基于改进快速距离转化的移动机器人路径规划方法

在分析快速距离转化法不足的基础上，提出了一种利用空间数据结构及编码方案的特性进行距离和安全转化，使用约束参量控制路径搜索过程的三维空间机器人路径规划方法。这种方法使用八叉树建立空间模型，通过构建树节点的拓扑关系使路径搜索转化为图搜索算法。根据拓扑关系按照波动传播的方法依次对各个节点进行距离和安全转化，保证了可行路径的产生。约束参量的使用能够有效地避免传统方法在搜索过程中的随机性，协调路径规划中的最短距离和最大安全需要，搜索给定参数下的最优路径空间。理论分析和仿真实验验证了该算法的可行性和正确性。     

Crickets in space.

"Crickets in Space" (CRISP) was a Neurolab experiment by which the balance between genetic programs and the gravitational environment for the development of a gravity sensitive neuronal system was studied. The model character of crickets was justified by their external gravity receptors, identified position-sensitive interneurons (PSI) and gravity-related compensatory head response, and by the specific relation of this behavior to neuronal activation systems. These advantages allowed us to study the impact of modified gravity on cellular processes in a complex organism. Eggs, 1st, 4th and 6th stage larvae of Acheta domesticus were used. Post-flight experiments revealed a low susceptibility of the behavior to microgravity and hypergravity (hg) while the physiology of the PSI was significantly affected. Immunocytological investigations revealed a stage-dependent sensitivity of thoracic GABAergic motoneurons to 3g-conditions concerning their soma sizes but not their topographical arrangement. Peptidergic neurons from cerebral sensorimotor centers revealed no significant modifications by microgravity. The contrary physiological and behavioral results indicate a facilitation of 1g-readaptation by accessory gravity. proprioceptive and visual sense organs. Absence of anatomical modifications point to an effective time window of microgravity or hg-exposure related to the period of neuronal proliferation. Grant numbers: 50WB9553-7.     

超宽带/宽波束SAR的后向投影(BP)算法

超宽带/宽波束(UWB/WB)SAR的相参积累角很大,会引起严重的距离徙动现象,使传统窄带/窄波束成像算法(RD算法等)不再适用。后向投影(BP)算法避免了菲涅耳近似,通过计算双程时延将信号进行相干累加,从而获得方位向高分辨率。文中对SAR成像以及BP算法的原理进行推导,然后通过计算机仿真验证理论分析的正确性和算法的有效性,最后详细讨论图像的像素间隔对成像的影响。     

Function-morphological investigations of fish inner ear otoliths as basis for interpretation of human space sickness

In man, altered gravity may lead to a vestibular dysfunction causing space motion sickness. A hypothesis was developed, according to which asymmetric inner ear statoliths might be the morphological basis of space sickness. The animal model, fish, revealed further information: inner ear "stone" (otolith) growth is dependent on the amplitude and the direction of gravity, regulated by a negative feedback mechanism. The present study was focused on the question, where the regulation centre of adaptive otolith growth may be situated. Therefore, the vestibular nerve was unilaterally transected in neonate swordtail fish (Xiphophorus helleri). As growth marker, the calcium tracer alizarin-complexone was used. It was found that otolith growth had ceased on the operated head sides indicating that the brain is significantly involved in regulating otolith growth. About 2 weeks after nerve transection, otoliths had regained normal growth, probably due to nerve regeneration. Concerning fish, it has now to be tested, if this regeneration is affected by altered gravity, e.g. in a long-term experiment on the International Space Station. Regarding mammals, it has to be proved if asymmetric statoliths are the basis of kinetosis and whether or not the mammalian brain has an effect on statolith growth in the course of compensating altered gravity.     

基于分层人工鱼群的相干极化-DOA联合估计

智能优化算法是解决多维非线性优化问题、提高计算效率的有力工具。本文针对相干辐射源极化-空间角联合估计中计算量巨大的工程难题，以广义子空间拟合约束公式为代价函数，提出一种分层人工鱼群算法。该算法基于分层协同策略将鱼群分为底层和顶层，底层以人工鱼群算法进行全局搜索以保证种群多样性，顶层以粒子群算法进行局部搜索以加快收敛速度。仿真结果证明：分层人工鱼群算法能大幅降低广义子空间拟合的计算量，尤其是在较多目标的情况下。算法可有效提高计算效率，同时可提供优于传统人工鱼群算法的估计精度。     

A new goldfish model to evaluate pharmacokinetic and pharmacodynamic effects of drugs used for motion sickness in different gravity loads.

