Development of a GA-fuzzy-immune PID controller with incomplete derivation for robot dexterous hand.

In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal.

[Defensive characteristics of cones of Pinus armandii against seed-eating animals]. / 华山松球果对食种子动物的防御特征.

During the co-evolution with animals, plants evolved different defense strategies to resist predators and ensure their own survival and reproduction. We investigated the forging preference of nutcrackers (Nucifraga caryocatactes) for seeds in different parts of bending Pinus armandii cones in Southeast Tibet. We measured the morphological characteristics (length, width, thickness, and seed hull thickness) and the physical and chemical properties of concave and convex seeds of P. armandii (crude water, dry-matter at 70 ℃, crude fat, ash, protein and crude fiber). The results showed that there were significant differences in seed shell thickness, kernel percentage and empty shell percentage between the concave and convex seeds. The seed shell thickness of convex seeds (1.11±0.12 mm) was thicker than that of concave seeds (1.07±0.15 mm). The kernel weight percentage of convex seeds (24.0%) was smaller than that of concave seeds (25.4%). The empty shell percentage (11.2%), crude fat content (47.0%) of convex seeds were significantly lower than that of concave seeds (15.8% and 50.5%). The curving cones of P. armandii cause false hints to seed eaters, and protect high-quality seeds from being eaten as much as possible. Therefore, the curving cone is a defensive characteristics of P. armandii against seed predators.

Production of transgenic broilers by non-viral vectors via optimizing egg windowing and screening transgenic roosters.

The generation of transgenic chickens is of both biomedical and agricultural significance, and recently chicken transgenesis technology has been greatly advanced. However, major issues still exist in the efficient production of transgenic chickens. This study was designed to optimize the production of enhanced green fluorescence protein (EGFP)-transgenic broilers, including egg windowing at the blunt end (air cell) of egg, and the direct transfection of circulating primordial germ cells by microinjection of the Tol2 plasmid-liposome complex into the early embryonic dorsal aorta. For egg windowing, we discovered that proper manipulation of the inner shell membrane at the blunt end could improve the rate of producing G0 transgenic roosters. From 27 G0 roosters, we successfully collected semen with EGFP-positive sperms from 16 and 19 roosters after direct fluorescence observation and fluorescence-activated cell sorting analyses (13 detected by both methods), respectively. After artificial insemination using the G0 rooster with the highest number of EGFP fluorescent sperm, one G1 EGFP transgenic broiler (1/81, 1.23%) was generated. Our results indicate that appropriate egg windowing and screening of potentially transgene-positive roosters can improve the production of germline-transmitted transgenic birds.