A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip ...A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip position. The Lagrangian principle is utilized to model the dynamic function of the single-degree flexible manipulator incorporating the assumed modes method. Simulation results of the fuzzy adaptive control method in the location control and the trajectory tracking with different tip disturbances are presented and compared with the results of the classic PD control. It shows that the controller can obtain the stable and robust performance.展开更多
An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent...An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.展开更多
Little is known about the genome of Pacific white shrimp (Litopenaeus vannamei). To address this, we conducted BAC (bacterial artificial chromosome) end sequencing of L. vannamei. We selected and sequenced 7 812 BAC c...Little is known about the genome of Pacific white shrimp (Litopenaeus vannamei). To address this, we conducted BAC (bacterial artificial chromosome) end sequencing of L. vannamei. We selected and sequenced 7 812 BAC clones from the BAC library LvHE from the two ends of the inserts by Sanger sequencing. After trimming and quality filtering, 11 279 BAC end sequences (BESs) including 4 609 paired- ends BESs were obtained. The total length of the BESs was 4 340 753 bp, representing 0.18% of the L. vannamei haploid genome. The lengths of the BESs ranged from 100 bp to 660 bp with an average length of 385 bp. Analysis of the BESs indicated that the L. vannamei genome is AT-rich and that the primary repeats patterns were simple sequence repeats (SSRs) and low complexity sequences. Dinucleotide and hexanucleotide repeats were the most common SSR types in the BESs. The most abundant transposable element was gypsy, which may contribute to the generation of the large genome size of L. vannamei. We successfully annotated 4 519 BESs by BLAST searching, including genes involved in immunity and sex determination. Our results provide an important resource for functional gene studies, map construction and integration, and complete genome assembly for this species.展开更多
Objective: To evaluate whether realgar could down-regulate human telomerase reverse transcriptase (hTERT) gene expression and telomerase activity in acute promyelocytic leukemia cell line-NB4 cells. Methods: The expre...Objective: To evaluate whether realgar could down-regulate human telomerase reverse transcriptase (hTERT) gene expression and telomerase activity in acute promyelocytic leukemia cell line-NB4 cells. Methods: The expression of hTERT-mRNA was analyzed by semi-quantitative reverse transcriptase polymerase chain reaction (RT-PCR). Telomerase activity was determined by polymerase chain reaction enzyme-linked immunoassay (PCR-ELISA). Flow cytometry using PI staining was applied to analyze the cell cycle and apoptosis. Results: Treatment of NB4 cells with 155, 300, 600 μg/L realgar reduced telomerase activity significantly accompanying with decrease of hTERT-mRNA and increasing cell apoptosis. G2/M phase arrest appeared when treated with realgar in 300, 600 μg/L. Conclusion: It is suggested that telomerase activity of NB4 cells can be specifically inhibited by realgar through the down-regulation of hTERT gene expression. G2/M phase arrest and apoptosis by realgar in NB4 cells might be related to the reduction of telomerase activity and hTERT-mRNA expression.展开更多
Engineering education is an important issue in engineering practice, and engineering practice and characteristics can be seen through examining the history of early Chinese engineering education. During the period ran...Engineering education is an important issue in engineering practice, and engineering practice and characteristics can be seen through examining the history of early Chinese engineering education. During the period ranging from the 1860s to the middle of the 1890s, the westernization group set up a series of modern industrial and mining enterprises for military and civil use, making the implementation of modern engineering education become possible and necessary. Thanks to their efforts, many schools and old-style private schools for teaching knowledge about western science and technology and training senior engineering managements and talents were gradually founded in China. These modern education organizations are the source and beginning of Chinese engineering education, which is also the origin of modernization of Chinese engineering education. This article takes Fuzhou Shipping School for case studies, using a cultural anthropology approach to examine the overall status, basic characteristics, and impact evaluation of engineering education during the Westernization Movement in China. It reiterates the idea of that "engineering education should be returned to engineering practice," and tries to explain the framework of the development of engineering