Human Simulated Intelligence Motion Control for Three-link Acrobot on Horizontal Bar

The design of multi-controller and multi-mode control law is presented for the three-link Acrobot on horizontal bar by employing Human simulated intelligent control method based on sensory-motor Schema.Imitated the characteristics of gymnast's swing-up and handstand movement,the control process of robot is divided by six sequence phase.Then the sensory cell and motor cell and the group of sensory-motor schema is designed based on the analysis of quality-quantity combination.The simulation results show that the controller ensures the gesture and the energy to the desired goal,farther more the motion control of giant swing backword is realized in the simulation.     

1GHB-175型旋耕灭茬施肥播种联合作业机的设计

设计了一种旋耕灭茬施肥播种复式作业机,该机采用反旋灭茬,一次作业完成根茬还田与施肥播种多项作业。根据旋耕灭茬所需刀轴转速和排种施肥量,合理计算了传动比;利用旋耕比阻法和试验法分别计算了旋耕灭茬和排种施肥所需动力,最终确定了整机功率。经检测部门检测,该机工作性能良好,茬土分离、施肥和播种效果良好,整机结构紧凑。     

遮荫对鸡爪槭非结构性碳和化学计量特征的影响

为了探究鸡爪槭（Acerpalmatum）的光适应生长策略,测定并分析了不同光照强度（CK、60%光照与40%光照）下鸡爪槭根、枝与叶中非结构性碳积累、分配及其C:N:P化学计量特征。结果表明：随着遮荫程度增加,根的非结构性碳水化合物含量（NSCs）及其组分增大,枝与叶的NSCs及其组分减小,叶N、P含量增大,C:N、C:P减少,枝N含量、N:P先减小再增大,P、C:N和C:P先增大再减小,根N、P含量先增大再减小,N:P、C:N和C:P先减小再增大。在全光照下,NSCs及其组分为叶>枝>根,N含量为叶>根>枝,N:P和C:N为根>叶>枝;60%的光照下,NSCs及其组分为叶>枝>根,N含量与N:P为叶>根>枝,C:N与C:P为枝>叶>根;40%光照下,NSCs及其组分根>叶>枝,N、P含量为叶>枝>根,C:N与C:P为根>枝>叶。相关性分析表明,叶可溶性糖、淀粉、NSCs含量与N、P含量呈显著负相关,与C:N和C:P呈显著正相关（P <0.01）;枝NSCs含量与N和C:...     

陕西省玉米小斑病菌致病性分化研究

陕西省玉米栽培面积达100余万 ha,主要分布在关中和陕南。70年代以来,小斑病渐趋严重,一些抗病品种相继失去抗病性或抗病性显著降低,从而迫切需要研究玉米小斑病菌的致病性分化。为促进玉米抗病育种工作顺利发展,作者等在1987—1989年进行了省内玉米小斑病菌致病性分化的研究。     

福建省地级市代谢系统差异性研究

以福建省9个地级市的代谢系统为研究对象,根据城市代谢的基本原理,运用能值理论和城市代谢系统互动关系分析方法,从代谢系统生态流和代谢系统中自然子系统与社会经济子系统之间的互动关系这两个方面对9个地级市代谢系统差异性研究,并结合GIS技术对其结果进行等级划分和空间差异性比较。结果表明代谢系统的可更新资源能值投入和进出口能值存在明显的海陆差异性;代谢系统的不可更新资源能值投入存在明显的南北差异性;福州市、厦门市、泉州市和漳州市这4个地级市代谢系统中自然生态子系统对社会经济子系统存在着限制关系,三明市、南平市、龙岩市、宁德市和莆田市这5个地级市代谢系统的社会经济子系统对自然生态子系统存在掠夺关系。     

松针多糖对肉鸡生产性能和免疫功能的影响

本研究旨在探讨松针多糖对肉鸡生长性能和免疫功能的影响。选取240只1日龄的815肉鸡,随机分为4个处理,每个处理4个重复,每个重复15只鸡,分别在基础饲粮中添加0(对照)、0.05%、0.10%和0.15%的松针多糖提取物。试验期为42d,测定处理组生长性能、免疫器官指标、血清免疫指标。结果显示,在生长前期(1-21d),松针多糖对肉鸡的生产性能没有影响(P0.05),0.05%多糖组白细胞介素2的浓度极显著高于对照组(P0.01),对肿瘤坏死因子、胸腺素及免疫器官指标影响不显著(P0.05)。在生长后期(22-42d),0.10%多糖组平均日增重显著高于对照组(P0.05),对平均体重及料重比无显著影响(P0.05),0.05%多糖组肿瘤坏死因子浓度显著高于对照组(P0.05),而对白细胞介素2、胸腺素及免疫器官指标影响不显著(P0.05)。结果表明,饲粮中添加适量的松针多糖在一定程度上可以提高肉鸡的免疫功能和生产性能,0.10%的松针多糖添加量较为适宜。     

