Molecular phylogenetic analysis of attached Ulvaceae species and free-floating Enteromorpha from Qingdao coasts in 2007

Based on the sequence data of the nuclear ribosomal DNA internal transcribed spacer(ITS) 1,5.8 S,and ITS 2,the molecular phylogeny was analyzed on Ulvaceae species collected from Qingdao coasts in summer of 2007,including 15 attached Ulva and Enteromorpha samples from 10 locations and 10 free-floating Enteromorpha samples from seven locations.The result supported the monophyly of all free-floating Enteromorpha samples,implying the unialgal composition of the free-floating Enteromorpha,and the attached Ulvaceae species from Qingdao coasts were grouped into other five clades,suggesting that they were not the biogeographic origin of the free-floating Enteromorpha in that season.

Spatial Operator Algebra for Free-floating Space Robot Modeling and Simulation

As the dynamic equations of space robots are highly nonlinear,strongly coupled and nonholonomic constrained,the efficiency of current dynamic modeling algorithms is difficult to meet the requirements of real-time simulation.This paper combines an efficient spatial operator algebra（SOA） algorithm for base fixed robots with the conservation of linear and angular momentum theory to establish dynamic equations for the free-floating space robot,and analyzes the influence to the base body＇s position and posture when the manipulator is capturing a target.The recursive Newton-Euler kinematic equations on screw form for the space robot are derived,and the techniques of the sequential filtering and smoothing methods in optimal estimation theory are used to derive an innovation factorization and inverse of the generalized mass matrix which immediately achieve high computational efficiency.The high efficient SOA algorithm is spatially recursive and has a simple math expression and a clear physical understanding,and its computational complexity grows only linearly with the number of degrees of freedom.Finally,a space robot with three degrees of freedom manipulator is simulated in Matematica 6.0.Compared with ADAMS,the simulation reveals that the SOA algorithm is much more efficient to solve the forward and inverse dynamic problems.As a result,the requirements of real-time simulation for dynamics of free-floating space robot are solved and a new analytic modeling system is established for free-floating space robot.

THE ROBUST CONTROL SCHEME FOR FREE-FLOATING SPACE MANIPULATOR TO TRACK THE DESIRED TRAJECTORY IN JOINTSPACE

The control of a free-floating space manipulator system isdiscussed. With the augmentation approach, the nonlinearparameterization problem of the dynamic equations of the spacemanipulator system is overcome. Based on the results, the robustcontrol scheme for free-floating space manipulator with uncer- tainpayload parameters to track the desired trajectory in jointspace isproposed, and the global convergence of the tracking is verified byusing the Lyapunov method.

Impact dynamics analysis of free-floating space manipulator capturing satellite on orbit and robust adaptive compound control algorithm design for suppressing motion

The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.

Singular perturbation composite control of a free-floating flexible dual-arm space robot

The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.

Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.

Polyphenols Extracted from Enteromorpha clathrata Induce Apoptosis in Hepa1-6 Cell by Activating the Mitochondrial Apoptosis Signaling Pathways

Green alga Enteromorpha clathrata(E.clathrata)contains a variety of bioactive compounds,including polysaccharides,polyphenols and fat-soluble pigments etc.,among which polyphenols exhibit a wide range of medicinal properties.E.clathrata polyphenols(ECPs)have shown various biological activities such as antioxidant,anti-inflammatory and antidiabetic effects;however,the potential of ECPs as an anti-cancer reagent remains unclear.The aim of this study was to investigate the anti-tumor activity and underlying mechanisms of ECPs on hepatocellular carcinoma.The cytotoxicity of Hepa1-6 cells was determined by 3-(4,5-Dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide(MTT)and lactate dehydrogenase(LDH)assay.Flow cytometry and fluorescence microscope analysis of cell apoptosis after annexin V-fluorescein isothiocyanate(FITC)/propidium iodide(PI)staining.2',7'-dichlorodihydrofluorescein diacetate(DCFH-DA)assay was used for intracellular reactive oxygen species(ROS)detection.caspase-9 activity was determined using cspase-9 colorimetric assay.Mitochondrial transmembrane potential(Δψm)was measured using JC-1.Western blot and quantitative real-time PCR(qPCR)were used to assess the expressions of the apoptosis regulators Bax,Bcl-2,cytochrome c and caspase-3.It was found that ECPs showed a dose-dependent cytotoxicity against Hepa1-6 cells by inducing apoptosis.The apoptosis in ECPs-treated Hepa1-6 cells was accompanied by the loss of mitochondrial membrane potential,elevated ROS generation,increased release of mitochondrial cytochrome c,and up-regulation of caspase-9 and caspase-3.The expressions of Bax(pro-apoptotic molecule)and Bcl-2(apoptosis suppressor)were up-regulated and down-regulated,respectively,at both mRNA and protein levels.These molecular alterations revealed that ECPs caused apoptosis of cells through the mitochondrial pathway,suggesting that ECPs are potential candidates to be developed for liver cancer treatment.

