Water wave communication in the genus Bombina (amphibia).

Amphibians were phylogenetically the first vertebrates to leave the aquatic environment and cope with terrestrial conditions including effects of gravity and substrate on movement and communication. Studies of extant primitive amphibians, which have conserved ancestral morphology and behavior, may help us to understand how gravitational adaptation from aquatic to terrestrial environments occurred. The anuran genus Bombina is a candidate for this type of investigation. In particular, a member of this genus, B. orientalis, is known for its low reaction threshold to minor changes of angular acceleration. We hypothesize that a heightened sensitivity to angular and mechanical accelerations evolved with wave communication. Comparisons of such behavior among B. variegata, B. bombina and B. orientalis may shed light on the evolution of reproductive systems based on water wave communication and relevant vestibular sensitivity. This may represent a transition to derived vocalization modes, which is seen in B. bombina to a certain degree.     

猫半规管破坏后线性加速度作用下耳石反应特点

本文研究线性加速度作用下,猫半规管阻塞前后前庭-眼动反射、前庭-脊髓反射和姿态平衡的反应特性。发现猫手术前和双侧半规管阻塞后耳石-眼动反应的功率谱和相对增益无显著性差异,脊髓反射H波幅变化在不同加速度刺激下有相似的反应模式。单侧半规管阻塞后,前庭-眼动反射表现明显不对称,H波幅改变与线性加速度无关,反映出半规管功能不对称也引起耳石功能不对称。本文提出潜在性耳石半规管功能不平衡可能是空间前庭功能障碍的重要原因。      

Influence of gravitoinertial force on vestibular nystagmus in man observed in a centrifuge.

The influence of gravity load on the vestibular system in man was investigated in a centrifuge operating on the free swing principle. The vertical vestibular nystagmus induced by acceleration to 3G was analyzed and compared with reference measurements during 1G. Our data indicate that the effects of increased gravity load include a prolonged decay time constant of upbeat nystagmus and a subject-dependent persisting upbeat nystagmus. In an attempt to explain these findings, an extension of the velocity storage model is proposed, with gravity as a second stimulus function in addition to angular acceleration.     

基于误差四元数分解的刚体姿态跟踪滑模控制

对于转动惯量参数时变和参数不确定以及外部扰动和作用力矩方向偏差的刚体姿态跟踪系统,文章提出了采用滑模控制的方法。利用误差四元数建立数学模型,通过误差四元数分解进行反馈线性化得到指令角加速度;设计滑模控制律,实现指令角加速度跟踪。仿真结果表明,文章所求控制律对刚体姿态跟踪系统具有稳定性和鲁棒性。     

基于本征旋转的刚体姿态跟踪系统滑模控制器

对于转动惯量参数时变和参数不确定以及外部扰动和作用力矩方向偏差的刚体姿态跟踪系统,提出了采用滑模控制的方法.利用误差四元数建立数学模型,通过本征旋转进行反馈线性化得到指令角加速度.设计滑模控制律,实现指令角加速度跟踪.仿真结果表明,所求控制律对刚体姿态跟踪系统具有全局稳定性和鲁棒性.     

Adaptations of the vestibular system to short and long-term exposures to altered gravity.

Long-term space flight creates unique environmental conditions to which the vestibular system must adapt for optimal survival of a given organism. The development and maintenance of vestibular connections are controlled by environmental gravitational stimulation as well as genetically controlled molecular interactions. This paper describes the effects of hypergravity on axonal growth and dendritic morphology, respectively. Two aspects of this vestibular adaptation are examined: (1) How does long-term exposure to hypergravity affect the development of vestibular axons? (2) How does short-term exposure to extremely rapid changes in gravity, such as those that occur during shuttle launch and landing, affect dendrites of the vestibulocerebellar system? To study the effects of longterm exposures to altered gravity, embryonic rats that developed in hypergravity were compared to microgravity-exposed and control rats. Examination of the vestibular projections from epithelia devoted to linear and angular acceleration revealed that the terminal fields segregate differently in rat embryos that gestated in each of the gravitational environments.To study the effects of short-term exposures to altered gravity, mice were exposed briefly to strong vestibular stimuli and the vestibulocerebellum was examined for any resulting morphological changes. My data show that these stimuli cause intense vestibular excitation of cerebellar Purkinje cells, which induce up-regulation of clathrin-mediated endocytosis and other morphological changes that are comparable to those seen in long-term depression. This system provides a basis for studying how the vestibular environment can modify cerebellar function, allowing animals to adapt to new environments.     