不同年龄的养殖中华鲟和野生洄游亲鱼组织脂肪酸组成

对3个年龄(0.5、3和16龄)的养殖中华鲟(摄食鲟鱼饲料)和28龄野生洄游亲鱼肌肉和肝脏中14种常规脂肪酸相对含量和组成进行了分析比较.结果表明:各龄中华鲟肌肉和肝脏中,单不饱和脂肪酸含量最高(32.8%～38.7%及30.6%～46.9%),以18:(n-9)为主;饱和脂肪酸中含量最高的是16:,多不饱和脂肪酸中含量最高的是20:(n-6)和18:(n-6);20:(n-9)含量随年龄增大而减小,20:(n-6)含量随年龄增大而增大.28+洄游中华鲟肌肉中18:(n-9)、20:(n-6)和单不饱和脂肪酸总量高于养殖鱼,而多不饱和脂肪酸总量最低.养殖中华鲟肌肉中16:高于肝脏,28龄野生鱼则肌肉中低于肝脏.通过系统聚类,0.5+与16+中华鲟肌肉和肝脏中脂肪酸舍量最为接近,0.5+与3+鲟较为接近,其中鱼的营养状况起主导作用,年龄差距起辅导作用.比较结果提示:在人工养殖中华鲟时,有必要在其饲料中添加适量含18:(n-9)MUFA的植物油或投喂富含18:(n-9)鲤、鲫鱼可能会达到较好的效果.     

鱼类黑素皮质素受体(MCR)研究进展

通过同源克隆和染色体步移对光倒刺鲃 (Spinibarbus hollandi)黑素皮质素受体-5 (melanocortin receptor-5,mc5r)基因进行了克隆,应用生物信息学方法对mc5r基因序列和推测的氨基酸序列进行分析,采用荧光定量PCR技术研究其mRNA的组织分布、日周期变化以及饥饿再投喂的表达情况。结果表明mc5r基因长度为1 947 bp,含有1个987 bp的外显子,编码329个氨基酸。通过序列同源比对及系统发育进化分析,光倒刺鲃mc5r的氨基酸序列与鲤 (Cyprinus carpio)、犀角金线鲅 (Sinocyclocheilus rhinocerous)的mc5r同源性达到98%。光倒刺鲃mc5r在大脑中显著表达,在间脑、心脏的表达量次之,在中脑、小脑表达量较少,在肾脏、胃、肌肉、脾、肠、性腺、肝脏、延脑、眼中微量表达。光倒刺鲃mc5r mRNA的日周期表达量随昼夜节律而变化,饥饿再投喂实验发现饥饿再投喂组鱼其脑中表达量会显著升高,随后会有下降趋势,表明mc5r可能与光倒刺鲃的摄食调控有关。

     

青藏高原东北部4种灌木主根和侧根抗拉力学特性比较

[目的]开展青藏高原东北部黄土区4种灌木植物主根和侧根抗拉力学强度试验,探讨主根和侧根抗拉力学特性关系,为深入研究植物根系固土护坡力学机理提供参考。[方法]选取西宁盆地长岭沟流域作为研究区,对生长期为3 a的柠条锦鸡儿(Caragana korshinskii)、中宁枸杞(Lycium chinense)、白刺(Nitraria tangutorum)和霸王(Sarcozygium xanthoxylon)4种优势灌木主根和侧根进行室内单根拉伸试验,确定其主根和侧根抗拉力、抗拉强度和杨氏模量及其与根径之间的关系;在此基础上,进一步分析了4种灌木主根和侧根根径、抗拉力、抗拉强度和杨氏模量之间的关系。[结果]柠条锦鸡儿、中宁枸杞、白刺和霸王主根抗拉力分别为侧根的28.45,13.21,11.01,7.35倍,主根抗拉强度分别为侧根的0.67,1.17,0.68,1.22倍,主根杨氏模量分别为侧根的2.00,2.39,2.82,2.48倍。[结论] 4种灌木植物主根抗拉力均显著大于侧根;柠条锦鸡儿和白刺主根抗拉强度小于侧根,而中宁枸杞和霸王主根抗拉强度大于侧根;4种灌木植物主根杨氏模量显著大于侧根,说明其主根相对于侧根不易发生形变,对边坡浅层稳定性贡献亦显著于侧根。     

蔬菜穴盘苗自动精确移栽组合式取苗机构设计与测试

Precision planting is one key point of precision agriculture.A doorframe type swing seedling pick-up device for the automatic precise field transplanter was designed and tested in a laboratory.The seedling device could automatically extract seedlings from growing trays, transfer them, and release them into the planting unit where they were to be precisely transplanted into the ground.It consisted of a path manipulator and two grippers.The path manipulator for seedling extraction was constructed with creative design of Ⅱ-type mechanism combination in series.It consisted of an oscillating guide linkage mechanism and a grooved globoidal cam mechanism.According to the planned seedling pick-up trajectory, the design of the path manipulator for seedling extraction was finished with a set of the closed loop vector equation.The gripper was a pincette-type mechanism using the pick-up pins to penetrate into the root mass for seedling extraction.It consisted of multiple pick-up pins, U-type pull rod, shaft, stop block, compression spring and frame.The mechanical dimensions of the gripper were determined by the tray size and plant characteristic with a set of rectangular equations and the boundary constraint conditions.The final gripper was developed on the basis of cultural practice for vegetable seedling in China.A prototype of the seedling pick-up device was constructed to examine whether its working efficacy was satisfactory or not.According to the analysis on the work process, the seedling pick-up device could precisely complete a work cycle of approaching, penetrating, extracting, transferring, erecting and discharging a seedling.Taking pepper seedlings, tomato seedlings and cucumber seedlings as the transplanting objects, the performance tests were conducted to evaluate the practicality and adaptability of the pick-up device.The laboratory evaluation showed that the pick-up device equipped with two grippers could extract 70 seedlings per minute with an average success ratio of 90.49%.The quality of extracting seedlings was satisfactory.