基于嵌入式视觉的子机器人入舱方法

提出一种基于嵌入式视觉的子机器人入舱方法, 用于子母式机器人系统中对子机器人的回收. 子机器人基于自身嵌入式平台捕获和处理入口处的引导标识图像, 根据局部颜色排布特征快速提取出标识中心, 利用最小二乘法拟合水平颜色交界线的成像斜率, 基于成像斜率-视偏角模型判别出子机器人航向与入口平面的法线关系, 从而进行运动决策使二者重合以完成入舱. 该方法无需摄像头标定和航迹测量即可准确入舱, 仿真实验验证了所提出方法的有效性.

     

Consequences of biotransformation of plant secondary metabolites on acid-base metabolism in mammals—A final common pathway?

Regulation of acid-base homeostasis is essential for mammals and birds. Biotransformation and metabolism of absorbed plant secondary metabolites (PSMs) results in the production of organic acids that threaten acid-base homeostasis. Consequently these acids must be buffered and excreted from the body. The production of an acid load from detoxified PSMs should occur in herbivorous mammals and birds and with most PSMs and so may provide a unifying theme to explain many effects of PSMs on animal metabolism. Since the organic acids will be largely ionized at physiological pH, disposal of the hydrogen ion and the organic anion may proceed independently. Most hydrogen ions (H⁺) from organic acids are eliminated by one or more of three ways: (1) when they react with bicarbonate in the extracellular fluid to form carbon dioxide and the carbon dioxide is exhaled, (2) when they bind to dibasic phosphate and are excreted by the kidney as monobasic phosphate, and (3) when they are buffered and retained in the skeletal system. The secretion of phosphate ions and ammonium excretion are two ways in which the kidney replaces bicarbonate ions that have been eliminated as carbon dioxide. Secretion in the kidney tubule is an important means of excreting excessive organic anions rapidly. This process is saturable and may be subject to competition from a variety of different metabolites. Lagomorphs have limited capacity to form new bicarbonate from ammonium excretion and may therefore be obliged to excrete other cations such as sodium to balance the excretion of organic anions from PSMs. Acidemia has wide-ranging impacts on animals but browsing mammals and birds may have to break down muscle tissues to provide for urinary ammonium in order to generate bicarbonate for buffering. Acidemia also can affect the extent of urea recycling. Animals consuming browse diets may have to regulate feeding so that the rate of formation of hydrogen ions does not exceed the rate of disposal. The mechanisms by which this could occur are unknown.     

Vertebrate Herbivory on Eucalyptus—Identification of Specific Feeding Deterrents for Common Ringtail Possums (Pseudocheirus peregrinus) by Bioassay-Guided Fractionation of Eucalyptus ovata Foliage

Factors determining the acceptance of Eucalyptus ovata foliage by common ringtail possums (Pseudocheirus peregrinus) were studied. Bioassay-guided fractionation was used with foliage from both browser-susceptible and browser-resistant trees to identify the chemical components underlying the resistance. In foliage from browser-resistant trees, the deterrent principles were contained in the base-soluble fraction of the chloroform extract. Further fractionation of this material yielded polar and nonpolar fractions that contained acylphloroglucinol derivatives, and from the polar fraction we isolated macrocarpal G. Addition of this compound to an artificial diet at a concentration of 2.1% of dry matter resulted in a 90% reduction of voluntary food intake compared with solvent-treated controls. This is the first time that a specific compound in Eucalyptus has been shown to inhibit feeding of any marsupial folivore.