Gravisensing in plants and fungi.

The principle of establishing and maintaining a gravitropic set point angle depends on gravisensing and a subsequent cascade of events that result in differential elongation of the responsive structures. Since gravity acts upon masses, the gravisensing mechanisms of all biological systems must follow the same principle, namely the sensing of some force due to differential acceleration of the perceiving entity and a reference structure. This presentation will demonstrate that gravisensing can be accomplished by various means, ranging from cytoskeletal organization, mechano-elastic stress to perturbation of electric signals. However, several arguments indicate that sedimentation of either dense plastids (statoliths), the entire protoplast, or a combination of these represents the primary step in graviperception in plants. In fungi, nuclei and cytoskeletal proteins are believed to form a network capable of gravisensing but sedimenting organelles that may function as statoliths have been identified. Theoretical and practical limitations of gravisensing and detection of acceleration forces necessitate microgravity experiments to identify the primary perceptor, subsequent biochemical mechano-transduction, and biological response processes.     

Microinjection--a tool to study gravitropism.

Despite extensive studies on plant gravitropism this phenomenon is still poorly understood. The separation of gravity sensing, signal transduction and response is a common concept but especially the mechanism of gravisensing remains unclear. This paper focuses on microinjection as powerful tool to investigate gravisensing in plants. We describe the microinjection of magnetic beads in rhizoids of the green alga Chara and related subsequent manipulation of the gravisensing system. After injection, an external magnet can control the movement of the magnetic beads. We demonstrate successful injection of magnetic beads into rhizoids and describe a multitude of experiments that can be carried out to investigate gravitropism in Chara rhizoids. In addition to examining mechanical properties, bead microinjection is also useful for probing the function of the cytoskeleton by coating beads with drugs that interfere with the cytoskeleton. The injection of fluorescently labeled beads or probes may reveal the involvement of the cytoskeleton during gravistimulation and response in living cells.     

Cellular responses to gravity: extracellular, intracellular and in-between.

Our understanding of gravitational effects (inertial effects in the vicinity of 1 x g) on cells has matured to a stage at which it is possible to define, on the basis of experimental evidence, extracellular effects on small cells and intracellular effects on eukaryotic gravisensing cells. Yet undetermined is the nature of response, if any, of those classes of cells that are not governed solely by extracellular physical events (as are prokaryotes) and are devoid of obvious mechanical devices for sensing inertial forces (such as those possessed by certain plant cells and sensory cells of animals). This "in-between" class of cells needs to be understood on the basis of the combination of intracellular and extracellular gravity-dependent processes that govern experimentally-measurable variables that are relevant to the cell's responses to modified inertial forces. The forces that certain cell types generate or respond to are therefore compared to those imposed by approximately 1 x g in the context of cytoskeletal action and symmetry-breaking pathways.     

基于NUIO的无人机作动器故障检测

针对受未知气流干扰与随机噪声影响的无人机纵向系统进行作动器故障检测研究.在建立固定翼式无人机非线性系统纵向模型的基础上,设计了基于容积卡尔曼滤波(CKF)的非线性未知输入观测器(NUIO).通过构造未知输入观测器结构来解耦未知气流干扰对残差的影响,同时,CKF被算法用于求解观测器增益矩阵,实现了在未知气流干扰解耦情况下残差对随机噪声的鲁棒性.最后,利用残差χ2检验方法判断故障是否发生.仿真结果表明:此方法能有效解耦未知干扰对残差的影响,并快速、准确地检测出了无人机作动器故障.      

Stochastic modelling considering ionospheric scintillation effects on GNSS relative and point positioning

Global Navigation Satellite Systems (GNSS), in particular the Global Positioning System (GPS), have been widely used for high accuracy geodetic positioning. The Least Squares functional models related to the GNSS observables have been more extensively studied than the corresponding stochastic models, given that the development of the latter is significantly more complex. As a result, a simplified stochastic model is often used in GNSS positioning, which assumes that all the GNSS observables are statistically independent and of the same quality, i.e. a similar variance is assigned indiscriminately to all of the measurements. However, the definition of the stochastic model may be approached from a more detailed perspective, considering specific effects affecting each observable individually, as for example the effects of ionospheric scintillation. These effects relate to phase and amplitude fluctuations in the satellites signals that occur due to diffraction on electron density irregularities in the ionosphere and are particularly relevant at equatorial and high latitude regions, especially during periods of high solar activity. As a consequence, degraded measurement quality and poorer positioning accuracy may result.     

