Autonomous marine vehicles(AMVs)have received considerable attention in the past few decades,mainly because they play essential roles in broad marine applications such as environmental monitoring and resource explorat...Autonomous marine vehicles(AMVs)have received considerable attention in the past few decades,mainly because they play essential roles in broad marine applications such as environmental monitoring and resource exploration.Recent advances in the field of communication technologies,perception capability,computational power and advanced optimization algorithms have stimulated new interest in the development of AMVs.In order to deploy the constrained AMVs in the complex dynamic maritime environment,it is crucial to enhance the guidance and control capabilities through effective and practical planning,and control algorithms.Model predictive control(MPC)has been exceptionally successful in different fields due to its ability to systematically handle constraints while optimizing control performance.This paper aims to provide a review of recent progress in the context of motion planning and control for AMVs from the perceptive of MPC.Finally,future research trends and directions in this substantial research area of AMVs are highlighted.展开更多
针对降凝剂分子结构的设计和优化问题,本文运用Monte Carlo模型模拟研究了丙烯酸十八酯-马来酸酐-醋酸乙烯酯三元共聚物(An Mm Vp)同原油蜡烃组分间的相容性。以理论计算结果为依据指导合成了AMV共聚物降凝剂,并进行了红外表征和实验验...针对降凝剂分子结构的设计和优化问题,本文运用Monte Carlo模型模拟研究了丙烯酸十八酯-马来酸酐-醋酸乙烯酯三元共聚物(An Mm Vp)同原油蜡烃组分间的相容性。以理论计算结果为依据指导合成了AMV共聚物降凝剂,并进行了红外表征和实验验证,实验结果表明,当亲油基团(丙烯酸十八酯,AA18)与极性基团(马来酸酐-醋酸乙烯酯,MA-VA)摩尔比为8∶2时,二者混合能最低,原油对A8M1V1降凝剂感受性最佳,凝点降低值达8℃,是理想的原油降凝剂结构,这与理论计算结果基本一致。该研究为原油降凝剂分子结构的设计和优化提供了有效途径。展开更多
Globally, white clover（Trifolium repens L.） is commonly infected by plant viruses. It is grown at gardens, roadsides, and public areas as ornamental plants in northern China. Some leaves present disease symptoms tha...Globally, white clover（Trifolium repens L.） is commonly infected by plant viruses. It is grown at gardens, roadsides, and public areas as ornamental plants in northern China. Some leaves present disease symptoms that are similar to those of virus infection. However, to our knowledge, no records are available from China regarding white clover（Trifolium repens L.） virus co-infection. To determine the viral species that infect white clover in China, plant samples with virus disease symptoms were collected and virion morphology and ultrastructure morphology of co-infected plants were observed by electron microscopy; viruses were detected by enzyme linked immunosorbent assay（ELISA） and reverse transcription PCR（RT-PCR）. Virus co-infection was studied by double antibody sandwich enzyme linked immunosorbent assay（DAS-ELISA） and real-time fluorescence quantitative PCR（RT-q PCR） after rub-inoculation of virus-free white clover planted in a growth chamber（25°C） with a photoperiod of 16 h, using single or several purified virions. Results showed that there were six types of symptoms, including those of shrinking mosaic, shrinking and macular mosaic, severe mottle mosaic, yellow macular mosaic, shrinkage chlorisis, and ring plaque and ring stria. The incidence rates for each symptom were 20.93, 1.48, 16.85, 59.07, 1.30, and 0.37%, respectively, based on the field investigation. Two types of viral pathogens were identified as Alfalfa mosaic virus（AMV） and White clover mosaic virus（WCMV）. In mesophyll cells, virus particles with bacilliform virions formed aggregates and linear virions were bundle shaped. The detection rate of AMV was 100% in white clover samples by DAS-ELISA and RT-PCR detection, whereas that of WCMV was 83.33%. The co-infection rate was 83.33%. The relative contents of AMV and WCMV were significantly increased by 5.897-and 3.515-fold upon co-infection, when compared to that with single virus infection. We observed larger starch particles and fewer or collapsed chloroplast grana in co-infected plants; in addition, vacuoles were twisted and smaller, compared to those of healthy plants. To our knowledge, this is the first report of co-infection by AMV and WCMV in white clover, which has caused severe mosaicism and ultrastructure lesions in co-infected plants in China.展开更多
基金supported by the Natural Sciences and Engineering Research Council of Canada(NSERC)。
文摘Autonomous marine vehicles(AMVs)have received considerable attention in the past few decades,mainly because they play essential roles in broad marine applications such as environmental monitoring and resource exploration.Recent advances in the field of communication technologies,perception capability,computational power and advanced optimization algorithms have stimulated new interest in the development of AMVs.In order to deploy the constrained AMVs in the complex dynamic maritime environment,it is crucial to enhance the guidance and control capabilities through effective and practical planning,and control algorithms.Model predictive control(MPC)has been exceptionally successful in different fields due to its ability to systematically handle constraints while optimizing control performance.This paper aims to provide a review of recent progress in the context of motion planning and control for AMVs from the perceptive of MPC.Finally,future research trends and directions in this substantial research area of AMVs are highlighted.