This paper proposes a new goldfish model to predict pharmacodynamic/pharmacokinetic effects of drugs used to treat motion sickness administered in differing gravity loads. The assumption of these experiments is that the vestibular system is dominant in producing motion sickness and that the visual system is secondary or of small import in the production of motion sickness. Studies will evaluate the parameter of gravity and the contribution of vision to the role of the neurovestibular system in the initiation of motion sickness with and without pharmacologic agents. Promethazine will be studied first. A comparison of data obtained in different groups of goldfish will be done (normal vs. acutely and chronically bilaterally blinded vs. sham operated). Some fish will be bilaterally blinded 10 months prior to initiation of the experiment (designated the chronically bilaterally blinded group of goldfish) to evaluate the neuroplasticity of the nervous system and the associated return of neurovestibular function. Data will be obtained under differing gravity loads with and without a pharmacological agent for motion sickness. Experiments will differentiate pharmacological effects on vision vs. neurovestibular input to motion sickness. Comparison of data obtained in the normal fish and in acutely and chronically bilaterally blinded fish with those obtained in fish with intact and denervated otoliths will differentiate if the visual or neurovestibular system is dominant in response to altered gravity and/or drugs. Experiments will contribute to validation of the goldfish as a model for humans since plasticity of the central nervous system allows astronauts to adapt to the altered visual stimulus conditions of 0-g. Space motion sickness may occur until such an adaptation is achieved.     

In vitro edible muscle protein production system (MPPS): stage 1, fish

The working efficiency and state-of-mind of a Space vehicle crew on long-term missions is dependent on the suitability of living conditions including food. Our purpose was to establish the feasibility of an in vitro muscle protein production system (MPPS) for the fabrication of surrogate muscle protein constructs as food products for Space travelers. In the experimental treatments, we cultivated the adult dorsal abdominal skeletal muscle mass of Carassius (Gold fish). An ATCC fish fibroblast cell line was used for tissue engineering investigations. No antibiotics were used during any phase of the research. Our four treatments produced these results: a low contamination rate, self-healing, cell proliferation, a tissue engineered construct of non-homologous co-cultured cells with explants, an increase in tissue size in homologous co-cultures of explants with crude cell mixtures, maintenance of explants in media containing fetal bovine serum substitutes, and harvested explants which resembled fresh fish filets.

We feel that not only have we pointed the way to an innovative, viable means of supplying safe, healthy, nutritious food to Space voyagers on long journeys, but our research also points the way to means of alleviating food supply and safety problems in both the public and private sectors worldwide.     

On the influence of altered gravity on the growth of fish inner ear otoliths

Inner ear stones (otoliths) of developing cichlid fish (Oreochromis mossambicus) were marked with the calcium tracer alizarin-complexone (AC) at 1g-earth gravity before and after a long-term (20 days) stay of the animals at moderate hypergravity conditions (3g; centrifuge). AC deposition at the otoliths resulted in two fluorescence bands, which enclosed the area grown during exposure to altered gravity. This area was measured with regard to size and asymmetry (size difference between the left and the right stones).

Both utricular and saccular otoliths (lapilli and sagittae, respectively) were significantly smaller after hyper-g exposure as compared to parallely raised 1g-control specimens. The asymmetry concerning the lapilli was pronouncedly decreased in comparison to the 1g-controls. These findings suggest, that the growth and the development of bilateral asymmetry of otoliths is guided by the environmental gravity vector.

Some of the hyper-g animals revealed a kinetotic behaviour at the transfer from hyper-g to normal 1g-earth gravity conditions, which was qualitatively similar to the behaviour observed in previous experiments at the transfer from 1g to microgravity in the course of parabolic aircraft flights. The lapillar asymmetry of kinetotic samples was found to be significantly higher than that of normally behaving experimental specimens. This result supports an earlier theoretical concept, according to which human static space sickness might be based on asymmetric utricular otoliths.     

