RESUMEN

Ultra-flat carrying robots (UCR) are used to carry soft targets for functional safety road tests of intelligent driving vehicles and should have superior control performance. For the sake of analyzing and upgrading the motion control performance of the ultra-flat carrying robot, this paper develops the mathematical model of its motion control system on the basis of the test data and the system identification method. Aiming at ameliorating the defects of the standard particle swarm optimization (PSO) algorithm, namely, low accuracy, being susceptible to being caught in a local optimum, and slow convergence when dealing with the parameter identification problems of complex systems, this paper proposes a refined PSO algorithm with inertia weight cosine adjustment and introduction of natural selection principle (IWCNS-PSO), and verifies the superiority of the algorithm by test functions. Based on the IWCNS-PSO algorithm, the identification of transfer functions in the motion control system of the ultra-flat carrying robot was completed. In comparison with the identification results of the standard PSO and linear decreasing inertia weight (LDIW)-PSO algorithms, it indicated that the IWCNS-PSO has the optimal performance, with the number of iterations it takes to reach convergence being only 95 and the fitness value being only 0.117. The interactive simulation model was constructed in MATLAB/Simulink, and the critical proportioning method and the IWCNS-PSO algorithm were employed respectively to complete the tuning and optimization of the Proportional-Integral (PI) controller parameters. The results of simulation indicated that the PI parameters optimized by the IWCNS-PSO algorithm reduce the adjustment time to 7.99 s and the overshoot to 13.41% of the system, and the system is significantly improved with regard to the control performance, which basically meets the performance requirements of speed, stability, and accuracy for the control system. In conclusion, the IWCNS-PSO algorithm presented in this paper represents an efficient system identification method, as well as a system optimization method.

RESUMEN

Gyrostigma rhinocerontis (Diptera: Oestridae) is a rare obligate intestinal parasite of both white and black rhinoceroses, which can induce severe myiasis, cause secondary infection, and lead to enormous economic and scientific loss. Antennae are the main sensory organs of G. rhinocerontis, which may have evolved a series of specialized adaptive structures to facilitate the exploitation of their hosts. Here, we thoroughly examine the antennae of G. rhinocerontis via light and scanning electron microscopy. Only microtrichia and chaetic sensilla were observed on the scape and pedicel, and the latter is enlarged, half-enveloping the postpedicel. Four types of sensilla (trichoid sensilla, basiconic sensilla, coeloconic sensilla, and clavate sensilla) and sensory pits are detected on the postpedicel. A set of coeloconic sensilla and a chaetic sensillum are located on the arista. Distribution, type, size, and ultrastructure of antennal sensilla are presented. The antennae of G. rhinocerontis are the largest among Oestridae species, with the most sensilla and the most sensory pits. These antennal characteristics could be correlated to their adaptation for more sensitive and accurate olfactory organs, used to locate their rare and endangered hosts. Accordingly, this morphological evidence supports that the host is an important driving factor in the diversity of antennal morphology in the bot flies.

RESUMEN

Sarcoptic mange, a disease caused by the burrowing mite Sarcoptes scabiei, is globally endemic and an emerging threat to wildlife. Although many studies have shown that wildlife diseases play key roles in biodiversity conservation, knowledge about sarcoptic mange is still insufficient. In this study, we aim to improve the understanding of the impacts of sarcoptic mange on wildlife populations, the mechanisms involved in its eco-epidemiology and the associated risks to public and ecosystem health by investigating mass death events in gorals and serows in the Qinling Mountains. We conducted interviews with practitioners and local people in the central Qinling Mountains. From the same locations, we collected 24 cutaneous samples from various animals and surveillance data from infrared cameras. Pathological, parasitological and microbiological examinations of the samples were performed. Mite-induced cutaneous lesions, mites and eggs were observed in samples from dead gorals and one dead serow but not in other species. Molecular analysis confirmed the mites to be S. scabiei and shared the same cox 1 genotype. The data obtained from the interviews and infrared cameras indicated that the death of wildlife was related to sarcoptic mange infection and that there had been a decrease in the goral population since the outbreak of the disease. We confirmed that sarcoptic mange was the major cause of the mass death events and may have spread from the western to eastern Qinling Mountains. Based on our findings, we propose several protection strategies to help preserve biodiversity in the Qinling Mountains.

