The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction bet...The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.展开更多
Large DNA viruses normally have complex structures with many of protein components derived from both viral and host origins. The development in proteomics, especially mass spectrometry identification techniques provid...Large DNA viruses normally have complex structures with many of protein components derived from both viral and host origins. The development in proteomics, especially mass spectrometry identification techniques provide powerful tools for analyzing large viruses. In this review, we have summarized the recent achievements on proteomic studies of large DNA viruses, such as herpesvirus, poxvirus, nimavirus and baculoviruse. The proteomics of baculovirus occlusion-derived virions (ODV) were emphasized. Different mass spectrometry techniques used on various baculoviruses were introduced, and the identified structurally associated proteins of baculoviruses are summarized.展开更多
The technical achievement relating to the research on biological technology for manufacture of 2,3-butanediol and application of its derivatives undertaken by the SINOPEC Fushun Research Institute of Petroleum and Pet...The technical achievement relating to the research on biological technology for manufacture of 2,3-butanediol and application of its derivatives undertaken by the SINOPEC Fushun Research Institute of Petroleum and Petrochemicals（FRIPP） has passed the technical appraisal organized by the Science and Technology Division of Sinopec Corp.展开更多
Fungal diseases often occur seriously in muskmelon in open field of Hubei Province in summer, especially in continuous cropping pattern, resulting in great economic losses. In this study, the pathogens of main fungal ...Fungal diseases often occur seriously in muskmelon in open field of Hubei Province in summer, especially in continuous cropping pattern, resulting in great economic losses. In this study, the pathogens of main fungal diseases in muskmelon in open field of Hubei Province were isolated, and they were identified by morphological and molecular techniques. The results showed that muskmelon fusarium wilt is a major disease in muskmelon in open field of Hubei Province in summer, and its pathogen was confirmed to be Fusarium oxysporum. In future studies, one pair of specific primers would be designed to detect different pathogenic races of Fusarium oxysporum so as to accelerate the detection and to shorten the detection time,thereby proving guidance for actual production.展开更多
DNA-based approaches to systematics have changed dramatically during the last two decades with the rise of DNA barcoding methods and newer multi-locus methods for species delimitation. During the last half-decade, par...DNA-based approaches to systematics have changed dramatically during the last two decades with the rise of DNA barcoding methods and newer multi-locus methods for species delimitation. During the last half-decade, partly driven by the new sequencing technologies, the focus has shifted to multi-locus sequence data and the identification of species within the frame-work of the multi-species coalescent （MSC）. In this paper, I discuss model-based Bayesian methods for species delimitation that have been developed in recent years using the MSC. Several approximate methods for species delimitation （and their limitations） are also discussed. Explicit species delimitation models have the advantage of clarifying more precisely what is being delimited and what assumptions we are making in doing so. Moreover, the methods can be very powerful when applied to large multi-locus datasets and thus take full advantage of data generated using today＇s technologies [Current Zoology 61 （5）： 846-853,2015].展开更多
文摘The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.
基金The grants of National Science Foundation of China (30630002, 30670078)973 Program(2009CB118903)Programme Strategic Scientific Alliances between China and the Netherlands (2008AA000238)
文摘Large DNA viruses normally have complex structures with many of protein components derived from both viral and host origins. The development in proteomics, especially mass spectrometry identification techniques provide powerful tools for analyzing large viruses. In this review, we have summarized the recent achievements on proteomic studies of large DNA viruses, such as herpesvirus, poxvirus, nimavirus and baculoviruse. The proteomics of baculovirus occlusion-derived virions (ODV) were emphasized. Different mass spectrometry techniques used on various baculoviruses were introduced, and the identified structurally associated proteins of baculoviruses are summarized.
文摘The technical achievement relating to the research on biological technology for manufacture of 2,3-butanediol and application of its derivatives undertaken by the SINOPEC Fushun Research Institute of Petroleum and Petrochemicals（FRIPP） has passed the technical appraisal organized by the Science and Technology Division of Sinopec Corp.
基金Supported by Earmarked Fund for China Agriculture Research System(CARS-26-34)
文摘Fungal diseases often occur seriously in muskmelon in open field of Hubei Province in summer, especially in continuous cropping pattern, resulting in great economic losses. In this study, the pathogens of main fungal diseases in muskmelon in open field of Hubei Province were isolated, and they were identified by morphological and molecular techniques. The results showed that muskmelon fusarium wilt is a major disease in muskmelon in open field of Hubei Province in summer, and its pathogen was confirmed to be Fusarium oxysporum. In future studies, one pair of specific primers would be designed to detect different pathogenic races of Fusarium oxysporum so as to accelerate the detection and to shorten the detection time,thereby proving guidance for actual production.
文摘DNA-based approaches to systematics have changed dramatically during the last two decades with the rise of DNA barcoding methods and newer multi-locus methods for species delimitation. During the last half-decade, partly driven by the new sequencing technologies, the focus has shifted to multi-locus sequence data and the identification of species within the frame-work of the multi-species coalescent （MSC）. In this paper, I discuss model-based Bayesian methods for species delimitation that have been developed in recent years using the MSC. Several approximate methods for species delimitation （and their limitations） are also discussed. Explicit species delimitation models have the advantage of clarifying more precisely what is being delimited and what assumptions we are making in doing so. Moreover, the methods can be very powerful when applied to large multi-locus datasets and thus take full advantage of data generated using today＇s technologies [Current Zoology 61 （5）： 846-853,2015].
