基于POE的动力学建模与快速非奇异终端滑模控制

结合旋量指数积形式(POE)和凯恩方程的优点,提出了一种具有明显几何意义的高效动力学建模方法,并以此为基础提出机器人系统的快速非奇异终端滑模控制算法。凯恩方程中的偏速度选择为基于旋量理论描述的合适的物体雅可比矩阵,并以此定义其他动力学模型参数表达方式,且在"钱江一号"串联机器人上进行建模实例验证。基于该动力学模型,为了改善传统滑模控制的有限时间收敛特性,保证全局控制非奇异性,提出了一种快速全局非奇异终端滑模控制,通过构造带状态高次项的滑模面函数,得到全局非奇异控制,并保证系统从任意状态到达滑模面的时间和在滑模上到达平衡点的时间均为有限且快速收敛,通过李雅普诺夫函数证明了其稳定性,并结合对比实验,验证了该方法在机器人系统中的鲁棒性和有效性。     

Wound‐healing potential of curcumin in the carp,Labeo rohita

In this investigation, the effect of dietary administration of curcumin on the healing of skin wound in fish, Labeo rohita, has been reported. Fish were divided into three groups: control group (fish without skin wound), sham group (fish with skin wound without curcumin treatment) and curcumin‐treated group (fish with skin wound and subjected to dietary administration of 1% curcumin). Experiments were conducted for 30 days to assess the healing of skin wounds at different time intervals using scanning electron microscopy, histology, and mucopolysaccharide and enzyme histochemistry. In the curcumin‐treated group, healing of skin wounds was found to be enhanced than in the sham group as indicated by early restoration of morphology of the surface layer of epithelial cells; the density of the mucous goblet cells; the density of club cells in epidermal layer; and early granular tissue formation, collagen deposition and tissue remodelling in dermal layer. Furthermore, peroxidase and catalase enzyme activity showed increased endogenous defence system in the curcumin‐treated group compared with the sham group. It could be concluded that dietary administration of curcumin is beneficial in rapid healing of skin wounds in fish. Early healing of wounds could be considered to prevent the invasion of pathogens and to maintain the integrity of the surrounding tissue.     

Synthetic and organic mulching and nitrogen effect on winter wheat (Triticum aestivum L.) in a semi-arid environment

Field experiments were conducted in 2002-2003 and 2003-2004 to evaluate the relative performance of synthetic (black polyethylene) and organic (paddy husk and straw) mulches on soil and plant water status vis-a-vis N uptake in wheat in a semi-arid environment of India. Scope of better utilization of soil moisture was documented through all the mulches, especially during initial crop growth stages, when the moisture content was 1-3% higher in mulches. Soil temperature was more moderate under organic mulches. Paddy husk recorded significantly higher plant biomass, while the effect of mulching in enhancing root growth was clearly documented. Organic mulches produced more roots (25 and 40% higher root weight and root length densities compared to no-mulch) in sub-surface (>0.15 m) layers, probably due to greater retention of soil moisture in deeper layers and relatively narrow range of soil temperature changes under these systems. Incremental N dose significantly improved all the plant parameters in both mulch and no-mulch treatments. Grain yield was 13-21% higher under mulch and so with increasing N levels. Nitrogen uptake was higher in organic mulches and also with higher N doses, while polyethylene mulch showed mixed trend. Mulches were effective in reducing 3-11% crop water use and improved its efficiency by 25%. Grain yield and biomass were well-correlated with leaf area index (r = 0.87 and 0.91, respectively) and water use was better correlated with root length than its weight. Results indicated substantial improvement in water and N use efficiency and crop growth in wheat under surface mulching, and the organic mulches, especially rice husk performed better than synthetic mulches.     

A free-fall determination of the newtonian constant of gravity

Recent determinations of the Newtonian constant of gravity have produced values that differ by nearly 40 times their individual error estimates (more than 0.5%). In an attempt to help resolve this situation, an experiment that uses the gravity field of a one-half metric ton source mass to perturb the trajectory of a free-falling mass and laser interferometry to track the falling object was performed. This experiment does not suspend the test mass from a support system. It is therefore free of many systematic errors associated with supports. The measured value was G = (6.6873 +/- 0. 0094) x 10(-11) m3 kg-1 sec-2.     

