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基于病菌孢子捕捉和real-time PCR技术的田间空气中小麦白粉病菌孢子动态监测及病情估计模型研究
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作者 王奥霖 商昭月 +8 位作者 张美惠 王贵 胡小平 徐飞 孙振宇 曹世勤 刘伟 范洁茹 周益林 《植物保护》 CAS CSCD 北大核心 2024年第2期49-56,72,共9页
利用Burkard定容式孢子捕捉器结合real-time PCR定量技术,分别对种植高抗、中感和高感白粉病小麦品种的田间空气中白粉病菌分生孢子浓度进行监测,结果表明,real-time PCR定量与传统的显微观察计数两种方法测得的孢子浓度呈显著正相关(P... 利用Burkard定容式孢子捕捉器结合real-time PCR定量技术,分别对种植高抗、中感和高感白粉病小麦品种的田间空气中白粉病菌分生孢子浓度进行监测,结果表明,real-time PCR定量与传统的显微观察计数两种方法测得的孢子浓度呈显著正相关(P≤0.01),且两种病菌孢子计数方法在同一抗性品种上监测到的孢子浓度动态相近。此外,两种方法测得的孢子浓度与各气象因子的相关性分析结果一致,空气中的白粉病菌孢子浓度主要与空气相对湿度显著正相关。在此基础上,利用两种方法测定的田间空气中白粉病菌孢子浓度分别建立了基于累积孢子浓度的田间病情估计模型。分析发现,基于两种孢子浓度测定方法建立的病情估计模型间无显著性差异,表明real-time PCR定量技术测定的孢子浓度在构建白粉病病情估计模型上具有一定可行性。该结果为real-time PCR定量技术与病菌孢子捕捉技术相结合用于小麦白粉病的监测和预测提供理论依据。 展开更多
关键词 小麦白粉病 病菌孢子捕捉 实时荧光定量PCR 病原菌监测 病情估计模型
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Stability and remote real-time monitoring of the slope slide body in the Luoshan mining area 被引量:6
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作者 Yang Xiaojie Hou Dinggui +2 位作者 Tao Zhigang Peng Yanyan Shi Haiyang 《International Journal of Mining Science and Technology》 SCIE EI CSCD 2015年第5期761-765,共5页
Landslides have occurred frequently in the Luoshan mining area because of disordered mining.This paper discusses the landforms and physiognomy,hydro-meteorology,formation lithology,and geologic structure of the Luosha... Landslides have occurred frequently in the Luoshan mining area because of disordered mining.This paper discusses the landforms and physiognomy,hydro-meteorology,formation lithology,and geologic structure of the Luoshan mining area.It also describes the factors influencing the slope stability of landslide No.Ⅲ,determines the general parameters and typical section plane,analyzes the stress-strain state of the No.Ⅲ slope,and calculates its safety factors with FLAC3 D under saturated and natural conditions.Based on a stability analysis,a remote real-time monitoring system was applied to the No.Ⅲ slope,and these monitoring data were collected and analyzed. 展开更多
关键词 远程实时监控系统 边坡稳定性 滑坡体 实时监测 矿区 应力应变状态 稳定性分析 无序开采
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Real-time State Monitoring During Switching Mode Transitions in High Power Three-level Inverters 被引量:8
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作者 HE Xiangning WU Yansong +2 位作者 YANG Bingjian WANG Jun DENG Yan 《中国电机工程学报》 EI CSCD 北大核心 2012年第30期I0008-I0008,10,共1页
大功率多电平逆变器近年来在实际工业生产中得到越来越广泛的应用。多电平逆变器由于结构复杂,采用元器件较多,因此在设计和实验中,实现各个工作状态下运行参数的同步监测和分析较为困难。本文针对大功率三电平逆变器,实现开关动态特性... 大功率多电平逆变器近年来在实际工业生产中得到越来越广泛的应用。多电平逆变器由于结构复杂,采用元器件较多,因此在设计和实验中,实现各个工作状态下运行参数的同步监测和分析较为困难。本文针对大功率三电平逆变器,实现开关动态特性的在线测试,在此基础上,进一步研究三电平逆变器在开关状态变化时理论与实际负载运行工况下电路拓扑的转换变化规律。通过全电路电气参数和元器件状态的实时监测,发现在三电平逆变器非正常运行状态下开关转换时额外电应力,同时,深入研究在实际工况运行条件非正常状态下该额外电应力出现的机理和原因,为三电平逆变器的故障诊断提供了参考,对于设计高可靠性的多电平逆变器系统有一定的理论和现实意义。 展开更多
关键词 实时状态监测 三电平逆变器 模式转换 大功率 多电平逆变器 开关 拓扑结构 高功率
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A Real-Time System for Monitoring Distant Dynamic Displacement of Structures 被引量:4
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作者 CHEN Junfeng ZHAO Wenguang +2 位作者 LUO Hongbin LI Penghui WEN Yinping 《Geo-Spatial Information Science》 2008年第1期49-55,共7页
把技术基于数字图象处理,一个即时系统被开发监视并且检测设计结构的动态排水量。由用一个自我规划的软件处理图画,在某个坐标系统的一个目标的即时坐标能也被获得,并且推进动态排水量数据和目标罐头的曲线被完成。数据的也就是说自... 把技术基于数字图象处理,一个即时系统被开发监视并且检测设计结构的动态排水量。由用一个自我规划的软件处理图画,在某个坐标系统的一个目标的即时坐标能也被获得,并且推进动态排水量数据和目标罐头的曲线被完成。数据的也就是说自动的聚会并且即时处理能被这个系统同时执行。首先,为这个系统,一种未触动过的监视技术被采用,罐头它监视或检测目标几到几百米分开;第二,它有灵活安装状况和亚毫米度的好监视精确;第三,它是合适的为动态、伪动态、静态大工程结构监视。通过大桥的几测试和应用程序,系统的好可靠性和优势被证明。 展开更多
关键词 大型土木工程结构 动态位移 远距离实时监测系统 位移观测
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Real-Time Spreading Thickness Monitoring of High-core Rockfill Dam Based on K-nearest Neighbor Algorithm 被引量:4
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作者 Denghua Zhong Rongxiang Du +2 位作者 Bo Cui Binping Wu Tao Guan 《Transactions of Tianjin University》 EI CAS 2018年第3期282-289,共8页