不同速度运动汽车的磁异信号研究与探测

运动汽车随着速度的增加伴随着非稳态材料的产生，如汽油高温燃烧、高速摩擦引起自由电荷累积等。针对这些磁异信号难以采用适用于铁磁性材料的磁偶极子模型描述的问题，提出了结合磁偶极子模型和运动电荷等效模型的方法，理论计算不同速度运动汽车的磁异信号并分析其时域、频域特征，获得磁异信号与速度的依赖关系。采用隧道磁阻传感器（TMR）结合滤波、放大、模数转换技术构建弱磁信号探测实验装置，探测不同速度运动汽车的时域磁异信号，并采用傅里叶变换获得其频域信息，与理论模型相吻合。随着速度的增加，频域信号向高频方向偏移，对于从低频地磁背景场中提取目标弱磁信号极其重要。      

Putative graviperception mechanisms of protists.

Many (if not all) free-living cells use the gravity vector for their spatial orientation (gravitaxis). Additional responses may include gravikinesis as well as changes in morphological and physiological parameters. Though using essentially different modes of locomotion, ameboid and ciliated cells seem to rely on common fundamental graviperception mechanisms. Uniquely in the ciliate family Loxodidae a specialized intracellular gravireceptor organelle has been developed, whereas in all other cells common cell structures seem to be responsible for gravisensing. Changes in direction or magnitude of acceleration (from 0 to 5 g) as well as experiments in density-adjusted media strongly indicate that either the whole cytoplasm or dense organelles like nuclei act as statoliths and open directly or via cytoskeletal elements mechano-sensitive ion channels in the cell membrane. A recent spaceflight experiment (S/MM-06) demonstrated that prolonged (9 d) actual weightlessness did not affect the ability of Loxodes to respond to acceleration stimuli. However, prolonged cooling (> or = l4 d, 4-10 degrees C) destroyed the ability for gravitactic orientation of Paramecium. This may reflect a profound effect either on the gravireceptor itself or on the gravity-signal processing. In gravity signalling the ubiquitous second messenger cAMP may be involved in acceleration-stimulus transduction.     

非线性量测下自适应噪声协方差PHD滤波

概率假设密度(PHD)滤波算法已被证明是实时多目标跟踪的有效方法,但现有这些基于PHD滤波的方法假设量测噪声协方差先验已知,而实际中量测噪声协方差可能是未知或随着环境改变而变化。针对这一问题,提出了一种适用于非线性量测模型的自适应噪声协方差多目标跟踪算法。该算法以PHD滤波为基础,采用容积卡尔曼(CK)技术近似非线性量测模型,利用逆威沙特(IW)分布描述量测噪声协方差分布,通过变分贝叶斯(VB)近似技术迭代估计量测噪声协方差和多目标状态联合后验密度。仿真结果表明,本文所提算法可有效估计量测噪声协方差,同时实现准确的目标数和目标状态估计。     

An introduction to gravity perception in plants and fungi--a multiplicity of mechanisms.

The origin and subsequent evolution of life on Earth has taken place within an environment of which a 1g gravitational force is a part. Thus, all living organisms accommodate this variable in their structure and function. Evolution has also selected mechanisms to sense gravity which, in consequence, give particular orientations to living process. It is anticipated that the higher the evolutionary status of an organism, the greater the chance that it will possess multiple mechanisms of gravisensing because evolution discards nothing that assists fitness, but only adds to existing processes. A multiplicity of mechanisms permits gravity to participate in a wide range of developmental programmes, such as taxes, morphisms and tropisms, through the action of different sensors and distinct transduction/response pathways.     

基于事件驱动的容积卡尔曼滤波定位算法

以网络化非线性滤波系统为研究对象,为了平衡系统的通信率和滤波精度之间的矛盾,引入随机事件驱动（stochastic event-triggered）的思想,并在此基础上建立了基于残差检测的事件驱动（detected event-triggered）模型。针对系统的强非线性,将线性随机事件驱动滤波系统中的更新结论推广至非线性系统,推导了两种事件驱动机制在容积卡尔曼滤波（CKF）算法框架中的滤波更新过程,得到了检测事件驱动CKF（DECKF）和随机事件驱动CKF（SECKF）两种算法。最后,通过天基平台空间目标跟踪问题对算法性能进行检验。仿真结果表明,当通信率下降20.64%时,DECKF算法的位置跟踪精度和速度跟踪精度相比标准CKF仅下降了5.50%和7.74%。此外,在通信率相同的情形下,DECKF比SECKF的精度高40%以上,证明检测事件驱动模式优于随机事件驱动模式。     

Biological effects due to weak magnetic field on plants.

