拖拉机沿曲线路径的跟踪控制

近年关于农业用车轮型移动机器人的研究很多,但主要集中在直线行走方面。该研究进行了沿给定的曲线路径跟踪控制的研究。首先由给定的曲线路径生成四元状态空间,其次在利用预见控制求得车辆的未来值和目标值的基础上,利用最优控制理论设计跟踪控制器。最后在牧草地上对正弦路径和圆形路径进行了跟踪实验。试验结果为：车辆以1.5 m/s的速度行驶时,在很小转弯半径时最大误差可控制在35 cm以内。     

Brachyspira pilosicoli isolated from two beagles and one mongrel in Japan

The feces, colonic contents, and colonic mucosa from two beagles and a mongrel with and without mucohemorrhagic diarrhea were anaerobically cultured and after 72 hr, lucent and rough colonies with weak beta-hemolysis were observed. Small spirochetes with one or two loose waves in the colonies were observed under a phase contrast microscope and the spirochete cells sometimes aggregated. The 16SrDNA sequencing results demonstrated that the canine isolates were B. pilosicoli and the base alignments registered in DDBJ. This is the first report concerning the isolation of B. pilosicoli from dogs in Japan.     

Intestinal microflora in 45 crows in Ueno Zoo and the in vitro susceptibilities of 29 Escherichia coli isolates to 14 antimicrobial agents

Microorganisms from 45 jungle crows (Corvus macrorhynchos) captured from July to December 2002 at Ueno Zoo, Tokyo were identified as Escherichia coli, Proteus mirabilis, Klebsiella pneumoniae, Klebsiella oxytoca, Enterobacter aerogenes, Enterobacter cloacae, Enterobacter agglomerans, Pseudomonas maltophila, Staphylococcus spp., Micrococcus spp., and Streptococcus spp. E. coli showed the highest rate of isolation (21.6%). In an in vitro susceptibility test for 29 isolates of E. coli to 14 antimicrobial agents, all the isolates were resistant to penicillin G, vancomycin, erythromycin, lincomycin, bicozamycin, sulfadimethoxine, and olaquindox. Several isolates of them were also resistant to tetracycline, oxytetracycline, streptomycin, chloramphenicol, and ampicillin. Twenty-nine isolates were divided into 19 serogroups and the most frequently identified serogroups were O8, O114 and O144, which showed the same multidrug-resistant patterns.     

Methods of evaluating the spermatogenic ability of male raccoons (Procyon lotor)

Feral raccoons (Procyon lotor) have been growing in number in Japan, and they are becoming a problematic invasive species. Consequently, they are commonly captured and killed in pest control programs. For effective population control of feral raccoons, it is necessary to understand their reproductive physiology and ecology. Although the reproductive traits of female raccoons are well known, those of the males are not well understood because specialized knowledge and facilities are required to study them. In this study, we first used a simple evaluation method to assess spermatogenesis and presence of spermatozoa in the tail of the epididymis of feral male raccoons by histologically examining the testis and epididymis. We then evaluated the possibility of using 7 variables—body weight, body length, body mass index, testicular weight, epididymal weight, testicular size and gonadosomatic index (GSI)—to estimate spermatogenesis and presence of spermatozoa in the tail of the epididymis. GSI and body weight were chosen as criteria for spermatogenesis, and GSI was chosen as the criterion for presence of spermatozoa in the tail of the epididymis. Because GSI is calculated from body weight and testicular weight, this model should be able to be used to estimate the reproductive state of male raccoons regardless of season and age when just these two parameters are known. In this study, GSI was demonstrated to be an index of reproductive state in male raccoons. To our knowledge, this is the first report of such a use for GSI in a member of the Carnivora.     

High-resolution mapping of the nud locus controlling the naked caryopsis in barley

The hulled or naked caryopsis character of barley is an important agronomic trait because of the direct link to its use. A single recessive gene, nud, located on the long arm of chromosome 7H, controls the naked caryopsis character. Previously, linked amplified fragment length polymorphism (AFLP) bands from bulked segregant analysis were screened, and the nud gene was mapped in a population of 151 F₂ plants. In the present study, the aim was to construct a high‐resolution map of the nud gene towards its positional cloning. Two AFLP bands were converted into sequence‐characterized amplified region (SCAR) markers (sKT5 and sKT9), and a previously reported SCAR marker sKT3 was improved for more reliable detection of polymorphism. A total of 2380 segregants derived from five cross‐combinations were analysed, and the nud gene was flanked by sKT3 and sKT9, at the 0.6‐cM proximal and the 0.06‐cM distal side, respectively. The SCAR markers developed in this study should be useful for marker‐assisted selection in naked barley breeding employing crosses between naked and hulled accessions.     