During the storehouse surface rolling construction of a core rockfilldam, the spreading thickness of dam face is an important factor that affects the construction quality of the dam storehouse' rolling surface and... During the storehouse surface rolling construction of a core rockfilldam, the spreading thickness of dam face is an important factor that affects the construction quality of the dam storehouse' rolling surface and the overallquality of the entire dam. Currently, the method used to monitor and controlspreading thickness during the dam construction process is artificialsampling check after spreading, which makes it difficult to monitor the entire dam storehouse surface. In this paper, we present an in-depth study based on real-time monitoring and controltheory of storehouse surface rolling construction and obtain the rolling compaction thickness by analyzing the construction track of the rolling machine. Comparatively, the traditionalmethod can only analyze the rolling thickness of the dam storehouse surface after it has been compacted and cannot determine the thickness of the dam storehouse surface in realtime. To solve these problems, our system monitors the construction progress of the leveling machine and employs a real-time spreading thickness monitoring modelbased on the K-nearest neighbor algorithm. Taking the LHK core rockfilldam in Southwest China as an example, we performed real-time monitoring for the spreading thickness and conducted real-time interactive queries regarding the spreading thickness. This approach provides a new method for controlling the spreading thickness of the core rockfilldam storehouse surface. 展开更多
关键词 实时传播 厚度 水坝 算法 邻居 表面 构造 即时
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Theory and Application of System Integration for Real-Time Monitoring of Core Rock-Fill Dam Filling Construction Quality 被引量:2
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作者 崔博 钟登华 《Transactions of Tianjin University》 EI CAS 2012年第3期173-179,共7页
The theory and method of system integration for the real-time monitoring of core rock-fill dam filling con- struction quality are studied in this paper. First, the importance analysis of system integration factors is ... The theory and method of system integration for the real-time monitoring of core rock-fill dam filling con- struction quality are studied in this paper. First, the importance analysis of system integration factors is carried out with the analytic hierarchy process. Then, according to the analysis result of integration factors, the conceptual model of system integration is built based on function integration, index integration, technology integration and information integration, the index structure of core rock-fill dam filling construction quality control is constructed and the method of function integration and technology integration is studied. The mathematical model of process monitoring is built according to monitoring objective, process and indexes. Research results have been applied in Nuozhadu core rock-fill dam construction management, realizing system integration through building appropriate monitoring work flow and comprehensive information platform of digital dam. 展开更多
关键词 核心摇充满水坝 充满的构造质量 即时监视 系统集成 概念的模型 数学模型
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Electro-Discharge Fine Truing of Metal-Bonded Fine-Grain Diamond Wheel Based on Real-Time Monitoring 被引量:2
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作者 金卫东 任成祖 +1 位作者 华瑾海 王太勇 《Transactions of Tianjin University》 EI CAS 2005年第3期176-182,共7页
A data acquisition system based on LabVIEW is designed and implemented, and electro-discharge(ED) fine truing of metal-bonded fine-grain diamond wheel based on real-time monitoring is researched. Real-time monitoring ... A data acquisition system based on LabVIEW is designed and implemented, and electro-discharge(ED) fine truing of metal-bonded fine-grain diamond wheel based on real-time monitoring is researched. Real-time monitoring not only makes efficient impulse specification of ED truing easily obtained, but also is good for timely identifying no-load, avoiding short circuit and arc discharge phenomena and then for obtaining normal machining state. ED fine truing of the fine-grain wheel includes two steps: rough truing for high efficiency and fine truing for high precision. Final ED truing precision and efficiency not only depend on electric process specification, but also is concerned with electrode shape, insulated performance of operating fluid and vertical feed quantity value and frequency. Experiments indicate that ED fine truing based on real-time monitoring can improve the truing precision and efficiency. Average machining efficiency of W10 wheel is about 0.95 μm/min; the final run-out by ED truing is less than 2 μm. 展开更多
关键词 电镀整形 短路电流 电路设计 实时监控 钻石车轮
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A Remote Real-Time Monitoring System for Power Quality 被引量:1
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作者 黄治清 贺建闽 《Journal of Southwest Jiaotong University(English Edition)》 2003年第1期31-38,共8页
