The effect of MnO4- and silver content on electrochemical behaviour of five commercial Pb-Ag alloy anodes was studied in acid zinc sulphate electrolyte with and without MnO4- ions at 38 °C during potential decay ...The effect of MnO4- and silver content on electrochemical behaviour of five commercial Pb-Ag alloy anodes was studied in acid zinc sulphate electrolyte with and without MnO4- ions at 38 °C during potential decay periods. When the anodes were immersed into acid zinc sulphate electrolyte without MnO4- ions, the Pb-0.72%Ag anode entered complete passivation state in the shortest time among the five anodes, followed by anodes Pb-0.67%Ag, Pb-0.60%Ag, Pb-0.58%Ag and Pb-0.29%Ag-0.1%Ca by measurement of open circuit potential. During immersion of the anodes, MnO4 ions accelerated the passivation and increased the corrosion current density of the anodes. After immersion in zinc electrolyte with MnO4-, the anode Pb-0.72%Ag had the best corrosion resistance, followed by anodes Pb-0.67%Ag, Pb-0.60%Ag, then the close anodes Pb-0.58%Ag and Pb-0.29%Ag-0.1%Ca by the electrochemical impedance spectroscopy (EIS) analysis.展开更多
[Objective] This study was to investigate the effect of atrazine stress on the growth of Pennisetum hydridum. [Method] Pot experiments were conducted to study the effects of atrazine stress (20, 50, 100, 200, 500 mg...[Objective] This study was to investigate the effect of atrazine stress on the growth of Pennisetum hydridum. [Method] Pot experiments were conducted to study the effects of atrazine stress (20, 50, 100, 200, 500 mg/kg) on plant height, biomass, root-shoot ratio and chlorophyll content of P. hydridum. [Results] Low level of atrazine stress (20 and 50 mg/kg) showed no significant effects on plant height and biomass of P. hydridum. Moderate level of atrazine stress (100 and 200 mg/kg) did not show significant effect on plant height, but did on the biomass of P. hydridum. Biomass of P. hydridum stressed by 100 and 200 mg/kg of atrazine was decreased by 34.1% and 36.4% compared with control, respectively. High level of atrazine stress (500 mg/kg) brought significant decrease in plant height(by 40.6%) and biomass(20.0%) of P. hydridum. All levels of atrazine stress showed no significant effects on root-shoot ratio and chlorophyll content of P. hydridum. [Conclusion] Pennisetum hydridum has strong tolerance to atrazine stress.展开更多
Root border cells, previously referred to as sloughed root cap cells, is a special cell population which separates in large numbers from the periphery of the root cap and accumulates in the root tip. Recent evidence r...Root border cells, previously referred to as sloughed root cap cells, is a special cell population which separates in large numbers from the periphery of the root cap and accumulates in the root tip. Recent evidence reveals that border cells, whose development is regulated by endogenous and exogenous signals, are biologically viable in the majority of higher plant species. As soon as border cells detach from root cap periphery, their metabolic activity dramatically increases in accordance with a differential gene expression from that in root cap cells. Recently, PsUGT1 and RCPME1, relevant to the early and late stage of border cell development, respectively, have been cloned and functionally identified. Border cells can synthesize specially and export a diverse array of chemicals including anthocyanins, antibiotics, special enzymes and other substances, that either inhibit or promote the growth of other entities in rhizosphere such as bacteria, fungi, viruses, and nematodes, and also antagonize some toxic chemicals around the root tip in soil such as aluminum toxicity. Therefore, there are multiple biological roles played by border cells during plant growth and development.展开更多
[Objective] The aim was to investigate the effects of Primo MAXX growth regulator on growth of Bermuda grass,explore appropriate application concentration of Primo MAXX on Bermuda grass,and provide basis for the appli...[Objective] The aim was to investigate the effects of Primo MAXX growth regulator on growth of Bermuda grass,explore appropriate application concentration of Primo MAXX on Bermuda grass,and provide basis for the application of Primo MAXX in Bermuda meadow.[Method]The height,leaf colour and the aerial part's fresh weight of Bermuda grass treated with different concentrations were researched using single factor random block test.[Result]Primo MAXX application effectively reduced the height in all treatment without significant difference;appropriate application of Primo MAXX can enrich the color;and 35 days after application,Bermuda grass roots were become thicker.[Conclusion]The application of Primo MAXX with effective dose of 150-300 g/hm2 on Bermuda grass in southern China is more appropriate.展开更多