Tolerance of anhydrobiotic eggs of the Tardigrade Ramazzottius varieornatus to extreme environments

Tardigrades are tiny (less than 1?mm in length) invertebrate animals that have the potential to survive travel to other planets because of their tolerance to extreme environmental conditions by means of a dry ametabolic state called anhydrobiosis. While the tolerance of adult tardigrades to extreme environments has been reported, there are few reports on the tolerance of their eggs. We examined the ability of hydrated and anhydrobiotic eggs of the tardigrade Ramazzottius varieornatus to hatch after exposure to ionizing irradiation (helium ions), extremely low and high temperatures, and high vacuum. We previously reported that there was a similar pattern of tolerance against ionizing radiation between hydrated and anhydrobiotic adults. In contrast, anhydrobiotic eggs (50% lethal dose; 1690 Gy) were substantially more radioresistant than hydrated ones (50% lethal dose; 509 Gy). Anhydrobiotic eggs also have a broader temperature resistance compared with hydrated ones. Over 70% of the anhydrobiotic eggs treated at either -196°C or +50°C hatched successfully, but all the hydrated eggs failed to hatch. After exposure to high-vacuum conditions (5.3×10(-4) Pa to 6.2×10(-5) Pa), the hatchability of the anhydrobiotic eggs was comparable to that of untreated control eggs.     

The asymmetrical growth of otoliths in fish is affected by hypergravity.

Size and asymmetry (size difference between the left and the right side) of inner ear otoliths of larval cichlid fish were determined after a long-term stay at moderate hypergravity conditions (3g; centrifuge), in the course of which the animals completed their ontogenetic development from hatch to freely swimming. Both the normal morphogenetic development as well as the timely onset and gain of performance of the swimming behaviour was not impaired by the experimental conditions. However, both utricular and saccular otoliths (lapilli and sagittae, respectively) were significantly smaller after hyper-g exposure as compared to parallely raised 1g control specimens. The asymmetry of sagittae was significantly increased in the experimental animals, whereas the respective asymmetry con-cerning lapilli was pronouncedly decreased in comparison to the 1g controls. These findings suggest, that the growth and the development of bilateral asymmetry of otoliths is guided by the environmental gravity vector.     

Aquatic modules for bioregenerative life support systems based on the C.E.B.A.S. biotechnology [correction of biotechnilogy

