基于C集的少自由度并联解耦机器人构型综合

针对并联机器人各支链间相互运动耦合的特性以及各支链基座在世界坐标系的位姿问题,提出基于C集的一种少自由度并联完全解耦机器人的构型综合方法。阐述C集的基本概念并分析其运算法则;在C集理论的基础上,通过分析机构的组成特性,给出少自由度并联完全解耦机器人构型综合的具体步骤;依据此综合理论,实现三平动(3T)解耦并联机器人构型综合,得到了末端具有3T运动特征的并联机构组合。进而,以传统运动副、对称结构的3T并联机构为主要研究类型,构型出一种并联机构3-PRRR,并分析该机构的雅可比矩阵。结合ADAMS仿真软件验证新机构的解耦性能,结果显示:机构3-PRRR完全解耦,验证了所提方法的有效性。

基于VTEST的TMS320C3x指令集模拟器设计

TMS320C3x指令集模拟器主要由指令集、中断和外设模块3部分组成。根据TMS320C3x指令的寻址特点,提出了双线代码指令模拟技术,该技术既能降低开发模拟程序的工作量,又能保证模拟效率;通过对中断识别机制的研究,给出了模拟器中断响应过程;设计了基于VTEST的事件驱动定时模拟方法,可降低外设模拟时对模拟器性能的影响。在实验部分,对模拟器性能进行了验证,实验结果表明了该模拟器具有较快的模拟速度。

基于遗传算法的截集FCM灰度图像分割方法研究

以截集模糊C均值聚类(Sectional Set Fuzzy C-means algorithm:SSFCM)算法为基础,提出一种自适应遗传算法(Adaptive Genetic Algorithm)改进截集FCM算法。传统FCM算法中一般使用一维直方图初始化方法,使初始化与聚类算法相分离,没有形成整体,而且同一幅一维直方图可能对应不同的原始图像。引入自适应遗传算法,与截集FCM算法有机结合,用遗传算法解决初始化问题的同时,以遗传算法的寻优性能来指导聚类。实验表明,该算法效率较传统FCM算法和未改进截集FCM算法有很大的提高,同时能够保持较好的分割效果和质量。

浓集细胞学(N.G.C)检验技术与新柏氏细胞学检测技术比较

目的:探讨浓集细胞(N.G.C)学检验技术与新柏氏全自动超薄液基细胞学检测技术的优缺点。方法:采用矿山女职工体检标本分别用浓集(NG.C)学检验技术与"新伯氏细胞筛选机"技术进行检验。结果:2种方法检验结果有有较好的一致性。结论:浓集(N.G.C)学检验技术不需要昂贵的大型设备,耗材降低,收费少,方法简便,用途广,检出率较高,适合基层医院体检宫颈癌细胞的检验和诊断。新柏氏全自动超薄液基细胞学检测技术方便、快捷、高效检出率高。

双参数n阶α次积分C半群的预解集

在单参数n阶α次积分C半群概念的基础上,利用经典算子半群理论中的方法和单参数n阶α次积分C半群预解方程的研究方法,将单参数n阶α次积分C半群的概念推广到双参数n阶α次积分C半群,得到双参数n阶α次积分C半群概念、预解集及预解方程的性质。

多参数n阶α次积分C半群的预解集

研究了多参数n阶α次积分C半群的预解集。利用经典算子半群理论中的方法,给出多参数n阶α次积分C半群的预解集的定义,并得到其一些性质。

图的支配集若干问题的研究

本文提出了两个图支配集问题的变形即C强支配集和完全支配集问题,这两个问题都有重要的实际应用背景。我们证明了它们的判定问题是NP完全的,并且给出了它们相应优化问题的近似算法以及算法的近似度分析。

NEW SHADOWED C-MEANS CLUSTERING WITH FEATURE WEIGHTS

Partition-based clustering with weighted feature is developed in the framework of shadowed sets. The objects in the core and boundary regions, generated by shadowed sets-based clustering, have different impact on the prototype of each cluster. By integrating feature weights, a formula for weight calculation is introduced to the clustering algorithm. The selection of weight exponent is crucial for good result and the weights are updated iteratively with each partition of clusters. The convergence of the weighted algorithms is given, and the feasible cluster validity indices of data mining application are utilized. Experimental results on both synthetic and real-life numerical data with different feature weights demonstrate that the weighted algorithm is better than the other unweighted algorithms.