The ultrastructures of the root protophleom sieve element at different developmental stages of Arabidopsis thaliana L. were investigated using the technique of high pressure freezing and freeze substitution fixing spe...The ultrastructures of the root protophleom sieve element at different developmental stages of Arabidopsis thaliana L. were investigated using the technique of high pressure freezing and freeze substitution fixing specimen. The results show that in the development of the sieve elements, the nuclei undergo typical characteristics of the programmed cell death (PCD): the nuclear envelopes form emboli, the chromatin condenses and aggregates towards the nuclear envelope, which degrades and fully disappears later. Before the nucleus degradation, neither the nuclear envelope undulation, nucleus lobe nor marked dilation (or bleb) of perinuclear space could be observed. In the cytoplasm of the mature sieve element, there are starch-like granules separately sheathed with a layer of membrane and usually with mitochondria around. These gnanules seem to provide substrates to mitochondria in their function. Small vacuoles originate from endoplasmic reticulum (ER), and no bigger vacuole was found.展开更多
Sinorhizobium meliloti nifA is important in fixing nitrogen during symbiosis. A nifA null mutant induces small white invalid nodules in the roots of host plant. The additional phenotypic alterations associated with th...Sinorhizobium meliloti nifA is important in fixing nitrogen during symbiosis. A nifA null mutant induces small white invalid nodules in the roots of host plant. The additional phenotypic alterations associated with the disruption of the nifA gene are reported in this study. Under a free-living state, S. meliloti nifA mutant reduces its ability to swarm on a half-solid plate. Interestingly, the AHL (Acylhomoserine lactones) contents in the nifA mutant are lower than that of the wild type during the lag phase, whereas it is reversed in the logarithmic and stationary phases. Quantitative spectrophotometric assays reveal that the total amount of extracellular proteins of the nifA mutant are lower than that of the wild type. In addition, the mutant abolishes its nodulation competitive ability during symbiosis. These findings indicate that NifA plays a regulatory role in multiple cellular processes in S. meliloti.展开更多
Two cells consisting of a chloride-selective electrode and a nitrate-selective electrode or of a chloride-selective electrode and a perchlorate-selective electrode were directly put in the soil suspension to determine...Two cells consisting of a chloride-selective electrode and a nitrate-selective electrode or of a chloride-selective electrode and a perchlorate-selective electrode were directly put in the soil suspension to determine the concentration ratios Cl-/ NO3- or Cl-/ ClO4- for studying the adsorption of the three anions by variable charge soils. It was found that all the concentration ratios CCl- / CNO3- and CCl- / CClO4- in suspension were smaller than unity when soil samples were in equilibrium with mixed KCl and KNO3 or KCl and KClO4 solutions of equal concentration. The order of the amount of chloride, nitrate and perchlorate adsorbed by variable charge soils was Cl-> NO3-> ClO4- when the soils adsorbed these anions from the solution containing equal concentrations of Cl-, NO3- and ClO4-. Such factors as the pH of the suspension, the iron oxide content of the soil etc. could affect the amounts and the ratios of anions adsorbed. The adsorption was chiefly caused by coulombic attraction, but a covalent force between the anion and the metal atom on the surface of soil particles may also be involved, at least for Cl- ions, even for NO3- ions.展开更多
Following the study on effects of different root temperature treatments on growth and stomata of tomato plants under high temperature in summer, the influence of different root temperature treatments on microstructure...Following the study on effects of different root temperature treatments on growth and stomata of tomato plants under high temperature in summer, the influence of different root temperature treatments on microstructure of tomato leaves was studied in depth in this paper. The tomato plants were cultured with circulating nutrient solutions. Under three different root temperature treatments [(23±1), (28±1), (33±1)℃], the microstructure of tomato leaves were observed and measured with paraffin section method. The results showed that with the increase of root temperature, the thickness, palisade tissue thickness, spongy tissue thickness of tomato leaves all decreased, but the epidermis thickness and palisade tissue thickness to spongy tissue thickness ratio increased. Therefore, increased root temperature led to drought stress to tomato plants, and in order to adapt to the hot and drought environment, tomato plants changed their structural characteristics.展开更多
