河蟹养殖自动作业船导航控制系统设计与测试

针对河蟹养殖过程中存在的水草清理难度大、喂料投饵不均匀、人力成本高等问题,该文设计了一种基于ARM(advanced RISC machine)和GPS/INS(global positioning system/inertial navigation system)组合导航的多功能全自动河蟹养殖作业船导航控制系统。该系统由明轮驱动船、ARM主控制器、GPS/INS组合导航装置等组成。为降低传统的基于有限目标点航道位置计算方法的复杂度并减小船体偏离航道的误差,该文提出了一种基于实时插点的航道位置计算方法,实时地解算出当前时刻的目标位置,并设计了相应的转弯及航道切换策略。针对明轮船具有非线性、大时滞、欠阻尼的运动特点,设计了基于模糊PID(proportion integration differentiation)的航向、航速双闭环运动控制算法;基于嵌入式Linux操作系统,设计了船载子系统软件,并编写了上位机监控程序对船载子系统的运行状态进行实时监控。利用河蟹养殖作业船试验平台进行了航速及自动导航试验,并对有限目标点和实时插点的航道位置计算方法的控制效果进行了对比。试验结果表明:船体速度响应较快,超调量不超过5%,稳态误差可控制在3%以内;采用有限点的航道位置计算方法时,船体在转弯与直行时偏离航道的最大误差分别为2.12和1.52m;采用实时插点的航道位置计算方法时,船体在转弯与直行时偏离航道的最大误差分别为0.36和0.09m,分别下降了83.02%和94.08%,船体的控制精度得到了全面的改善。该文可以为多功能河蟹养殖作业船的研究提供重要参考。     

Genetic diversity and relatedness estimates for captive barramundi (Lates calcarifer,Bloch) broodstock informs efforts to form a base population for selective breeding

Aquaculture of barramundi or Asian seabass (Lates calcarifer) is growing in both Australia and Southeast Asia and there is substantial interest to improve production efficiency through selective breeding. The establishment of a large and genetically diverse base population is a prerequisite for a sustainable and long‐term productive breeding program. Before selective breeding programs can begin for Australian barramundi it is important to assess the overall genetic diversity of current captive broodstock populations. To address this question, 407 captive barramundi broodstock from eight separate Australian broodstock populations were genotyped using 16 polymorphic microsatellite DNA markers. A Bayesian STRUCTURE analysis indicated that captive Australian broodstock are broadly divided into two genetic stocks. Multivariate analysis between broodstock individuals and pairwise F_ST between broodstock populations also supported the existence of two stocks. Comparisons with data obtained from natural stocks suggested that hatchery individuals were either sourced from the two stocks or represented an admixture between them. Genetic diversity was low within each broodstock population (allelic richness ranged from 2.67 to 3.42 and heterozygosity ranged from 0.453 to 0.537) and relatedness estimates within hatcheries were generally low (average r was equal to 0.141). We recommend sourcing captive individuals according to high levels of neutral genetic diversity and low levels of relatedness for the establishment of a base population. We also make recommendations about including genetically diverse wild individuals.     

Oxygen Demand of Aircraft and Airfield Pavement Deicers and Alternative Freezing Point Depressants

Aircraft and pavement deicing formulations and other potential freezing point depressants were tested for biochemical oxygen demand (BOD) and chemical oxygen demand (COD). Propylene glycol-based aircraft deicers exhibited greater BOD₅ than ethylene glycol-based aircraft deicers, and ethylene glycol-based products had lower degradation rates than propylene glycol-based products. Sodium formate pavement deicers had lower COD than acetate-based pavement deicers. The BOD and COD results for acetate-based pavement deicers (PDMs) were consistently lower than those for aircraft deicers, but degradation rates were greater in the acetate-based PDM than in aircraft deicers. In a 40-day testing of aircraft and pavement deicers, BOD results at 20°C (standard) were consistently greater than the results from 5°C (low) tests. The degree of difference between standard and low temperature BOD results varied among tested products. Freshwater BOD test results were not substantially different from marine water tests at 20°C, but glycols degraded slower in marine water than in fresh water for low temperature tests. Acetate-based products had greater percentage degradation than glycols at both temperatures. An additive component of the sodium formate pavement deicer exhibited toxicity to the microorganisms, so BOD testing did not work properly for this formulation. BOD testing of alternative freezing point depressants worked well for some, there was little response for some, and for others there was a lag in response while microorganisms acclimated to the freezing point depressant as a food source. Where the traditional BOD₅ test performed adequately, values ranged from 251 to 1,580?g/kg. Where the modified test performed adequately, values of BOD₂₈ ranged from 242 to 1,540?g/kg.     