An introduction is made to the composition, design method and engineering application of a remote real time monitoring system of power quality in substations based on internet. With virtual instrument and network tec... An introduction is made to the composition, design method and engineering application of a remote real time monitoring system of power quality in substations based on internet. With virtual instrument and network technique adopted, this system is characterized by good real time property, high reliability, plentiful functions, and so on. It also can be used to monitor the load of a substation, such as electric locomotives. 展开更多
关键词 power quality remote monitoring real time monitoring system virtual instrument
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Real-time Monitoring of Subsea Gas Pipelines,Offshore Platforms,and Ship Inspection Scores Using an Automatic Identification System 被引量:1
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作者 K.B.Artana T.Pitana +3 位作者 D.P.Dinariyana M.Ariana D.Kristianto E.Pratiwi 《Journal of Marine Science and Application》 CSCD 2018年第1期101-111,共11页
The aim of this research is to develop an algorithm and application that can perform real-time monitoring of the safety operation of offshore platforms and subsea gas pipelines as well as determine the need for ship i... The aim of this research is to develop an algorithm and application that can perform real-time monitoring of the safety operation of offshore platforms and subsea gas pipelines as well as determine the need for ship inspection using data obtained from automatic identification system(AIS).The research also focuses on the integration of shipping database,AIS data,and others to develop a prototype for designing a real-time monitoring system of offshore platforms and pipelines.A simple concept is used in the development of this prototype,which is achieved by using an overlaying map that outlines the coordinates of the offshore platform and subsea gas pipeline with the ship’s coordinates(longitude/latitude)as detected by AIS.Using such information,we can then build an early warning system(EWS)relayed through short message service(SMS),email,or other means when the ship enters the restricted and exclusion zone of platforms and pipelines.The ship inspection system is developed by combining several attributes.Then,decision analysis software is employed to prioritize the vessel’s four attributes,including ship age,ship type,classification,and flag state.Results show that the EWS can increase the safety level of offshore platforms and pipelines,as well as the efficient use of patrol boats in monitoring the safety of the facilities.Meanwhile,ship inspection enables the port to prioritize the ship to be inspected in accordance with the priority ranking inspection score. 展开更多
关键词 Automatic identification system AIS real-timemonitoring Subsea gas PIPELINE OFFSHORE platform SHIP inspection SCORE
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Integrated real-time roof monitoring 被引量:1
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作者 SHEN Bao-tang GUO Hua KING Andrew 《Journal of Coal Science & Engineering(China)》 2009年第3期313-317,共5页
CSIRO has recently developed a real-time roof monitoring system for under-groundcoal mines and successfully tried the system in gate roads at Ulan Mine.The systemintegrated displacement monitoring,stress monitoring an... CSIRO has recently developed a real-time roof monitoring system for under-groundcoal mines and successfully tried the system in gate roads at Ulan Mine.The systemintegrated displacement monitoring,stress monitoring and seismic monitoring in onepackage.It included GEL multianchor extensometers,vibrating wire uniaxial stress meters,ESG seismic monitoring system with microseismic sensors and high-frequency AE sensors.The monitoring system automated and the data can be automatically collected by acentral computer located in an underground nonhazardous area.The data are then transferredto the surface via an optical fiber cable.The real-time data were accessed at anylocation with an Internet connection.The trials of the system in two tailgates at Ulan Minedemonstrate that the system is effective for monitoring the behavior and stability of roadwaysduring Iongwall mining.The continuous roof displacement/stress data show clearprecursors of roof falls.The seismic data (event count and locations) provide insights intothe roof failure process during roof fall. 展开更多
关键词 实时监测系统 屋顶 地震监测系统 声发射传感器 自动监测系统 应力监测 互联网连接 地下煤矿
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Real-Time Monitoring of Climactic and Geotechnical Variables during Landslides on the Slopes of Serra do Mar and Serra da Mantiqueira (S&atilde;o Paulo State, Brazil) 被引量:2
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作者 Rodolfo Moreda Mendes Mário Valé rio Filho 《Engineering(科研)》 2015年第3期140-159,共20页