Most concepts for bioregenerative life support systems are based on edible higher land plants which create some problems with growth and seed generation under space conditions. Animal protein production is mostly neglected because of the tremendous waste management problems with tetrapods under reduced weightlessness. Therefore, the "Closed Equilibrated Biological Aquatic System" (C.E.B.A.S.) was developed which represents an artificial aquatic ecosystem containing aquatic organisms which are adapted at all to "near weightlessness conditions" (fishes Xiphophorus helleri, water snails Biomphalaria glabrata, ammonia oxidizing bacteria and the rootless non-gravitropic edible water plant Ceratophyllum demersum). Basically the C.E.B.A.S. consists of 4 subsystems: a ZOOLOGICAL (correction of ZOOLOGICASL) COMPONENT (animal aquarium), a BOTANICAL COMPONENT (aquatic plant bioreactor), a MICROBIAL COMPONENT (bacteria filter) and an ELECTRONICAL COMPONENT (data acquisition and control unit). Superficially, the function principle appears simple: the plants convert light energy into chemical energy via photosynthesis thus producing biomass and oxygen. The animals and microorganisms use the oxygen for respiration and produce the carbon dioxide which is essential for plant photosynthesis. The ammonia ions excreted by the animals are converted by the bacteria to nitrite and then to nitrate ions which serve as a nitrogen source for the plants. Other essential ions derive from biological degradation of animal waste products and dead organic matter. The C.E.B.A.S. exists in 2 basic versions: the original C.E.B.A.S. with a volume of 150 liters and a self-sustaining standing time of more than 13 month and the so-called C.E.B.A.S. MINI MODULE with a volume of about 8.5 liters. In the latter there is no closed food loop by reasons of available space so that animal food has to be provided via an automated feeder. This device was flown already successfully on the STS-89 and STS-90 spaceshuttle missions and the working hypothesis was verified that aquatic organisms are nearly not affected at all by space conditions, i.e. that the plants exhibited biomass production rates identical to the sound controls and that as well the reproductive, and the immune system as the embryonic and ontogenic development of the animals remained undisturbed. Currently the C.E.B.A.S. MINI MODLULE is prepared for a third spaceshuttle flight (STS-107) in spring 2001. Based on the results of the space experiments a series of prototypes of aquatic food production modules for the implementation into BLSS were developed. This paper describes the scientific disposition of the STS-107 experiment and of open and closed aquaculture systems based on another aquatic plant species, the Lemnacean Wolffia arrhiza which is cultured as a vegetable in Southeastern Asia. This plant can be grown in suspension culture and several special bioreactors were developed for this purpose. W. arrhiza reproduces mainly vegetatively by buds but also sexually from time to time and is therefore especially suitable for genetic engineering, too. Therefore it was used, in addition, to optimize the C.E.B.A.S. MINI MODULE to allow experiments with a duration of 4 month in the International Space Station the basic principle of which will be explained. In the context of aquaculture systems for BLSS the continuous replacement of removed fish biomass is an essential demand. Although fish reproduction seems not to be affected in the shortterm space experiments with the C.E.B.A.S. MINI MODULE a functional and reliable hatchery for the production of siblings under reduced weightlessness is connected with some serious problems. Therefore an automated "reproduction module" for the herbivorous fish Tilapia rendalli was developed as a laboratory prototype. It is concluded that aquatic modules of different degrees of complexity can optimize the productivity of BLSS based on higher land plants and that they offer an unique opportunity for the production of animal protein in lunar or planetary bases.     

The response of structure and function of the gravireceptor in a vertebrate to near weightlessness.

The paper sums up results of a 7-day space flight experiment (D-l-Mission-BW-STA 00-STATEX) using growing frog embryos and larvae (Xenopus laevis) as a model system. Evaluation of photographs taken from the surface of sectioned deep-frozen objects, and micrographs using TEM and SEM show no aberrations in the shape, size, position, or respective electron density of the otolith membranes in larvae developed for 154 h under near-zero g. The further evaluation of the "weightless larvae" revealed a probably not yet described otolith-like formation below the dorsal wall of the vestibulum. In the weightless larvae this formation outnumbers, also qualitatively, strongly the 1-g control samples. The swimming behavior of the tadpoles which was observed about one hour after landing of the Space Shuttle showed a typical anomaly (loop swimming), which is known from larvae developed on the clinostat or from fish flown aboard Apollo capsules. An extra result is the lack of striking effects of cosmic radiation on the embryonic development of the flown Xenopus eggs.     

Novel aquatic modules for bioregenerative life-support systems based on the closed equilibrated biological aquatic system (C.E.B.A.S.)

The closed equilibrated biological aquatic system (C.E.B.A.S) is a man-made aquatic ecosystem which consists of four subcomponents: an aquatic animal habitat, an aquatic plant bioreactor, an ammonia oxidizing bacteria filter and a data acquisition/control unit. It is a precursor for different types of fish and aquatic plant production sites which are disposed for the integration into bioregenerative life-support systems. The results of two successful spaceflights of a miniaturized C.E.B.A.S version (the C.E.B.A.S. MINI MODULE) allow the optimization of aquatic food production systems which are already developed in the ground laboratory and open new aspects for their utilization as aquatic modules in space bioregenerative life support systems. The total disposition offers different stages of complexity of such aquatic modules starting with simple but efficient aquatic plant cultivators which can be implemented into water recycling systems and ending up in combined plant/fish aquaculture in connection with reproduction modules and hydroponics applications for higher land plants. In principle, aquaculture of fishes and/or other aquatic animals edible for humans offers optimal animal protein production under lowered gravity conditions without the tremendous waste management problems connected with tetrapod breeding and maintenance. The paper presents details of conducted experimental work and of future dispositions which demonstrate clearly that aquaculture is an additional possibility to combine efficient and simple food production in space with water recycling utilizing safe and performable biotechnologies. Moreover, it explains how these systems may contribute to more variable diets to fulfill the needs of multicultural crews.     

