The eff ects of Dangguibuxue Tang (DBT) on growth performance and immunity response in immunosuppressed broiler chicks were investigated in this study. 240 one-d-old broiler chicks (DaHeng S01) were randomly divided into 4 groups, 2.0% DBT-treatment (A), 0.5% DBT-treatment (B), cyclophosphamide-control (C), and control group (D). From 4 d to 7 d of age, chicks in group A, B and C were given cyclophosphamide (CY) at a dosage of 100mg/kg body weight (BW) daily by intraperitoneal injection to induce immunosuppression. Chicks in group D were given an equal volume of physiological saline daily by intraperitoneal injection and considered normal chicks. Groups A and B were supplemented with 2.0% or 0.5% of DBT in the drinking water from 8 d to 42 d of age. Groups C and D did not receive any additional medication. The results revealed that chicks from group B had lower feed:gain rate (FGR), lower total mortality, higher immunity organ indexes, higher levels of Newcastle disease (ND) antibody and infectious bursal disease (IBD) antibody, higher interleukin-2 and interleukin-6 levels, and greater lymphocyte proliferative responses to concanavalin A (ConA) during the experiment than those from group C. However, no signifi cant diff erence in the immunity status in the two levels of DBT-treatment was observed. These results indicate that supplementation of 0.5% of DBT can improve both cellular immunity and humoral immunity in immunosuppressed broiler chicks.

This paper studied the localization problem for a rescue robot based on laser scan matching and extended Kalman filtering (EKF). Scan matching method based on normal distribution transform (NDT) can avoid hard feature extraction problem by estimation of the probability distribution of laser scan data and localization can be achieved using correlation of the NDT. Based on NDT scan matching, the NDT-EKF algorithm is proposed , which realizes fast and precise localization in rescue environment by fusing odometery data and scan matching together. The NDT-EKF algorithm has been extensively tested and experimental results show its effectiveness and robustness.

Hydro-viscous variable speed clutch has been widely used in starting and speed regulation of large load. In order to change the friction disc gap and the oil film thickness, converter was adopted in this paper to drive the pump to adjust the controlling oil pressure. The performance of pressure regulating of the controlling oil was analyzed and the characteristic curve of frequency-oil pressure could be acquired. The research showed that the controlling oil pressure can be changed by adjusting the frequency of converter. Besides, the slope coefficient and starting frequency of performance curve will be influenced by the leakage of hydro-viscous variable speed clutch and pump, the resistance of oil filter and the throttle valve opening degree.

This paper studied impedance control problem for a biped skating robot. Impedance control for ground reaction force which is realized through varying load impedance between supporting leg and ground to maintain flexible contact is vital to motion control problem. Biped skating motion is divided into three phase, i.e. leg swing phase, weight reception phase and supporting phase. During weigh reception and supporting phase, one the of the robot legs has pushed onto ground to generated reaction force which must be controlled for dynamic stability. During swing phase a PID controller is used. Impedance control is realized by varying the load impedance between supporting leg and ground to maintain flexible contact. By proposed impedance control method, a dynamic stable skating movement controller was successfully developed for the biped robot with skating speed of 0.13 m/s.

In view of the increasingly serious software protection problem, the software protection technology based on code obfuscation is analyzed and researched, and a new software protection system, maze protection is designed and realized. With the principle of maze encryption, this program insert a large number of the complex judgments code between function entry and exit, which change the execution order, enhancing the ability of software protection. On this basis, Anti-debug techniques incorporated into the maze protection, which against the mainstream anti-debugger, increasing the advantage of high anti-reversing, tamper-proof and anti-cracking. Experimental analysis has proved that this maze protection technology was better than other virtual machine protection technologies.