行走机器人

本文简单地回顾了行走机器人的研究概况,较详细地描述了HILARE机器人,集中讨论了研制中的一些关键问题:环境感知、决策制定、执行控制以及HILARE计划中所试验的空间建模和路径寻找技术。最后讨论了行走机器人的发展方向及其在现实中的应用。     

教学产品是怎样形成的

1在木桶里寻求答案当然．对教师来说．“产品”一词还不能象“教学结果”概念那样被普通使用。在使用这个词的时候．往往是每次不得不作准确说明．即在每一具体场合，所指的是怎样一种结果。不知是指可以用肉眼看得到的知识、技能、能力．还是指深刻的潜在的新生物——个人的思维水平和类型．世界观和视野、兴趣和认识的需要、工作厅式、积极性．热爱劳动及为教学所形成的其它各种品质。要想对不确定的结果作系统分析是件困难的事·然而对4一切创造过程来说“产品”和“产品率”的一般概念可以使思想、体系和结构更加清晰。它们开辟了由教学…     

Theoretical design for a class of chaotic stream cipher based on nonlinear coupled feedback

1.INTRODUCTION Inordertoimprovethesecurityofchaosencryption system,wecaniteratethechaossystem.Themore chaossystemiterates,themorecomplexitbecomes, andthemoresecurethecorrespondingchaosencryp tionsystembecomes.Zhouetal[1]proposedaclassof chaoticsequencegeneratorinwhichthelinearseg mentnumberincreasedwiththeiterationnumberex ponentially.Withtheincreaseoftheiterationnum ber,thesecurityofthesystemincreaseswhilethe rateofencoding/decodingdecreases.Inaddition,the phase spacegraphhassomedefe…     

The life span of the biosphere revisited

A decade ago, Lovelock and Whitfield raised the question of how much longer the biosphere can survive on Earth. They pointed out that, despite the current fossil-fuel induced increase in the atmospheric CO2 concentration, the long-term trend should be in the opposite direction: as increased solar luminosity warms the Earth, silicate rocks should weather more readily, causing atmospheric CO2 to decrease. In their model, atmospheric CO2 falls below the critical level for C3 photosynthesis, 150 parts per million (p.p.m.), in only 100 Myr, and this is assumed to mark the demise of the biosphere as a whole. Here, we re-examine this problem using a more elaborate model that includes a more accurate treatment of the greenhouse effect of CO2, a biologically mediated weathering parameterization, and the realization that C4 photosynthesis can persist to much lower concentrations of atmospheric CO2(<10 p.p.m.). We find that a C4-plant-based biosphere could survive for at least another 0.9 Gyr to 1.5 Gyr after the present time, depending respectively on whether CO2 or temperature is the limiting factor. Within an additional 1 Gyr, Earth may lose its water to space, thereby following the path of its sister planet, Venus.     

Secular variation in carbon isotope ratios from Upper Proterozoic successions of Svalbard and East Greenland

Analyses of stratigraphically continuous suites of samples from Upper Proterozoic sedimentary successions of East Greenland, Spitsbergen and Nordaustlandet (Svalbard) provide an approximation to the secular variation in carbon isotope ratios during a geologically and biologically important period of change from around 900 million years ago to the beginning of the Cambrian period. Late Riphean carbonates and organic material show a stratigraphically useful pattern of enrichment in 13C relative to Phanerozoic or earlier Proterozoic samples. Isotopic compositions of isolated samples from other localities are consistent with a worldwide extended interval of enhanced organic burial and consequent net survival of oxidized material, probably O2, just before the initial radiation of metazoans.     

Organically preserved microbial endoliths from the late Proterozoic of East Greenland

Diverse microorganisms ranging from cyanobacteria to eukaryotic algae and fungi live endolithically within ooids, hardgrounds and invertebrate shells on the present-day sea floor. These organisms are involved in the mechanical destruction of carbonates, and are useful ecological indicators of water depth and pollution. The Phanerozoic history of microbial endoliths has been elucidated through the study of microborings (the trace fossils of endolithic microorganisms) and rare cellularly preserved individuals, but nothing was known of the possible Precambrian evolution of comparable microorganisms until Campbell documented the occurrence of microborings in late Proterozoic ooids from central East Greenland. We now report the discovery of large populations of organically preserved endolithic microorganisms in silicified pisolites from 700-800-Myr-old Limestone-Dolomite Series of East Greenland. This fossil assemblage is significant for three reasons: (1) It confirms the prediction that oolites, pisolites and hardgrounds--the substrates for pre-Phanerozoic endoliths--provide a hitherto poorly explored but rewarding set of environments into which the search for early microfossils must be broadened; (2) the assemblage is diverse, containing about 12 taxa of morphologically distinct and previously unknown endolithic cyanobacteria, plus associated epilithic and interstitial populations; and (3) at least six of the fossil populations are indistinguishable in morphology, pattern of development, reproductive biology and inferred ecology from distinctive cyanobacterial species that bore ooids today in the Bahama Banks.     

用爆炸波起爆癸烷云雾的两种模式

用垂直激波管研究了400μm癸烷液滴与空气混合物的爆炸波起爆。每种混合物有两个极限起爆能值,即高值Ecu,和低值Ecl。当起爆能的值高于Ecu时,观察到100%发生爆轰;而当其低于Ecl时,就不会发生爆轰。有趣的是,当起爆能水平在Ecu和Ecl之间时观察到对应于不同的起爆能水平有不同的起爆行为。如实验结果所表明的,爆轰的激发不仅是由于直接起爆,而且也由于“爆燃”到爆轰的转变。     

Regulation of cellulose synthesis in Acetobacter xylinum by cyclic diguanylic acid

Cellulose is the most abundant renewable carbon resource on earth and is an indispensable raw material for the wood, paper, and textile industries. A model system to study the mechanism of cellulose biogenesis is the bacterium Acetobacter xylinum which produces pure cellulose as an extracellular product. It was from this organism that in vitro preparations which possessed high levels of cellulose synthase activity were first obtained in both membranous and soluble forms. We recently demonstrated that this activity is subject to a complex multi-component regulatory system, in which the synthase is directly affected by an unusual cyclic nucleotide activator enzymatically formed from GTP, and indirectly by a Ca (2+) -sensitive phosphodiesterase which degrades the activator. The cellulose synthase activator (CSA) has now been identified as bis-(3' 5')-cyclic diguanylic acid (5'G3'p5'G3'p) on the basis of mass spectroscopic data, nuclear magnetic resonance analysis and comparison with chemically synthesized material. We also report here on intermediary steps in the synthesis and degradation of this novel circular dinucleotide, which have been integrated into a model for the regulation of cellulose synthesis.     

适用的哲学与认识的工具

一、适用的哲学最近几十年来,科学信息空前爆炸,以致就具体而积极地研究认识方法来说,"自然哲学"变得太广泛了.对此,物理学家、生物学家、心理学家以及其他在本学科领域进行创造性工作的专家,都应该加以研究;或者自己研究,或者和相应的科学史专家合作研究.严肃的科学著作不能没有哲学,但哲学应该是"具