Experiments were conducted to study the adsorption of Cd on two soil colloids (red soil and yellow- brown soil) and three variable-charge minerals (goethite, noncrystalline Fe oxide and kaolin) in the absence and pres...Experiments were conducted to study the adsorption of Cd on two soil colloids (red soil and yellow- brown soil) and three variable-charge minerals (goethite, noncrystalline Fe oxide and kaolin) in the absence and presence of rhizobia. The tested strain Rhizobium fredii C6, tolerant to 0.8 mmol L-1 Cd, was selected from 30 rhizobial strains. Results showed that the isotherms for the adsorption of Cd by examined soil colloids and minerals in the presence of rhizobia could be described by Langmuir equation. Within the range of the numbers of rhizobial cells studied, the amount of Cd adsorbed by each system increased with increasing rhizobial cells. Greater increases for the adsorption of Cd were found in red soil and kaolin systems. Rhizobia influence on the adsorption of Cd by examined soil colloids and minerals was different from that on the adsorption of Cu. The presence of rhizobia increased the adsorption sanity of soil colloids and minerals for Cd, particularly for the goethite and kaolin systems. The discrepancies in the influence of rhizobia on the adsorbability and affinity of selected soil colloids and minerals for Cd suggested the different interactions of rhizobia with various soil components. It is assumed that bacterial biomass plays an important role in controlling the mobility and bioavailability of Cd in soils with kaolinite and goethite as the major colloidal components, such as in variable-charge soil.展开更多
The van Genuchten model is the most widely used soil water retention curve (SWRC) model. Two undisturbed soils (clay and loam) were used to evaluate the accuracy of the integral method to estimate van Genuchten mo...The van Genuchten model is the most widely used soil water retention curve (SWRC) model. Two undisturbed soils (clay and loam) were used to evaluate the accuracy of the integral method to estimate van Genuchten model parameters and to determine SWRCs of undisturbed soils. SWRCs calculated by the integral method were compared with those measured by a high speed centrifuge technique. The accuracy of the calculated results was evaluated graphically, as well as by root mean square error (RMSE), normalized root mean square error (NRMSE) and Willmott's index of agreement (1). The results obtained from the integral method were quite similar to those by the centrifuge technique. The RMSEs (4.61 ×10^-5 for Eum-Orthic Anthrosol and 2.74 × 10^-4 for Los-Orthic Entisol) and NRMSEs (1.56 × 10^-4 for Eum- Orthic Anthrosol and 1.45 ×10^-3 for Los-Orthic Entisol) were relatively small. The 1 values were 0.973 and 0.943 for Eum-Orthic Anthrosol and Los-Orthic Entisol, respectively, indicating a good agreement between the integral method values and the centrifuge values. Therefore, the integral method could be used to estimate SWRCs of undisturbed clay and loam soils.展开更多
Mobile robot systems performing simultaneous localization and mapping(SLAM) are generally plagued by non-Gaussian noise.To improve both accuracy and robustness under non-Gaussian measurement noise,a robust SLAM algori...Mobile robot systems performing simultaneous localization and mapping(SLAM) are generally plagued by non-Gaussian noise.To improve both accuracy and robustness under non-Gaussian measurement noise,a robust SLAM algorithm is proposed.It is based on the square-root cubature Kalman filter equipped with a Huber' s generalized maximum likelihood estimator(GM-estimator).In particular,the square-root cubature rule is applied to propagate the robot state vector and covariance matrix in the time update,the measurement update and the new landmark initialization stages of the SLAM.Moreover,gain weight matrices with respect to the measurement residuals are calculated by utilizing Huber' s technique in the measurement update step.The measurement outliers are suppressed by lower Kalman gains as merging into the system.The proposed algorithm can achieve better performance under the condition of non-Gaussian measurement noise in comparison with benchmark algorithms.The simulation results demonstrate the advantages of the proposed SLAM algorithm.展开更多