浒苔多酚对2型糖尿病小鼠降血糖功效研究

目的:为探究浒苔多酚(Enteromorpha prolifera polyphenols,EPP)对2型糖尿病小鼠的降血糖功效,为浒苔多酚产品的开发提供理论依据。方法:以浒苔为材料,经乙醇溶液提取得到EPP粗提物,采用硅胶柱层析纯化EPP粗提物;用四氧嘧啶诱导建立2型糖尿病小鼠模型,将实验小鼠分为空白对照组、模型对照组、EPP低剂量组(EPP-L)、EPP中剂量组(EPP-M)、EPP高剂量组(EPP-H)、阳性对照组,连续灌胃4周,测定小鼠基础指标,以及脂代谢和血清抗氧化指标。结果:在动物实验中,第4周时,EPP-H组小鼠体重达32.16±1.97 g,与阳性对照组无显著差异(P>0.05)。EPP-H组小鼠空腹血糖浓度为11.78±1.62 mmol/L,与阳性对照组无显著差异(P>0.05),且能显著提升小鼠葡萄糖耐受力(P<0.05),改善小鼠耐糖量异常。EPP-H组小鼠体内超氧化物歧化酶、过氧化氢酶、谷胱甘肽过氧化物酶、高密度脂蛋白胆固醇浓度及血清胰岛素水平分别为:157.36±6.71 U/mg,168.07±1.77 U/mg,378.14±9.74 U/mg,1.31±0.04 mmol/L,19.03±2.01 mU/L,与模型对照组相比极显著升高(P<0.01),且能显著降低丙二醛、甘油三酯、总胆固醇、低密度脂蛋白胆固醇的含量(P<0.05)。结论:浒苔多酚能有效改善2型糖尿病小鼠基础代谢情况及修复糖尿病小鼠的过氧化损伤,进而起到降血糖作用。

Effects of Polysaccharides from Enteromorpha prolifera on Hepatorenal Syndrome in Mice

[Objectives]This study was conducted to evaluate the protective effect of polysaccharides from Enteromorpha prolifera(PEP)on mice with hepatorenal syndrome induced by carbon tetrachloride.[Methods]A mouse hepatorenal syndrome model was induced by carbon tetrachloride.The serum levels of lipid,total antioxidant capacity,liver and kidney function,pathological changes of liver and kidney were selected to clarity the effectiveness of PEP on hepatorenal syndrome in mice.[Results]PEP effectively lowered the serum levels of lipid,increased total antioxidant capacity,improved liver and kidney injury,and alleviated pathological changes of liver and kidney of mice induced by carbon tetrachloride.[Conclusions]PEP has a potent preventive effect on hepatorenal syndrome induced by carbon tetrachloride in mice,which provides theoretical support for future clinical application of PEP.

综合实验设计:浒苔基磁性吸附剂的制备及其净化重金属废水性能测试

设计开发了“以浒苔为原料制备磁性吸附剂,进行结构表征及净化重金属离子废水性能测试”的综合实验。该实验将“物理化学、分析化学、无机化学和仪器分析”课程中的基础理论知识、实验技能与“化学、材料学、环境科学与工程”学科的前沿学术研究相结合,有助于学生深刻理解并实践“结构决定性质,性质决定功能”这一自然科学的重要思想,实现了学生从夯实理论和实践基础到提升创新意识的跨越。同时,本综合实验中体现的“以废治废”的理念,将生态文明的思想“润物细无声”地植入学生的心中。