Throughout the evolution process, Earth's magnetic field (MF, about 50 microT) was a natural component of the environment for living organisms. Biological objects, flying on planned long-term interplanetary missions, would experience much weaker magnetic fields, since galactic MF is known to be 0.1-1 nT. However, the role of weak magnetic fields and their influence on functioning of biological organisms are still insufficiently understood, and is actively studied. Numerous experiments with seedlings of different plant species placed in weak magnetic field have shown that the growth of their primary roots is inhibited during early germination stages in comparison with control. The proliferative activity and cell reproduction in meristem of plant roots are reduced in weak magnetic field. Cell reproductive cycle slows down due to the expansion of G1 phase in many plant species (and of G2 phase in flax and lentil roots), while other phases of cell cycle remain relatively stable. In plant cells exposed to weak magnetic field, the functional activity of genome at early pre-replicate period is shown to decrease. Weak magnetic field causes intensification of protein synthesis and disintegration in plant roots. At ultrastructural level, changes in distribution of condensed chromatin and nucleolus compactization in nuclei, noticeable accumulation of lipid bodies, development of a lytic compartment (vacuoles, cytosegresomes and paramural bodies), and reduction of phytoferritin in plastids in meristem cells were observed in pea roots exposed to weak magnetic field. Mitochondria were found to be very sensitive to weak magnetic field: their size and relative volume in cells increase, matrix becomes electron-transparent, and cristae reduce. Cytochemical studies indicate that cells of plant roots exposed to weak magnetic field show Ca2+ over-saturation in all organelles and in cytoplasm unlike the control ones. The data presented suggest that prolonged exposures of plants to weak magnetic field may cause different biological effects at the cellular, tissue and organ levels. They may be functionally related to systems that regulate plant metabolism including the intracellular Ca2+ homeostasis. However, our understanding of very complex fundamental mechanisms and sites of interactions between weak magnetic fields and biological systems is still incomplete and still deserve strong research efforts.     

Calcium signaling in plant cells in altered gravity.

Changes in the intracellular Ca2+ concentration in altered gravity (microgravity and clinostating) evidence that Ca2+ signaling can play a fundamental role in biological effects of microgravity. Calcium as a second messenger is known to play a crucial role in stimulus-response coupling for many plant cellular signaling pathways. Its messenger functions are realized by transient changes in the cytosolic ion concentration induced by a variety of internal and external stimuli such as light, hormones, temperature, anoxia, salinity, and gravity. Although the first data on the changes in the calcium balance in plant cells under the influence of altered gravity have appeared in 80th, a review highlighting the performed research and the possible significance of such Ca2+ changes in the structural and metabolic rearrangements of plant cells in altered gravity is still lacking. In this paper, an attempt was made to summarize the available experimental results and to consider some hypotheses in this field of research. It is proposed to distinguish between cell gravisensing and cell graviperception; the former is related to cell structure and metabolism stability in the gravitational field and their changes in microgravity (cells not specialized to gravity perception), the latter is related to active use of a gravitational stimulus by cells presumebly specialized to gravity perception for realization of normal space orientation, growth, and vital activity (gravitropism, gravitaxis) in plants. The main experimental data concerning both redistribution of free Ca2+ ions in plant cell organelles and the cell wall, and an increase in the intracellular Ca2+ concentration under the influence of altered gravity are presented. Based on the gravitational decompensation hypothesis, the consequence of events occurring in gravisensing cells not specialized to gravity perception under altered gravity are considered in the following order: changes in the cytoplasmic membrane surface tension --> alterations in the physicochemical properties of the membrane --> changes in membrane permeability, --> ion transport, membrane-bound enzyme activity, etc. --> metabolism rearrangements --> physiological responses. An analysis of data available on biological effects of altered gravity at the cellular level allows one to conclude that microgravity environment appears to affect cytoskeleton, carbohydrate and lipid metabolism, cell wall biogenesis via changes in enzyme activity and protein expression, with involvement of regulatory Ca2+ messenger system. Changes in Ca2+ influx/efflux and possible pathways of Ca2+ signaling in plant cell biochemical regulation in altered gravity are discussed.     

