Sea Nine 211, with 4,5-dichloro-2-n-octyl-4-isothiazolin-3-one（DCOIT） being the biocidal ingredient, is a widely-used antifouling agent to deter the undesirable biofouling phenomenon. It is commercially promoted as ...Sea Nine 211, with 4,5-dichloro-2-n-octyl-4-isothiazolin-3-one（DCOIT） being the biocidal ingredient, is a widely-used antifouling agent to deter the undesirable biofouling phenomenon. It is commercially promoted as an environmentally acceptable antifoulant mainly due to its claimed rapid degradation in marine environment. However, increasing researches document varying degradative kinetics in different environments, proving that Sea Nine 211 is actually not degraded equally fast around the world（half-life between〈 1 day and 13.1 days）. Large-scale application of Sea Nine 211 in antifouling coatings has also caused global contamination of marine environment in various compartments. For example, accumulation of Sea Nine 211 is detected as high as 3700 ng/L in Spanish seawater and 281 ng/g dry weight in Korean sediment. Considering that Sea Nine 211 is highly toxic against non-target marine organisms, environmental risk assessment finds that most marine organisms are endangered by Sea Nine 211 in worst-case scenario. Its endocrine disrupting and reproductive impairing effects at environmentally worst-case concentrations further constitute a long-term threat to the maintenance of population stability.Therefore, in the light of the varying degradability, environmental pollution and high toxicity, especially the endocrine disruption, Sea Nine 211 as an antifouling agent is likely to cause non-negligible damages to the marine ecosystem. There is an urgency to perform a systematic ecological risk assessment of Sea Nine 211 to prevent the potential impacts on the health of marine environment. A regular monitoring also becomes necessary to place the usage of antifouling biocides under control.展开更多
A new nine-membered lactone,cladospolide E（1）,was isolated from a culture broth of a marine fungus Cladosporium sp.F14. The structure of compound 1 was determined on the basis of extensive spectroscopic analysis,inc...A new nine-membered lactone,cladospolide E（1）,was isolated from a culture broth of a marine fungus Cladosporium sp.F14. The structure of compound 1 was determined on the basis of extensive spectroscopic analysis,including 1D and 2D NMR data.展开更多
A new algorithm called homotopy iteration method based on the homotopy function is studied and improved. By the improved homotopy iteration method, Polynomial systems with high Order and deficient can be solved fast a...A new algorithm called homotopy iteration method based on the homotopy function is studied and improved. By the improved homotopy iteration method, Polynomial systems with high Order and deficient can be solved fast and efficiently comparing to the original homotopy iteration method. Numerical examples for the ninepoint path synthesis of four-bar linkages show the advantages and efficiency of the improved homotopy iteration method.展开更多
Discuss a class of real planar cubic systems with a critical point O (0,0) of nine orders and obtain the conditions for its limit cycle surrounding the origin, and prove that when small pertubations of coefficients ar...Discuss a class of real planar cubic systems with a critical point O (0,0) of nine orders and obtain the conditions for its limit cycle surrounding the origin, and prove that when small pertubations of coefficients are made, the critical point O (0,0) of nine orders is split into nine real simple critical points and the limit cycle surrounding the origin becomes the limit cycle containing nine critical points in its interior.展开更多
This paper presents a V-model of e-learning using the well-known Gagne nine steps for quality education. Our suggested model is based on our experience at the computer engineering departments at AL-Hussein Bin Talal U...This paper presents a V-model of e-learning using the well-known Gagne nine steps for quality education. Our suggested model is based on our experience at the computer engineering departments at AL-Hussein Bin Talal University, the University of Jordan and Albalqa Applied University. We applied the recommendations of the nine steps methodology to the e-learning environment. The V model suggested in this paper came up as a result of such application. Although this V model can be subject to some tuning and development in the future it proved to be highly efficient and easy to implement for the teacher and the student.展开更多
针对双向快速随机扩展树(rapidly-exploring random trees-connect,RRT-Connect)算法的随机性强、搜索效率低、路径规划时间过长等问题,提出一种改进的RRT-Connect算法。该算法在起始点与目标点连线的中垂线上设置第三节点,采用高斯分...针对双向快速随机扩展树(rapidly-exploring random trees-connect,RRT-Connect)算法的随机性强、搜索效率低、路径规划时间过长等问题,提出一种改进的RRT-Connect算法。该算法在起始点与目标点连线的中垂线上设置第三节点,采用高斯分布限制第三节点的采样区域,避免第三采样节点距离中点较远导致的路径冗余。算法通过第三节点分别向起始点和目标点生成2棵随机树,结合贪婪算法思想以及引入动态步长的方法,提高算法的规划效率。仿真结果表明,改进的RRT-Connect算法相较于传统RRT-Connect算法,平均运行时间缩短了48.7%,平均迭代次数减少了38.9%,平均路径长度减少了25.2%。另外,针对传统的九点标定法精度的问题,提出一种改进的九点标定方法,该方法通过获取机械臂在空间同一点的多组位姿计算机械臂第六轴长度,在已知机械臂各关节角和轴长情况下,计算得到机械臂末端执行器安装后第六轴的长度,从而提高手眼标定的精度。试验结果表明,改进的方法相较于传统九点标定法其精度平均提高了2.09%。最后,在机械臂平台验证改进的RRT-Connect算法和改进的九点标定法,试验结果表明,改进的RRT-Connect算法相较于DRRT-Connect(dynamicRRT-Connect)算法在路径规划总时间和总长度上分别减少了8.28%和4.79%,改进的九点标定法相较于传统的九点标定法抓取精度提高了3%。展开更多
