A Calibration Method for Misalignment Angle of Vehicle-mounted IMU

AbstractIn order to get accurate navigation data via Strapdown Inertial Navigation System (SINS), calibration of misalignment angle between Inertial Measurement Unit (IMU) and vehicle is necessary. The misalignment angle model is simplified, assuming that vehicle travels on a horizontal plane. Due to the velocity of vehicle is small, equation of specific force is simplified. And then equation of misalignment angle is deduced on condition that vehicle travels on a horizontal plane, making straight motion ideally. Angular rate is used to discriminate that vehicle making straight motion. Steps for calibrate misalignment angle are established. In calibration experiment, data are collected and misalignment angle of vehicle-mounted IMU is calibrated using simple techniques of data processing. Analysis shows that, compensation of misalignment angle helps improving the accuracy of SINS. Position error of SINS solution is decreased and the acceleration of vehicle is more accurate

Advanced Research on cis-Neonicotinoids

cis-Neonicotinoids are a type of neonicotinoid, in which the nitro or the cyano group are in cis-configuration relative to heteroaromatic moiety, which show excellent activities against a range of insect species. This review covers cis-neonicotinoids with commercialization perspectives, structural optimization (phenylazoneonicotinoids and chlorothiazolyl analogues of Paichongding), modes of action studies, radiao-synthesis of Paichongding and Cycloxaprid, and photostability of neonicotinoids

Shape and structure controlling of calcium oxalate crystals by a combination of additives in the process of biomineralization

The origin of complex hierarchical superstructures of biomaterials and their unique self-assembly mechanisms of formation are important in biological systems and have attracted considerable attention. In the present study, we investigated the morphological changes of calcium oxalate (CaO(x)) crystals induced by additives including chiral aspartic acid, sodium citrate, Mg(2+), casein and combinations of these molecules. The morphology and structure of CaO(x) were identified with the use of various techniques. The morphogenesis of CaO(x) crystals were significantly affected by chiral aspartic acid, sodium citrate or Mg(2+). However, they only formed calcium oxalate monohydrate (COM). It was observed that the chiral aspartic acid, sodium citrate and casein adhered to the surface of the crystals. The adherence of Mg(2+) to crystals was not evident. Casein significantly affected the formation of COM and calcium oxalate dihydrate (COD). The ratio of different CaO(x) crystal forms is associated with the casein concentration. In combination with Mg(2+) or citrate ions, casein showed improved formation of COD. The present study mimics biomineralization with a simple chemical approach and provides insight into the complicated system of CaO(x) biomineralization as well as facilitates the understanding of urinary stone treatment

Sequence Analysis of Insecticide Action and Detoxification-Related Genes in the Insect Pest Natural Enemy Pardosa pseudoannulata.

The pond wolf spider Pardosa pseudoannulata, an important natural predatory enemy of rice planthoppers, is found widely distributed in paddy fields. However, data on the genes involved in insecticide action, detoxification, and response are very limited for P. pseudoannulata, which inhibits the development and appropriate use of selective insecticides to control insect pests on rice. We used transcriptome construction from adult spider cephalothoraxes to analyze and manually identify genes enconding metabolic enzymes and target receptors related to insecticide action and detoxification, including 90 cytochrome P450s, 14 glutathione S-transferases (GSTs), 17 acetylcholinesterases (AChEs), 17 nicotinic acetylcholine receptors (nAChRs), and 17 gamma-aminobutyric acid (GABA) receptors, as well as 12 glutamate-gated chloride channel (GluCl) unigenes. Sequence alignment and phylogenetic analysis revealed the different subclassifications of P450s and GSTs, some important sequence diversities in nAChRs and GABA receptors, polymorphism in AChEs, and high similarities in GluCls. For P450s in P. pseudoannulata, the number of unigenes belonging to the CYP2 clade was much higher than that in CYP3 and CYP4 clades. The results differed from insects in which most P450 genes were in CYP3 and CYP4 clades. For GSTs, most unigenes belonged to the delta and sigma classes, and no epsilon GST class gene was found, which differed from the findings for insects and acarina. Our results will be useful for studies on insecticide action, selectivity, and detoxification in the spider and other related animals, and the sequence differences in target genes between the spider and insects will provide important information for the design of selective insecticides