Evaluating the predictability of eight Atmospheric-Oceanic signals affecting Iran’s Droughts,employing intelligence based and stochastic methods

The large-scale atmospheric-oceanic phenomena are among the main effective factors in the droughts in the Middle East, especially in Iran. Since these effects are usually delayed, their relevant signals can be useful for predicting droughts. As a result, the provision of a precise prediction of these signals can be efficient in increasing the drought prediction prospect. The current study predicts 8 cases of the most effective oceanic signals on the droughts which have been investigated in Iran. To do so, the problem-solving method with the time series prediction approach is based on the two model types intelligence-based (including multilayer perceptron [MLP] and support vector machine [SVM]) and stochastic (including Autoregressive Integrated Moving Average [ARIMA]) has been used. The model's input for each index included the time lags of the same index itself, which was determined by the autocorrelation function. Based on the evaluation criteria, the results were indicative of the weak predictability of the North Atlantic Oscillation (NAO) and Arctic Oscillation (AO), while the Extreme Eastern Tropical Pacific sea surface temperature (Niño [1 + 2]), East Central Tropical Pacific sea surface temperature (Niño [3 + 4]), and Oceanic Niño Index (ONI) were predicted with very good accuracy, and there is a high overlap between their predictions and observations (95.9 % < R² < 99.3 %). In the extreme events also, the rate of normalized forecasting error for Niño (1 + 2), Niño (3 + 4), and ONI were in the medium (20–30 %), good (10–20 %), and excellent (0–10 %) ranges, respectively. The comparison between the models also indicates a partial superiority of the ARIMA stochastic model over the SVM and MLP models. The overall results of the study are indicative of the applicability of the predictions of the three mentioned indices as the inputs to increase precipitation and drought forecasting prospects in Iran (as well as all regions affected by them); which have the research value for further studies in terms of drought forecasting.     

基于改进HHT的非高斯噪声中瞬态通信信号检测

根据瞬态通信信号和非高斯噪声的特点,建立了相应的信号模型,并利用希尔伯特-黄变换（HHT）处理非线性非平稳信号的优势,提出了基于改进HHT的非高斯噪声中瞬态通信信号的检测算法。该检测算法分为集合经验模式分解（EEMD）和固有模态函数（IMF）分量筛选两部分,首先经过加入随机白噪声多次试验取均值得到待检测信号的IMF分量,再结合各个分量与原信号的能量差异和相关性剔除虚假IMF分量,从而实现对混叠在非高斯噪声中的瞬态通信信号的有效检测。仿真在不同的条件下对比了本文算法与其他算法对信号的检测效果,结果证明本文算法能够有效克服HHT中存在的缺陷,实现对瞬态信号更为准确的分析和检测。     

卫星导航调制方式的非线性和兼容性分析

对比研究了最小频移键控（Minimum Shift Keying,MSK）和正交相移键控（Quadrature Phase Shift Keying,QPSK）调制信号的非线性和兼容性。首先建立MSK调制卫星导航信号的时域和频域模型,讨论了MSK调制对码片脉冲形状的影响,指出MSK调制作为卫星导航信号候选调制方式的可行性。然后建立非线性信道模型,仿真了MSK和QPSK调制卫星导航信号的带外功率损耗、相关损耗和码跟踪误差以及与同频段信号的谱分离系数。仿真结果表明,在保证信号跟踪性能的前提下,卫星导航信号采用MSK调制时的非线性和兼容性优于同参数下的QPSK调制。     

Organization of cytoskeleton during differentiation of gravisensitive root sites under clinorotation.

Key role in cell gravisensing is attributed to the actin cytoskeleton which acts as a mediator in signaling reactions, including graviperception. Despite of increased attention to the actin cytoskeleton, major gaps in our understanding of its functioning in plant gravisensing still remain. To fill these gaps, we propose a novel approach focused on the investigation of actin involvement in the development of columella cells and cells in the transition zone of roots submitted to clinorotation. Both statocytes and cells in the transition zone represent the postmitotic cells which take origin in root meristems and are specified into graviperceptive (root cap) and gravireacting (transition zone) root tissues. The aim of the research was to investigate and compare the microfilament arrangements in root cap statocytes and peripheral root tissues (epidermis and cortex cells) in the transition zone and to find out how the actin cytoskeleton is involved in their specification under clinostat conditions. So far, our experiments have shown that under clinorotation the cytoplasmic microfilament network in the cortex cells in the transition zone is significantly enhanced. It is suggested that more abundant cytoplasmic microfilaments could strengthen the cortical actin cytoskeleton arranged parallel with the cortical microtubules, which are found to be partially disorganized in this area. Due to microtubule disorganization, the functioning of cellulose-synthesizing machinery and proper deposition of cell wall might be affected and could cause the alterations in the growth mode. But, in our case growth of the cells in the transition zone under clinorotation was rather stable. Due to our opinion, general stability of cell growth under clinorotation is promoted by mutual functional interrelation between actin and tubulin cytoskeletons. It is suggested that a strengthened cortical actin cytoskeleton restricts the cell growth instead of disorganized microtubules.     