文摘Sea Nine 211, with 4,5-dichloro-2-n-octyl-4-isothiazolin-3-one（DCOIT） being the biocidal ingredient, is a widely-used antifouling agent to deter the undesirable biofouling phenomenon. It is commercially promoted as an environmentally acceptable antifoulant mainly due to its claimed rapid degradation in marine environment. However, increasing researches document varying degradative kinetics in different environments, proving that Sea Nine 211 is actually not degraded equally fast around the world（half-life between〈 1 day and 13.1 days）. Large-scale application of Sea Nine 211 in antifouling coatings has also caused global contamination of marine environment in various compartments. For example, accumulation of Sea Nine 211 is detected as high as 3700 ng/L in Spanish seawater and 281 ng/g dry weight in Korean sediment. Considering that Sea Nine 211 is highly toxic against non-target marine organisms, environmental risk assessment finds that most marine organisms are endangered by Sea Nine 211 in worst-case scenario. Its endocrine disrupting and reproductive impairing effects at environmentally worst-case concentrations further constitute a long-term threat to the maintenance of population stability.Therefore, in the light of the varying degradability, environmental pollution and high toxicity, especially the endocrine disruption, Sea Nine 211 as an antifouling agent is likely to cause non-negligible damages to the marine ecosystem. There is an urgency to perform a systematic ecological risk assessment of Sea Nine 211 to prevent the potential impacts on the health of marine environment. A regular monitoring also becomes necessary to place the usage of antifouling biocides under control.
基金The authors are grateful to the Knowledge Innovation Program of Chinese Academy of Science(Nos.KZCX2-YW-216-1 and KSCX2-YW-G-073)the National Basic Research Program of China(No.2010CB833800-G)+1 种基金the National Natural Science Foundation of China and Research Grants Council of Hong Kong(NSFC/RGC) Program(No. 40910093)Knowledge Innovation Program of South China Sea Institute of Oceanology,Chinese Academy of Sciences(No.LYQY200703) for financial support
文摘A new nine-membered lactone,cladospolide E（1）,was isolated from a culture broth of a marine fungus Cladosporium sp.F14. The structure of compound 1 was determined on the basis of extensive spectroscopic analysis,including 1D and 2D NMR data.
文摘A new algorithm called homotopy iteration method based on the homotopy function is studied and improved. By the improved homotopy iteration method, Polynomial systems with high Order and deficient can be solved fast and efficiently comparing to the original homotopy iteration method. Numerical examples for the ninepoint path synthesis of four-bar linkages show the advantages and efficiency of the improved homotopy iteration method.
基金The Natural Science Foundation of Hunan Province !(No .97JJN 70 )
文摘Discuss a class of real planar cubic systems with a critical point O (0,0) of nine orders and obtain the conditions for its limit cycle surrounding the origin, and prove that when small pertubations of coefficients are made, the critical point O (0,0) of nine orders is split into nine real simple critical points and the limit cycle surrounding the origin becomes the limit cycle containing nine critical points in its interior.
文摘This paper presents a V-model of e-learning using the well-known Gagne nine steps for quality education. Our suggested model is based on our experience at the computer engineering departments at AL-Hussein Bin Talal University, the University of Jordan and Albalqa Applied University. We applied the recommendations of the nine steps methodology to the e-learning environment. The V model suggested in this paper came up as a result of such application. Although this V model can be subject to some tuning and development in the future it proved to be highly efficient and easy to implement for the teacher and the student.
文摘针对双向快速随机扩展树(rapidly-exploring random trees-connect,RRT-Connect)算法的随机性强、搜索效率低、路径规划时间过长等问题,提出一种改进的RRT-Connect算法。该算法在起始点与目标点连线的中垂线上设置第三节点,采用高斯分布限制第三节点的采样区域,避免第三采样节点距离中点较远导致的路径冗余。算法通过第三节点分别向起始点和目标点生成2棵随机树,结合贪婪算法思想以及引入动态步长的方法,提高算法的规划效率。仿真结果表明,改进的RRT-Connect算法相较于传统RRT-Connect算法,平均运行时间缩短了48.7%,平均迭代次数减少了38.9%,平均路径长度减少了25.2%。另外,针对传统的九点标定法精度的问题,提出一种改进的九点标定方法,该方法通过获取机械臂在空间同一点的多组位姿计算机械臂第六轴长度,在已知机械臂各关节角和轴长情况下,计算得到机械臂末端执行器安装后第六轴的长度,从而提高手眼标定的精度。试验结果表明,改进的方法相较于传统九点标定法其精度平均提高了2.09%。最后,在机械臂平台验证改进的RRT-Connect算法和改进的九点标定法,试验结果表明,改进的RRT-Connect算法相较于DRRT-Connect(dynamicRRT-Connect)算法在路径规划总时间和总长度上分别减少了8.28%和4.79%,改进的九点标定法相较于传统的九点标定法抓取精度提高了3%。