Thermographic selection of effective catalysts from an encoded polymer-bound library

A general method is introduced for the rapid and simultaneous evaluation of each member of large encoded catalyst libraries for the ability to catalyze a reaction in solution. The procedure was used to select active catalysts from a library of potential polymer-bound multifunctional catalysts. From approximately 7000 beads screened (3150 distinct catalysts), 23 beads were selected for catalysis of an acylation reaction. Kinetic experiments indicate that the most strongly selected beads are also the most efficient catalysts.     

Substitution of nitrogen requirement of maize through leaf biomass of Leucaena leucocephala: agronomic and economic considerations

In a 3-year field study, the effects of substitution of nitrogen requirement of maize through Leucaena leaves were studied on runoff, soil loss, maize and wheat yield and economic returns. The treatments were (1) 80 kg N ha^-;1 all through Leucaena leaves (80 L), (2) 40 kg N through Leucaena leaves + 40 kg N ha^-;1 through fertilizer (40 L + 40 F), (3) 20 kg N through Leucaena leaves + 60 kg N ha^-;1 through fertilizer (20 L + 60 F), (4) 80 kg N ha^-;1 all through fertilizer (80 F), and (5) control (No fertilizer). Green Leucaena leaf biomass (containing 3.3% N on dry basis) was incorporated every year in 15 cm top soil two weeks before sowing of summer maize.Other treatments being almost equal, runoff was reduced marginally in treatment 20 L + 60 F which was attributed to better crop growth in this treatment. Mean minimum soil loss (6.202 t ha^-;1) also occurred in treatment 20 L + 60 F. Soil loss in 80 L was 13% less than in 80 F. Maize yield was at par in 80 L and 80 F. However, mean maximum yield of maize was obtained with 20 L + 60 F.Residual effect of incorporation of Leucaena leaves to maize crop was observed on wheat yield. The mean yield differences were statistically at par in all the treatments except control. The total mean net returns were statistically at par in 80 L and 80 F. However, significantly higher mean net returns (Rs 6811 ha^-;1; one US$ = Rs30) were obtained with 20 L + 60 F. Substitution of N through Leucaena leaves even in small quantity may be helpful to small holders, particularly where chemical fertilizers are in short supply or too expensive.     

Dynamics of the free-living stages of sheep intestinal parasites on pasture in the North Island of New Zealand. 1. Patterns of seasonal development

Abstract

AIM: To describe the seasonal pattern of development of third-stage infective larvae (L3) from eggs of Teladorsagia (=Ostertagia) circumcincta, Trichostrongylus colubriformis and Haemonchus contortus on pasture in the North Island of New Zealand.

METHODS: Sheep faeces containing known numbers of eggs of all three nematode species were deposited on, or buried in, pasture plots at three sites, viz coastal Manawatu, Upper Hutt Valley, and East Cape hill country. Development was measured by recovering L3 from faeces, herbage and soil 28–31 days after deposition on 13–18 occasions, between January 2005 and July 2006. Analysis of the number of larvae recovered used a mixed model including number of eggs deposited, weight of faeces recovered (an assumed indicator of earthworm activity), site, contamination date, and position of deposited faeces, i.e. on the surface or buried.

RESULTS: There was a significant effect of contamination date on development of all three species, with maximum numbers ofL3 developing between late spring (November) and early autumn (March), and minimum numbers in June and July. There were large differences between species, with H. contortus exhibiting a long period (April to October) where development was close to zero, whereas T. circumcincta developed to some extent all year round. Development of T. colubriformis was intermediate between the other two species.

Burying faeces containing nematode eggs increased the number of L3 recovered compared with surface deposition (p≤0.001), although there were a small number of exceptions involving only T. colubriformis. The weight of faeces recovered at harvest, which was assumed to be an indication of earthworm activity, was correlated with the number of L3 recovered for all species (p<0.001). In a separate analysis, earthworms were assumed tohave been active if <5 g faeces remained at harvest. Where this occurred, the number of L3 of T. colubriformis and T.circumcincta recovered was reduced by 56% and 58%, respectively (p<0.001).

