AUV Local Path Planning Based on Acoustic Image Processing

The forward-looking image sonar is a necessary vision device for Autonomous Underwater Vehicles （AUV）. Based on the acoustic image received from forward-looking image sonar, AUV local path is planned. When the environment model is made to adapt to local path planning, an iterative algorithm of binary conversion is used for image segmentation. Raw data of the acoustic image, which were received from serial port, are processed. By the use of ＂Mathematic Morphology＂ to filter noise, a mathematic model of environment for local path planning is established after coordinate transformation. The optimal path is searched by the distant transmission （Dt） algorithm. Simulation is conducted for the analysis of the algorithm. Experiment on the sea proves it reliable.     

Depth-trim mapping control of underwater vehicle with fins

Underwater vehicle plays an important role in ocean engineering.Depth control by fin is one of the difficulties for underwater vehicle in motion control.Depth control is indirect due to the freedom coupling between trim and axial motion.It includes the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm.By considering the current speed and depth deviation,comprehensive interpretation is used in object-planning instruction.Expected depth is transformed into expected trim.Dynamic output fluctuation can be avoided,which is caused by linear mapping of deviation.It is steady and accurate for the motion of controlled underwater vehicles.The feasibility and efficiency of the control method are testified in the pool and natural area for experiments.     

白肛海地瓜(Acaudina leucoprocta) 精氨酸激酶的基因克隆与表达

精氨酸激酶是调节能量代谢的重要酶类,在无脊椎动物体内能量平衡过程中起重要作用。利用PCR扩增技术,从白肛海地瓜的cDNA文库中克隆得到精氨酸激酶(arginine kinase)基因,其全长为2139bp,包括5′非翻译区(5’-UTR)序列92bp,3′端非翻译区(3’-UTR)序列934bp和1113bp的ORF,编码371个氨基酸,预测分子量大小和等电点分别为42.32kDa和7.19。构建了精氨酸激酶原核表达质粒并转化表达菌株,经IPTG诱导表达后,获得了与预期的分子量大小一致的表达产物。利用该目的蛋白制备了白肛海地瓜精氨酸激酶的特异性多克隆抗体,经Western blot证明该蛋白为精氨酸激酶。     

石河子春季终霜冻的灰色预测

利用石河子历年春季终霜冻的出现日期，运用灰色系统理论的季节灾变预测方法，对石河子未来年份的终霜冻进行预测，并建立灰色季节灾变GM（1，1）预测模型，预测1994年终霜冻的出现日期在4月15日左右，与终霜冻实际出现时间（4月13日）基本相符。     

基于纳米免疫磁珠快速富集4 种海洋致病性弧菌的研究

为研究海洋中常见致病性弧菌的快速分离富集方法--免疫磁珠法, 本文以副溶血弧菌、 哈维氏弧菌、创伤弧菌、灿烂弧菌为研究对象, 制备纳米免疫磁珠, 并通过一系列优化条件, 用3M 试纸计算捕获率来确定免疫磁珠最佳捕获条件。最后分别对4 种致病性弧菌的不同菌液稀释浓度、 对1 株目标菌和8 株非目标菌、4 种混合菌进行捕获, 从而评价免疫磁珠的灵敏度、特异性以及抗干 扰能力。结果表明, 4 种磁珠偶联最佳抗体量为300、600、150、150μg.最佳捕获条件: 副溶血弧菌 免疫磁珠用量3mg, 免疫反应45min, 磁分离3min, pH 7.4 缓冲液体系。哈维氏弧菌免疫磁珠用量3mg, 免疫反应45min, 磁分离1min, pH 6.0 缓冲液体系。创伤弧菌免疫磁珠用量12mg, 免疫反应60min, 磁分离5min, pH 8.0 缓冲液体系。灿烂弧菌免疫磁珠用量6mg, 免疫反应30min, 磁分离3min, pH 7.4 缓冲液体系。在纯培养情况下, 4 种免疫磁珠灵敏度均达到10 CFU/mL 数量级; 分别对9 株菌进行捕 获, 对目标菌的捕获率均达到87%以上, 对非目标菌的捕获率均低于32%; 对4 种混合菌进行捕获时, 免疫磁珠捕获率不受其它杂菌干扰。本研究证明了该免疫磁珠有较好的灵敏度、特异性和抗干扰能 力, 且与其它增菌方法相比, 大大缩短了时间, 具有较好的应用前景。     

Construction of a cDNA library for sea cucumber <Emphasis Type="Italic">Acaudina leucoprocta</Emphasis> and differential expression of ferritin peptide