Effects of rectilinear acceleration, caloric and optokinetic stimulation of human subjects in the Spacelab D-1 mission

A set of vestibular experiments was performed during the course of the German Spacelab D-1 mission from 30 October to 6 November 1985 by a consortium of experimenters from various european countries. Similar to the Spacelab SL-1 mission all of the scientific crew members were theoretically and practically trained for the experiments. Baseline measurements for all tests were collected 113, 86, 44, 30 and 18 days prior to the mission and compared with data taken inflight, on the landing day and the consecutive 7 to 14 days.

The hardware comprised mainly a motordriven accelerating platform, the SPACE SLED, and the vestibular helmet, a multi-purpose instrument in support of a variety of vestibular experiments including air-calorisation of the ears, optokinetic stimulation pattern presentation and optical and nystagmographic recording of eye movements.

Measurements of the threshold for the perception of detection of whole body movement did not reveal any dramatic changes in the 2 measured axes inflight when compared to preflight values. Early postflight values show a significantly elevated threshold for all axes in 3 out of 4 subjects.

The caloric nystagmus, already found during the SL-1 mission, was confirmed on all three tested subjects during the D-1 mission. It's amplitude and in some instances it's direction were influenced by horizontal acceleration on the SLED.

The amplitude of optokinetic nystagmus increased when subjects were allowed to free-float over that seen when subjects were fixed.

Stimulation of the neck receptors by roll movements of the body against the fixated head resulted in illusory object motion to the contralateral side. Torsional movements of the eyes during such neck receptor stimulation was present inflight and postflight, while it had not been observed preflight. Most results point to a reduction of otolithic effects in favour of visual and proprioceptive influences for spatial orientation.     

Changes of vertical eye movements of goldfish for different otolith stimulation by linear acceleration.

Eye movements serves to hold the gaze steady or to shift the gaze to an object of interest. On Earth, signals from otoliths can be interpreted either as linear motion or as tilt with respect to gravity. In microgravity, static tilt will no longer give rise to changes in otolith activity. However, linear acceleration as well as angular acceleration stimulate the otolith organ. Therefore, during adaptation to microgravity, otolith-mediated response such as eye movements alter. In this study, we analyzed the eye movements of goldfish during linear acceleration. The eye movements during rectangular linear acceleration along the different body axis were video-recorded. The vertical eye rotations were analyzed frame by frame. In normal fish, leftward lateral acceleration induced downward eye rotation in the left eye and upward eye rotation in the right eye. Acceleration from caudal to rostral evoked downward eye rotation in both eyes. When the direction of acceleration was shifted 15 degrees left, the responses in the left eye disappeared. These results suggested that otolith organs in each side were stimulated differently.     

Graviperception in ciliates: steps in the transduction chain.

Ciliates represent suitable model systems to study the mechanisms of graviperception and signal transduction as they show clear gravity-induced behavioural responses (gravitaxis and gravikinesis). The cytoplasm seems to act as a "statolith" stimulating mechanosensitive ion channels in the cell membrane. In order to test this hypothesis, electrophysiological studies with Stylonychia mytilus were performed, revealing the proposed changes (de- or hyperpolarization) depending on the cell's spatial orientation. The behaviour of Paramecium and Stylonychia was also analyzed during variable acceleration conditions of parabolic flights (5th German Parabolic Flight Campaign, 2003). The corresponding data confirm the relaxation of the graviresponses in microgravity as well as the existence of thresholds of graviresponses, which are found to be in the range of 0.4xg (gravikinesis) and 0.6xg (gravitaxis).     

