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