基于模型的四足机器人步态转换控制研究

为了解决基于模型的控制方法在四足机器人步态转换过程中稳定控制问题,本文在仿生学和机构学基础上设计了一款四足机器人样机平台,并推导了机器人单腿运动学模型。在足端可达工作空间内规划了机器人抬腿高度和迈步步长,利用理想的复合摆线轨迹,通过合理控制步态周期,提出了一种过渡段变周期控制方法,实现了步态转换前后定速度控制和变步长控制,保证了步态转换前后速度不变或可变。为了验证所提算法的正确性和稳定性,分别开展了单腿足端轨迹实验和整机步态转换实验。在完成整机运动控制的基础上,对比了基于模型的控制方式和基于中枢模式发生器的控制方式在四足机器人步态转换过程的应用。仿真和实验结果表明,在基于模型的控制算法下,四足机器人可以实现步态的平滑转换,且速度能伴随步长和周期的变化实现调节,满足了不同速度下的行走要求,为四足机器的运动控制提供了参考。     

转型期农业专业图书馆可持续发展的途径

本文针对农业专业图书馆转型期面临的挑战、困难 ,论述了专业图书馆必须坚持内涵发展、协调发展、稳定发展、重点发展 ,才能保证它的可持续发展     

液压机械全功率换段方法及功率过渡特性

为了解决液压机械无级传动换段过程中存在的动力中断和换段冲击等问题,基于当前段与目标段双制动器结合重叠,提出全新的液压机械全功率换段方法,并深入探究全功率换段过程功率过渡机理及控制方法。该文以两段等差式液压机械为研究对象,在双制动器结合重叠的动力换段方式的基础上,提出了五阶段液压机械全功率换段方法,通过理论分析与试验相结合的方法,研究了换段过程中液压机械转矩特性和功率特性随液压回路压差的变化规律,液压回路压差随变排量液压元件排量的变化规律。结果表明,在双制动器结合重叠的动力换段中,通过调节变排量液压元件的排量比,能够控制液压回路的高低压侧压差改变、互换,进而控制当前段制动器转矩向目标制动器有序转移,在双制动器结合重叠中完成换段,实现换段过程传递全功率。输入转速保持1 000 r/min不变,进出换段时定排量液压元件转速无波动,输出扭矩波动量约为5 N·m(负载扭矩为60 N·m和150 N·m)。该研究揭示了液压机械全功率换段的功率过渡机理,可为全功率换段的后续研究及液压机械应用提供了参考。     

Unravelling transcriptome changes between two distinct maize inbred lines using RNA-seq

Seed size play a significant role in maize yield production. Two maize inbred lines with distinct seed size and weight, V671 (a large-seed inbred line) and Mc (a small-seed inbred line), were investigated by RNA-seq at 14 days after pollination (DAP), when maize endosperm undergoes an active transition from mitosis to storage accumulation. RNA-seq expression data showed that the small-seed line Mc had a higher storage accumulation activity, whereas the large-seed kernel line V671 possessed a higher DNA synthesis activity. An investigation of the pattern of increasing kernel width at serial DAPs showed that V671 experienced an increased kernel width later than did Mc, but the rate and duration of increase were longer in V671. SDS-PAGE of the storage proteins and quantitative RT-PCR of cell cycle-related genes and indole-3-acetic (IAA) synthesis genes certified that the transition from mitosis to storage accumulation starts earlier in Mc. We hypothesized that the difference in the mitosis-to-storage accumulation transition accounts for the larger seed size in V671 vs. Mc.     

Ground-active arthropod response to distance from the Mediterranean seashore in coastal sand areas of western Israel

Information on the effects of distance from the seashore on soil biotic communities is limited and restricted to soil arthropods and microarthropods. The aim of this study, conducted in a sand-dune area, was to distinguish the changes of a ground-active arthropod community along a 4-km-transect from the seashore going inland. Pitfall traps were set up in open spaces at four locations (L1, through L2, L3, and L4 going inland) through the year. The abiotic gradient from the seashore going inland was found to be mostly dependent on seasonality. Group richness was found to be remarkably greater at the L2, L3, and L4 locations compared with the L1 location in winter, and at the L2 and L3 locations compared with the L1 location in spring. The Fisher α index was 0.32?±?0.21, 3.51?±?0.87, 5.04?±?0.70, and 4.86?±?0.54 in winter and 3.29?±?0.55, 13.79?±?1.49, 10.12?±?1.24, and 5.06?±?0.62 in spring at the L1, L2, L3, and L4 locations, respectively. Regarding abundance and group richness, the trophic relationships between predators, phytophages, omnivores, and saprophages were remarkably affected by both location and seasonality. The dominant groups and dominant index distribution of ground-active arthropod communities were found to follow a similar pattern. Soil organic carbon content was found to be the key factor driving the ground-active arthropod community structure along a coastal gradient going inland in winter and spring. We conclude that the distribution, trophic composition, and diversity index are affected by both location and seasonality, while total abundance is consistently affected by location across all three seasons.     

