基于Recurdyn的移动机器人倾覆性分析

针对履带式移动机械臂在运动过程中可能存在倾覆性的问题,以自制的履带式移动机械臂为研究对象,从动力学的角度研究机械臂的运动对移动平台攀爬楼梯过程中的影响,提出了一种机械臂主动改变位姿以维持系统稳定性的算法。首先,采用牛顿-欧拉法建立机械臂动力学方程,通过Solidworks三维软件辨识机械臂各连杆的惯性参数集,得到完整的机械臂动力学方程;其次,对移动平台进行受力分析,采用轮胎倾覆力矩(tire overturning moment, TOM)法衡量移动机械臂的倾覆裕度,判断系统的倾覆可能性;最后,采用Recurdyn仿真软件进行履带式移动机械臂攀爬楼梯仿真实验,仿真实验结果表明：移动平台在攀爬楼梯过程中,其TOM值逐渐增大,系统趋于不稳定状态;当机械臂改变位姿以维持系统平衡时,移动平台的TOM值逐渐减小,系统趋于稳定状态。可见,所提算法可以用来判断移动机械臂系统的倾覆可能性,同时机械臂可以主动改变位姿维持系统的稳定性,为移动机械臂运动稳定性状态的维持提供了有效的手段。     

Chiral influence of sex pheromonal substances on responses of the male American cockroach

Summary In order to elucidate the roles of optical enantiomers of sex pheromonal substances of the American cockroach, behavioral assays with a single enantiomer and with mixtures of enantiomers of sex pheromone mimics were carried out. Inactive enantiomers [(–)-enantiomers] had no influence on the potency of enantiomers active as sex pheromones [(+)-enantiomers]. By analysis of the results from EAG recordings with single and mixed sample of the enantiomers, it was confirmed that (–)-enantiomers did not react with the sex pheromone receptors which are responsive to (+)-enantiomers.We acknowledge technical assistance from Miss R. Kimura.     

Comparison of the effects of different isomers of bicuculline infused in the preoptic area on male rat sexual behavior

Summary Intracerebral infusion of (+) bicuculline methiodide, but not of its (–) isomer, in the preoptic area, stimulated masculine sexual behavior in rat as evidenced by a decrease in the number of intromissions preceding ejaculation and a shortening of the ejaculation latency and postejaculatory interval. Data suggest a role of the GABAergic system in mediating masculine sexual behavior.Acknowledgments. Authors wish to thank Ms Elisabeth Wallin for excellent technical assistance and Ms Madelene Kröning for preparing the figures.     

The melatonin rhythm: both a clock and a calendar

The paper briefly reviews the data which shows that the circadian production and secretion of melatonin by the pineal gland can impart both daily, i.e., clock, and seasonal, i.e., calendar, information to the organism. The paper summarizes the 3 patterns of nocturnal melatonin production that have been described. Clearly, regardless of the pattern of nocturnal melatonin production a particular species normally displays, the duration of nightime elevated melatonin is proportional to the duration of the night length. Since daylength under natural conditions changes daily the melatonin rhythm, which adjusts to the photoperiod sends time of year information to the organism. The melatonin receptors which subserve the clock message sent by the pineal gland in the form of a melatonin cycle may reside in the biological clock itself, namely, the suprachiasmatic nuclei (SCN). The melatonin receptors that mediate seasonal changes in reproductive physiology are presumably those that are located on the pars tuberalis cells of the anterior pituitary gland. Besides these receptors which likely mediate clock and calendar information, melatonin receptors have been described in other organs. Interestingly, the distribution of melatonin receptors is highly species-specific. Whereas the clock and calendar information that the melatonin cycle imparts to the organism relies on cell membrane receptors, a fact that is of some interest considering the high lipophilicity of melatonin, recent studies indicate that other functions of melatonin may require no receptor whatsoever.     