education in China. Through conducting research, we find that the development of engineering education in modem China generally has the basic resources for realization of internationalization through "westernization" and localization through traditional culture and education and the general characteristics of diversification of social influence. During the development process, it has accumulated valuable experience for timely reform and gradual improvement of modernization: attaching importance to culture and cultivating qualified technical personnel; strictly requiring and building high-level schools and specialties; learning the advanced knowledge and bravely utilizing foreign educational resources; setting pragmatic and highly pertinent disciplines and specialties. It also left the society with thought-provoking lessons, namely, the lagging industrial production and social instability made the development severely restricted and obstructed; the unreasonable development layout resulted in the intensified imbalanced development in different regions; the bureaucracy nature imposed serious impact on efficiency and effectiveness of education; the negligence of innovation made the great-leap-forward development failed, etc.展开更多
Imprecise or delayed care can reflect many factors, including straightforward difficulties in physician judgment and false negative tests. However, the movement toward decreasing physician work hours also leads to del...Imprecise or delayed care can reflect many factors, including straightforward difficulties in physician judgment and false negative tests. However, the movement toward decreasing physician work hours also leads to delays in care caused by inadequate staffing or inadequate communication between staffing, which must be addressed if quality of care is to remain high. The demonstration of delays in the management of anastomotic leaks over weekends or in association with false positive radiologic studies exemplifies this challenge.展开更多
Orbital-scale global climatic changes during the late Quaternary are dominated by high-latitude influenced~100,000-year global ice-age cycles and monsoon influenced~23,000-year low-latitude hydroclimate variations.How...Orbital-scale global climatic changes during the late Quaternary are dominated by high-latitude influenced~100,000-year global ice-age cycles and monsoon influenced~23,000-year low-latitude hydroclimate variations.However,the shortage of highly-resolved land temperature records remains a limiting factor for achieving a comprehensive understanding of long-term low-latitude terrestrial climatic changes.Here,we report paired mean annual air temperature(MAAT)and monsoon intensity proxy records over the past 88,000 years from Lake Tengchongqinghai in southwestern China.While summer monsoon intensity follows the~23,000-year precession beat found also in previous studies,we identify previously unrecognized warm periods at 88,000-71,000 and 45,000-22,000 years ago,with 2-3℃amplitudes that are close to our recorded full glacial-interglacial range.Using advanced transient climate simulations and comparing with forcing factors,we find that these warm periods in our MAAT record probably depends on local annual mean insolation,which is controlled by Earth’s~41,000-year obliquity cycles and is anti-phased to annual mean insolation at high latitudes.The coincidence of our identified warm periods and intervals of high-frequent dated archaeological evidence highlights the importance of temperature on anatomically modern humans in Asia during the last glacial stage.展开更多
The clustered regularly interspaced short palindromic repeats(CRISPR)/CRISPR-associated(Cas) protein 9 system(CRISPR/Cas9) provides a powerful tool for targeted genetic editing. Directed by programmable sequence-speci...The clustered regularly interspaced short palindromic repeats(CRISPR)/CRISPR-associated(Cas) protein 9 system(CRISPR/Cas9) provides a powerful tool for targeted genetic editing. Directed by programmable sequence-specific RNAs,this system introduces cleavage and double-stranded breaks at target sites precisely. Compared to previously developed targeted nucleases, the CRISPR/Cas9 system demonstrates several promising advantages, including simplicity, high specificity,and efficiency. Several broad genome-editing studies with the CRISPR/Cas9 system in different species in vivo and ex vivo have indicated its strong potential, raising hopes for therapeutic genome editing in clinical settings. Taking advantage of non-homologous end-joining(NHEJ) and homology directed repair(HDR)-mediated DNA repair, several studies have recently reported the use of CRISPR/Cas9 to successfully correct disease-causing alleles ranging from single base mutations to large insertions. In this review, we summarize and discuss recent preclinical studies involving the CRISPR/Cas9-mediated correction of human genetic diseases.展开更多