The municipalities of Ubatuba, Campos do Jord?o, and S?o José dos Campos are located in the region of S?o Paulo State (Brazil). These municipalities are recognized nationally for having an elevated number of reco... The municipalities of Ubatuba, Campos do Jord?o, and S?o José dos Campos are located in the region of S?o Paulo State (Brazil). These municipalities are recognized nationally for having an elevated number of recorded landslides on slopes and embankments. In addition, these municipalities contain multiple areas that are at risk for landslides. Various soil landslides occurred in these municipalities in January 2013, when real-time climactic and geotechnical variables were monitored by automatic rain gauges, humidity sensors and soil temperature and suction devices. The resulting data were used to understand the functions of each variable in the occurrence of land- slides. Analyses of rainfall, humidity and soil temperature were used with field investigations to formulate a hypothesis regarding the predominant rupture mechanism and the role of each monitored variable in the deflagration of the soil landslides that occurred in the three studied municipalities. The geotechnical variable data revealed that both temperature and soil moisture contents played fundamental roles in the deflagration of shallow planar landslides in urban areas. The hourly rain intensity and/or rainfall accumulation for 24 and/or 72 h were responsible for the deflagration of the landslides that occurred in the studied areas, along with the existing anthropic constraints in the risk areas. Significant variations did not occur in the soil suction data during the landslides, principally due to the unsatisfactory sensor precision when reading field suction between –10 and?–100 kPA (±25%). 展开更多
关键词 LANDSLIDES Urban Area real-time monitoring Analysis of RAINFALL and GEOTECHNICAL Parameters
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Multi-parameter real-time monitoring scheme for power transmission lines based on FBG sensors
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作者 李鹏飞 《无线互联科技》 2014年第12期111-111,133,共2页
A multi-parameter real-time monitoring scheme for power transmission line is proposed and experimentally demonstrated.The Fiber Bragg Grating(FBG)sensors are used to sensing the information of temperature and strain i... A multi-parameter real-time monitoring scheme for power transmission line is proposed and experimentally demonstrated.The Fiber Bragg Grating(FBG)sensors are used to sensing the information of temperature and strain in the power transmission lines system,and a monitoring center based on client–server model is established to process and display the sensing information.Several FBG-based power transmission line temperature sensors interrogated based on the developed multi-parameter real-time monitoring scheme is experimentally investigated.The result shows that the system is very useful. 展开更多
关键词 无线技术 互联网 科技创新 信息产业
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A Real-time Monitoring System for Tire Blowout or Severe Leakage
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作者 陈庆樟 郭立书 杨雄 《Defence Technology(防务技术)》 SCIE EI CAS 2011年第2期126-128,共3页
The tire blowout or severe leakage real-time monitoring is one of key technologies for developing a tire blowout automatic braking system.An indirect real-time monitoring method to fuse analyses of tire vibration and ... The tire blowout or severe leakage real-time monitoring is one of key technologies for developing a tire blowout automatic braking system.An indirect real-time monitoring method to fuse analyses of tire vibration and effective radius is provided in this paper,and a monitoring system is developed.The calibration and related test results showthat the system can detect the tire blowout in low and middle vehicle speeds and the severe leakage in all speeds timely and accurately. 展开更多
关键词 AUTOMOBILE tire blowout LEAKAGE real-time monitoring
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Remote real-time monitoring soil water potential system based on GSM
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作者 Yongming Zhao Xin Lu Haijiang Wang 《新疆农业科学》 CAS CSCD 2008年第A02期77-80,共4页
