简介：现在的纸介绍为一个缩影开发的一个三维的指导系统自治在水下车辆(AUV)。指导系统基于目标行为和车辆能力为车辆决定最好的轨道。这新奇AUV的动态模型基于它象水平姿势和独立潜水机制那样的特殊特征被导出。设计指导策略，主要想法是选择需要的深度，与AUV和目标的水平距离想成正比。由与一根直线连接二，这策略帮助AUV搬到离这根线足够地靠近的一条轨道。到线的轨道的毗邻导致相当短的旅行距离并且避免不安全的区域。自动驾驶仪用滑动模式控制器被设计。二不同约会几何学被认为评估策略表演：静止目标和动人的目标。模拟结果证明策略能处于两种目标状况提供足够地快、光滑的轨道。

简介：Nano-sizedzincoxide(nZnO)particlesareonekindofthemostcommonlyusedmetaloxidenanoparticles(NPs).ThisstudycomparedthecytotoxicandembryotoxiceffectsofthreeincreasingsizedZnOparticles(30nm,80?150nmand2μm)inthefloundergill(FG)cellsandzebrafishembryos,andanalyzedthecontributionofsize,agglomerationandreleasedZn2+tothetoxiceffects.AllthetestedZnOparticleswerefoundtobehighlytoxictobothFGcellsandzebrafishembryos.Theyinducedgrowthinhibition,LDHrelease,morphologicalchangesandapoptosisinFGcellsinaconcentration-,size-andtime-dependentmanner.Moreover,thereleaseofLDHfromtheexposedFGcellsintothemediumoccurredbeforetheobservablemorphologicalchangeshappened.TheultrasonicationtreatmentandadditionofserumfavoredthedispersionofZnOparticlesandalleviatedtheagglomeration,thussignificantlyincreasedthecorrespondingcytotoxicity.ThereleasedZn2+ionsfromZnOparticlesintotheextracellularmediumonlypartiallycontributedtothecytotoxicity.AllthethreesizesofZnOparticlestestedinduceddevelopmentalmalformations,decreaseofhatchingratesandlethalityinzebrafishembryos,butsize-andconcentration-dependenttoxiceffectswerenotsoobviousasinFGcellspossiblyduetotheeasyaggregationofZnOparticlesinfreshwater.Inconclusion,bothFGcellsandzebrafishembryosaresensitivebioassaysystemsforsafetyassessmentofZnOparticlesandtheenvironmentalreleaseofZnOparticlesshouldbecloselymonitoredasfarasthesafetyofaquaticorganismsisconcerned.