Combining ecological niche modeling with phylogeography has become a popular approach to understand how historical climate changes have created and maintained population structure. However, methodological choices in g...Combining ecological niche modeling with phylogeography has become a popular approach to understand how historical climate changes have created and maintained population structure. However, methodological choices in geographic extents and environmental layer sets employed in modeling may affect results and interpretations profoundly. Here, we infer range-wide phylogeographic structure and model ecological niches of Cyanoderrna ruficeps, and compare results to previous studies that examined this species across China's Mainland and Taiwan only. Use of dense taxon sampling of closely related species as outgroups question C. ruficeps monophyly. Furthermore, previously unsampled C. ruficeps populations from central Vietnam were closely related to disjunct western populations (Nepal, Tibet, Myanmar, Yunnan), rather than to geographically proximate populations in northern Vietnam and eastern China. Phylogeographic structure is more complex than previously appreciated; niche model projections to Last Glacial Maximum climate scenarios identified larger areas of suitable conditions than previous studies, but potential distributional limits differed markedly between climate models employed and were dependent upon interpretation of non-analogous historical climate scenarios. Previously identified population expansion across central China may result from colonization from refugial distributions during the Last Interglacial, rather than the Last Glacial Maximum, as previously understood [Current Zoology 61 (5): 901-909, 2015].展开更多
The 4N1K peptide,which is derived from the C-terminal domain of thrombospondin-1(TSP-1),is usually used as a functional mimic peptide for TSP-1.Knowledge about the interaction force of 4N1K/CD47 is important in explai...The 4N1K peptide,which is derived from the C-terminal domain of thrombospondin-1(TSP-1),is usually used as a functional mimic peptide for TSP-1.Knowledge about the interaction force of 4N1K/CD47 is important in explaining how TSP-1 affects the biological effect of CD47.Here we used a single-molecule force spectroscopy(SMFS)technique to explore the interaction of 4N1K/CD47 on both normal and oxidative human red blood cells(h RBCs)at single-molecule level.There was no interaction force between 4N1K and CD47 on normal h RBCs;however,we did find 4N1K-bound CD47 on oxidative h RBCs.We also detected interaction forces for 4N1K/CD47ex(extracellular domain of human CD47),and 4N1K/oxidative CD47ex.The interaction forces of 4N1K/CD47ex were almost consistent with those of 4N1K/oxidative CD47ex at the same loading rate.These results suggest that the conformational change of CD47 is critical for 4N1K-CD47 interaction on oxidative h RBCs.展开更多
文摘A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip position. The Lagrangian principle is utilized to model the dynamic function of the single-degree flexible manipulator incorporating the assumed modes method. Simulation results of the fuzzy adaptive control method in the location control and the trajectory tracking with different tip disturbances are presented and compared with the results of the classic PD control. It shows that the controller can obtain the stable and robust performance.
基金National Science and Technology Major Project(No.2009ZX04014-023)
文摘An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.
基金Supported by the National Natural Science Foundation of China (Nos.30972245, 30730071)the National Basic Research Program of China (973 Program) (No. 2012CB114403)
文摘Little is known about the genome of Pacific white shrimp (Litopenaeus vannamei). To address this, we conducted BAC (bacterial artificial chromosome) end sequencing of L. vannamei. We selected and sequenced 7 812 BAC clones from the BAC library LvHE from the two ends of the inserts by Sanger sequencing. After trimming and quality filtering, 11 279 BAC end sequences (BESs) including 4 609 paired- ends BESs were obtained. The total length of the BESs was 4 340 753 bp, representing 0.18% of the L. vannamei haploid genome. The lengths of the BESs ranged from 100 bp to 660 bp with an average length of 385 bp. Analysis of the BESs indicated that the L. vannamei genome is AT-rich and that the primary repeats patterns were simple sequence repeats (SSRs) and low complexity sequences. Dinucleotide and hexanucleotide repeats were the most common SSR types in the BESs. The most abundant transposable element was gypsy, which may contribute to the generation of the large genome size of L. vannamei. We successfully annotated 4 519 BESs by BLAST searching, including genes involved in immunity and sex determination. Our results provide an important resource for functional gene studies, map construction and integration, and complete genome assembly for this species.
