Bioinspired Closed-loop CPG-based Control of a Robot Fish for Obstacle Avoidance and Direction Tracking

This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.     

英国的侧盘菌属:属的概况及大型孢子种的研究(英文)

对侧盘菌属在英国的研究概况进行了评述,研究侧重于Otidea apophysata和O.platyspora两个具有大型子囊孢子的种。同时,对4个错误地用于大型孢子种的名称进行了订正:O. abietina(Pseudotis属的模式种)是含糊名称(nomen ambiguum);O.cochleata也为含糊名称;O. felina是O.alutacea的同物异名,并为后者指定了选模式;将O.umbrina处理为O.bufonia的同物异名。此外,确定了Otidea violacea的分类地位。     

中国流行性乙型脑炎病毒表型和基因型的研究进展

流行性乙型脑炎(乙脑)病毒是引起病毒性脑炎最主要的病毒之一,本文对我国分离株的表型和基因型特性进行了综合分析。生物学特征研究显示,不同毒株间存在空斑形态、小鼠神经侵入致病性、保护性抗原和血凝性的明显差异。中国在1977年前,自然界中仅存在基因Ⅲ型乙脑病毒,但自1977年以后基因Ⅰ型和Ⅲ型病毒均从自然界分离到,而基因Ⅰ型病毒已成为优势病毒,其中多数分离自蚊虫。基因序列分析显示,两种基因型的氨基酸序列差异率很小(≤3%),与当前广泛应用的减毒活疫苗株比较,仅≤3%的氨基酸序列差异率,这些差别主要存在于与SA14-14-2减毒相关的位点,提示SA14-14-2疫苗能够有效地保护这两种基因型毒株的感染。     

工程菌P.pastoris GS115(pPIC9K-lac2)的构建及诱导表达漆酶的研究

用PCR法扩增枯草芽孢杆菌的漆酶基因lac2.构建表达质粒pPIC9K-lac2.通过电转法将lac2基因重组于P.pastoris基因组,筛选高G418抗性和高表达漆酶的转化子作为工程菌GS115(pPIC9K-lac2).在发酵罐中发酵GS115(pPIC9K-lac2)表达重组蛋白.在50 L发酵罐中加入20 L无机盐发酵培养基.在发酵的第一阶段连续24 h补加50％甘油-0.8％ PTM4增殖P.pastoris,然后用甲醇-0.8％ PTM4诱导49 h.在发酵过程中,通过调节搅拌的频率和通气量,将溶氧维持于20％ ～30％,用氨水维持pH 5.0.放罐时生物量为A600=266.5,表达漆酶1097.5U/L发酵液.     

不同产地生漆中漆酚清除自由基及构效关系的初步研究

为更好地开发和利用生漆资源,探寻生漆中主要有效成分漆酚的抗氧化性能,为生漆的深加工提供理论依据和参数。分别应用丙酮提取中国和越南生漆,对得到的漆酚粗提物中的漆酚含量进行测定,建立了阳性对照组Vc和二丁基羟基甲苯(BHT)基础的DPPH、ABTS及O2-.法,对提取物抗氧化性能进行测试;在此基础上,结合紫外光谱分析了中国和越南生漆中漆酚含量及结构差异性,并初步分析其抗氧化的构效关系。结果显示,各地生漆中漆酚提取物具有强的抗氧化活性:中国毛坝生漆提取物抗氧化活性最强,其次是越南红漆和中国小木漆;紫外光谱分析亦表明毛坝生漆中含有丰富的不饱和键可能与其较强的抗氧化性相关。     

An Efficient Rice Mutagenesis System Based on Suspension-Cultured Cells

Plant mutants are important bio-resources for crop breeding and gene functional studies. Conventional methods for generating mutant libraries by mutagenesis of seeds with physical or chemical agents are of low efficiency. Here, we developed a highly-efficient ethyl methanesulfonate (EMS) mutagenesis system based on suspension-cultured cells, with rice (Oryza sativa L.) as an example. We show that treatment of suspension-cultured tiny cell clusters with 0.4% EMS for 18-22h followed by differentiation and regeneration produced as high as 29.4% independent mutant lines with visible phenotypic variations, including a number of important agronomic traits such as grain size, panicle size, grain or panicle shape, tiller number and angle, heading date, male sterility, and disease sensitivity. No mosaic mutant was observed in the mutant lines tested. In this mutant library, we obtained a mutant with an abnormally elongated uppermost internode. Sequencing and functional analysis revealed that this is a new allelic mutant of eui (elongated uppermost internode) caused by two point mutations in the first exon of the EUI gene, representing a successful example of this mutagenesis system.     