Acaudina leucoprocta is an edible sea cucumber of economic interest that is widely distributed in China. Little information is available concerning the molecular genetics of this species although such knowledge would contribute to a better understanding of the optimal conditions for its aquaculture and its mechanisms of defense against disease. Therefore, we constructed a cDNA library and, based on bioinformatics analysis of the sequences, the functions of 75% of the cDNAs were identified, including those involved in cell structure, energy metabolism, mitochondrial function, and signal transduction pathways. Approximately 25% of genes in the library were unmatched. The gene for A. leucoprocta ferritin was also cloned. The predicted amino-acid sequence of ferritin displayed significant homology with other sea-cucumber counterparts but indicated that it was a new member of the ferritin family. Semiquantitative real-time RT-PCR indicated the highest levels of ferritin mRNA expression in the intestine. A polyclonal antibody of ferritin was also produced. These data provide a set of molecular tools essential for further studies of the functions of ferritin protein in A. leucoprocta.     

云南西双版纳(曼桂)目击陨石的热变质和冲击变质研究

曼桂陨石是新近(2018年6月1日)陨落在云南西双版纳地区的目击球粒陨石,其中的主要矿物为橄榄石(Fa_(24.3±0.6))、斜方辉石(Fs_(20.6±0.5)Wo_(0.4±0.2))、长石(An_(11-12)Or_(2-4))、铁镍金属和陨硫铁,次要矿物为铬铁矿、白磷钙矿等.橄榄石和辉石的化学成分表明曼桂陨石属于L型普通球粒陨石.陨石中球粒很少且轮廓不清晰,基质矿物普遍经历过重结晶,重结晶矿物颗粒粒径较大,高钙辉石粒径25–30μm,长石颗粒大多超过50μm,说明该陨石属于6型岩石类型.橄榄石和辉石颗粒中发育有波状消光、嵌晶块状消光现象、平面裂隙和面状变形构造,长石熔长石化并不完全,陨石中观察到宽度不等且纵横交错的冲击熔融脉,表明曼桂普通球粒陨石受到的冲击变质作用可以达到S5级以上.通过熔融脉中的矿物组合推断出熔融脉中矿物经历的压力在15–16 GPa左右.     

基于部分输出FFT的CSK信号高效解调算法CSCD

为了实现精密星历数据的高速率播发,码移键控(CSK)调制技术将是下一代卫星导航系统的重要选项.CSK调制信号在解调时需要遍历计算各种码相位偏移的相关值,因此通常使用基于快速傅里叶变换(FFT)的频域解调算法.根据CSK频域解调仅需FFT部分输出结果的特点,提出了基于部分输出FFT的CSK信号频域解调算法.该算法对传统FFT的蝶形解算结构进行优化,通过定义计算节点以消除与输出结果无关的计算,从而降低解调的计算复杂度.以码率为1.023 Mcps的CSK(4,1023)调制信号为例,所提算法可节省约45.6%的计算量,这对下一代卫星导航接收机的设计具有重要的意义.     

水下地形匹配定位置信区间估计

地形匹配定位（terrain aided position,TAP）的似然函数反映了AUV（autonomous underwater vehicle）的位置在空间中的分布概率,由于地形的强非线性、随机性以及测量误差的非高斯分布使得似然函数也表现出非高斯分布的特点。TAP的误差与局部地形特征和地形测量误差密切相关,由于现有的方法未考虑局部地形特征,仅考虑了测量误差的统计置信区间,使得TAP置信区间的估计结果明显偏小。为解决TAP置信区间的估计问题,建立了TAP定位点的跳变模型。设TAP定位点Xp可以向搜索区间内任一点跳变,且向某一点的跳变概率与该点的似然函数值正相关,Xp向某一点跳变的置信度小于α时,认为xα不会向该点跳变,该点设为置信区间的边界点。另外,设地形匹配定位点的置信区间内匹配残差平方和函数为二次曲面,而Xp视为该曲面的待估计参数,则可以通过曲面参数的置信区间估计方法获得1-α置信度下的置信区间。新方法得到的置信区间范围大于现有的估计方法,试验结果表明,测量波束较少时,置信区间估计会出现异常,增加测量波束可以提高潮差和测量误差的估计精度,从而提高置信区间的估计精度,但测量误差非高斯分布条件下的补偿方法仍然需要进一步研究。     

确定地下多排热力管道位置和埋深的实用方法研究

地下管线探测对于城市规划、交通建设等具有重大意义。其中,多排热力管道因其走向一致,间距较小,用电磁法探测时地表的电磁场类似面电流磁场分布,容易造成位置和埋深测量不准确的问题。本文以实际工作为例,提出两种解决方法,经实际检验这两种方法配合使用可准确、高效地确定多排热力管道的位置和埋深。