Objective: The purpose of the study is to investigate the degree and influencing factors of self-perceived burden in elderly patients with essential hypertension in China's Mainland. Methods:The study used the cro...Objective: The purpose of the study is to investigate the degree and influencing factors of self-perceived burden in elderly patients with essential hypertension in China's Mainland. Methods:The study used the cross-sectional investigation method and the patients were recruited from six tertiary hospitals in Chengdu, China. A convenience sample of 451 elderly patients with essential hypertension was included in this study. Multiple linear regression analysis was performed as well. Results: Results showed that the score of elderly essential hypertension patients’self-perceived burden was 27.96 ± 6.04, which was at medium degree. According to Spearman's r test the anxiety, depression and medication compliance with Self-perceived burden (SPB) of elderly hypertension patients were statistically significant (r=0.372, 0.899,0.438,P=0.000,respectively). Single factor analysis showed that the difference of patients’ gender, place of residence, monthly per capita income, marital status, whether can afford medical expenses and number of complications in SPB scores was statistically significant (P<0.05). Multiple regression analysis also showed that anxiety, medication compliance, age and marital status were the main influencing factor of SPB of elderly hypertension patients (P<0.05). Conclusion: Our care workers should pay attention to the self-perceived burden of elderly patients with essential hypertension, and omnibearing, systematic nursing should be supplied to decrease the self-perceived burden of them.展开更多
Drought can greatly impact the biodiversity of an ecosystem and play a crucial role in regulating its functioning.However,the specific mechanisms by which drought mediate the biodiversity effect(BE)on community biomas...Drought can greatly impact the biodiversity of an ecosystem and play a crucial role in regulating its functioning.However,the specific mechanisms by which drought mediate the biodiversity effect(BE)on community biomass in above-and belowground through functional traits remain poorly understood.Here,we conducted a common garden experiment in a greenhouse,which included two plant species richness levels and two water addition levels,to analyze the effects of biodiversity on aboveground biomass(AGB),belowground biomass(BGB)and total biomass(TB),and to quantify the relationship between BEs and functional traits under drought conditions.Our analysis focused on partitioning BEs into above-and belowground complementarity effect(CE)and selection effect(SE)at the species level,which allowed us to better understand the impacts of biodiversity on community biomass and the underlying mechanisms.Our results showed that plant species richness stimulated AGB,BGB and TB through CEs.Drought decreased AGB,BGB and TB,simultaneously.In addition,the aboveground CE was positively associated with the variation in plant height.SEs in above-and belowground were negatively correlated with the community mean plant height and root length,respectively.Furthermore,drought weakened the aboveground CE by decreasing variation in plant height,resulting in a reduction in AGB and TB.Our findings demonstrate that the complementarity of species is an important regulator of community biomass in above-and belowground,the dynamics of biomass under environmental stress are associated with the response of sensitive compartments.展开更多
基金Project(RDCPJ346365-06)supported by the Natural Sciences and Engineering Research Council of CanadaProject(51208193)supported by the National Natural Science Foundation of ChinaProject(11jj6034)supported by the Hunan Provincial Natural Science Foundation
文摘The effect of MnO4- and silver content on electrochemical behaviour of five commercial Pb-Ag alloy anodes was studied in acid zinc sulphate electrolyte with and without MnO4- ions at 38 °C during potential decay periods. When the anodes were immersed into acid zinc sulphate electrolyte without MnO4- ions, the Pb-0.72%Ag anode entered complete passivation state in the shortest time among the five anodes, followed by anodes Pb-0.67%Ag, Pb-0.60%Ag, Pb-0.58%Ag and Pb-0.29%Ag-0.1%Ca by measurement of open circuit potential. During immersion of the anodes, MnO4 ions accelerated the passivation and increased the corrosion current density of the anodes. After immersion in zinc electrolyte with MnO4-, the anode Pb-0.72%Ag had the best corrosion resistance, followed by anodes Pb-0.67%Ag, Pb-0.60%Ag, then the close anodes Pb-0.58%Ag and Pb-0.29%Ag-0.1%Ca by the electrochemical impedance spectroscopy (EIS) analysis.