Aiming at the limitation of traditional measuring soil water potential, the paper presents an information system based GSM to real-time monitor data coming from multiple data sources. The monitoring system, which cons... Aiming at the limitation of traditional measuring soil water potential, the paper presents an information system based GSM to real-time monitor data coming from multiple data sources. The monitoring system, which consisted of monitoring center, GSM transmission channel and data detection terminal, was given. The detection terminal included the measuring station and TS-2 negative pressure meter, which was applied to measure soil water potential. Nowadays the system has been successfully applied to drip irrigation in the cotton field on farm in Xinjiang region. The system provides a feasible technology frame-work for collecting and processing wide geographical distribution data in farmland. 展开更多
关键词 土壤水势 实时监控系统 测量方法 种植技术
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A Novel Method for Real-Time Monitoring of Channel Siltation Based on Bistatic Scattering Theory
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作者 侯朋 许文海 +1 位作者 王俊生 李瑛 《China Ocean Engineering》 SCIE EI 2010年第1期105-115,共11页
Monitoring the thickness changes of channel siltation is paramount in safeguarding navigation and guiding dredging, This paper presents a novel method for realizing the field monitoring of channel siltation in real ti... Monitoring the thickness changes of channel siltation is paramount in safeguarding navigation and guiding dredging, This paper presents a novel method for realizing the field monitoring of channel siltation in real time. The method is based on the bistatic scattering theory and concerned more with the receiving and processing of multipath signal at high-frequency and small grazing angle. By use of the multipath propagation structure of underwater acoustic channel, the method obtains the silt thickness by calculating the relative time delay of acoustic signals between the direct and the shortest bottom reflected paths. Bistatic transducer pairs are employed to transmit and receive the acoustic signals, and the GPS time synchronization technology is introduced to synchronize the transmitter and receiver, The WRELAX (Weighted Fourier transforul and RELAX) algorithm is used to obtain the high resolution estimation of muhipath time delay. To examine the feasibility of the presented method and the accuracy and precision of the developed system, a series of sea trials are conducted in the southwest coast area of Dalian City, north of the Yellow Sea. The experimental results are compared with that using high-resolution dual echo sounder HydroBoxTM, and the uncertainty is smaller than + 0.06 m. Compared with the existing means for measuring the silt thickness, the present method is innovative, and the system is stable, efficient and provides a better real-time performance. It especially suits monitoring the narrow channel with rapid changes of siltation. 展开更多
关键词 channel siltation real-time monitoring bistatic bottom scattering relative time delay WREIAX multipath signal
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The Improvement of Earthquake Real-Time Monitoring System of Chinese National Digital Seismic Network 被引量:3
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作者 GUO Tielong HUANG Zhibin ZHAO Bo 《Earthquake Research in China》 CSCD 2019年第4期596-604,共9页
The earthquake real-time monitoring system of the Chinese National Digital Seismic Network has been in operation since"the Ninth Five-year Plan"period,and the stability of the system has been well tested.In ... The earthquake real-time monitoring system of the Chinese National Digital Seismic Network has been in operation since"the Ninth Five-year Plan"period,and the stability of the system has been well tested.In recent years,with the continuous improvement of monitoring technology and increase of public demands,the original real-time monitoring system needs to be upgraded and improved in terms of timeliness,stability,accuracy and ease of operation.Therefore,by accessing a total of more than 1,000 seismic stations,reducing the seismic trigger threshold of the monitoring system,eliminating the false trigger stations and optimizing the seismic waveform display interface,the current earthquake monitoring demands can be satisfied on the basis of ensuring the stable operation of the system. 展开更多
关键词 Seismic monitoring Earthquake location Computer real-time processing
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Real-time Monitoring of Nucleotide Excision of Molecular Beacon Catalyzed by Klenow Fragment
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作者 LIU Bin, YANG Xiao-hai, WANG Ke-min and TAN Wei-hong State Key Laboratory of Chemo/Biosensing and Chemometrics, Key Laboratory for Bio-Nanotechnology and Molecular Engineering of Hunan Province, College of Chemistry and Chemical Engineering, College of Biology, Hunan University, Changsha 410082, P. R. China 《Chemical Research in Chinese Universities》 SCIE CAS CSCD 2012年第1期37-40,共4页