Otolith formation in a mutant Medaka with a deficiency in gravity sensing.

Mutant Medaka ha exhibit spontaneous mutation that is characterized by frequent inhibition or perturbation in the formation of utricular otoliths and/or semicircular canals. Three major features of otolith morphogenesis were observed in ha strain: 1) The initial appearance of otoliths was delayed, mispositioned, and malformed compared to normal embryos. 2) No utricular otoliths appeared on macula of any ha fry just after hatching. A symmetric state of otoliths was seen only when saccular otoliths were situated on macula in both inner ears. 3) In some fry, formation of utricular otoliths was observed in their later development. However, no new utricular otoliths appeared after fish were seventy or more days old after hatching. These observations show that otolith morphogenesis in ha is very different from that of wild-type. In this study, we classified adult ha into four different phenotypes using the existence or absence of utricular otoliths as our criteria. We concluded that dysfunction of utricular otoliths and semicircular canals cause a defect that affects the gravity-sensing abilities of medaka ha.     

The European vestibular experiments in Spacelab-1.

A series of experiments were performed in the Spacelab-1 mission on November/December, 1983, pre-, in-, and postflight. These experiments covered various aspects of the functions of the vestibular system, the inflight tests comprising threshold measurements for linear movements in three orthogonal axes, optokinetic stimulation, vestibulo-ocular reflexes under linear and angular accelerations, caloric stimulation with and without linear accelerations; pre- and postflight tests repeated the inflight protocol with the addition of subjective vertical and eye counter-rotation measurements using a tilt table. One of the most surprising and significant results was the caloric test: strong caloric nystagmus on the two subjects tested was recorded inflight; this was contrary to what was expected from Barany's convection hypothesis for caloric nystagmus.     

Influence of longitudinal whole animal clinorotation on lens, tail, and limb regeneration in urodeles.

Two species of newts (Urodela) and two types of clinostats for fast clinorotation (60 rpm) were used to investigate the influence of simulated weightlessness on regeneration and to compare results obtained with data from spaceflight experiments. Seven or fourteen days of weightlessness in Russian biosatellites caused acceleration of lens and limb regeneration by an increase in cell proliferation, differentiation, and rate of morphogenesis in comparison with ground controls. After a comparable time of clinorotation the results obtained with Triturus vulgaris using a horizontal clinostat were similar to those found in spaceflight. In contrast, in Pleurodeles waltl using both horizontal and radial clinostats the results were contradictory compared to Triturus. We speculate that different levels of gravity or/and species specific thresholds for gravitational sensitivity could be responsible for these contradictory results.     

Formation of otoconia in the Japanese red-bellied newt, Cynops pyrrhogaster.

Pre-mated adult female newts and fertilized eggs will be flown on the International Microgravity Laboratory-2 flight, in 1994. One objective of the flight will be to observe the influence of microgravity on the development of the gravity-sensing organs in the inner ear. These organs contain sensory hair cells covered by a layer of dense stones (otoconia). Gravity and linear acceleration exert forces on these masses, leading to excitation of the nerve fibers innervating the hair cells. If the production of the otoliths is regulated to reach an optimal weight, their development might be abnormal in microgravity. Ground-based control experiments are reported describing the developmental sequence in which both the otoliths and their associated sensory epithelium and the semicircular canals appear and develop. Three-dimensional reconstruction of serial sections through the otic vesicle of newt embryos at stages 31 through 58 demonstrate the first appearance, relative position and growth of the otoliths. Reports of experiments in which fertilized frog eggs were flown on a Russian Cosmos mission conclude that the utricular otolith is increased in volume, whereas the saccular otolith maintains normal size, suggesting that at least in the utricle, the weight of the otolith might be regulated.     