基金Supported by Natural Science Foundation of Yunnan Province(2010CD058)~~
文摘[Objective] This study was to investigate the effect of atrazine stress on the growth of Pennisetum hydridum. [Method] Pot experiments were conducted to study the effects of atrazine stress (20, 50, 100, 200, 500 mg/kg) on plant height, biomass, root-shoot ratio and chlorophyll content of P. hydridum. [Results] Low level of atrazine stress (20 and 50 mg/kg) showed no significant effects on plant height and biomass of P. hydridum. Moderate level of atrazine stress (100 and 200 mg/kg) did not show significant effect on plant height, but did on the biomass of P. hydridum. Biomass of P. hydridum stressed by 100 and 200 mg/kg of atrazine was decreased by 34.1% and 36.4% compared with control, respectively. High level of atrazine stress (500 mg/kg) brought significant decrease in plant height(by 40.6%) and biomass(20.0%) of P. hydridum. All levels of atrazine stress showed no significant effects on root-shoot ratio and chlorophyll content of P. hydridum. [Conclusion] Pennisetum hydridum has strong tolerance to atrazine stress.
文摘Root border cells, previously referred to as sloughed root cap cells, is a special cell population which separates in large numbers from the periphery of the root cap and accumulates in the root tip. Recent evidence reveals that border cells, whose development is regulated by endogenous and exogenous signals, are biologically viable in the majority of higher plant species. As soon as border cells detach from root cap periphery, their metabolic activity dramatically increases in accordance with a differential gene expression from that in root cap cells. Recently, PsUGT1 and RCPME1, relevant to the early and late stage of border cell development, respectively, have been cloned and functionally identified. Border cells can synthesize specially and export a diverse array of chemicals including anthocyanins, antibiotics, special enzymes and other substances, that either inhibit or promote the growth of other entities in rhizosphere such as bacteria, fungi, viruses, and nematodes, and also antagonize some toxic chemicals around the root tip in soil such as aluminum toxicity. Therefore, there are multiple biological roles played by border cells during plant growth and development.
基金Supported by Science and Technology Project of Guangdong Province(2008B020400015,2006B20301045)~~
文摘[Objective] The aim was to investigate the effects of Primo MAXX growth regulator on growth of Bermuda grass,explore appropriate application concentration of Primo MAXX on Bermuda grass,and provide basis for the application of Primo MAXX in Bermuda meadow.[Method]The height,leaf colour and the aerial part's fresh weight of Bermuda grass treated with different concentrations were researched using single factor random block test.[Result]Primo MAXX application effectively reduced the height in all treatment without significant difference;appropriate application of Primo MAXX can enrich the color;and 35 days after application,Bermuda grass roots were become thicker.[Conclusion]The application of Primo MAXX with effective dose of 150-300 g/hm2 on Bermuda grass in southern China is more appropriate.
文摘The ultrastructures of the root protophleom sieve element at different developmental stages of Arabidopsis thaliana L. were investigated using the technique of high pressure freezing and freeze substitution fixing specimen. The results show that in the development of the sieve elements, the nuclei undergo typical characteristics of the programmed cell death (PCD): the nuclear envelopes form emboli, the chromatin condenses and aggregates towards the nuclear envelope, which degrades and fully disappears later. Before the nucleus degradation, neither the nuclear envelope undulation, nucleus lobe nor marked dilation (or bleb) of perinuclear space could be observed. In the cytoplasm of the mature sieve element, there are starch-like granules separately sheathed with a layer of membrane and usually with mitochondria around. These gnanules seem to provide substrates to mitochondria in their function. Small vacuoles originate from endoplasmic reticulum (ER), and no bigger vacuole was found.
基金This work was supported by the National Grand Fundamental Research 973 Project (No. 2001CB108901)National Science Foundation of China (No. 30400267).
文摘Sinorhizobium meliloti nifA is important in fixing nitrogen during symbiosis. A nifA null mutant induces small white invalid nodules in the roots of host plant. The additional phenotypic alterations associated with the disruption of the nifA gene are reported in this study. Under a free-living state, S. meliloti nifA mutant reduces its ability to swarm on a half-solid plate. Interestingly, the AHL (Acylhomoserine lactones) contents in the nifA mutant are lower than that of the wild type during the lag phase, whereas it is reversed in the logarithmic and stationary phases. Quantitative spectrophotometric assays reveal that the total amount of extracellular proteins of the nifA mutant are lower than that of the wild type. In addition, the mutant abolishes its nodulation competitive ability during symbiosis. These findings indicate that NifA plays a regulatory role in multiple cellular processes in S. meliloti.