渐增负荷运动感情反应的变化模式研究*

研究的目的是探讨渐增负荷运动感情反应的变化模式。12名健康大学男生参加功率自行车渐增负荷运动,运动中和运动后测量血乳酸以确定个体乳酸阈,运动中每分钟测量主观运动强度和感情效价。结果显示,群组感情反应在时间上有显著差异,感情反应随强度递增呈线性和阶5下降模式,个体乳酸阈前1s及后面各点FS值均显著低于第1min、第2min的值。个体乳酸阈前感情反应均为积极,接近乳酸阈的感情反应有的积极有的消极,高于乳酸阈的感情反应大部分消极。     

外来植物豚草入侵对土壤碳氮转化的影响

选取撂荒田地为试验样地,以入侵植物豚草（Ambrosia artemisiifolia L.）为对象,以土著优势物种窃衣（Torilis scabra Thunb.）为参照,通过对入侵植物和土著植物根际土壤的采样分析,研究了入侵植物对入侵地土壤特性及土壤碳氮转化的影响。结果表明,与土著物种窃衣相比,豚草入侵使土壤有机质含量增加89.13%,全氮含量增加42.15%,铵态氮含量增加43.69%,硝态氮含量增加35.36%,微生物量碳增加52.08%,微生物量氮增加61.26%,氮净矿化速率增加1.41倍,氮净氨化速率增加206倍,但硝化速率和反硝化速率变化不明显。由此可见,豚草显著改变了入侵地土壤的理化特性,加速了土壤碳氮转化过程。     

稻谷玻璃化转变温度的测定方法及影响因素研究进展

对可测量稻谷玻璃化转变的方法进行了比较分析。简述了稻谷在干燥缓苏过程中影响玻璃化转变的主要因素:温度梯度和水分梯度。在不同的水分梯度稻谷各部位发生玻璃化转变的情况不同,稻谷表面含水量较低,易发生玻璃化转变;而稻谷内部则处于橡胶态,从而产生不同的内应力使稻谷产生裂纹,降低整精米率(HRY)。     

Multifunctionality and agrarian transition in alternative agro‐food production in the global South: The case of organic shrimp certification in the Mekong Delta,Vietnam

Processes of globalisation in the conventional food provision system have had widespread negative impacts on small‐scale farmers. Yet, alternative food networks, which are characterised by more sustainable production/consumption practices and fairer trade relations, have increasingly been ‘going global’ and, in the process, have been integrating small‐scale farms in the South. One such high‐value export‐led commodity is certified organic shrimp. International third‐party certification schemes are becoming popular as a tool to verify the intangible attributes of such commodities. Using concepts of multifunctionality and agrarian change, this paper examines the implications of introducing an international environmental certification programme to a site where the ‘peasantry’ has been preserved and has limited integration in the global agro‐food system. Drawing on a case study that examines the first certified organic shrimp production project in Vietnam, this paper concludes that the current movement towards post‐productivism in the global North has potential to keep local farming practices in the global South by justifying the value of peasant‐like production methods through international certification. As a result, the development path of agrarian transition might be reshaped into a form not necessarily pursuing industrialisation. This leads to the new interpretation of pre‐ and post‐productivism beyond the North and South divide.     

Economic growth and nutrition transition: an empirical analysis comparing demand elasticities for foods in China and Russia

This study provides empirical evidence on the link between economic growth and nutrition transition in two emerging economies, China and Russia. Both countries have experienced rising average incomes, accompanied by an increasing rate of nutrition-related chronic diseases in recent years. Given the regional heterogeneity between these two countries, we analyze the extent to which income growth as a major driver of nutrition transition has a significant effect on the consumption of different food aggregates and how these effects differ between Chinese and Russian consumers. Our results indicate that with increasing household incomes over time the demand for carbohydrates decreases, while the demand for meat and dairy products, as well as fruits increases. This is a development generally known as nutrition transition. Further, we estimate a Quadratic Almost Ideal Demand System(QUAIDS) for nine different food aggregates for China and Russia. Our results indicate that in both countries all food aggregates have positive expenditure elasticities and are thus normal goods. Moreover, our results indicate that in 2008/2009 meat is still a luxury good in China yet a necessity good in Russia. For 2009, the highest own-price elasticities in China are found for non-meat protein sources and dairy products. Within the meat group, beef, poultry and mutton have the highest price elasticities in China. In Russia, the milk and dairy group, together with the vegetable group, is the most price-elastic food group in 2008. In line with the definition of a nutrition transition, our overall results underscore the finding that income growth in China and Russia tends to increase the demand for animal-based products much stronger than, for example, the demand for carbohydrates. Despite being a positive signal for problems of malnutrition in rural China, this trend of increasing meat consumption might further increase the incidence of chronic diseases in urban areas since there is convincing scientific evidence that increasing meat consumption, especially red and processed meat, is associated with an increased risk of chronic diseases.