当代大学生性心理发展的特点与教育对策

对大学生性心理发展的特点、问题及其影响因素进行分析,并在此基础上提出相应的性心理教育的措施与对策。     

空心莲子草的生殖及入侵特性

2001年在郑州黄河岸边对空心莲子草的生殖和入侵特性进行了研究,结果显示:空心莲子草的无性繁殖是其入侵的主要方式;六边形或三角形的单元网络空间构型是空心莲子草能够入侵其它生态系统的条件之一。     

On the natural history of the South American pepper frog,Leptodactylus labyrinthicus (Spix, 1824) (Anura: Leptodactylidae)

Some species of Leptodactylus of the L. pentadactylus group lay their eggs outside water but the tadpoles need to reach water to complete the larval phase; other species complete development in terrestrial nests. Here we present details of the reproduction of L. labyrinthicus in south‐eastern Brazil. The proportion of tadpoles and trophic eggs in aged egg clutches was determined, as well as the growth of the tadpoles while in the nest. The gut contents of tadpoles that were in egg clutches of frogs were analysed. Adult males did not differ from females in size and had hypertrophied forearms and an enlarged spine on the thumb. Reproduction was initiated with the first rains of August/September and extended to mid‐January. Calling and spawning occurred at permanent or temporary water bodies. The foam nests were built in excavated basins outside of, but close to the water. The male determined the place of the basin construction; after amplexus, the female completed the excavation. The amplexus was axillary. One female spent the day after spawning in the foam. The eggs were pale grey, the yolk averaging 2.3?mm in diameter. The mean number of eggs was 2101 per egg clutch. The number of tadpoles in individual nests varied between 0.05% and 11.40% in relation to the total laid eggs. The tadpoles entered water when rains flooded the basin. The tadpoles grew to 12 times the weight of an individual egg while in the nest; no nesting tadpole was beyond stage 25. The longest time we followed tadpoles in a nest was 25 days. Tadpoles were found preying upon eggs of three other frog species and upon conspecific eggs. Males fought by grasping each other in a belly‐to‐belly position; the powerful arms and the thumb spines represent weapons. Even though males can reach maturity in the season following birth, small size would prevent them from establishing their own territory. All the species of the L. pentadactylus group may build their foam nests within excavated basins. The basins may protect the eggs and embryos from cannibalistic tadpoles and may have an anti‐desiccation effect. In order to produce trophic eggs, the female may delay laying additional unfertilized eggs until after the male has abandoned the foam nest. Anuran eggs represent an important food item for tadpoles after they leave the nest.     

母猪繁殖障碍性疾病的临床诊断及其防治

母猪繁殖障碍性疾病在各种猪坊都有不同程度的发生,且其病因多而复杂,难以诊断,一直困扰着我国养猪业发展。本文总结了引发母猪繁殖障碍性疚病的因素及如何临床诊断,并针对性地提出了防治措施。     

养殖俄罗斯鲟性腺发育及人工繁殖

在繁殖季节通过肉眼观察和组织切片对池塘养殖7龄的俄罗斯鲟(Acipenser gueldenstaedti)性腺发育进行分析,发现雌性个体间性腺发育差异较大(n=500)。其中73%卵巢中可以看到白色卵粒,卵径小于1.0mm;有16%卵巢达到Ⅲ期,卵粒已经着色;有9%卵巢发育到IV期早期,卵径平均为2.6±0.2 mm;还有2%卵巢中肉眼看不到卵粒,组织学观察属于I期卵巢。雄性俄罗斯鲟全部达到性成熟,有部分成熟好的可以挤出精液。激素催产2尾八龄和6尾九龄的雌性俄罗斯鲟,其中7尾催产成功;剖腹手术收集游离卵7.2 kg,催产后的雄鱼全部排精。     

广西冬季极端最低气温的概率分布模型选择及其极值和重现期计算

为了解广西冬季极端最低气温概率分布类型和分析广西不同重现期的冬季极端最低气温值，根据广西88个气象站1951－2000年（1951年以后建站的站，取建站－2000年）冬季极端气温序列，分别用GumbelⅠ型极值分布，GumbelⅡ型极值分布，GumbelⅢ型极值分布，正态分布，双正态分布函数进行拟合，并按柯尔莫哥洛夫检验和ω^2检验方法进行拟合优良检验，结果表明，桂林等55个站遵从双正态分布，河池等29个站遵从正态分布，南宁等4个站遵从GumbelⅠ型极值分布，说明用双正态分布，正态分布和GumbelⅠ型极值分布函数作为广西冬委极端最低气温的分布函数效果较好，广西15年一遇的极端最低气温－2℃等值线与广西龙眼，荔枝的分布北界比较接近。