文摘Two cells consisting of a chloride-selective electrode and a nitrate-selective electrode or of a chloride-selective electrode and a perchlorate-selective electrode were directly put in the soil suspension to determine the concentration ratios Cl-/ NO3- or Cl-/ ClO4- for studying the adsorption of the three anions by variable charge soils. It was found that all the concentration ratios CCl- / CNO3- and CCl- / CClO4- in suspension were smaller than unity when soil samples were in equilibrium with mixed KCl and KNO3 or KCl and KClO4 solutions of equal concentration. The order of the amount of chloride, nitrate and perchlorate adsorbed by variable charge soils was Cl-> NO3-> ClO4- when the soils adsorbed these anions from the solution containing equal concentrations of Cl-, NO3- and ClO4-. Such factors as the pH of the suspension, the iron oxide content of the soil etc. could affect the amounts and the ratios of anions adsorbed. The adsorption was chiefly caused by coulombic attraction, but a covalent force between the anion and the metal atom on the surface of soil particles may also be involved, at least for Cl- ions, even for NO3- ions.
文摘Following the study on effects of different root temperature treatments on growth and stomata of tomato plants under high temperature in summer, the influence of different root temperature treatments on microstructure of tomato leaves was studied in depth in this paper. The tomato plants were cultured with circulating nutrient solutions. Under three different root temperature treatments [(23±1), (28±1), (33±1)℃], the microstructure of tomato leaves were observed and measured with paraffin section method. The results showed that with the increase of root temperature, the thickness, palisade tissue thickness, spongy tissue thickness of tomato leaves all decreased, but the epidermis thickness and palisade tissue thickness to spongy tissue thickness ratio increased. Therefore, increased root temperature led to drought stress to tomato plants, and in order to adapt to the hot and drought environment, tomato plants changed their structural characteristics.
基金Project supported by the National Natural Science Foundation of China !(No. 49601011)the Natural Science Foundation of Hubei
文摘Experiments were conducted to study the adsorption of Cd on two soil colloids (red soil and yellow- brown soil) and three variable-charge minerals (goethite, noncrystalline Fe oxide and kaolin) in the absence and presence of rhizobia. The tested strain Rhizobium fredii C6, tolerant to 0.8 mmol L-1 Cd, was selected from 30 rhizobial strains. Results showed that the isotherms for the adsorption of Cd by examined soil colloids and minerals in the presence of rhizobia could be described by Langmuir equation. Within the range of the numbers of rhizobial cells studied, the amount of Cd adsorbed by each system increased with increasing rhizobial cells. Greater increases for the adsorption of Cd were found in red soil and kaolin systems. Rhizobia influence on the adsorption of Cd by examined soil colloids and minerals was different from that on the adsorption of Cu. The presence of rhizobia increased the adsorption sanity of soil colloids and minerals for Cd, particularly for the goethite and kaolin systems. The discrepancies in the influence of rhizobia on the adsorbability and affinity of selected soil colloids and minerals for Cd suggested the different interactions of rhizobia with various soil components. It is assumed that bacterial biomass plays an important role in controlling the mobility and bioavailability of Cd in soils with kaolinite and goethite as the major colloidal components, such as in variable-charge soil.
基金Project supported by the International Partnership Program for Creative Research Teams of the Chinese Academy of Sciences (CAS) & the State Administration of Foreign Experts Affairs (SAFEA), China, and the Hundreds-Talent Program of the Chinese Academy of Sciences, China (No. 90502006)
文摘The van Genuchten model is the most widely used soil water retention curve (SWRC) model. Two undisturbed soils (clay and loam) were used to evaluate the accuracy of the integral method to estimate van Genuchten model parameters and to determine SWRCs of undisturbed soils. SWRCs calculated by the integral method were compared with those measured by a high speed centrifuge technique. The accuracy of the calculated results was evaluated graphically, as well as by root mean square error (RMSE), normalized root mean square error (NRMSE) and Willmott's index of agreement (1). The results obtained from the integral method were quite similar to those by the centrifuge technique. The RMSEs (4.61 ×10^-5 for Eum-Orthic Anthrosol and 2.74 × 10^-4 for Los-Orthic Entisol) and NRMSEs (1.56 × 10^-4 for Eum- Orthic Anthrosol and 1.45 ×10^-3 for Los-Orthic Entisol) were relatively small. The 1 values were 0.973 and 0.943 for Eum-Orthic Anthrosol and Los-Orthic Entisol, respectively, indicating a good agreement between the integral method values and the centrifuge values. Therefore, the integral method could be used to estimate SWRCs of undisturbed clay and loam soils.
