A modular planar robotic manipulandum with end-point torque control.

Robotic manipulanda are extensively used in investigation of the motor control of human arm movements. They permit the application of translational forces to the arm based on its state and can be used to probe issues ranging from mechanisms of neural control to biomechanics. However, most current designs are optimized for studying either motor learning or stiffness. Even fewer include end-point torque control which is important for the simulation of objects and the study of tool use. Here we describe a modular, general purpose, two-dimensional planar manipulandum (vBOT) primarily optimized for dynamic learning paradigms. It employs a carbon fibre arm arranged as a parallelogram which is driven by motors via timing pulleys. The design minimizes the intrinsic dynamics of the manipulandum without active compensation. A novel variant of the design (WristBOT) can apply torques at the handle using an add-on cable drive mechanism. In a second variant (StiffBOT) a more rigid arm can be substituted and zero backlash belts can be used, making the StiffBOT more suitable for the study of stiffness. The three variants can be used with custom built display rigs, mounting, and air tables. We investigated the performance of the vBOT and its variants in terms of effective end-point mass, viscosity and stiffness. Finally we present an object manipulation task using the WristBOT. This demonstrates that subjects can perceive the orientation of the principal axis of an object based on haptic feedback arising from its rotational dynamics.

花冠衰老过程中生理生化变化的初步研究

对紫茉莉花（MirabiIis jalapa L.）衰老过程中，花冠鲜重的变化，总游离氨基酸含量，总蛋白质含量、可溶性蛋白质含量、R—S蛋白含公以及DNA含量、RNA含量和总游离核苷酸进行了测定;并对相对子这些变化的过氧化酶活性。水解酶活性诸如蛋白水解酶、DNA水解酶、RNA水解酶、酸性磷酸酶等的活性分别进行了检测。花冠在不同衰老时间可溶性蛋白质用SDS—PAGE分析进行了分离，过氧化物同工酶通过聚丙烯酰胺凝胶电泳进行了检测。此外，应用了组织化学、细胞化学方法对细胞结构及“核穿壁”现象进行了显微镜观察。 从实验结果可以看出紫茉莉花冠的迅速衰老不但表现为细胞结构的变化和“核穿璧”现象的出现，还有细胞组分如蛋白质、核酸和其它大分子物质的降解。可溶性蛋白SDS—PA GE分析的图谱显示出衰老过程中某些蛋白质谱带的变化。其中，大分子量蛋白质117.5KD、91.2KD、 77.6KD 68.7KD、 6 3, 8KD谱带依次性地随着衰老的进行而消失;新带47.6 KD、 40.0KD出现，且吸收增大。部分蛋白质谱带的消失和新带的出现以及各种蛋白质含量的变化，游离氨基酸含量和蛋白水解酶活性的变化表明蛋白水解酶参与了蛋白质的降解，但由于蛋白质在整个衰老过程中是被连续地合成和分解，因此所测的蛋白含量实际上是合成与分解的净差值。D N A 、RNA含量的降低和游离核苷酸的增加可能是由于DNA水解酶和RNA水解酶作用的结果，但也不排除核酸合成过程的参与。过氧化物酶活性和同工酶谱带的增加证实该酶在衰老过程中促进衰老的作用

Modeling red sea urchin (Strongylocentrotus franciscanus) growth using six growth functions

The growth of red sea urchins (Strongylocentrotus franciscanus) was modeled by using tag-recapture data from northern California. Red sea urchins (n=211) ranging in test diameter from 7 to 131 mm were examined for changes in size over one year. We used the function Jt+1 = Jt + f(Jt) to model growth, in which Jt is the jaw size (mm) at tagging, and Jt+1 is the jaw size one year later. The function f(Jt), represents one of six deterministic models: logistic dose response, Gaussian, Tanaka, Ricker, Richards, and von Bertalanffy with 3, 3, 3, 2, 3, and 2 minimization parameters, respectively. We found that three measures of goodness of fi t ranked the models similarly, in the order given. The results from these six models indicate that red sea urchins are slow growing animals (mean of 7.2 ±1.3 years to enter the fishery). We show that poor model selection or data from a limited range of urchin sizes (or both) produces erroneous growth parameter estimates and years-to-fishery estimates. Individual variation in growth dominated spatial variation at shallow and deep sites (F=0.246, n=199, P=0.62). We summarize the six models using a composite growth curve of jaw size, J, as a function of time, t: J = A(B – e–Ct) + Dt, in which each model is distinguished by the constants A, B, C, and D. We suggest that this composite model has the flexibility of the other six models and could be broadly applied. Given the robustness of our results regarding the number of years to enter the fishery, this information could be incorporated into future fishery management plans for red sea urchins in northern California.