Characterization of the Fifth Putative Acetylcholinesterase in the Wolf Spider, Pardosa pseudoannulata

Background: Acetylcholinesterase (AChE) is an important neurotransmitter hydrolase in invertebrate and vertebrate nervous systems. The number of AChEs is various among invertebrate species, with different functions including the ‘classical’ role in terminating synaptic transmission and other ‘non-classical’ roles. Methods: Using rapid amplification of cDNA ends (RACE) technology, a new putative AChE-encoding gene was cloned from Pardosa pseudoannulata, an important predatory natural enemy. Sequence analysis and in vitro expression were employed to determine the structural features and biochemical properties of this putative AChE. Results: The cloned AChE contained the most conserved motifs of AChEs family and was clearly clustered with Arachnida AChEs. Determination of biochemical properties revealed that the recombinant enzyme had the obvious preference for the substrate ATC (acetylthiocholine iodide) versus BTC (butyrylthiocholine iodide). The AChE was highly sensitive to AChE-specific inhibitor BW284C51, but not butyrylcholinesterase-specific inhibitor tetraisopropyl pyrophosphoramide (ISO-OMPA). Based on these results, we concluded that a new AChE was identified from P. pseudoannulata and denoted as PpAChE5. Conclusion: Here we report the identification of a new AChE from P. pseudoannulata and increased the AChE number to five in this species. Although PpAChE5 had the biggest Vmax value among five identified AChEs, it showed relatively low affinity with ATC. Similar sensitivity to test insecticides indicated that this AChE might serve as the target for both organophosphorus and carbamate insecticides

Phylogenetic analysis of GST unigenes in the <i>P</i>. <i>pseudoannulata</i> transcriptome compared with insect GSTs.

<p>Numbers above the branches indicate phylogenies from amino acid sequences and only values above 45% are shown. Dm: <i>Drosophila melanogaster</i>; Nl: <i>Nilaparvata lugens</i>; Sf: <i>Sogatella furcifera</i>.</p

Phylogenetic analysis of putative cytochrome P450 genes in <i>P</i>. <i>pseudoannulata</i> compared with insect P450s.

<p>Numbers above the branches indicate phylogenies from amino acid sequences and only values above 50% are shown. Dm: <i>Drosophila melanogaster</i>; Tc: <i>Tribolium castaneum</i>; Mo: <i>Metaseiulus occidentalis</i>.</p

Phylogenetic analysis of AChE unigenes in the <i>P</i>. <i>pseudoannulata</i> transcriptome compared with other species’ AChEs.

<p>Numbers above the branches indicate phylogenies from amino acid sequences and only values above 45% are shown. Tc: <i>Tribolium castaneum</i>; Nl: <i>Nilaparvata lugens</i>; Bm: <i>Bombyx mori</i>; Tu: <i>Tetranychus urticae</i>; Rm: <i>Rhipicephalus microplus</i>; Mo: <i>Metaseiulus occidentalis</i>; Pp: <i>Pardosa pseudoannulata</i>.</p

Phylogenetic analysis of GluCl unigenes in the <i>P</i>. <i>pseudoannulata</i> transcriptome with other species’ GluCls.

<p>Numbers above the branches indicate phylogenies from amino acid sequences and only values above 50% are shown. Ag: <i>Anopheles gambiae</i>; Dm: <i>Drosophila melanogaster</i>; Bm: <i>Bombyx mori</i>; Tu; <i>Tetranychus urticae</i>; Tc: <i>Tetranychus cinnabarinus</i>; Hc: <i>Haemonchus contortus</i>; Ce: <i>Caenorhabditis elegans</i>.</p

Statistical data for unigenes hit in the NCBI nonredundant (Nr) database associated with insecticide action and detoxification in the <i>P</i>. <i>pseudoannulata</i> transcriptome.

<p>Statistical data for unigenes hit in the NCBI nonredundant (Nr) database associated with insecticide action and detoxification in the <i>P</i>. <i>pseudoannulata</i> transcriptome.</p