaly (~ 1.23) from plagiogranites is slightly positive. The character of all components of ophiolite is similar to that of the MORB, while to some extent the ophiolite was influenced by crustal material. Anduo ophiolite formed in a mature back-arc basin. Additionally, intermediate acidity volcanic rocks within Anduo phiolite melange are island arc calc-alkline rocks related to ocean subduction.The early-middle Jurassic plutonic rocks are tonalite, granodiorite bearing-phenocryst, magaporphyritic hornblende monzogranite, magaporphyritic monzogranite, monzogranite bearing-phenocryst and syenogranite in turn. They belong to calc-alkaline series which developed from middle K to high K series temporally. REE distribution curves of all plutonic rocks are similar and parallel to each other. SREE and negative Eu anomaly values decrease. In the multi-element spider diagram, the curves of different plutons are similar to each other, but troughs of Nb, Sr, P and Ti from young plutons become more evident. This suggests that thereare some closely petrogenetic affinities among plutonic rocks which make up amagma plutonism cycle of the early-middle Jurassic. Magma source is mainly crustal,but abundant mafic microgranular enclaves within granitoids indicate that crastalmagma should be mixed with mantle-derived magma and the mantle-derived magmadecreased subsequently. Tonalite has features of I-type granite, magaporphyriticmonzogranite is transition type, and monzogranite bearing-phenocryst is S-typegranite. The characteristic of granitoids from Anduo Block suggest that the formingtectonic setting is active continental margin.Reliable zircon U-Pb SHRIMP ages are obtained in the study area firstly. Plagiogranite from the Anduo ophiolite of the Bangonghu-Nujiang suture is 175.1 Ma, and granitoids from Anduo Block is 172.6-185.4 Ma. Additionally, plagioclase from the plagiogranite dates a 40Ar/39Ar age of 144 Ma, while biotite and hornblend from granitoids of Anduo Block give a 163-165 Ma.Similar cooling ages of plagiogranite from the Anduo ophiolitic melange and granitoids from Anduo Block and the spatial distribution of the ophiolitic rocks between Anduo, Naqu, and Shainzha area suggest that bilateral subduction of the Bangonghu-Nujiang oceanic basin took place in the early-middle Jurassic. During this subduction, Anduo ophiolitic rocks were related to north subduction of the Bangonghu-Nujiang oceanic basin and Anduo back-arc basin spreading, while granitoids from Anduo Block were related to south subduction.

饮水氟化预防龋齿及其在中国的实践

龋齿目前已成为严重危害我国人民健康的口腔疾病。国内外大量研究与观察证明饮水氟化是最安全、投入产出比最佳的预防龋齿的公共卫生措施。在广州,1965 年开始进行饮水加氟试点,龋病发病率曾降低约50 % ,停止加氟后,龋病发病率再次上升。目前广州已成为全国龋病病情最为严重的城市。考虑到随着人民生活水平的提高,食品中的糖增加而粗纤维减少;随着经济的发展,水资源严重不足,城市供水正由以含氟较高的地下水为主转为以含氟较低的地面水为主,这种趋势将使我国龋病问题日益严重。在牙医严重不足,公众缺乏口腔卫生、牙齿保健知识的情况下,饮水加氟是最安全、有效、经济的防治措施。推广饮水加氟的工作,应当在科学研究和公众参与下,积极稳妥地进行。