Use of an automatic cell-counting system with LED illumination for enumeration of marine bacteria

ABSTRACT:   The concentration of aquatic bacteria is basic information required to evaluate the status of environments and to assess bacterial contribution to material cycles. However, the standard direct counting method using epifluorescence microscopy (EFM) is tedious and there is variation in the counts among workers. Here an automatic counting system that consists of Bioplorer (BP) and image analysis has been applied to marine bacteria. BP is composed of a light-emitting diode (LED) illuminant, an optical unit, a driving stage and a charge-coupled device camera. In combination with fluorescent labeling and simplified membrane filtration, bacteria are enumerated automatically. The reproducibility, sensitivity and accuracy of the system were tested for natural marine bacteria, in comparison with EFM and flow cytometry (FCM). The counts obtained by BP showed good correlation with those obtained by EFM and FCM methods. The counts were significantly higher in inshore and oceanic samples, indicating high sensitivity with low background noise. Considering its reproducibility, objectivity, ease of use and compact size, BP can be used as a routine tool for counting aquatic bacteria in substitution for EFM or FCM.     

Chromosome arm location of the gene controlling leaf pubescence of a Chinese local wheat cultivar ‘Hong-mang-mai’

The inheritance of the leaf pubescence character of a Chinese local wheat cultivar ‘Hon-mang-mai’ was investigated by monosomic and telosomic analyses. Leaf pubescence was evaluated by observation of the adaxial side of the penultimate leaf of adult plants. F₁ hybrids of ‘Hong-mang-mai’ with a non-pubescent cultivar ‘Chinese Spring’ had leaf pubescence, but its density was about a half of that of ‘Hong-mang-mai’. In the F₂ generation, the segregation ratio of pubescent to non-pubescent plants fitted a ratio of 3: 1, suggesting that leaf pubescence was controlled by one dominant gene. Monosomic analysis revealed that the gene for pubescence is located on chromosome 7B. Telosomic analysis showed that the gene is located on the short arm of chromosome 7B with a distance of 14.3%from the centromere. This gene is not allelic with the previously reported hairy leaf gene Hl on chromosome 4B, and therefore, is designated Hl2, hairy leaf 2. This revised version was published online in July 2006 with corrections to the Cover Date.     

Changes of serum 3-methylhistidine concentration and energy-associated metabolites in dairy cows with ketosis

The present study examined the Serum 3-methylhistidine concentrations and energy-associated variables of 5 healthy Holstein cows and 5 Holstein cows with ketosis. The serum total cholesterol and apolipoprotein B-100 concentrations and lecithin-cholesterol acyltransferase (LCAT) activity of the ketotic cows were lower than those of the healthy cows 14 days before parturition. The serum non-esterified fatty acid (NEFA) concentration on the day of parturition and 3-methylhistidine concentration 14 days after parturition were higher in the ketotic cows. The serum 3-methylhistidine concentration 14 days after parturition was negatively correlated with the serum LCAT activity 14 days before parturition and was positively correlated with the serum NEFA concentration on the day of parturition. Insufficiency of cholesterol metabolism and acceleration of body fat degradation occur before parturition in cows with ketosis, and these characteristics are correlated with acceleration of protein degradation after parturition.     

Cesium radioactivity in peripheral blood is linearly correlated to that in skeletal muscle: Analyses of cattle within the evacuation zone of the Fukushima Daiichi Nuclear Power Plant

The accident at the Fukushima Daiichi Nuclear Power Plant (FNPP) released a large amount of radioactive substances into the environment. Furthermore, beef contaminated with radioactive cesium above the 500 Bq/kg safety standard was circulated in the food chain in 2011. Japanese consumers remain concerned about the safety of radioactively contaminated food. In our previous study, we detected a linear correlation between radioactive cesium (¹³⁷Cs) activity in blood and muscle around 500 to 2500 Bq/kg in cattle. However, it was unclear whether the correlation was maintained at a lower radioactivity close to the current safety standard of 100 Bq/kg. In this study, we evaluated 17 cattle in the FNPP evacuation zone that had a ¹³⁷Cs blood level less than 10 Bq/kg. The results showed a linear correlation between blood ¹³⁷Cs and muscle ¹³⁷Cs (Y = 28.0X, R² = 0.590) at low radioactivity concentration, indicating that cesium radioactivity in the muscle can be estimated from blood radioactivity. This technique would be useful in detecting high‐risk cattle before they enter the market, and will contribute to food safety.