No abstract
AUVs have proved their usefulness in recent years and continue to do so. This paper is a review of the current state of the art of AUVs. Present AUV capabilities are reviewed through a discussion of feasible present-day AUV missions. The state of key AUV design features and sensor technologies is also addressed, identifying those areas most critical to continued future progress in AUV development.
fournissant aux graines une q-uantit6 €quivalente de graisse. Les p6riodes exp6rimentales duraient six semaines et chaque vache recevait 6 000 UI d'ac6tate de dl-a-tocoph6ryl danJes deux dernidres semaines de chaque p6riode. Le rendement ainsi que Ia composition et la saveur du lait €taient rn"ru.6, d la fin de la quatridme et de la sixidme semaine. L'administration de SCAG abaiisait (P = 0,0@1) Ia prise alimentaire (matidre sdche) mais lei r6gimes compldment6s fournissaient plus de EN' qle le regime non compl6ment6 (p = b,OSS). Le rendement en lait, en m.g. et en 6nergie 6tait augment6 par la compl6mentation lipidique soit respectivement P < 0,00L, P < 0,001 etP : 0,003. Le rendement en prot6ine 6tait abaiss6 chez les vaches recevant SCAG' Le r6gihe compl6ment6 aux graines de soja provoquait une diminution de la concentration lipidique du lait, mais seulement avant administration de vitamine EI Ce m6me iegi.. aicroissait les teneurs en cr-tocoph6rol du lait (P < 0'05). Le lait des vaches nourries aux graines de soja 6tait particulidiement sensible )r I'oxydation (P < 0,01). L'intensit6 du go0t d'oxydation 6tait-Ia m6me avant ei pendant I'administration de vitamine E. L'apport d'un compl6ment de graisse abaissait la proportion d9s-acidjs gras ir chaine courte et ir chaine moyenne (P < 0,001) et accroissait celle des acides gras en.Cl8_dans le lait (P < 0'001)' La lroportion des acides gras polyinsatur6s dans le lait 6tait augment€e par la distribution des graines de soja, mais pas par I'adjonciion de SCAG. Le sofa g.uin!. entibres peut dchapper a U UiotryOiog6nation dans le rumen, et ainsi rendre le lait sensible h
Samples with a high starch content that were incubated at 40°C overnight (12-18 hr) in pH 7 buffer with bacterial α-amylase before determination of their neutral-detergent fiber (NDF) contents were easier to filter and had lower estimates of NDF and hemicellulose than when the conventional procedure was used. At neutral pH, bacterial a-amylase was more effective in this role than 2 common fungal amylase preparations. Pretreatment with pepsin at pH 1.8 also reduced the estimates of NDF content but some samples still proved difficult to filter. Bacterial α-amylase that was added during the initial step of the ccnventional procedure exhibited some activity even after boiling in neutral-detergent reagent for 30 min and promoted rapid filtration of the samples, but led to estimates that were higher than those obtained following overnight incubation at 40°C. The reported modification of incubating samples overnight with α-amylase promotes rapid filtration, and thereby gives more accurate NDF estimates and less analytical variation for samples of cereal grains and vegetables that have a high starch content.
1. Four wether sheep, each fitted with re-entrant duodenal cannulas and a rumen cannula, were used to determine the relative quantitative importance of digestion in the stomach compared with that in the intestines when diets of low (HM1) and high starch (CM1) content were fed at 0.9 times maintenance and when the high-starch diet was fed at 1.7 (CM2) and 2.3 (CM3) times maintenance. Paper, impregnated with chromic oxide, and polyethylene glycol (PEG) were administered.2. An apparatus is described which allowed one operator to collect, record, sample and return the duodenal digesta from two sheep simultaneously.3. Total digestion was determined by faeces collections over 7–10 day periods, and digestion in the stomach by measuring the total flow of digesta from the abomasum to the duodenum over two 24 h periods with two or three sheep on each ration. Flow values were adjusted to give 100% recovery of chromic oxide.4. The recoveries of chromic oxide and PEG were similar and it was concluded that either marker was satisfactory for adjusting 24 h flow values. Disadvantages of using PEG are discussed.5. There was relatively little difference between rations HM1 and CM1 in the proportion of digestible organic matter and energy digested in the stomach. Only 57.1% of the total dry-matter digestion occurred in the stomach for ration HM1 compared with 65.0% for ration CM1 reflecting a smaller net gain in ash for ration CM1. Doubling the level of intake (ration CM2) resulted in a decrease in the proportion of digestible dry matter, organic matter and energy digested in the stomach. When the level was increased still further with ration CM3, the proportion continued to decrease with one sheep but increased with the other.6. All but 5–11% of the digestible starch (measured as α-linked glucose polymer) was fermented in the stomach, the lowest proportion being with ration HM1.7. The amount of nitrogen reaching the duodenum was approximately equal to the amount ingested with rations HM1 and CM1 but considerably greater with the other two rations. All rations contained approximately 2% nitrogen.8. Calculation of the estimated loss of energy as methane and heat of fermentation suggested that 50–54% of the digestible energy was absorbed as volatile fatty acids.
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