Two new sulfated triterpene glycosides, philinopsides A (1) and B (2), were isolated from the sea cucumber Pentacta quadrangularis. Their structures were established by extensive spectral analysis (2D‐NMR and MS) and chemical evidence. Philinopside A (1) and B (2) showed significant cytotoxicity (ED50 0.75–3.50 μg/ml) against ten tumor cell lines. Compound 1 also significantly inhibited the proliferation, migration, and tube formation of human microvascular endothelial cells.

The positioning accuracy of tracked mobile robot is low because of sliding in steering process. Taking the micro-tracked mobile robot as the platform, the interface force between tracks and ground was analyzed, and the motor model, kinematic model and dynamic model were established further. A tracking error controller was built based on the tracking error equations, and the co-simulation of mechanical and control system was applied to predict the robot’s trajectory. That controller was applied on a small tracked mobile robot designed by the authors’ laboratory, and the path tracking experiments with and without obstacles had been done. The results show that the robot can accurately track the given path, whether there are obstacles or not.

On the foundation of analysis on non-cylindrical spiral spring force state, stress status and corresponding formulas in various segments of spring wire are derived, therefore the concept of varying spring diameter is put forward. Taking oblate prism spiral spring as an example, variable diameter spiral spring and invariable diameter spiral spring are separately designed under the instructions of the concept. An simulation is designed to examine the characteristics of the two springs in strength, stiffness and fatigue. The result shows that: both kinds of springs can meet the design requirements in maximum work force and fatigue, but the new spring are significantly lighter compared with the traditional invariable diameter, and the mechanical properties of material of the new spring are more fully played. This concept can be widely used in various fields of machinery, such as aerospace, vehicle suspension and small arms, and it will have important significance in designing new spring of light-weight and high-reliability.

The region of Yushu has fragile natural environment. In 2010, it suffered severe damages caused by earthquakes. This paper subject, on the basis of status research of natural and cultural environment in Yushu area and urban public facilities across the world, is aiming at a design attempt of public facilities suitable for Yushu area under the guidance of sustainable-development design theory. After constructing computer models, we made physical models to further test the reliability of our scheme. The overall design acts according to circumstances, and makes it environmental friendly, developmental sustainable, economical, aesthetic, practical and reliable. We also added to our design some local characteristics to make it better integrate into the local natural environmental features so that it could be widely used. In the end, we summarized the pros and cons of the scheme through theoretical analysis of our design process, despite that, in June 2014, we had an on-the-spot investigation in Yushu, and according to its current state of development, we made outlooks of our further scheme practice.

The design of underwater monitoring system is an important component of fish domestication equipment for ocean ranching. In order to achieve the fish domestication effect so that to conduct feedback control of fish domestication device, this paper designs a wireless underwater camera monitoring system. The system includes local area network and GPRS network communication mode. The results of the underwater sealing experiment and the preliminary underwater camera test show the feasibility of the monitoring system. The effect monitored in Sparus macrocephalus domestication experiment in Xiangshan ocean area suggests that this camera system can not only meet the working requirements, but also be stable and reliable, which provides an effective means of monitoring for fish domestication on ocean ranching.