Orientation of Sharp Fronts of the Solar Wind Plasma

Based on simultaneous observations performed by several spacecraft, we evaluate the orientation of sharp (with a duration of a few minutes) and large (tens and hundreds percent of the mean value) fronts of the solar wind plasma (changes in the ion flux and ram pressure). The orientation of the fronts is determined with respect to the Sun–Earth line and to two planes in space for several tens of the largest (in amplitude) changes of the ion flux. A considerable fraction of these fronts (about 50%) has an inclination to the plane perpendicular to the Sun–Earth line that exceeds 30°.     

Meteors do not break exogenous organic molecules into high yields of diatomics

Meteoroids that dominate the Earth's extraterrestrial mass influx (50-300 microm size range) may have contributed a unique blend of exogenous organic molecules at the time of the origin of life. Such meteoroids are so large that most of their mass is ablated in the Earth's atmosphere. In the process, organic molecules are decomposed and chemically altered to molecules differently from those delivered to the Earth's surface by smaller (<50 microm) micrometeorites and larger (>10 cm) meteorites. The question addressed here is whether the organic matter in these meteoroids is fully decomposed into atoms or diatomic compounds during ablation. If not, then the ablation products made available for prebiotic organic chemistry, and perhaps early biology, might have retained some memory of their astrophysical nature. To test this hypothesis we searched for CN emission in meteor spectra in an airborne experiment during the 2001 Leonid meteor storm. We found that the meteor's light-emitting air plasma, which included products of meteor ablation, contained less than 1 CN molecule for every 30 meteoric iron atoms. This contrasts sharply with the nitrogen/iron ratio of 1:1.2 in the solid matter of comet 1P/Halley. Unless the nitrogen content or the abundance of complex organic matter in the Leonid parent body, comet 55P/Tempel-Tuttle, differs from that in comet 1P/Halley, it appears that very little of that organic nitrogen decomposes into CN molecules during meteor ablation in the rarefied flow conditions that characterize the atmospheric entry of meteoroids approximately 50 microm-10 cm in size. We propose that the organics of such meteoroids survive instead as larger compounds.     

端羟基聚了二烯的羟基类型分布

简要介绍了有关端羟基聚丁二烯（ＨＴＰＢ）羟基类型、羟基类型分布以及各类羟基的反应活性的研究现状。研究认为ＨＴＰＢ中含有顺式—烯丙羟基（Ａｃ）、反式—烯丙羟基（Ａｔ）及α—乙烯基羟基（Ｖ）三种类型端羟基，这三种羟基的相对含量通常为１５／５０／３５，与异氰酸酯的反应活性顺序为Ａｃ＞Ａｔ＞Ｖ。此外，ＨＴＰＢ中还可能存在微量环氧基、醛基、羧基等非羟基官能团。     

Aquatic modules for bioregenerative life support systems based on the C.E.B.A.S. biotechnology