Shortspine thornyhead (Sebastolobus alascanus) abundance and habitat associations in the Gulf of Alaska

Shortspine thornyhead (Sebastolobus alascanus) abundance was estimated from 107 video transects at 27 stations recorded from a research submersible in 1991 off southeast Alaska at depths ranging from 165 to 355 m. Numbers of invertebrates in seven major taxa were estimated, as was substrate type. Thornyhead abundance ranged from 0 to 7.5/100 m2, with a mean of 1.22/100 m2, and was positively correlated with depth and amount of hard substrate. Invertebrate abundances were not significantly correlated with numbers of thornyheads. Shortspine thornyhead abundance estimates from this study were several times higher than estimates produced by bottom trawl surveys off southeast Alaska in 1990 and 1993, the two years of survey that encompassed the submersible transects; however, the trend of increasing abundance with depth was similar in the trawl surveys and in the submersible transects, suggesting that trawl surveys systematically underestimate abundance of shortspine thornyheads

复苏植物牛耳草干旱诱导的ACC氧化酶及乙烯调控的引导蛋白基因的克隆、表达与功能分析

本文以耐旱的牛耳草(Boea hygrometirica)为材料，研究了乙烯合成关键酶之一——ACC氧化酶编码基因（BhACO1）在干旱复苏过程中的诱导表达及其编码蛋白的酶活，分析了乙烯在干旱复苏过程中的积累及其对叶片复苏能力的影响和对干旱诱导基因的调控，探讨了一个受乙烯调控的干旱诱导的引导蛋白编码基因（BhDIR1）的表达及其功能。 利用cDNA微阵列技术从牛耳草干旱2h的叶片中得到一个ACC氧化酶基因片段，经5’-RACE得到全长cDNA，命名为BhACO1。BhACO1包含317个氨基酸，与其它植物中的ACC氧化酶具有80%左右的序列相似性。BhACO1基因受乙烯和干旱诱导、但ACC氧化酶抑制剂氯化钴可抑制其干旱诱导表达。BhACO1基因受ABA、2,4-D、SA、H2O2、CaCl2、EGTA及热害和盐害的诱导，但不受冷害诱导。原核表达的GST-BhACO1融合蛋白在体内体外均表现出ACC氧化酶的活性，而过量表达BhACO1的转基因植物的蛋白提取物也表现出较野生型更强的ACC氧化酶活性。 乙烯在牛耳草叶片干旱复水过程中随着时间延长而逐步积累。外源乙烯可诱导叶片黄化，但不影响叶片在复水后的复苏能力;氯化钴处理可部分地抑制乙烯合成而降低牛耳草叶片在干旱过程中乙烯的释放量，同时导致叶片失去复苏能力。与对照相比，氯化钴处理的叶片在干旱时仍可维持较低的离子渗漏水平，但复水后发生大量离子外渗，表明细胞膜完整性也遭到破坏;光系统ІІ活性下降程度在干旱时与对照相似，但复水后完全丧失。 乙烯诱导牛耳草干旱响应基因BhDohb561，BhLEA2和BhDIR1的表达，但不影响牛耳草干旱响应基因BhCML1，BhGRP1，BhSGP和BhLEA1的表达。除BhLEA1外，上述基因在干旱过程中的诱导表达均可被氯化钴预处理所抑制，尤其是BhSGP最明显。 BhDIR1在牛耳草干旱复水过程中mRNA明显地积累，乙烯、ABA、CaCl2、EGTA、H2O2、SA和热害、冷害、盐害都可诱导其表达。BhDIR1编码一个199个氨基酸的小分子量蛋白质，与松柏等植物中发现的可能参与木质素合成的引导蛋白具有约20-30%的序列相似性。与其它引导蛋白相同，BhDIR1在N’端包含一个外泌的信号肽，GFP定位分析表明BhDIR1定位于细胞膜和壁上。 上述结果表明，乙烯在牛耳草叶片耐脱水复苏反应中有不可或缺的作用，而ACC氧化酶所催化的反应是干旱诱导的乙烯合成中的关键步骤。氯化钴预处理通过抑制干旱过程中的乙烯合成，影响一系列基因的干旱诱导表达导致叶片在生理水平和细胞水平上造成了损伤，或是使牛耳草失去了在复水过程中原有的修复能力而无法恢复生命力。BhDIR1作为乙烯调控的下游靶基因之一，可能通过调控木质素的单体间的连接方式而改变木质素的物理性质来影响细胞壁的机械强度和柔韧性，减少干旱对细胞造成的机械伤害。

Fijian coral reef damage and recovery from Cyclone Kina

EXTRACT (SEE PDF FOR FULL ABSTRACT): Early in 1993, Cyclone Kina struck the Fiji Islands, causing more than $100 million in property damage and damaging the coral environment as well. A few days after the cyclone, the most damaged reef was studied. The same reef had been studied 6 months before. This reef crest is dominated by Acropora. Comparison showed that 80-90% of the Acropora was torn from the outer reef and deposited in the inner lagoon. ... It is estimated that it will take a few years to 30 years for the reef to recover to pre-Kina conditions.