CONCLUSIONS: A marked seasonal pattern of development was observed for all three species, with the most larvae developing in spring-early autumn and the least in winter. This seasonal pattern was most pronounced in H. contortus and least obvious in T. circumcincta. Burying faeces containing eggs generally resulted in more L3 being recovered, whilst the apparent activity of earthworms resulted in fewer larvae being recovered.     

Oxidative degradation of triazine derivatives in aqueous medium: a radiation and photochemical study

Pulse and steady state radiolysis techniques have been used to determine the bimolecular rate constants and to investigate the spectral nature of the intermediates and the degradation induced by hydroxyl radicals ((*)OH) with 1,3,5-triazine (T), 2,4, 6-trimethoxy-1,3,5-triazine (TMT), and 2,4-dioxohexahydro-1,3, 5-triazine (DHT) in aqueous medium. A competitive kinetic method with KSCN as the (*)OH scavenger was used to determine the rate constants for the reaction of (*)OH with T, TMT, and DHT. The bimolecular rate constants are 3.4 x 10(9), 2.06 x 10(8), and 1.61 x 10(9) dm(3) mol(-)(1) s(-)(1) respectively, for T, TMT, and DHT at pH approximately 6. The transient absorption spectra obtained from the reaction of (*)OH with T, TMT, and DHT have single absorption maxima at 320, 300, and 300 nm, respectively, and were found to undergo a second-order decay. The formation of TOH(*) [C(6)OH-N(5)-yl radical], TMTOH(*) [N(5)OH-C(6)-yl radical], and DHT(*) [C(6)-yl radical] is proposed from the initial attack of (*)OH with T, TMT, and DHT, respectively. A complete degradation of TMT (10(-3) mol dm(-3)) was obtained after absorbed doses of 5 kGy in N(2)O-saturated solutions and 16 kGy in aerated solutions. A similar degradation pattern was obtained with DHT in N(2)O-saturated solutions. Complete degradation was observed with an absorbed dose of 7 kGy. On the basis of the results from both pulse and steady state radiolysis, a possible reaction mechanism involving (*)OH-mediated oxidative degradation is proposed. A complete photodecomposition of DHT was also observed in the presence of ferric perchlorate using ultraviolet light at low pH. Photoinduced electron transfer between Fe(III) and DHT in the Fe(III)-DHT complex and subsequent formation of DHT(*) are proposed to be the major processes that lead to the complete degradation of DHT at pH 3.     

An Experimental Model to Study Resistance Index and Systolic/Diastolic Ratio of Uterine Arteries in Adverse Canine Pregnancy Outcome

The aim of this study was to describe the changes in the resistance index (RI) and systolic/diastolic ratio ( S / D ) of the uterine arteries during mid-pregnancy abortion induction in the dog. Sixteen 30–35 day pregnant bitches were randomly assigned to either a pharmacological protocol to interrupt gestation (n = 8) or were used as untreated control group (n = 8). Doppler assessments of uterine arteries blood flow were carried out before the initiation of the protocol and then every other day up to abortion (treated group) or parturition (control group). All treated bitches aborted 6 ± 1.2 days after initiation of the treatment (while none of the non-treated bitches aborted). Pre-treatment RI and S / D did not differ between groups (p > 0.2) while average post-treatment indexes were (mean ± SD): 0.62 ± 0.1 vs 0.53 ± 0.1 (p < 0.01) and 2.96 ± 0.9 vs 2.23 ± 0.3 (p = 0.01), for the treated and non-treated group respectively. Correlations between days to abortion and RI or S / D were 0.75 (p < 0.01) and 0.79 (p < 0.01) and, −0.78 (p < 0.01) and −0.73 (p < 0.01) for the treated and non-treated groups respectively. In the treated group, correlations between serum progesterone (P₄) concentrations and RI and S / D were −0.76 (p < 0.01) and −0.59 (p < 0.01) respectively. It is concluded that, during induction of abortion, RI and S / D of uterine arteries progressively increased while P₄ decreased.