Klenow fragment(KF) uses the activity of a separate exonuclease to excise nucleotide, which is a crucial step in DNA replication and repair. Here is a novel sensitive and convenient method introduced for real-time m... Klenow fragment(KF) uses the activity of a separate exonuclease to excise nucleotide, which is a crucial step in DNA replication and repair. Here is a novel sensitive and convenient method introduced for real-time monitoring nucleotide excision by KF with a molecular beacon as a detecting probe in a homogeneous solution. This method, which overcomes the drawbacks of traditional methods such as discontinuity, time consuming and low sensitivity, was used to assay KF activity and the detection limit reached up to 0.4 U/mL. In addition, the method was applied to investigating the effects of metal ions and chemical drugs on the reaction. The results demonstrate that it is a potential high-throughput assay for screening inhibitors and activity analysis of KF in vitro. 展开更多
关键词 real-time monitoring Klenow fragment Molecular beacon
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Alternate Data Acquisition and Real-time Monitoring System on HT-7 Tokamak
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作者 魏沛杰 罗家融 +1 位作者 王华 李贵明 《Plasma Science and Technology》 SCIE EI CAS CSCD 2005年第6期3114-3116,共3页
A new system called alternate data acquisition and real-time monitoring system has been developed for long-time discharge in tokamak operation. It can support continuous on-line data acquisition at a high sampling rat... A new system called alternate data acquisition and real-time monitoring system has been developed for long-time discharge in tokamak operation. It can support continuous on-line data acquisition at a high sampling rate and a graphic display of the plasma parameters during the discharge. Thus operators can monitor and control the plasma state in real time. An application of this system has been demonstrated on the HT-7 tokamak. 展开更多
关键词 alternate data acquisition real-time monitoring TOKAMAK
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Development of real-time monitoring system for printing registration based on μC/OS-Ⅱ
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作者 马志艳 《Journal of Chongqing University》 CAS 2009年第4期265-271,共7页
After analyzing the basic composition and principles of multicolor printing system,we presented a design of real-time monitoring system for printing registration based on multitask real-time operating system μC/OS-Ⅱ... After analyzing the basic composition and principles of multicolor printing system,we presented a design of real-time monitoring system for printing registration based on multitask real-time operating system μC/OS-Ⅱ.According to functional requirements of registration system and the target development platform,we described the detailed process of task division, priority assignment,and synchronization and communication,and optimized the real-time performance of system in the premise of stability assurance.Finally,the feasibility and effectiveness of the system were proved by the good performance of registration runtime system in factories. 展开更多
关键词 打印登记 即时监视 多工 C/OS-
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Real-time monitoring of weld penetration quality in robotic arc welding process
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作者 武传松 贾传宝 段晓宁 《China Welding》 EI CAS 2008年第1期40-43,共4页
It is of great significance to develop an intelligent monitoring system for weld penetration defects such as incomplete penetration and burn-through in real-time during robotic arc welding process. In this paper, robo... It is of great significance to develop an intelligent monitoring system for weld penetration defects such as incomplete penetration and burn-through in real-time during robotic arc welding process. In this paper, robotic gas metal arc welding experiments are carried out on the mild steel test pieces with Vee-type groove. Through-the-arc sensing method is used to capture the transient values of the welding voltage and current. The raw data of the captured welding current and voltage are processed statistically, and the feature vector SIO is extracted to correlate the welding conditions to the weld penetration information. It lays foundation for intelligent monitoring of weld quality in robotic arc welding. 展开更多
关键词 real-time monitoring statistical processing weld penetration robotic arc welding
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