文摘针对降凝剂分子结构的设计和优化问题,本文运用Monte Carlo模型模拟研究了丙烯酸十八酯-马来酸酐-醋酸乙烯酯三元共聚物(An Mm Vp)同原油蜡烃组分间的相容性。以理论计算结果为依据指导合成了AMV共聚物降凝剂,并进行了红外表征和实验验证,实验结果表明,当亲油基团(丙烯酸十八酯,AA18)与极性基团(马来酸酐-醋酸乙烯酯,MA-VA)摩尔比为8∶2时,二者混合能最低,原油对A8M1V1降凝剂感受性最佳,凝点降低值达8℃,是理想的原油降凝剂结构,这与理论计算结果基本一致。该研究为原油降凝剂分子结构的设计和优化提供了有效途径。
基金financial support of the Key Laboratory of Grassland Ecosystem of Ministry of Education of China(CYZS-2011006)
文摘Globally, white clover（Trifolium repens L.） is commonly infected by plant viruses. It is grown at gardens, roadsides, and public areas as ornamental plants in northern China. Some leaves present disease symptoms that are similar to those of virus infection. However, to our knowledge, no records are available from China regarding white clover（Trifolium repens L.） virus co-infection. To determine the viral species that infect white clover in China, plant samples with virus disease symptoms were collected and virion morphology and ultrastructure morphology of co-infected plants were observed by electron microscopy; viruses were detected by enzyme linked immunosorbent assay（ELISA） and reverse transcription PCR（RT-PCR）. Virus co-infection was studied by double antibody sandwich enzyme linked immunosorbent assay（DAS-ELISA） and real-time fluorescence quantitative PCR（RT-q PCR） after rub-inoculation of virus-free white clover planted in a growth chamber（25°C） with a photoperiod of 16 h, using single or several purified virions. Results showed that there were six types of symptoms, including those of shrinking mosaic, shrinking and macular mosaic, severe mottle mosaic, yellow macular mosaic, shrinkage chlorisis, and ring plaque and ring stria. The incidence rates for each symptom were 20.93, 1.48, 16.85, 59.07, 1.30, and 0.37%, respectively, based on the field investigation. Two types of viral pathogens were identified as Alfalfa mosaic virus（AMV） and White clover mosaic virus（WCMV）. In mesophyll cells, virus particles with bacilliform virions formed aggregates and linear virions were bundle shaped. The detection rate of AMV was 100% in white clover samples by DAS-ELISA and RT-PCR detection, whereas that of WCMV was 83.33%. The co-infection rate was 83.33%. The relative contents of AMV and WCMV were significantly increased by 5.897-and 3.515-fold upon co-infection, when compared to that with single virus infection. We observed larger starch particles and fewer or collapsed chloroplast grana in co-infected plants; in addition, vacuoles were twisted and smaller, compared to those of healthy plants. To our knowledge, this is the first report of co-infection by AMV and WCMV in white clover, which has caused severe mosaicism and ultrastructure lesions in co-infected plants in China.
