The hydrodynamics of water strider locomotion

Water striders Gerridae are insects of characteristic length 1 cm and weight 10 dynes that reside on the surface of ponds, rivers, and the open ocean. Their weight is supported by the surface tension force generated by curvature of the free surface, and they propel themselves by driving their central pair of hydrophobic legs in a sculling motion. Previous investigators have assumed that the hydrodynamic propulsion of the water strider relies on momentum transfer by surface waves. This assumption leads to Denny's paradox: infant water striders, whose legs are too slow to generate waves, should be incapable of propelling themselves along the surface. We here resolve this paradox through reporting the results of high-speed video and particle-tracking studies. Experiments reveal that the strider transfers momentum to the underlying fluid not primarily through capillary waves, but rather through hemispherical vortices shed by its driving legs. This insight guided us in constructing a self-contained mechanical water strider whose means of propulsion is analogous to that of its natural counterpart.     

圆梁山隧道毛坝向斜段深部承压岩溶水系统浅析

通过地表调研、深孔勘探与抽水试验以及氢氧同位素测试 ,揭示向斜核部存在深部岩溶承压水系统 ,局部地带以绕轴与断层带局部承压径流的形式沟通向斜东西翼的水力联系 ,深部承压岩溶水系统在整个向斜水循环中所起的作用是很有限的。隧道施工时 ,应做好防水措施。     

黄缘真龙虱体表结构与其水中减阻功能的关系

采用体视显微镜、扫描电镜技术观察并描述了黄缘真龙虱体壁表面各部位的形态结构特征,发现了3种典型的凹陷和普遍存在的凸起,了解了其三维结构,分析了凹陷与龙虱水生生活的关系.观察和比较了不同部位体表的刚毛形态构造,发现了3种典型的刚毛,即主要分布在足节上的刺状刚毛、雄性前足吸盘刚毛和仅分布于前胸背板和鞘翅刻点处的束状刚毛,分析了其适应水生生活的特点.同时,发现了龙虱体表存在的其他如波纹、鳞片等典型非光滑形态结构,测定了体壁水接触角,探讨了这些结构与水中运动减阻功能的关系.     

Movement behavior of a spider on a horizontal surface

Studying the locomotive behavior of animals has the potential to inspire the design of the mechanism and gait patterns of robots ("bio-inspired robots"). The kinematics characteristics of a spider (Ornithoctonus huwena), including movement of the legs, movement of the center of mass (COM) and joint-rotation angle, were obtained from the observation of locomotion behaviors recorded by a three-dimensional locomotion observation system. Our results showed that one set of the stance phase consists of four legs, which were leg-1 and leg-3 on one side and leg-2 and leg-4 on the other side. Additionally, two sets of the stance phase comprised eight legs alternately supporting and driving the motion of the spider’s body. The spider primarily increased its movement velocity by increasing stride frequency. In comparison to other insects, the spider, O. huwena, has superior movement stability. The velocity and height of COM periodically fluctuated during movement, reaching a maximum during alternation of leg phase, and falling to a minimum in the steady stance phase. The small change in deflection angle of the hind-leg was effective in driving locomotion, whereas each joint-rotation angle of the fore-leg changed irregularly during locomotion. This research will help in the design of bio-inspired robots, including the selection of gait planning and its control.     

速滑中腿部肌肉协调性同步肌电分析

为研究人体运动中腿部肌肉间的运动协调关系,提出了一种基于多肌电模型的同步肌电研究方法。该文以滑冰运动为例,采集了5名速滑运动员滑冰过程中腿部9块表层肌肉的肌电信号,分别建立每位运动员直道和弯道滑跑多肌电模型,并进行了多路肌电的同步相关性分析。分析结果表明:同一运动员完成相同动作时肌肉协调关系一致性好;而完成不同动作时的肌肉协调关系差异明显;不同运动员完成同一动作时,肌肉协调关系有较大差别。实验结果显示了同步肌电分析方法可以作为一种有效的量化评估肌肉间协调性的方法。     

A rare lobopod with well-preserved eyes from Chengjiang Lagerstātte and its implications for origin of arthropods

The origin of arthropods has long been one ofthe most hotly-debated subjects. Arthropods used to bethought closely related with annelids, but the two groups arenow believed to be separated into two major realms withinProtostomia on the basis of new molecular data. Although itis generally held by paleontologists that arthropods should berooted in the early lobopods-.a kind of worm-like creaturewith non-segmented legs, no intermediate forms have beenfound to bridge them. Here we report an organism with amixture of characters, including features characteristic ofarthropods (e.g., primary cephalization with paired eyes,paired antennae, and preliminary tagmosis) and of lobopods(e.g., worm-like body design, the dorsal spines, andnon-segmented limbs or lobe-like legs). The discovery of therare transitional form may throw new light on the origin ofarthropods and suggests that the most primitive arthropodsbegan with paired uniramous legs and the biramous onesevolved later.     

