以细菌和古菌基因组5′UTR序列作为研究对象,分析在5′UTR的3个不同阅读框架中三联体AUG的分布,发现无论是细菌还是古菌基因组都在阅读框1中有非常明显的AUG缺失(depletion)。AUG的缺失表明在起始密码子上游的AUG很可能会对基因的翻译...以细菌和古菌基因组5′UTR序列作为研究对象,分析在5′UTR的3个不同阅读框架中三联体AUG的分布,发现无论是细菌还是古菌基因组都在阅读框1中有非常明显的AUG缺失(depletion)。AUG的缺失表明在起始密码子上游的AUG很可能会对基因的翻译起始产生影响。分析得知:绝大部分的AUG都是以uORF(upstream open reading frame)的形式出现的,uAUG(upstream AUG)的数量很少,特别是在阅读框1中,而且在细菌基因组的阅读框1中uAUG较多地出现在了含有SD序列的基因上游。比较发现,uAUG引导的序列在同义密码子使用上的偏好性较真正的编码序列差,这可能表明细菌和古菌在同义密码子使用上的偏好性也是决定基因准确地翻译起始的重要因素之一。展开更多
PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can b...PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.展开更多
Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Sh...Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Shenyang Institute of Automation, CAS, is designed for the application of deep-sea environment variables observation. The system components, the mechanical design, and the control system design of the Sea-Wing underwater glider are described in this paper. The pitch and roll adjusting models are derived based on the mechanical design, and the adjusting capabilities for the pitch and roll are analyzed according to the models. Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables. Experimental results of the motion performances of the glider are presented.展开更多
Combining high precision numerical analysis methods with optimization algorithms to make a systematic exploration of a design space has become an important topic in the modern design methods. During the design process...Combining high precision numerical analysis methods with optimization algorithms to make a systematic exploration of a design space has become an important topic in the modern design methods. During the design process of an underwater glider＇s flying-wing structure, a surrogate model is introduced to decrease the computation time for a high precision analysis. By these means, the contradiction between precision and efficiency is solved effectively. Based on the parametric geometry modeling, mesh generation and computational fluid dynamics analysis, a surrogate model is constructed by adopting the design of experiment （DOE） theory to solve the multi-objects design optimization problem of the underwater glider. The procedure of a surrogate model construction is presented, and the Gaussian kernel function is specifically discussed. The Particle Swarm Optimization （PSO） algorithm is applied to hydrodynamic design optimization. The hydrodynamic performance of the optimized flying-wing structure underwater glider increases by 9.1%.展开更多
In this study, high-resolution temperature and salinity data obtained from three Sea-Wing underwater gliders were used together with satellite altimeter data to track the vertical thermohaline structure of an anticycl...In this study, high-resolution temperature and salinity data obtained from three Sea-Wing underwater gliders were used together with satellite altimeter data to track the vertical thermohaline structure of an anticyclonic eddy that originated from the loop current of the Kuroshio southwest of Taiwan, China. One of the gliders crossed the entire eddy and it observed a remarkable warm anomaly of as much as 3.9℃ extending to 500 dbar from the base of the mixed layer. Conversely, a positive salinity anomaly was found to be above 200 dbar only in the anticyclonic eddy, with a maximum value of >0.5 in the mixed layer. Below the mixed layer, water of higher salinity (>34.7) was found, which could have been preserved through constrained vertical mixing within the anticyclonic eddy. The salinity in the upper layer of the anticyclonic eddy was much similar to that of the northwestern Pacific Ocean than the northern South China Sea, reflecting Kuroshio intrusion with anticyclonic eddy shedding from the loop current.展开更多
For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be ...For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model.展开更多
文摘以细菌和古菌基因组5′UTR序列作为研究对象,分析在5′UTR的3个不同阅读框架中三联体AUG的分布,发现无论是细菌还是古菌基因组都在阅读框1中有非常明显的AUG缺失(depletion)。AUG的缺失表明在起始密码子上游的AUG很可能会对基因的翻译起始产生影响。分析得知:绝大部分的AUG都是以uORF(upstream open reading frame)的形式出现的,uAUG(upstream AUG)的数量很少,特别是在阅读框1中,而且在细菌基因组的阅读框1中uAUG较多地出现在了含有SD序列的基因上游。比较发现,uAUG引导的序列在同义密码子使用上的偏好性较真正的编码序列差,这可能表明细菌和古菌在同义密码子使用上的偏好性也是决定基因准确地翻译起始的重要因素之一。
基金supported by the National Natural Science Foundation of China(Grant Nos. 50835006 and 51005161)the Science & Technology Support Planning Foundation of Tianjin(Grant No. 09ZCKFGX03000)the Natural Science Foundation of Tianjin(Grant No. 09JCZDJC23400)
文摘PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.
基金supported by the State Key Laboratory of Robotics (Grant No. 2009-Z05)the Knowledge Innovation Program of the Chinese Academy of Sciences (Grant No. KZCX2-YW-JS205)the National High Technology Research and Development Program of China (863 Program,Grant No. 2006AA09Z157)
文摘Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Shenyang Institute of Automation, CAS, is designed for the application of deep-sea environment variables observation. The system components, the mechanical design, and the control system design of the Sea-Wing underwater glider are described in this paper. The pitch and roll adjusting models are derived based on the mechanical design, and the adjusting capabilities for the pitch and roll are analyzed according to the models. Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables. Experimental results of the motion performances of the glider are presented.
基金financially supported by the National Natural Science Foundation of China(Grant No.61233013)
文摘Combining high precision numerical analysis methods with optimization algorithms to make a systematic exploration of a design space has become an important topic in the modern design methods. During the design process of an underwater glider＇s flying-wing structure, a surrogate model is introduced to decrease the computation time for a high precision analysis. By these means, the contradiction between precision and efficiency is solved effectively. Based on the parametric geometry modeling, mesh generation and computational fluid dynamics analysis, a surrogate model is constructed by adopting the design of experiment （DOE） theory to solve the multi-objects design optimization problem of the underwater glider. The procedure of a surrogate model construction is presented, and the Gaussian kernel function is specifically discussed. The Particle Swarm Optimization （PSO） algorithm is applied to hydrodynamic design optimization. The hydrodynamic performance of the optimized flying-wing structure underwater glider increases by 9.1%.
基金Supported by the National Natural Science Foundation of China(Nos.41621064,U1709202,41606003)the National Basic Research Program of China(973 Program)(No.2014CB441501)the project of the State Key Laboratory of Satellite Ocean Environment Dynamics(No.SOEDZZ1704)
文摘In this study, high-resolution temperature and salinity data obtained from three Sea-Wing underwater gliders were used together with satellite altimeter data to track the vertical thermohaline structure of an anticyclonic eddy that originated from the loop current of the Kuroshio southwest of Taiwan, China. One of the gliders crossed the entire eddy and it observed a remarkable warm anomaly of as much as 3.9℃ extending to 500 dbar from the base of the mixed layer. Conversely, a positive salinity anomaly was found to be above 200 dbar only in the anticyclonic eddy, with a maximum value of >0.5 in the mixed layer. Below the mixed layer, water of higher salinity (>34.7) was found, which could have been preserved through constrained vertical mixing within the anticyclonic eddy. The salinity in the upper layer of the anticyclonic eddy was much similar to that of the northwestern Pacific Ocean than the northern South China Sea, reflecting Kuroshio intrusion with anticyclonic eddy shedding from the loop current.
基金supported by the National Natural Science Foundation of China (Grant No.50835006)the Natural Science Foundation of Tianjin (Grant No.09JCZDJC23400)
文摘For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model.