Most concepts for bioregenerative life support systems are based on edible higher land plants which create some problems with growth and seed generation under space conditions. Animal protein production is mostly neglected because of the tremendous waste management problems with tetrapods under reduced weightlessness. Therefore, the “Closed Equilibrated Biological Aquatic System” (C.E.B.A.S.) was developed which represents an artificial aquatic ecosystem containing aquatic organisms which are adpated at all to “near weightlessness conditions” (fishes Xiphophorus helleri, water snails Biomphalaria glabrata, ammonia oxidizing bacteria and the rootless non-gravitropic edible water plant Ceratophyllum demersum). Basically the C.E.B.A.S. consists of 4 subsystems: a ZOOLOGICASL COMPONENT (animal aquarium), a BOTANICAL COMPONENT (aquatic plant bioreactor), a MICROBIAL COMPONENT (bacteria filter) and an ELECTRONICAL COMPONENT (data acquisition and control unit). Superficially, the function principle appears simple: the plants convert light energy into chemical energy via photosynthesis thus producing biomass and oxygen. The animals and microorganisms use the oxygen for respiration and produce the carbon dioxide which is essential for plant photosynthesis. The ammonia ions excreted by the animals are converted by the bacteria to nitrite and then to nitrate ions which serve as a nitrogen source for the plants. Other essential ions derive from biological degradation of animal waste products and dead organic matter. The C.E.B.A.S. exists in 2 basic versions: the original C.E.B.A.S. with a volume of 150 liters and a self-sustaining standing time of more than 13 month and the so-called C.E.B.A.S. MINI MODULE with a volume of about 8.5 liters. In the latter there is no closed food loop by reasons of available space so that animal food has to be provided via an automated feeder. This device was flown already successfully on the STS-89 and STS-90 spaceshuttle missions and the working hypothesis was verified that aquatic organisms are nearly not affected at all by space conditions, i . e. that the plants exhibited biomass production rates identical to the ground controls and that as well the reproductive, and the immune system as the the embryonic and ontogenic development of the animals remained undisturbed. Currently the C.E.B.A.S. MINI MODLULE is prepared for a third spaceshuttle fligt (STS-107) in spring 2001. Based on the results of the space experiments a series of prototypes of aquatic food production modules for the implementation into BLSS were developed. This paper describes the scientific disposition of the STS-107 experiments and of open and closed aquaculture systems based on another aquatic plant species, the Lemnacean Wolffia arrhiza which is cultured as a vegetable in Southeastern Asia. This plant can be grown in suspension culture and several special bioreactors were developed for this purpose. W. arrhiza reproduces mainly vegetatively by buds but also sexually from time to time and is therefore especially suitable for genetic engineering, too. Therefore it was used, in addition, to optimize the C.E.B.A.S. MINI MODULE to allow experiments with a duration of 4 month in the International Space Station the basic principle of which will be explained. In the context of aquaculture systems for BLSS the continuous replacement of removed fish biomass is an essential demand. Although fish reproduction seems not to be affected in the short-term space experiments with the C.E.B.A.S. MIMI MODULE a functional and reliable hatchery for the production of siblings under reduced weightlessness is connected with some serious problems. Therefore an automated “reproduction module” for the herbivorous fish Tilapia rendalli was developed as a laboratory prototype. It is concluded that aquatic modules of different degrees of complexity can optimize the productivity of BLSS based on higher land plants and that they offer an unique opportunity for the production of animal protein in lunar or planetary bases.     

STP热光伏发电的方案设计与性能分析

结合STP (Solar thermal Propulsion)高温吸热芯的技术特点,采用二次分光膜,对STP热辐射光伏发电(TPV)系统进行了结构设计和性能计算。通过优化分析,得到使太阳电池工作温度在额定值附近的氢冷却剂入口参数和通道尺寸数据。计算结果表明,当吸热芯温度为2400K时,光伏电池组件的输出功率在50~100W之间;通过调节电池组件的串并联电池数量,可以获得期望的输出特性。结论为STP的热光伏发电系统的设计研究提供参考依据。
     

支化3,3-二叠氮甲基环氧丁烷-四氢呋喃的合成及表征

以3,3-叠氮甲基环氧丁烷-四氢呋喃(PBT)为起始聚醚,三官能度的支化单元为引发剂,在催化剂的作用下,通过亲核加成反应合成一种具有新型支化结构的PBT(B-PBT)。采用FTIR、~1H-NMR、粘度测试、DSC、TG和拉伸测试,对目标产物的结构、粘度特征、热稳定性以及力学性能进行表征。结果表明,所合成的目标产物为具有支化结构的叠氮缩水甘油醚;B-PBT的粘度(15 000 mPa·s/50℃)明显低于PBT(23 828 mPa·s/50℃);引入支化单元后,B-PBT热稳定性仍保持良好,放热达到1481 J/g;产物热分解分为两个阶段,即叠氮基热分解、支化单元以及主链的断裂和小分子的热解;制备的B-PBT弹性体拉伸强度达到5.29 MPa,延伸率达到516.42%,力学性能良好。