谐振式微小型压力传感器数字闭环系统

在微小型特别是硅谐振微传感器中,低信噪比的微弱信号检测、闭环自激电路的小型化和抗干扰等问题十分突出.复合音叉微小型谐振式压力传感器数字锁相环闭环检测系统将输入的模拟信号(压力)直接转换为准数字量(频率),测量精度高,基本上解决了测量系统中结构参数小、工作频率高、信号幅度弱、耦合强、干扰大等问题,该方法可直接应用于硅谐振式微传感器,对实现硅谐振微传感器的工程化具有指导意义.      

一种基于深度学习的电磁信息泄漏检测方法

电子信息设备工作时无意发射的电磁波中包含有用信息,会导致电磁信息泄漏,从而威胁设备的信息安全。现有的电磁信息泄漏检测方法,在复杂现场环境下,难以从具有不确定性的电磁泄漏信号中提取有用信息。面向电磁信息安全问题,开展了电磁信息泄漏检测研究,提出了一种基于深度学习的检测方法。设计了一个适用于电磁泄漏信号的一维卷积神经网络,并结合改进的梯度加权类激活映射方法,在未知电磁信息泄漏特征的前提下,通过深度学习实现电磁信息泄漏特征的智能标定和自动提取,从而解决了现场环境下电磁信息泄漏检测难以提取有用信息的问题。分别通过实测和仿真对比实验,验证了所提方法的有效性。      

含间隙非线性机翼跨声速颤振时滞反馈控制

颤振主动控制会引入时滞,对气动弹性系统闭环稳定性具有显著影响。针对当前考虑时滞的机翼颤振主动控制多集中在亚、超声速域,采用线性气动力分析的研究现状,结合现代飞机大都以跨声速巡航、控制面偏转为作动器进行主动控制的应用特点,发展了考虑结构间隙非线性,基于气动力降阶模型的跨声速颤振时滞反馈主动控制方法。首先,以白噪声为激励信号,辨识得到跨声速下非定常气动力降阶模型,与间隙非线性结构模型耦合,构建被控对象状态空间模型;然后,通过一种含积分项的状态变换将输入信号存在时滞的被控系统转化为无时滞的系统;最后,采用最优控制理论设计最优时滞反馈控制。仿真结果表明:对于含时滞的系统,若施加不考虑时滞影响的控制方法,则无法抑制颤振,所提控制方法的有效性不受时滞大小的影响,可有效抑制颤振的发生。      

Gravisensing in single-celled systems: characean rhizoids and protonemata.

Gravitropically tip-growing cell types are attractive unicellular model systems for investigating the mechanisms and the regulation of gravitropism. Especially useful for studying the mechanisms of positive and negative gravitropic tip-growth are characean rhizoids and protonemata. They originate from the same cell type, show the same overall cell shape, cytoplasmic zonation, arrangement of actin and microtubule cytoskeleton, use statoliths for gravisensing, but show opposite gravitropism. In both cell types, actin microfilaments are complexly organized in the apical dome,where a dense spherical actin array is colocalized with spectrin-like epitopes and a unique endoplasmic reticulum aggregate, the structural center of the Spitzenk?rper. The opposite gravitropic responses seem to be based on differences in the actin-organized anchorage of the Spitzenk?rper and the actin-mediated transport of statoliths. In negatively gravitropic (upward bending) protonemata, the statoliths-induced drastic upward shift of the cell tip is preceded by a relocalization of dihydropyridine-binding calcium channels and of the apical calcium gradient to the upper flank (bending by bulging). Such relocalizations have not been observed in positively gravitropically responding (downward growing) rhizoids in which statoliths sedimentation is followed by differential flank growth (bending by bowing). This paper reviews the current knowledge and hypotheses on the mechanisms of the opposite gravitropic responses in characean rhizoids and protonemata.