ABSTRACT
Embryology provides an understanding of individual's origin and developmental patterns. Turtles are among the oldest living reptiles and have unique body structure. However, the morphogenesis and mechanisms of turtles are not fully understood. In this study, we focused on the embryonic development of red-eared slider (Trachemys scripta elegans) which widely distributes in the world. At an incubation temperature of 28 °C, the turtle eggs had a 61-day incubation cycle, and the entire embryonic development process was divided into 27 stages and 3 phases according to variations in age, body size, and morphological characteristics. The early phase of embryonic development (the first 12 stages) were characterized by embryo growth, and the appearance of internal organ precursors. The middle phase (stages 13-20) involved prominent heart division at stage 13 and the appearance of carapace and plastron at stages 14 and 17, respectively. In the later phase (stages 21-27), the hatchlings formed, and the carapace and plastron thickened. Transcriptome analysis of embryos showed enrichment of the differential genes in pathways related to development, metabolism, disease, and cellular processes. The Kyoto Encyclopedia of Genes and Genomes enrichment (KEGG) analysis implied the crucial regulatory role of the axon guidance pathway. Real-time fluorescence quantitative PCR indicated upregulated expression of wnt5a and bmp7 in stages 7 and 16 compared to that in stage 12. This study revealed the development process of red-eared slider embryo and the dynamics of the signaling pathway affecting its development, which supplemented the theory of embryo development, and provided new ideas for the molecular mechanism of turtle embryo development.
Subject(s)
Turtles , Animals , Turtles/genetics , Ovum , Embryonic Development/genetics , Gene Expression Profiling/veterinaryABSTRACT
This paper presents a study of the frequency response and the scale-factor of a tuning fork micro-gyroscope operating at atmospheric pressure in the presence of an interference sense mode by utilizing the approximate transfer function. The optimal demodulation phase (ODP), which is always ignored in vacuum packaged micro-gyroscopes but quite important in gyroscopes operating at atmospheric pressure, is obtained through the transfer function of the sense mode, including the primary mode and the interference mode. The approximate transfer function of the micro-gyroscope is deduced in consideration of the interference mode and the ODP. Then, the equation describing the scale-factor of the gyroscope is also obtained. The impacts of the interference mode and Q-factor on the frequency response and the scale-factor of the gyroscope are analyzed through numerical simulations. The relationship between the scale-factor and the demodulation phase is also illustrated and gives an effective way to find out the ODP in practice. The simulation results predicted by the transfer functions are in close agreement with the results of the experiments. The analyses and simulations can provide constructive guidance on bandwidth and sensitivity designs of the micro-gyroscopes operating at atmospheric pressure.
ABSTRACT
This paper focuses on the detailed design issues of a peculiar quadrature reduction method named system stiffness matrix diagonalization, whose key technology is the design and application of quadrature compensation patterns. For bulk silicon micro-gyroscopes, a complete design and application case was presented. The compensation principle was described first. In the mechanical design, four types of basic structure units were presented to obtain the basic compensation function. A novel layout design was proposed to eliminate the additional disturbing static forces and torques. Parameter optimization was carried out to maximize the available compensation capability in a limited layout area. Two types of voltage loading methods were presented. Their influences on the sense mode dynamics were analyzed. The proposed design was applied on a dual-mass silicon micro-gyroscope developed in our laboratory. The theoretical compensation capability of a quadrature equivalent angular rate no more than 412 °/s was designed. In experiments, an actual quadrature equivalent angular rate of 357 °/s was compensated successfully. The actual compensation voltages were a little larger than the theoretical ones. The correctness of the design and the theoretical analyses was verified. They can be commonly used in planar linear vibratory silicon micro-gyroscopes for quadrature compensation purpose.
ABSTRACT
The bandwidth characteristics of a tuning fork micro-gyroscope with mechanically coupled sense mode were investigated in this paper to provide some references for mechanical bandwidth design. The concept of sense mode mechanical coupling is introduced first. Theoretical frequency response analyses were then carried out on the mechanical part of the gyroscope. Equations representing the relationships between the differential output signal and the frequency of the input angular rate were deduced in full frequency range and further simplified in low frequency range. Based on these equations, bandwidth characteristics under ideal and non-ideal conditions are discussed. Analytical results show that under ideal conditions, the bandwidth characteristics of a tuning fork micro-gyroscope are similar to those of a single mass micro-gyroscope, but under non-ideal conditions, especially when sense mass and/or stiffness are asymmetric, the bandwidth characteristics would be quite different because the in-phase mode would participate in the anti-phase vibration response. Experimental verifications were carried out on two micro-gyroscope prototypes designed in our laboratory. The deduced equations and analytical results can be used in guiding the mechanical bandwidth design of tuning fork micro-gyroscopes with mechanically coupled sense mode.