基金Supported by the National High Technology Research and Development Program of China(2010AA09Z104)the Fundamental Research Funds of the Zhejiang University(2014FZA5020)
文摘Mobile robot systems performing simultaneous localization and mapping(SLAM) are generally plagued by non-Gaussian noise.To improve both accuracy and robustness under non-Gaussian measurement noise,a robust SLAM algorithm is proposed.It is based on the square-root cubature Kalman filter equipped with a Huber' s generalized maximum likelihood estimator(GM-estimator).In particular,the square-root cubature rule is applied to propagate the robot state vector and covariance matrix in the time update,the measurement update and the new landmark initialization stages of the SLAM.Moreover,gain weight matrices with respect to the measurement residuals are calculated by utilizing Huber' s technique in the measurement update step.The measurement outliers are suppressed by lower Kalman gains as merging into the system.The proposed algorithm can achieve better performance under the condition of non-Gaussian measurement noise in comparison with benchmark algorithms.The simulation results demonstrate the advantages of the proposed SLAM algorithm.
文摘Objective: The purpose of the study is to investigate the degree and influencing factors of self-perceived burden in elderly patients with essential hypertension in China's Mainland. Methods:The study used the cross-sectional investigation method and the patients were recruited from six tertiary hospitals in Chengdu, China. A convenience sample of 451 elderly patients with essential hypertension was included in this study. Multiple linear regression analysis was performed as well. Results: Results showed that the score of elderly essential hypertension patients’self-perceived burden was 27.96 ± 6.04, which was at medium degree. According to Spearman's r test the anxiety, depression and medication compliance with Self-perceived burden (SPB) of elderly hypertension patients were statistically significant (r=0.372, 0.899,0.438,P=0.000,respectively). Single factor analysis showed that the difference of patients’ gender, place of residence, monthly per capita income, marital status, whether can afford medical expenses and number of complications in SPB scores was statistically significant (P<0.05). Multiple regression analysis also showed that anxiety, medication compliance, age and marital status were the main influencing factor of SPB of elderly hypertension patients (P<0.05). Conclusion: Our care workers should pay attention to the self-perceived burden of elderly patients with essential hypertension, and omnibearing, systematic nursing should be supplied to decrease the self-perceived burden of them.
基金supported by the Natural Science Foundation of Beijing Municipality(5232006)the Beijing Academy of Agriculture and Forestry Sciences Special Project on Hi-Tech Innovation Capacity(QNJJ202217 and KJCX20230305).
文摘Drought can greatly impact the biodiversity of an ecosystem and play a crucial role in regulating its functioning.However,the specific mechanisms by which drought mediate the biodiversity effect(BE)on community biomass in above-and belowground through functional traits remain poorly understood.Here,we conducted a common garden experiment in a greenhouse,which included two plant species richness levels and two water addition levels,to analyze the effects of biodiversity on aboveground biomass(AGB),belowground biomass(BGB)and total biomass(TB),and to quantify the relationship between BEs and functional traits under drought conditions.Our analysis focused on partitioning BEs into above-and belowground complementarity effect(CE)and selection effect(SE)at the species level,which allowed us to better understand the impacts of biodiversity on community biomass and the underlying mechanisms.Our results showed that plant species richness stimulated AGB,BGB and TB through CEs.Drought decreased AGB,BGB and TB,simultaneously.In addition,the aboveground CE was positively associated with the variation in plant height.SEs in above-and belowground were negatively correlated with the community mean plant height and root length,respectively.Furthermore,drought weakened the aboveground CE by decreasing variation in plant height,resulting in a reduction in AGB and TB.Our findings demonstrate that the complementarity of species is an important regulator of community biomass in above-and belowground,the dynamics of biomass under environmental stress are associated with the response of sensitive compartments.