NOVEL APPROACH FOR ROBOT PATH PLANNING BASED ON NUMERICAL ARTIFICIAL POTENTIAL FIELD AND GENETIC ALGORITHM

A novel approach for collision-free path planning of a multiple degree-of-freedom （DOF） articulated robot in a complex environment is proposed. Firstly, based on visual neighbor point （VNP）, a numerical artificial potential field is constructed in Cartesian space, which provides the heuristic information, effective distance to the goal and the motion direction for the motion of the robot joints. Secondly, a genetic algorithm, combined with the heuristic rules, is used in joint space to determine a series of contiguous configurations piecewise from initial configuration until the goal configuration is attained. A simulation shows that the method can not only handle issues on path planning of the articulated robots in environment with complex obstacles, but also improve the efficiency and quality of path planning.

A Genetic Susceptibility Study of Lung Cancer Risk Potentially Associated with Polycyclic Aromatic Hydrocarbon Inhalation Exposure

For lifetime non-smokers, lung cancer risk is mainly associated with inhalation exposure to air pollution. For the Chinese population, indoor air pollution due to solid fuel combustion has been the primary source of inhalation exposure for decades. Polycyclic aromatic hydrocarbons （PAHs） are the by-products of incomplete combustion.

Genetic polymorphism of CYP2A6 is one of the potential factors determining tobacco-related cancer risk

While we studied pharmacokinetics of SM-12502 which was under development as an anti-PAF agent, we found three subjects showing a slow metabolic phenotype in its pharmacokinetics. Analyzing the genes for CYP2A6 from the three subjects, we discovered that the three subjects possessed the whole CYP2A6 gene deletion (CYP2A6*4C), a novel genetic polymorphism of the CYP2A6 gene. Genetically engineered Salmonella YG7108 cells expressing human CYP2A6 or CYP2E1 together with the NADPH-CYP reductase were established in our laboratory to compare the mutagen-producing capacity of these enzymes for various N-nitrosamines. We found that CYP2E1 was responsible for the metabolic activation of N-nitrosamines with relatively short alkyl chains, whereas CYP2A6 was involved in the metabolic activation of N-nitrosamines possessing relatively bulky alkyl chains such as a tobacco-specific nitrosamine, NNK, which has been known to cause lung tumor in rodents. Thus, to examine a hypothesis that individuals possessing the CYP2A6*4C have the reduced risk of lung cancer due to the lack of the capacity of the metabolic activation of certain carcinogens in tobacco smoke, a case-control study was performed.

The Major Ore Clusters of Super-Large Iron Deposits in the World, Present Situation of Iron Resources in China, and Prospect

The metamorphosed sedimentary type of iron deposits（BIF） is the most important type of iron deposits in the world, and super-large iron ore clusters of this type include the Quadrilatero Ferrifero district and Carajas in Brazil, Hamersley in Australia, Kursk in Russia, Central Province of India and Anshan-Benxi in China. Subordinated types of iron deposits are magmatic, volcanic-hosted and sedimentary ones. This paper briefly introduces the geological characteristics of major super-large iron ore clusters in the world. The proven reserves of iron ores in China are relatively abundant, but they are mainly low-grade ores. Moreover, a considerate part of iron ores are difficult to utilize for their difficult ore dressing, deep burial or other reasons. Iron ore deposits are relatively concentrated in 11 metallogenic provinces（belts）, such as the Anshan-Benxi, eastern Hebei, Xichang-Central Yunnan Province and middle-lower reaches of Yangtze River. The main minerogenetic epoches vary widely from the Archean to Quaternary, and are mainly the Late Archean to Middle Proterozoic, Variscan, and Yanshanian periods. The main 7 genetic types of iron deposits in China are metamorphosed sedimentary type（BIF）, magmatic type, volcanic-hosted type, skarn type, hydrothermal type, sedimentary type and weathered leaching type. The iron-rich ores occur predominantly in the skarn and marine volcanic-hosted iron deposits, locally in the metamorphosed sedimentary type（BIF） as hydrothermal reformation products. The theory of minerogenetic series of mineral deposits and minerogenic models has applied in investigation and prospecting of iron ore deposits. A combination of deep analyses of aeromagnetic anomalies and geomagnetic anomalies, with gravity anomalies are an effective method to seeking large and deep-buried iron deposits. China has a relatively great oresearching potential of iron ores, especially for metamorphosed sedimentary, skarn, and marine volcanic-hosted iron deposits. For the lower guarantee degree of iron and steel industry, China should give a trading and open the foreign mining markets.