CO_2管内节流实验装置设计及实验研究

设计了一套高压CO_2管内节流实验装置,能够将气态CO_2加压稳定至不同相态。节流过程中可以对实验环道不同位置处的压力、温度参数进行实时数据记录。实验研究分析了气态和超临界态CO_2节流过程中管内压力、温度的变化规律。实验结果表明,不同相态下的管内节流压降、温降规律不同,气态CO_2的节流效应明显强于超临界CO_2,在节流过程更容易使游离水结冰,从而出现冻堵现象;超临界CO_2节流后会发生相变,出现气液两相流动。实验结果对CO_2管道节流安全控制和管道冻堵防治具有借鉴意义。

基于C语言接口的面向信号测试的实现方法

通过研究ATLAS和TPL等描述性语言面向信号测试的技术原理,借鉴IEEE 1641标准关于信号分类、信号声明和信号描述的方法,制定了与1641标准兼容的用于信号定义、信号属性描述和信号控制的C语言标准接口函数集。基于TPS的信号描述信息实现了信号资源的搜索、分配及信号路由搜索、控制等,实现了基于C语言接口的面向信号测试。应用结果表明,系统运行稳定可靠,信号描述和控制方便快捷,TPS运行效率高,具有较好的应用推广价值。

Molecular Cloning and Sequence Analyses of cDNAs Encoding Seven C-type Lectin-like Protein Subunits from Daboia russellii siamensis

Total mRNA was extracted from a venom gland of snake Daboia russellii siamensis following the manufacturer＇s protocol of the PolyATtract System 1000 kit purchased from Promega Biotech. cDNAs encoding C-type lectins were amplified by RT-PCR and subcloned into a pMD18-T vector. Fourteen positive clones were selected for nucleotide sequencing and seven cDNAs encoding various snake venom C-type lectin-like protein precursors, designated as DRS-L1, DRS-L2, DRS-L3, DRS-L4 DRS-L5, DRS-L6 and DRS-L7, were obtained. Amino acid sequences of these proteins were deduced and each contains a carbohydrate recognition domain. Of all the deduced protein sequences, only DRS-L1 seemed to represent a closer sequence similarity to α subunits of other known snake venom C-type lectin-like proteins using the BLAST program. Homology comparison combined with analysis of cysteine position indicate that DRS-L1 and DRS-L2 are probably the light chain LC2 and LC1 of factor X activator from Daboia russellii siamensis venom, respectively. DRS-L3 and DRS-L4 might be the β subunits of higher molecular weight C-type lectin-like proteins while DRS-L5 and DRS-L6 might be β subunits of lower molecular weight C-type lectin-like proteins. DRS-L7 might be the β subunit of a platelet membrane glycoprotein Ib-binding protein similar to echicetin.

创世界一流水平——厦门船舶重工建造新型3万吨MPC船

Cape Darby号是新型3万DWT M.P.C.多用途集装船的首制船,由上海船舶设计院和厦门船舶重工股份有限公司共同设计、由厦门船舶重工股份有限公司建造,并于2001年10月27日交付德国船东COLUMBIA SHIPMANAGEMENT LTD投入营运以来,使用情况十分理想.现将该类型船舶的主要规范及特点予以分析详述.

Identification of a novel C-type lectin from the shrimp Litopenaeus vannamei and its role in defense against pathogens infection

Acting as one of the pattern recognition receptors （PRRs）, C-type lectin is believed to mediate pathogen recognition and plays an important role in the clearance of pathogens as part of the innate immune system. In this work, a novel C-type lectin gene （named LvLecl） was cloned from the shrimp Litopenaeus vannamei, The ORF of LvLecl is 510 bp, encoding 169 amino acids. The deduced amino acid sequence contains a putative signal peptide of 19 amino acids at the N-terminal and a carbohydrate recognition domain （CRD） at the C-terminal. LvLecl was mainly expressed in the hepatopancreas. Real-time PCR analysis indicated that the level of LvLecl transcripts significantly changed in the hepatopancreas after the shrimp were artificially challenged with LPS, Micrococcus lysodeikticus and white spot syndrome virus （WSSV）. RNAi-based silencing of LvLecl resulted in increases in mortality when the shrimp were challenged with WSSV, and the median lethal time was reduced compared with controls. Although there was no characteristic ＂EPN＂ （Glu-Pro-Ser） or ＂QPD＂ （Gin-Pro-Asp） motif, the recombinant LvLecl, expressed in Escherichia coli BL21 （DE3）, could also agglutinate M. lysodeikticus and Vibrio anguillarum. The agglutinating activities were calcium-dependent and could be inhibited by D-mannose, D-glucose, D-galactose and N-Acetyl-D-mannose. These results suggest that LvLecl might be involved in the immune response against WSSV and bacterial infections and contribute to non-self recognition as a pattern recognition receptor in the innate immune system of the shrimp L. vannamei.