非线性功放扩大主动磁悬浮系统动态范围研究

为了克服电磁铁芯材料的非线性对主动磁悬浮控制系统的影响,提出一种非线性功率放大的新方法,通过这种特殊的放大器将带有铁芯的差动电磁铁负载系统转换成一个线性系统,对主动磁悬浮的控制器而言,其控制对象就变成了一个线性控制系统,这有利于系统控制量的实时计算。实验结果表明,非线性功放的应用扩大了控制器的动态范围,提高了主动磁悬浮控制系统的稳定性。     

Expression of the Vascular Endothelial Growth Factor (VEGF‐A) and its Receptors in the Umbilical Cord in the Course of Pregnancy in the Pig

The umbilical cord (UC) and the placenta are important organs through which respiratory gases, nutrients, wastes and biologically active substances are exchanged between the maternal and the foetal system. A rapid placental vascularization observed in the second half of pig pregnancy is positively correlated with the mRNA expression of the vascular endothelial growth factor (VEGF). Based on these findings, we hypothesized that VEGF may have a stimulatory effect in the dynamically growing UC. To further understand the role of the VEGF–VEGFR system during UC development, mRNA and protein expression as well as the cellular localization of VEGF‐A, VEGFR‐1 and VEGFR‐2 in UC were examined on days 40, 60, 75 and 90 of pregnancy and after physiological delivery in the pig (day 114 of pregnancy). Real Time RT‐PCR analysis showed an increase in the mRNA levels of VEGF120 and VEGF164 from day 90 of pregnancy. VEGFR‐1 mRNA expression was significantly increased on day 75 of pregnancy. No significant changes in VEGFR‐2 mRNA expression were detected. In turn, western blot analysis revealed an increase in VEGF‐A protein expression on day 40, compared to the later days of pregnancy. A rapid increase in the VEGFR‐1 protein level was noted on day 75 and 90 of gestation. No significant changes in VEGFR‐2 protein expression were detected on any of the analysed days of pregnancy. Immunohistochemical staining enabled detection of VEGF–VEGFR system, in endothelial and tunica media cells of the umbilical vessels and in allantoic duct and amniotic epithelium on all analysed days of pregnancy. Positive reactions for VEGF‐A and VEGFR‐1, but not VEGFR‐2, were also observed in myofibroblasts. In conclusion, this data shows that members of the VEGF–VEGFR system are temporally and spatially well localized for playing key roles during umbilical cord formation and its intensive growth observed after day 75 of pregnancy.     

Response of Thawed Epidi dymal Red Deer Spermatozoa to Increasing Concentrations of Hydrogen Peroxide,and Importance of Individual Male Variability

Oxidative stress represents a challenge during sperm manipulation. We have tested the effect of increasing hydrogen peroxide (H₂O₂) levels on red deer spermatozoa after cryopreservation, and the role of male‐to‐male variation in that response. In a first experiment, eight thawed samples were submitted to 0, 25, 50, 100 and 200 μm H₂O₂ for 2 h at 37°C. Intracellular reactive oxygen species (H₂DCFDA‐CM) increased with H₂O₂ concentration, but we only detected a decrease in sperm function (motility by CASA and chromatin damage by sperm chromatin structure assay) with 200 μm . Lipoperoxidation assessed by the thiobarbituric acid reactive substance (TBARS) method increased slightly with 50 μm H₂O₂ and above. In a second experiment, samples from seven males were submitted to 0 and 200 μm H₂O₂ for 2 h, triplicating the experiment within each male. Males differed at thawing and regarding their response to incubation and H₂O₂ presence. We found that the kinematic parameters reflected male‐to‐male variability, whereas the response of the different males was similar for lipid peroxidation and viability. A multiparametric analysis showed that males grouped differently if samples were assessed after thawing, after incubation without H₂O₂ or after incubation with H₂O₂. Red deer spermatozoa are relatively resilient to H₂O₂ after thawing, but it seems to be a great male‐to‐male variability regarding the response to oxidative stress. The acknowledgement of this individual variability might improve the development of optimized sperm work protocols.