基金Supported by Xi'an Foundation of Science and Technology Program(200016)
文摘Objective: To evaluate whether realgar could down-regulate human telomerase reverse transcriptase (hTERT) gene expression and telomerase activity in acute promyelocytic leukemia cell line-NB4 cells. Methods: The expression of hTERT-mRNA was analyzed by semi-quantitative reverse transcriptase polymerase chain reaction (RT-PCR). Telomerase activity was determined by polymerase chain reaction enzyme-linked immunoassay (PCR-ELISA). Flow cytometry using PI staining was applied to analyze the cell cycle and apoptosis. Results: Treatment of NB4 cells with 155, 300, 600 μg/L realgar reduced telomerase activity significantly accompanying with decrease of hTERT-mRNA and increasing cell apoptosis. G2/M phase arrest appeared when treated with realgar in 300, 600 μg/L. Conclusion: It is suggested that telomerase activity of NB4 cells can be specifically inhibited by realgar through the down-regulation of hTERT gene expression. G2/M phase arrest and apoptosis by realgar in NB4 cells might be related to the reduction of telomerase activity and hTERT-mRNA expression.
文摘Engineering education is an important issue in engineering practice, and engineering practice and characteristics can be seen through examining the history of early Chinese engineering education. During the period ranging from the 1860s to the middle of the 1890s, the westernization group set up a series of modern industrial and mining enterprises for military and civil use, making the implementation of modern engineering education become possible and necessary. Thanks to their efforts, many schools and old-style private schools for teaching knowledge about western science and technology and training senior engineering managements and talents were gradually founded in China. These modern education organizations are the source and beginning of Chinese engineering education, which is also the origin of modernization of Chinese engineering education. This article takes Fuzhou Shipping School for case studies, using a cultural anthropology approach to examine the overall status, basic characteristics, and impact evaluation of engineering education during the Westernization Movement in China. It reiterates the idea of that "engineering education should be returned to engineering practice," and tries to explain the framework of the development of engineering education in China. Through conducting research, we find that the development of engineering education in modem China generally has the basic resources for realization of internationalization through "westernization" and localization through traditional culture and education and the general characteristics of diversification of social influence. During the development process, it has accumulated valuable experience for timely reform and gradual improvement of modernization: attaching importance to culture and cultivating qualified technical personnel; strictly requiring and building high-level schools and specialties; learning the advanced knowledge and bravely utilizing foreign educational resources; setting pragmatic and highly pertinent disciplines and specialties. It also left the society with thought-provoking lessons, namely, the lagging industrial production and social instability made the development severely restricted and obstructed; the unreasonable development layout resulted in the intensified imbalanced development in different regions; the bureaucracy nature imposed serious impact on efficiency and effectiveness of education; the negligence of innovation made the great-leap-forward development failed, etc.
文摘Imprecise or delayed care can reflect many factors, including straightforward difficulties in physician judgment and false negative tests. However, the movement toward decreasing physician work hours also leads to delays in care caused by inadequate staffing or inadequate communication between staffing, which must be addressed if quality of care is to remain high. The demonstration of delays in the management of anastomotic leaks over weekends or in association with false positive radiologic studies exemplifies this challenge.
基金supported by the Strategic Priority Research Program of Chinese Academy of Sciences(XDB40010200 and XDA2009000004)the Program of Global Change and Mitigation+1 种基金Ministry of Science and Technology of China(2016YFA0600502)the National Natural Science Foundation of China(41877293,41672162,41977381,and 41472315)。
文摘Orbital-scale global climatic changes during the late Quaternary are dominated by high-latitude influenced~100,000-year global ice-age cycles and monsoon influenced~23,000-year low-latitude hydroclimate variations.However,the shortage of highly-resolved land temperature records remains a limiting factor for achieving a comprehensive understanding of long-term low-latitude terrestrial climatic changes.Here,we report paired mean annual air temperature(MAAT)and monsoon intensity proxy records over the past 88,000 years from Lake Tengchongqinghai in southwestern China.While summer monsoon intensity follows the~23,000-year precession beat found also in previous studies,we identify previously unrecognized warm periods at 88,000-71,000 and 45,000-22,000 years ago,with 2-3℃amplitudes that are close to our recorded full glacial-interglacial range.Using advanced transient climate simulations and comparing with forcing factors,we find that these warm periods in our MAAT record probably depends on local annual mean insolation,which is controlled by Earth’s~41,000-year obliquity cycles and is anti-phased to annual mean insolation at high latitudes.The coincidence of our identified warm periods and intervals of high-frequent dated archaeological evidence highlights the importance of temperature on anatomically modern humans in Asia during the last glacial stage.