A rare lobopod with well-preserved eyes from Chengjiang Lagerst(?)tte and its implications for origin of arthropods

The origin of arthropods has long been one ofthe most hotly-debated subjects. Arthropods used to bethought closely related with annelids, but the two groups arenow believed to be separated into two major realms withinProtostomia on the basis of new molecular data. Although itis generally held by paleontologists that arthropods should berooted in the early lobopods--a kind of worm-like creaturewith non-segmented legs, no intermediate forms have beenfound to bridge them. Here we report an organism with amixture of characters, including features characteristic ofarthropods (e.g., primary cephalization with paired eyes,paired antennae, and preliminary tagmosis) and of lobopods(e.g., worm-like body design, the dorsal spines, andnon-segmented Iimbs or lobe-like legs). The discovery of therare transitional form may throw new light on the origin ofarthropods and suggests that the most primitive arthropodsbegan with paired uniramous legs and the biramous onesevolved later.     

异构双腿机器人步态规划与控制实现

为了给智能仿生腿的开发提供一个理想的研究平台,提出了异构双腿行走机器人(BRHL)这一全新的类人机器人模式.首先阐述了BRHL的概念及研究意义,然后基于分割建模思想给出了BRHL的协调动力学模型.提出了修正的Sigmoid磁流变阻尼器建模方法并进行了实验建模.详细阐述了基于步态跟随的BRHL步态规划方法并进行了仿真.最后给出了BRHL的控制系统设计,利用Pro/E,ADAMS及MATLAB/Simulink对BRHL进行了虚拟样机联合控制仿真.仿真结果表明,基于MR阻尼器控制的仿生腿能够很好地实现对人工腿的步态跟随.     

Redesigning the body plan of Drosophila by ectopic expression of the homoeotic gene Antennapedia

Genetic and molecular studies on the expression of Antennapedia (Antp) have suggested that this gene specifies mainly the second thoracic segment. On the basis of our molecular analysis of dominant gain-of-function mutants we have postulated that the transformation of antennae into second legs is due to the ectopic overexpression of the Antp+ protein. This hypothesis was tested by inserting the complementary DNA encoding the normal Antp protein into a heat-shock expression vector and subsequent germ-line transformation. As predicted, heat induction at defined larval stages leads to the transformation of antennae into second legs. The dorsal part of the head can also be transformed into second thoracic structures (scutum) indicating that Antp indeed specifies the second thoracic segment. By ectopic overexpression of the Antp protein the body plan of the fruit fly can be altered in a predictable way.     

The earliest known fully quadrupedal sirenian.

Modern seacows (manatees and dugongs; Mammalia, Sirenia) are completely aquatic, with flipperlike forelimbs and no hindlimbs. Here I describe Eocene fossils from Jamaica that represent nearly the entire skeleton of a new genus and species of sirenian--the most primitive for which extensive postcranial remains are known. This animal was fully capable of locomotion on land, with four well-developed legs, a multivertebral sacrum, and a strong sacroiliac articulation that could support the weight of the body out of water as in land mammals. Aquatic adaptations show, however, that it probably spent most of its time in the water. Its intermediate form thus illustrates the evolutionary transition between terrestrial and aquatic life. Similar to contemporary primitive cetaceans, it probably swam by spinal extension with simultaneous pelvic paddling, unlike later sirenians and cetaceans, which lost the hindlimbs and enlarged the tail to serve as the main propulsive organ. Together with fossils of later sirenians elsewhere in the world, these new specimens document one of the most marked examples of morphological evolution in the vertebrate fossil record.     

桩腿变化对装配式高架栈桥静力特性的影响

为了分析桩腿长度对装配式高架栈桥桩腿屈曲和静力特性的影响,在静载作用下计算了不同桩腿长度的装配式高架栈桥的上部结构挠度值和下部桩腿应力值,并分析了桩腿长度变化对栈桥桩腿轴力、平台挠度和桩腿屈曲的影响。计算结果表明,桩腿长8m及以下的装配式高架栈桥,在设计荷载静载作用下,上部结构挠度值和下部桩腿应力值的计算结果在工程允许范围内。桩腿长度变化对上部结构的挠度值和桩腿的轴力影响较小,而对装配式高架栈桥的桩腿的屈曲破坏临界荷载影响较大,尤其是当桩腿长大于5m后,桩腿的屈曲破坏临界荷载急剧下降。装配式高架栈桥在设计200kN轮式荷载和300kN履带荷载作用下会发生桩腿屈曲破坏的桩腿临界长度分别为6.95m和7.63m。     

简化太极拳对下肢关节的生物力学影响

通过对30例健康成年人在简化太极拳练习过程中下肢关节角度的测量及分析，发现在整个练拳过程中，受试者下肢关节角度均值的减小具有非常显著性差异。左右下肢关节平均屈曲30～40度即处于功能位，可以有效地提高下肢不同关节周围肌群的各种工作能力，有利于加强人体的行走和跑跳功能。另外，下肢动作弧度基本不受大腿长和小腿长的影响，正说明简化太极拳是适合于不同身高、男女老少皆宜的一项健身运动项目．     

