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独立操作型可重构机器人群体构形表达和重构优化
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作者 王明辉 马书根 +1 位作者 李斌 王越超 《中国科学(F辑:信息科学)》 CSCD 2009年第2期269-280,共12页
独立操作型可重构机器人的单个模块具备独立运动、操作和采样能力,顺应从结构环境中定点作业向非结构环境中自主作业的发展要求,能够更好地应用到环境复杂、危险性高的场合.现有的构形研究主要针对依赖运动型、独立运动型可重构机器人,... 独立操作型可重构机器人的单个模块具备独立运动、操作和采样能力,顺应从结构环境中定点作业向非结构环境中自主作业的发展要求,能够更好地应用到环境复杂、危险性高的场合.现有的构形研究主要针对依赖运动型、独立运动型可重构机器人,解决独立操作型可重构机器人构形问题时具有局限性.针对可重构机器人重构目的,提出矢量构形,将构形研究内容扩展到拓扑结构、运动趋势方向和各模块的姿态方位及连接关系,提出模块状态向量和构形状态矩阵实现该类可重构机器人群体构形的表达,对应的变换运算和操作可以表达、触发模块行为运动和构形重构,提出以工作负荷为优化目标的构形组合重构优化方法、以姿态方位工作负荷和连接工作负荷的组合为优化目标的构形变换重构优化方法,通过重构优化获得模块在构形重构中状态对应变换关系,作为构形重构规划和控制的基础. 展开更多
关键词 独立操作型可重构机器人 构形表达 重构优化
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Structure,expression,and developmental function of early divergent forms of metalloproteinases in Hydra
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作者 MICHAELPSARRASJR LIYAN 《Cell Research》 SCIE CAS CSCD 2002年第3期163-176,共14页
Metalloproteinases have a critical role in a broad spectrum of cellular processesranging from the break-down of extracellular matrix to the processing of signaltransduction-related proteins.These hydrolytic functions ... Metalloproteinases have a critical role in a broad spectrum of cellular processesranging from the break-down of extracellular matrix to the processing of signaltransduction-related proteins.These hydrolytic functions underlie a variety of mechanisms related to developmental processes as well as disease states.Structural analysis of metalloproteinases from both invertebrate and vertebrate species indicates that these enzymes are highly conserved and arose early during metazoan evolution.In this regard,studies from vari-ous laboratories have reported that a number of classes of metalloproteinases are found in hydra,a member of Cnidaria,the second oldest of existing animal phyla.These studies demonstrate that the hydra genome contains at least three classes of metalloproteinases to include members of the 1)astacin class,2)matrix met-alloproteinase class,and 3)neprilysin class.Functional studies indicate that these metalloproteinases play diverse and important roles in hydra morphogenesis and cell differentiation as well as specialized functions in adult polyps.This article will review the structure,expression,and function of these metalloproteinases in hydra. 展开更多
关键词 HYDRA METALLOPROTEINASES development astacin matrix metalloproteinases ENDOTHELIN
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An Approach to Representing Heterogeneous Non-Uniform Rational B-Spline Objects
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作者 臧婷 徐安平 《Transactions of Tianjin University》 EI CAS 2011年第4期275-279,共5页
The representation method of heterogeneous material information is one of the key technologies of heterogeneous object modeling, but almost all the existing methods cannot represent non-uniform rational B-spline (NU... The representation method of heterogeneous material information is one of the key technologies of heterogeneous object modeling, but almost all the existing methods cannot represent non-uniform rational B-spline (NURBS) entity. According to the characteristics of NURBS, a novel data structure, named NURBS material data structure, is proposed, in which the geometrical coordinates, weights and material coordinates of NURBS heterogene- ous objects can be represented simultaneously. Based on this data structure, both direct representation method and inverse construction method of heterogeneous NURBS objects are introduced. In the direct representation method, three forms of NURBS heterogeneous objects are introduced by giving the geometry and material information of con- trol points, among which the homogeneous coordinates form is employed for its brevity and easy programming. In the inverse construction method, continuous heterogeneous curves and surfaces can he obtained by interpolating discrete points and curves with specified material information. Some examples are given to show the effectiveness of the pro- posed methods. 展开更多
关键词 heterogeneous object non-uniform rational B-spline (NURBS) material data structure direct represen- tation method inverse construction method
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