基于状态构形矢量和状态构形矩阵的可重构模块星球机器人构形水

可重构模块星球机器人系统由母体和多个子机器人模块组成,单个模块可以独立运动和操作,多个模块可以重构组合成不同构形,模块采用非对称式轮手一体机构,具有姿态方位性和运动方向性,重构目的是组成在某种环境下更好地完成有向性运动的构形。基于此,提出矢量构形概念,将运动趋势方向和方位性融合到构形拓扑结构中。在模块矢量分析模型基础上,提出并构建状态构形矢量(State configuration vector,SCV)和状态构形矩阵(State configuration matrix,SCM),对非对称式单模块和整体构形的状态信息进行描述,同时支持预定义的数学变换操作,可以表达并触发模块的基础动作、构形重构。提出离散模块组合重构成目标构形的优化分析算法,通过实例仿真计算获得优化分析的选择结果。

Nations' income inequality predicts ambivalence in stereotype content: How societies mind the gap

Income inequality undermines societies: The more inequality, the more health problems, social tensions, and the lower social mobility, trust, life expectancy. Given people's tendency to legitimate existing social arrangements, the stereotype content model (SCM) argues that ambivalence-perceiving many groups as either warm or competent, but not both-may help maintain socio-economic disparities. The association between stereotype ambivalence and income inequality in 37 cross-national samples from Europe, the Americas, Oceania, Asia, and Africa investigates how groups' overall warmth-competence, status-competence, and competition-warmth correlations vary across societies, and whether these variations associate with income inequality (Gini index). More unequal societies report more ambivalent stereotypes, whereas more equal ones dislike competitive groups and do not necessarily respect them as competent. Unequal societies may need ambivalence for system stability: Income inequality compensates groups with partially positive social images. © 2012 The British Psychological Society.

Ecology of a North Sea pockmark with an active methane seep

ABSTRACT: At a large North Sea pockmark, with active methane seeps, surface sediments were found to have higher insoluble sulphide concentrations than sedlments from the surrounding area. The fauna of the pockmark was characterized by 2 species which have not pi-evlously been reported from the Fladen Ground in the northern North Sea. These species were a b~valve, Thyasira sarsi (which is known to contain endosymbiotic sulphur-oxidising bacteria) and a mouthless and gutless nematode, Astomonerna sp., which also contains endosymbiotic bacteria The nematode was the dominant meiofauna species in the pockmark sediments. Both macro-lnfauna and total nematodes were in low abundance in samples taken from the base of the pockmark. Sediment samples from the pockmark contained numerous otoliths, implying that substantial winnowing of the sediment had taken place. This was supported by studies on the sulphide concentrations in the sediment which showed multiple layering of the sediments on the sides of the pockmark, suggesting displacement. The carbon isotope compositions (6I3c) of the tissues of benthic animals from in and around the pockmark were generally in the range -16 to -2O%, indicating that little methane-derived carbon was contributing to their nutrition. T sarsi had the most 13c-depleted tissues, -31.4 to -35.1 L, confirming the nutritional dependence of this species on chemoautotrophic bacteria that utilize reduced sulphur.

Studies On Benzo[A]Pyrene Mono-Oxygenase In The Shore Crab Carcinus-Maenas

A cytochrome P-450-dependent benzo[a]pyrene mono-oxygenase enzyme system (BPM) has been identified and partially characterized in males of the shore crab Carcinus maenas (L.). Apparent Km values obtained at 30 °C using microsomal preparations from the antennary glands of animals collected during summer were in the range 1.61–2.11 µM. The cytochrome P-450 content was 0·022 nmol/mg microsomal protein when BPM activity in the same preparation was 0·085 nmol/mg protein/min.