Asunto(s)

RESUMEN

The spotted hyena (Crocuta crocuta) is a large and unique terrestrial carnivore. It is a particularly fascinating species due to its distinct phenotypic traits, especially its complex social structure and scavenging lifestyle, with associated high dietary exposure to microbial pathogens. However, the underlying molecular mechanisms related to these phenotypes remain elusive. Here, we sequenced and assembled a high-quality long-read genome of the spotted hyena, with a contig N50 length of ∼13.75 Mb. Based on comparative genomics, immunoglobulin family members (e.g., IGKV4-1) showed significant adaptive duplications in the spotted hyena and striped hyena. Furthermore, immune-related genes (e.g., CD8A, LAG3, and TLR3) experienced species-specific positive selection in the spotted hyena lineage. These results suggest that immune tolerance between the spotted hyena and closely related striped hyena has undergone adaptive divergence to cope with prolonged dietary exposure to microbial pathogens from scavenging. Furthermore, we provided the potential genetic insights underlying social complexity, hinting at social behavior and cognition. Specifically, the RECNE-associated genes (e.g., UGP2 and ACTR2) in the spotted hyena genome are involved in regulation of social communication. Taken together, our genomic analyses provide molecular insights into the scavenging lifestyle and societal complexity of spotted hyenas.

Asunto(s)

RESUMEN

BACKGROUND: Malaria parasites and related haemosporidian parasites are widespread and may cause severe diseases in birds. These pathogens should be considered in projects aiming breeding of birds for purposes of sustained ex situ conservation. Cranes are the 'flagship species' for health assessment of wetland ecosystems, and the majority of species are endangered. Malaria parasites and other haemosporidians have been reported in cranes, but the host-parasite relationships remain insufficiently understood. Morbidity of cranes due to malaria has been reported in Beijing Zoo. This study report prevalence, diversity and distribution of malaria parasites and related haemosporidians in cranes in Beijing Zoo and suggest simple measures to protect vulnerable individuals. METHODS: In all, 123 cranes (62 adults and 61 juveniles) belonging to 10 species were examined using PCR-based testing and microscopic examination of blood samples collected in 2007-2014. All birds were maintained in open-air aviaries, except for 19 chicks that were raised in a greenhouse with the aim to protect them from bites of blood-sucking insects. Bayesian phylogenetic analysis was used to identify the closely related avian haemosporidian parasites. RESULTS: Species of Plasmodium (5 lineages), Haemoproteus (1) and Leucocytozoon (2) were reported. Malaria parasites predominated (83% of all reported infections). The overall prevalence of haemosporidians in juveniles was approximately seven-fold higher than in adults, indicating high susceptibility of chicks and local transmission. Juvenile and adult birds hosted different lineages of Plasmodium, indicating that chicks got infection from non-parent birds. Plasmodium relictum (pSGS1) was the most prevalent malaria parasite. Mortality was not reported in adults, but 53% of infected chicks died, with reports of co-infection with Plasmodium and Leucocytozoon species. All chicks maintained in the greenhouse were non-infected and survived. Species of Leucocytozoon were undetectable by commonly used PCR protocol, but readily visible in blood films. CONCLUSION: Crane chicks often die due to malaria and Leucocytozoon infections, which they likely gain from wild free-living birds in Beijing Zoo. Molecular diagnostics of crane Leucocytozoon parasites needs improvement. Because the reported infections are mainly chick diseases, the authors recommend maintaining of juvenile birds in vector-free facilities until the age of approximately 6 months before they are placed in open-air aviaries.

Asunto(s)

RESUMEN

Nutrition and health of northern white-cheeked gibbons (Nomascus leucogenys) are considered to be primarily influenced by the diversity of their gastrointestinal tract (GIT) microbiota. However, the precise composition, structure, and role of the gibbon GIT microbiota remain unclear. Microbial communities from the GITs of gibbons from Nanning (NN, n = 36) and Beijing (BJ, n = 20) Zoos were examined through 16S rRNA sequencing. Gibbon's GITs microbiomes contained bacteria from 30 phyla, dominated by human-associated microbial signatures: Firmicutes, Bacteroidetes, and Proteobacteria. Microbial species richness was markedly different between adult gibbons (>8 years) under distinct captive conditions. The relative abundance of 14 phyla varied significantly in samples of adults in BJ versus NN. Among the age groups examined in NN, microbiota of adult gibbons had greater species variation and richer community diversity than microbiota of nursing young (<6 months) and juveniles (2-5 years). Age-dependent increases in the relative abundances of Firmicutes and Fibrobacteres were detected, along with simultaneous increases in dietary fiber intake. A few differences were detected between sex cohorts in NN, suggesting a very weak correlation between sex and GIT microbiota. This study is the first to taxonomically identify gibbon's GITs microbiota confirming that microbiota composition varies with age and captive condition.

Asunto(s)