短距离起飞加速度对飞行员操作影响的分析

短距离起飞产生的过载加速度可能对飞行员的安全操作造成极大隐患。本文建立飞行员-座舱系统的多刚体模型,仿真分析了胸-背方向的加速度载荷（Gx）对飞行员驾驶状态下的人机动力学响应。首先,根据第3百分位的男性人体测量学数据,通过三维CAD软件建立了飞行员的虚拟假人模型;并根据设计参数的要求建立了包括座椅和操作杆（油门杆与驾驶杆）在内的飞机座舱模型。然后,以标准的短距离起飞的加速度模拟曲线为载荷条件,利用多刚体动力学软件ADAMS模拟了飞行员在短距离加速起飞过程中的动力学响应及飞行员与操作系统之间的力学相互关系。仿真结果表明,过载加速度会经飞行员身体传递给操作杆,5G加速度载荷产生的传递力作用在驾驶杆和油门杆上的值分别为128 N和211 N,两者均已超过了通常操作杆所设计的有效阈值,因此存在误操作的可能。另外,本文结合仿真结果和国外现有战机设计,提出了短距离起飞下飞行员避免误操作的可行方式,结果显示该方式可以有效地转移加速度传递所带来的影响。本文方法将为在短距离起飞作用下避免误操作的分析提供技术途径,得到的结果将为驾驶部位的人机设计提供参考。      

Relationship between head orientation and torsional eye movements in goldfish during linear acceleration.

We analyzed torsional eye movements of normal goldfish during sinusoidal linear acceleration, altering the orientation of the fish on the linear accelerator in the yaw plane over a range of 90 degrees and in the pitch plane up to 30 degrees. We video-recorded changes of torsional eye movements associated with a body rotation in the yaw and pitch plane and analyzed them frame by frame. In normal fish, we observed clear torsional eye movements for stimuli of 0.1 G linear accelerations along the body axis in the horizontal position. Torsion occurred in the opposite direction of resultant force produced by linear acceleration and gravity. Though the amplitude of these compensatory responses increased with increasing magnitude of acceleration up to 0.5 G, the torsion angle did not fully compensate the angle calculated from gravity and linear acceleration. Furthermore, the torsion angle decreased as the longitudinal body axis deviated from the direction of linear acceleration. For the body axis perpendicular to the direction of acceleration, torsional eye movement was still observed. When we tilted the fish in the pitch plane, compensatory eye torsion occurred. The response amplitude to acceleration decreased for both head-up and head-down up to 30 degrees. These results suggested the existence of specific connections between the otolith organ and ocular muscles.     

Determination of the threshold acceleration for the gravitropic stimulation of cress roots and hypocotyls.

To determine the range of the threshold acceleration (a-threshold) for the gravitropic stimulation of Lepidium sativum L. roots and hypocotyls, experiments were performed on a centrifuge-clinostat with two-orthogonal axes. The rotation rate of the clinostat was 4 rpm (< or = 1.8 x 10(-4) g), while that of the centrifuge was from 3 to 17 rpm (3 x 10(-3) to 10(-1) g). The gravitropic response was determined: (i) after growth of roots and hypocotyls in their normal vertical position and subsequent gravitropic stimulation for 3 h by accelerations of 4 x 10(-3) to 10(-1) g, and (ii) after continuous stimulation in the lateral direction by centripetal accelerations of 4 x 10(-3) to 10(-1) g. The a-threshold was defined by an extrapolation of the regression line of R = p + rx, where x was either ln a or l/a for 3 h or a continuous stimulation, respectively. The a-threshold estimated after 3 h stimulation was equal to 2.6 x 10(-3) g for roots and 3.1 x 10(-3) g for hypocotyls. The threshold accelerations that were unable to evoke a gravitropic response even with continuous stimulation of cress roots and hypocotyls were approximately 3.1 x 10(-3) g and 3.6 x 10(-3) g, respectively. Increasing the stimulation acceleration up to 4.1 x 10(-3) g led to a statistically confirmed gravitropic response of a definite proportion of both the root and hypocotyl populations. In the experiments where acceleration and stimulation time were variable, the threshold dose (D-threshold) for roots was determined to be about 14 to 22 g x s, depending on the stimulation duration and the range of accelerations. The kinetics of gravitropic response at a near-threshold acceleration (4 x 10(-3) to 1.9 x 10(-2) g) differed from that at 1 g (horizontal stimulation). At low forces, the maximal response dependent on the magnitude of acceleration could not be enhanced by increasing the stimulation time up to at least 210 min.     