基于空间距离效应的青岛市浒苔治理支付意愿研究

支付意愿的空间属性是影响环境物品估值效度的主要因素之一,忽略对空间距离的考量可能导致最终资源环境物品或服务的货币估值产生偏差。文章以青岛市海域浒苔灾害为研究对象,使用条件价值评估法,构建支付意愿函数模型,测算受访者距青岛市海边的距离,探索浒苔治理支付意愿是否存在距离衰减现象;通过划分不同的距离区,测算不同距离区内公众浒苔治理支付意愿,最终汇总得出浒苔治理带来的经济价值。研究结果显示:公众浒苔治理支付意愿“距离衰减”效应明显,距离海边较近的公众倾向于为治理浒苔支付较高的金额;青岛市浒苔治理总经济价值为9.84亿元/a;不考虑距离衰减效应最终导致浒苔治理经济价值的高估达27.03%。研究结论可为空间尺度上的非市场价值评估提供新的研究思路和科学参考,不仅提高了条件价值评估法估值结果的有效性,也提供了更加精准的青岛市浒苔治理经济价值估值。

青岛浒苔成因动力因素的遥感验证

表层海洋流动是海洋科学研究中至关重要的环境特征,海洋表层流场直接影响浮游生物的漂移过程。利用遥感手段分析了青岛海域海表流场的时空变化情况,通过监测海流动态,揭示了海洋生态系统中浮游生物运动的关键特征。研究发现海洋表层流场的变化对浮游生物的漂移路径和分布具有显著影响。研究结果初步验证了青岛海域浒苔源自连云港海域的可能性,拓展了对海洋表层流场与浒苔传输关系的认知,为揭示海洋环境中流场与浮游生物之间复杂交互关系提供了新视角。

石莼属(Ulva)和浒苔属(Enteromorpha)绿藻的RAPD分析

于 1 997年下半年在大连石庙海区采集石莼、孔石莼、砺菜、缘管浒苔、肠浒苔、管浒苔、刚毛藻等 7种海藻样品 ,采用RAPD技术对大连地区绿藻门石莼属和浒苔属进行了初步的分子系统学研究。所试 60个引物中有 32个经扩增得到了 2 37个多态片段。应用PHYLIP软件包 ,按照UPGMA法和N -J法聚类分析的结果均表明 ,缘管浒苔 (Enteromorphalinza)与石莼属有较近的亲缘关系 ,应深入探究其分类地位。

黄海海域浒苔属(Enteromorpha)生态特征初探

通过对2008年6月在黄海爆发的大型绿藻（浒苔属）进行实验室培养试验，对其生态特征有了初步了解。结果表明，该藻属广温、广盐性的海洋绿藻，对环境的适应能力和繁殖能力较强。在培养温度范围15～32℃，盐度范围5—29之间都能存活，其中水温为23℃，盐度为25和29时，其生长较好。在富营养水体环境中，其生长需要的消耗水中大量的N、P营养盐，并且在当N：P为10：1时生长率达到最大。

黄、渤海漂移浒苔(Enteromorpha prolifera)脂肪酸组成及聚类分析的研究

于2008年7月在黄、渤海区域采集了17个漂移浒苔样品,结合3个本地种,对其脂肪酸组成进行了GC-MS分析。结果表明,所有浒苔中优势脂肪酸为十六碳酸,相对含量在27.82%—43.27%之间。藻体中还含有丰富的PUFA,主要为9,12,15-十八碳三烯酸、6,9,12-十八碳三烯酸、9,12-十八碳二烯酸、8,11,14-二十碳三烯酸,另外还含有EPA不饱和脂肪酸。以欧式距离平方为距离测量技术,类间距用平均链锁法,对20个不同地理位置的浒苔样品进行聚类分析,结果分为4大类,所有漂浮浒苔聚为第一类,青岛和连云港的本地种分别聚为另三类,说明青岛近海漂浮的浒苔不是青岛本地生浒苔,而是从外海漂移过来的,第一类的聚类结果显示了浒苔的漂移路径。结果表明,藻类脂肪酸的系统聚类分析为海洋绿藻分类与量化评价提供了一种好方法。

