[Objective] The Cu-tolerance and Cu enrichment capacity of TLSB2-K were investigated. [Method] The previously isolated TLSB2-K strain was identified though morphological observation, gram staining and 16S rDNA sequenc...[Objective] The Cu-tolerance and Cu enrichment capacity of TLSB2-K were investigated. [Method] The previously isolated TLSB2-K strain was identified though morphological observation, gram staining and 16S rDNA sequence alignment. In ad- dition, the effects of temperature, pH and osmotic pressure on the growth of strain were also investigated by using shaking culture. The Cu-tolerance and Cu enrich- ment capacity of TLSB2-K strain under Cu stress were also studied. [Result] The results showed TLSB2-K belongs to Bacillus spp., and its optimum growth conditions were as follows： temperature, 27 ~C; pH, 7.0; osmotic pressure, 1.1% NaCI. When the Cu concentration ranged from 100 mg/L to 500 mg/L, the strain grew well; when the Cu concentration ranged from 100 mg/L to 400 mg/L, the Cu content in bacteria was increased with the increase of Cu concentration; when the Cu con- centration was 400 mg/L and the incubation time was 30 h, the Cu content in bac- teria reached the peak （2 250 mg/kg）; the highest tolerant concentration was 700 mg/L. [Conclusion] TLSB2-K strain had relatively high Cu tolerance and Cu enrich- ment capacity. They had important theoretical research and engineering application values.展开更多
In the research, changes of apple chemistry, and molecule, under stresses, are n terms of morphology, physiology, bio- illustrated and research and identifica- tion methods of apple resistance are explored involving ...In the research, changes of apple chemistry, and molecule, under stresses, are n terms of morphology, physiology, bio- illustrated and research and identifica- tion methods of apple resistance are explored involving drought-resistance, flood-re- sistance, salt-stress resistance, cold-hardiness and heat-resistance. In addition prospects of apple resistance research are proposed, as well.展开更多
This work presents a controller designed for position-controlled quadrupedal dynamic locomotion,aiming at simple and robust trotting control. The controller takes the torso attitude angles and velocities into planning...This work presents a controller designed for position-controlled quadrupedal dynamic locomotion,aiming at simple and robust trotting control. The controller takes the torso attitude angles and velocities into planning foot trajectories. Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced. Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model. Furthermore,it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional motions. Finally,results of robust trotting in various speeds,path tracking and push recovery in simulation are reported,and results of trotting on real quadruped robots will be studied.展开更多
基金Supported by Hubei Provincial Department of Education Youth Found(Q2014402)Key Project of Natural Science Foundation of Hubei Province(2011CDA037)+2 种基金Special Fund for Agro-scientific Research in the Public Interest of Hubei Province(2012DCA23)Hubei Provincial Key Laboratory of Mining Environmental Pollution Control and Remediation Open Foundation(2012106)Project of Outstanding Yong and Middleaged Scientific and Technological Innovation Team of Colleges and Universities in Hubei Province(T201223)~~
文摘[Objective] The Cu-tolerance and Cu enrichment capacity of TLSB2-K were investigated. [Method] The previously isolated TLSB2-K strain was identified though morphological observation, gram staining and 16S rDNA sequence alignment. In ad- dition, the effects of temperature, pH and osmotic pressure on the growth of strain were also investigated by using shaking culture. The Cu-tolerance and Cu enrich- ment capacity of TLSB2-K strain under Cu stress were also studied. [Result] The results showed TLSB2-K belongs to Bacillus spp., and its optimum growth conditions were as follows： temperature, 27 ~C; pH, 7.0; osmotic pressure, 1.1% NaCI. When the Cu concentration ranged from 100 mg/L to 500 mg/L, the strain grew well; when the Cu concentration ranged from 100 mg/L to 400 mg/L, the Cu content in bacteria was increased with the increase of Cu concentration; when the Cu con- centration was 400 mg/L and the incubation time was 30 h, the Cu content in bac- teria reached the peak （2 250 mg/kg）; the highest tolerant concentration was 700 mg/L. [Conclusion] TLSB2-K strain had relatively high Cu tolerance and Cu enrich- ment capacity. They had important theoretical research and engineering application values.
基金Supported by Shandong Provincial Natural Science Foundation in China(ZR2011CM034)~~
文摘In the research, changes of apple chemistry, and molecule, under stresses, are n terms of morphology, physiology, bio- illustrated and research and identifica- tion methods of apple resistance are explored involving drought-resistance, flood-re- sistance, salt-stress resistance, cold-hardiness and heat-resistance. In addition prospects of apple resistance research are proposed, as well.
基金Supported by the National Natural Science Foundation of China(No.61233014,61305130)China Postdoctoral Science Foundation(No.2013M541912)the Shandong Provincial Natural Science Foundation(No.ZR2013FQ003,ZR2013EEM027)
文摘This work presents a controller designed for position-controlled quadrupedal dynamic locomotion,aiming at simple and robust trotting control. The controller takes the torso attitude angles and velocities into planning foot trajectories. Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced. Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model. Furthermore,it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional motions. Finally,results of robust trotting in various speeds,path tracking and push recovery in simulation are reported,and results of trotting on real quadruped robots will be studied.