The Arabidopsis Anaphase-Promoting Complex/Cyclosome Subunit 1 is Critical for Both Female Gametogenesis and Embryogenesis

Anaphase-promoting complex/cyclosome (APC/C), a multisubunit E3 ligase, plays a critical role in cell cycle control, but the functional characterization of each subunit has not yet been completed. To investigate the function of APC1 in Arabidopsis, we analyzed four mutant alleles of APC1, and found that mutation in APC1 resulted in significantly reduced plant fertility, accumulation of cyclin B, and disrupted auxin distribution in embryos. The three mutant alleles apc1-1, apc1-2 and apc1-3 shared variable defects in female gametogenesis including degradation, abnormal nuclear number, and disrupted polarity of nuclei in the embryo sac as well as in embryogenesis, in which embryos were arrested at multiple stages. All of these defects are similar to those previously identified in apc4. The mutant apc1-4, in which the T-DNA was inserted after the transmembrane domain at the C-terminus, showed much more severe phenotypes; that is, most of the ovules were arrested at the one-nucleate female gametophyte stage (stage FG1). In the apc1 apc4 double mutants, the fertility was further reduced by one-third in apc1-1/+ apc4-1/+, and in some cases no ovules even survived in siliques of apc1-4/+ apc4-1/+. Our data thus suggest that APC1, an essential component of APC/C, plays a synergistic role with APC4 both in female gametogenesis and in embryogenesis.     

不同消毒液实验室消毒效果实验比较

目的:证明不同消毒液均能对于指征菌群达到定量杀灭效果(杀灭对数值)。方法:将不同浓度的消毒液经不同时间的反应后,取出适量加入相应培养基中经不同温度的培养,观察杀灭微生物的效果。结论:不同消毒液各剂型对于指征菌群的定量杀灭效果(杀灭对数值),均能达到对物品的消毒要求。     

35S::GmPM30在拟南芥的根系生长中表现为对ABA的敏感性降低(英文)

LEA protein,late-embryogenesis-abundant protein,is importantin response to thesalt and drought stresses in plants.Here,weidentified a cDNA full length of LEA from soybean and found that LEA enhance the ability of anti-salinity in transgenic Arabidopsis thaliana.The expression of GmPM30 increases highly under salinity,cold or ABA treatment,and enhances by certain degree under drought stress.The germination rates,primary root lengths and survival rate of GmPM30 over-expression lines are obviously higher than that of the wild-type after suffering the salinity stress.Our studies displays that GmPM30-ox apparently enhances the tolerance to salinity in Arabidopsis thaliana.     

核桃壳提取液用于单针藻Monoraphidium sp.QLZ-3培养产油脂

[目的] 研究核桃壳提取液（walnut shell extracts,WSE）对单针藻Monoraphidium sp.QLZ-3生长和油脂积累的影响。[方法] 向BG-11培养基中添加不同量的WSE（培养基中保留有BG-11中全部营养成分）。[结果] 结果显示,当BG-11培养基中的WSE含量为40%时,单针藻的生物量产率及油脂产率达到（534.70±4.07）mg/（L·d）和（296.35±15.36）mg/（L·d）,相比对照组分别提高了的14.82%和33.50%,蛋白质和碳水化合物含量分别有不同程度的上调和下调。与对照组相比,微藻中谷胱甘肽（glutathione,GSH）和超氧化物歧化酶（superoxide dismutase,SOD）含量与活性均上调。此外,WSE作用下,微藻对多酚的移除达到84.37%,同时上调了核酮糖1,5-二磷酸羧化酶基因（ribulose 1,5-bisphosphate carboxylase/oxygenase,rbcL）和乙酰辅酶A羧化酶（acetyl coenzyme A carboxylase,accD）基因的表达量。[结论] 研究表明,WSE联合BG-11可以提高微藻的生物量产率和油脂产率,降低微藻培养的原料成本,为核桃壳的资源化利用及微藻的工业化生产提供了一定的技术支撑。