基金supported by the National Natural Science Foundation (NSFC81502677, NSFC81602699, NSFC81123003)the National Key Research and Development Program of China (2016YFA0201402)the Key Technologies R & D program of Sichuan Province (2015FZ0040)
文摘The clustered regularly interspaced short palindromic repeats(CRISPR)/CRISPR-associated(Cas) protein 9 system(CRISPR/Cas9) provides a powerful tool for targeted genetic editing. Directed by programmable sequence-specific RNAs,this system introduces cleavage and double-stranded breaks at target sites precisely. Compared to previously developed targeted nucleases, the CRISPR/Cas9 system demonstrates several promising advantages, including simplicity, high specificity,and efficiency. Several broad genome-editing studies with the CRISPR/Cas9 system in different species in vivo and ex vivo have indicated its strong potential, raising hopes for therapeutic genome editing in clinical settings. Taking advantage of non-homologous end-joining(NHEJ) and homology directed repair(HDR)-mediated DNA repair, several studies have recently reported the use of CRISPR/Cas9 to successfully correct disease-causing alleles ranging from single base mutations to large insertions. In this review, we summarize and discuss recent preclinical studies involving the CRISPR/Cas9-mediated correction of human genetic diseases.
基金We thank Nikki Boggess, who assisted in labwork. Fieldwork in Vietnam was facilitated by Dr. Le Mahn Hung, and supported by the National Geographic Committee for Research and Exploration. Fieldwork in China was supported by the National Science Foundation (DEB-0344430 to ATP). The laboratory portions of this work were supported by the National Science Foundation (DEB-0743576 to RGM). We thank recordists who shared their Stachyris/Cyanoderma recordings on Xeno-canto.
文摘Combining ecological niche modeling with phylogeography has become a popular approach to understand how historical climate changes have created and maintained population structure. However, methodological choices in geographic extents and environmental layer sets employed in modeling may affect results and interpretations profoundly. Here, we infer range-wide phylogeographic structure and model ecological niches of Cyanoderrna ruficeps, and compare results to previous studies that examined this species across China's Mainland and Taiwan only. Use of dense taxon sampling of closely related species as outgroups question C. ruficeps monophyly. Furthermore, previously unsampled C. ruficeps populations from central Vietnam were closely related to disjunct western populations (Nepal, Tibet, Myanmar, Yunnan), rather than to geographically proximate populations in northern Vietnam and eastern China. Phylogeographic structure is more complex than previously appreciated; niche model projections to Last Glacial Maximum climate scenarios identified larger areas of suitable conditions than previous studies, but potential distributional limits differed markedly between climate models employed and were dependent upon interpretation of non-analogous historical climate scenarios. Previously identified population expansion across central China may result from colonization from refugial distributions during the Last Interglacial, rather than the Last Glacial Maximum, as previously understood [Current Zoology 61 (5): 901-909, 2015].
基金financially supported by the National Basic Research Program of China(2011CB933600,2013CB966900)the National Natural Science Foundation of China(21373200,81273334)Program for Changjiang Scholars and Innovative Research Team in University(PCSIRT,IRT1133)
文摘The 4N1K peptide,which is derived from the C-terminal domain of thrombospondin-1(TSP-1),is usually used as a functional mimic peptide for TSP-1.Knowledge about the interaction force of 4N1K/CD47 is important in explaining how TSP-1 affects the biological effect of CD47.Here we used a single-molecule force spectroscopy(SMFS)technique to explore the interaction of 4N1K/CD47 on both normal and oxidative human red blood cells(h RBCs)at single-molecule level.There was no interaction force between 4N1K and CD47 on normal h RBCs;however,we did find 4N1K-bound CD47 on oxidative h RBCs.We also detected interaction forces for 4N1K/CD47ex(extracellular domain of human CD47),and 4N1K/oxidative CD47ex.The interaction forces of 4N1K/CD47ex were almost consistent with those of 4N1K/oxidative CD47ex at the same loading rate.These results suggest that the conformational change of CD47 is critical for 4N1K-CD47 interaction on oxidative h RBCs.