用有限组合元法分析外包T型叶根小脚装配间隙的影响

本文通过有限组合元法分析了外包小脚装配间隙对叶根轮缘强度的影响。得出了在工艺许可条件下,小脚装配间隙宜尽量减小的结论。     

车载雷达机电式自动调平控制系统

介绍了一套应用于某型车载雷达的四点支撑机电式自动调平控制系统。该系统的设计集执行机构、锁定机构和速度、位置反馈装置于一体,实现了机电一体化,具有体积小、重量轻、可靠性高、无极调速、调平精确、系统掉电后可长期锁定调平精度等特点;实现了平台全升全降,撑腿落地自动检测,撑腿行程自动反馈,撑腿过行程和过载保护,水平监控,自动调平,撑腿自动锁定、解锁,本控、遥控和手动操作等功能,调平精度小于1′,调平时间小于2Min。     

Structural basis for allostery in integrins and binding to fibrinogen-mimetic therapeutics

Integrins are important adhesion receptors in all Metazoa that transmit conformational change bidirectionally across the membrane. Integrin alpha and beta subunits form a head and two long legs in the ectodomain and span the membrane. Here, we define with crystal structures the atomic basis for allosteric regulation of the conformation and affinity for ligand of the integrin ectodomain, and how fibrinogen-mimetic therapeutics bind to platelet integrin alpha(IIb)beta3. Allostery in the beta3 I domain alters three metal binding sites, associated loops and alpha1- and alpha7-helices. Piston-like displacement of the alpha7-helix causes a 62 degrees reorientation between the beta3 I and hybrid domains. Transmission through the rigidly connected plexin/semaphorin/integrin (PSI) domain in the upper beta3 leg causes a 70 A separation between the knees of the alpha and beta legs. Allostery in the head thus disrupts interaction between the legs in a previously described low-affinity bent integrin conformation, and leg extension positions the high-affinity head far above the cell surface.     

异构双腿行走机器人机构优化设计

为了给智能仿生腿的开发提供一个理想的研究平台,提出了异构双腿行走机器人(BRHL)这一全新的类人机器人模式.阐述了BRHL的概念及研究意义,介绍了BRHL双腿机构的仿生设计.由于双腿机械结构类似,以仿生腿为例推导了BRHL的运动学模型.论述了BRHL的优化原则、目标函数及约束条件.利用处理好的正常人体步态数据对BRHL进行了优化设计.优化结果表明,BRHL能够较好地实现拟人步态,是智能仿生腿的理想研究平台.     

港口道路堆场水泥混凝土铺面荷载应力计算

针对港口道路、堆场水泥混凝土铺面结构的荷载应力计算问题,将其上作用的流动机械荷载、集装箱荷载简化为单轮(单箱脚)荷载、单轴(单列箱)荷载和多轴(多列箱)荷载等图式,采用不等平面尺寸双层板力学模型,提出了港口道路、堆场水泥混凝土铺面面板和基层荷载应力计算的一般式,分析了旁侧轮、旁侧轴、单列及多列箱、板平面尺寸、基层超宽以及接缝传荷等因素对面板和基层荷载应力的影响规律,比较了有限元结果和公式荷载应力的一致性和精度,结果可用于港口道路、堆场水泥混凝土铺面结构荷载应力估算.     

海洋平台分振结构减振效果的试验研究

根据渤海海洋环境的特点，提出了一种新的平台分振结构，以减小流冰引起的平台振动，同时考虑了地震和波浪对此分振结构的影响．分振结构的设想是将平台立柱分成内管和外管，外管通过斜撑杆和桩腿沉箱连接，内管则支承平台甲板．内管和外管在水线附近可以相联或分开．为此，设计并制造了一个钢结构模型，用集中的随机载荷分别输入到分振模型的各有关位置，以模拟流冰、地震和波浪等外载荷，分别在空气和水环境中作了减振效果试验．减振效果则利用测点振动响应的传递函数的概念来分析，减振效果是一个无量纲系数，仅是频率的函数．试验结果证明，此结构形式对减振有相当好的效果．     

基于时序分析的四足机器人对称步态变换

提出了一种四足机器人一般步态的时序分析方法．该方法使用8个参数描述一般步态：步态周期、前双腿落地之间的滞后时间、后双腿落地之间的滞后时间、同侧双腿之间的滞后时间以及各条腿的负荷系数．运用该方法分析了常用对称步态,经过归一化处理后得到了一个跨步周期中各腿着地和抬起的时间序列．证明了匀速情况下具有等负荷系数的两种对称步态之间只需要一个步态周期就能够完成步态变换,从而得到变换步态中各腿着地和抬起的时间序列．计算实例表明了该方法适用于分析对称步态变换．     

甘肃省3～6岁幼儿身体素质调查

我省幼儿3～4岁为下肢力量和爆发力、平衡能力、灵敏性素质快速增长期.城市幼儿的生长发育水平和营养状况明显好于农村.在上肢力量、平衡能力、协调性及男童灵敏素质方面好于1998年均值.但是柔韧性、下肢爆发力及女童灵敏素质有下滑趋势.我省幼儿在上肢力量、平衡能力和男童协调性方面好于1998年全国均值,但在柔韧性、灵敏素质、女童协调性、下肢爆发力方面低于全国均值.