质心位置对超空泡射弹尾拍运动影响分析

基于均质平衡流理论,通过求解混合介质的RANS(Reynolds-Averaged Navier-Stokes equations)方程、SST(Shear Stress Transport)湍流方程和不同介质之间的质量输运方程,结合刚体运动方程和网格变形方法,研究了不同质心位置的超空泡射弹尾拍运动特性以及尾拍运动下超空泡形态特性,对比分析了不同质心位置的超空泡射弹尾拍运动的刚体运动和尾拍力的变化特征.结果表明,射弹尾拍运动对空泡形态的对称性有较大影响,发生碰撞处的空泡壁面朝着弹体转动的方向发展;射弹尾拍运动的转动角度、角速度、角加速度以及尾拍阻力和尾拍升力等都表现出周期性变化规律,且随着质心与射弹头部距离的增加,转动惯量增大,变化周期也增大.     

一种重力卫星质心在轨标定算法

针对重力卫星质心在轨标定问题,提出了一种将预测滤波与卡尔曼滤波相结合的标定算法。该算法首先利用磁力矩器产生一个明显大于干扰力矩的周期性力矩作用于卫星上,然后利用陀螺数据实现了卫星角加速度的预测滤波估计,并通过静电加速度计信息设计卡尔曼滤波器,实现卫星质心的标定;最后进行了数学仿真,仿真结果表明该算法针对卫星的角加速度及质心位置能够实时估计,三轴最佳标定精度分别为[0.0628 0.0324 0.0414]mm,实现了卫星质心较为精确的标定。     

无人机高机动抗扰轨迹跟踪控制方法

针对传统的四旋翼控制方法在高机动飞行时控制效果不佳,难以跟踪机动性较强的轨迹且控制精度较低的问题,设计了基于增量非线性动态逆控制(INDI)方法和微分平坦前馈的轨迹跟踪控制器,不仅提高了高机动轨迹的跟踪精度,也增强了抗扰能力。由于角加速度无法直接获得,该方法对其非常敏感,设计了多种角加速度估计方法进行对比,通过飞行试验选择了效果最佳的互补滤波方法。试验结果证明：设计的基于互补滤波的前馈INDI方法可以控制飞行器快速、准确地跟踪高机动轨迹,且具有较强的抗扰能力。     

小天体着陆动力学参数不确定性影响分析

针对小天体不规则程度高、引力场复杂,且物理参数存在较高不确定性的问题,基于小天体着陆动力学方程线性化近似解析解,对各动力学参数不确定性的影响进行了分析。考虑动力学方程线性化带来的误差,引入线性化误差补偿校正方法,建立了探测器轨迹对动力学参数不确定性的敏感度方程。以小行星Eros 433为例,重点分析了目标小天体质量、自转角速度、引力势函数系数,以及探测器初始状态、推力加速度等动力学参数不确定性对探测器着陆轨迹的影响。数学仿真分析表明,针对本文选取的目标小天体,推力加速度扰动为主要影响因素,探测器初始状态的不确定性为次要影响因素,其他参数扰动的影响较小。