浒苔(Enteromorpha prolifera)生长及孢子释放的生态因子研究

通过考察浒苔属浒苔藻体生长及孢子释放的生态因子条件,确定其各单因子的适应范围及最适范围。结果表明:浒苔藻体生长对盐度、温度、光照强度和酸碱度的适应范围分别为16～40、10℃～30℃、>9μmol/m2s、6～10,最适范围分别为24～28、20℃～25℃、>18μmol/m2s、8～9,在盐度、温度、光照强度和酸碱度分别为24、25℃、72μmol/m2s、8的条件下达到最大生长量;浒苔释放孢子对盐度、温度、光照强度和酸碱度的适应范围分别为12～40、15℃～35℃、>9μmol/m2s、6～10,最适范围分别为28～40、20℃～35℃、>36μmol/m2s、8～9,在盐度、温度、光照强度和酸碱度分别为32、35℃、144μmol/m2s、9的条件下达到最大释放量。浒苔藻体生长及孢子释放的各单因子适应范围基本相同,最适范围区别明显。

浒苔(Enteromorpha prolifera)生活史的初步研究

通过实验室培养实验,全面地观察描述了浒苔生活史各个阶段的发育情况。雌雄异体的配子体成熟后,放散双鞭毛的配子,雌雄配子结合成合子进而发育成孢子体,配子也可以进行单性生殖发育成膜状的配子体。孢子体成熟放散四鞭毛的游孢子,游孢子固着后,可直接发育成配子体。其生活史是单倍体的配子体与二倍体的孢子体相互交替的同形世代交替。雌雄配子具有正趋光性,易大量聚集,结合后同游孢子一样都呈负趋光性。

浒苔Enteromorpha prolifera组织培养初步研究

通过将大型绿藻——浒苔切成一定大小的藻体片段,在实验室条件下用液体和固体平板组织培养的方法,系统地研究了在藻体切段条件下,浒苔组织块中细胞的发育路径和趋势。在培养的过程中发现叶状体中细胞的发育能力和方向都具有明显的极性,且浒苔组织块中细胞的发育速度和规模与组织块大小和其组织块中的位置有关。在切段培养的条件下,浒苔细胞有5种发育途径:1.分化为孢子囊,2.细胞极化下端延伸形成类似于假根的结构,3.分裂成细胞团并在后续的发育过程中成苗,4.细胞进一步极化形成带假根的单细胞苗,5.维持一定状态不再分化。而切段培养条件下,藻段中的不同细胞可能发生不同的发育情况。

高浓度CO_2对条浒苔(Enteromorpha clathrata)生长和一些生理生化特征的影响

本试验利用 CO2 培养箱，通过不同 CO2 浓度的空气通气培 养，研 究 高 浓 度 CO2 对 条 浒 苔 (Enteromorpha clathrata) 生长、光合作用及有关生理生化特征的影响。高浓度 CO2 使得海水中的溶解性无机碳浓度增加，而 pH 值下降。700μL/L 和 5 000μL/L 的 CO2 浓度培养条件使条浒苔的相对生长速率分别提高了 12 % 和 23 %，而光合能力均下降了 25 %。 5 000μL/L 的 CO2 浓度使得条浒苔光合作用光补偿点及无机碳补偿点提高；同时，条浒苔的叶绿素含量及可溶性蛋白含量下降，而可溶性碳水化合物含量增加；另外，条浒苔对 NO3- 的吸收速度增加，而硝酸还原酶活性则下降。700μL/L 的 CO2 浓度比 5 000μL/L 的 CO2 浓度对这些指标的影响较小。

浒苔(Enteromorpha prolifera)藻体发育的显微观察

通过显微镜观察以及石蜡切片法观察了浒苔属浒苔藻体的发育过程,阐述了浒苔从孢子释放到形成成熟藻体这一发育过程的显微特征。结果表明:浒苔孢子由成熟体细胞分化发育而成,每个成熟体细胞可形成10～30个孢子;孢子首先分裂为2细胞结构,2细胞具有明显的极性,基细胞发育成为假根,顶端细胞不断进行横分裂形成丝状体;丝状体顶端以下细胞通过纵分裂形成管状叶状体,顶端细胞始终保持横分裂;纵分裂分为切向分裂与径向分裂,切向分裂增加管状叶状体管周细胞数从而使管体增大,径向分裂形成管外壁突起细胞,最终发育为分枝;管状叶状体管腔内部有绒毛状的突起及糖蛋白成分的网架结构;当管状叶状体管周细胞达到30～50h,管腔内部突起消失,网架结构收缩拉紧,管壁细胞贴近形成片状叶状体;整个浒苔藻体始终保持极性发育。