Seroprevalence of Human Brucellosis in Kuku Dairy Scheme, Khartoum State, Sudan

A seroprevalence investigation of human brucellosis was carried out in Kuku Dairy Scheme, Sudan. A total of 176 serum samples were collected and screened by Rose Bengal Plate Test （RBPT）. The positive sera vqere further examined using Tube Agglutination Test （TAT） and c-Elisa. The seropositivity was 15.9%, 14.8% and 11.4% using RBPT, TAT and c-Elisa respectively. Whereas, the active infection based on seropositivity and clinical signs were 4.6%, 4.6% and 2.3% in case of RBPT, TAT and c-Elisa respectively. Based on c-Elisa result the infected individuals were further subjected to clinical examination and treated with streptomycin and doxocycline for six weeks.

cDNA cloning and expression of a collectin from red-spotted grouper(Epinephelus akaara)

Lectins play a crucial role in the innate immunity of invertebrates and vertebrates by recognizing and disposing of pathogens. We obtained the complete cDNA of a C-type lectin （EALecl） from Epinephelus akaara using RACE. The complete EALecl cDNA sequence was 827 bp. The 5-UTR and 3-UTR were 28 bp and 151 bp, respectively, in length. The sequence also contained a polyadenylation signal AATAAA and a poly（A） tail. The EALecl cDNA encodes polypeptides with 215 amino acids, including a signal peptide of 31 amino acids. The protein has a cysteine-rich region at the N terminal, a collagenous region characterized by G-X-Y repeats, a neck region, and a typical carbohydrate-recognition domain （CRD）, indicating that EALecl is a collectin. The key recognition positions of this CRD are EPD, isolated for the first time in fish. These are likely the interim types, between mannan-binding lectin and galactose-binding lectin. We evaluated the expression pattern of EALecl in 12 different tissues using RT-PCR. EALecl was expressed in all tissues, though at different levels. In addition, we inserted EALecl into an expression vector （pET-28a） for transformation into the BL21 engineering bacteria. Based on enzyme digestion and sequencing of the positive clone, we successfully constructed the EALecl recombinant expression vector.

Adaptive WNN aerodynamic modeling based on subset KPCA feature extraction

In order to accurately describe the dynamic characteristics of flight vehicles through aerodynamic modeling, an adaptive wavelet neural network (AWNN) aerodynamic modeling method is proposed, based on subset kernel principal components analysis (SKPCA) feature extraction. Firstly, by fuzzy C-means clustering, some samples are selected from the training sample set to constitute a sample subset. Then, the obtained samples subset is used to execute SKPCA for extracting basic features of the training samples. Finally, using the extracted basic features, the AWNN aerodynamic model is established. The experimental results show that, in 50 times repetitive modeling, the modeling ability of the method proposed is better than that of other six methods. It only needs about half the modeling time of KPCA-AWNN under a close prediction accuracy, and can easily determine the model parameters. This enables it to be effective and feasible to construct the aerodynamic modeling for flight vehicles.

新型功能化离子液体的合成及其应用于二氧化硫气体捕集的研究[摘要]

摘要：煤燃烧所释放的二氧化硫（SO2），由于其严重污染大气环境并对人类的健康造成重大威胁而引起全球的广泛关注。目前，利用石灰石、氨、有机溶剂吸收等传统方法会造成副产物处理困难和废水二次污染等问题。离子液体的独特性质（蒸气压低、液程范围宽、

Broadband MMIC Power Amplifier for C-X-Ku-Band Applications

A three-stage MMIC power amplifier operating from 6to 18GHz is fabricated using 0.25μm A1GaAs/InGaAs/GaAs pseudomorphic high electron mobility transistor（PHEMT）.The amplifier isfully monolithic,with all matching,biasing,and DC block circuitry included on the chip.Thepower amplifier has an average power gain of 19dB over 6～18GHz.At operation frequenciesfrom 6 to 18GHz,the output power is above 33.3dBm,and the maximum output power of the MMICis 34.7dBm at 10Ghz.The input return loss is less than-10db and the out-put return is lessthan-6dB over operating frequency.This power amplifier has,to our knowledge,the best powergain flatness reported at C-X-Ku-band applications.

直膨式太阳能热泵热水器运行特性的实验研究

本文针对自行设计、建造的“直膨式太阳能热泵热水器”实验样机进行了春季运行工况下的实验研究,并对其运行特性进行了详尽的分析．实验结果表明,在环境温度均值20．6℃、太阳辐射强度均值954．59 W／m2的室外气象条件下,将150升水从13．4℃加热到50．5℃只需要94分钟,热泵供热性能系数达到6．61．即使在环境温度为17．1℃的雨夜天气,热泵性能系数仍能够达到3．11．通过对典型工况下太阳能集热板的集热效率和过热度进行分析发现,如果用电子膨胀阀取代热力膨胀阀对供液量进行实时调节,可以进一步提高热泵的性能系数和系统运行的稳定性．

温度对离子液体支撑膜捕集CO_2的影响

传统CO_2的捕集方法存在设备投资大、环境污染严重、再生能耗高等缺点,利用新型绿色工质离子液体负载于聚偏氟乙烯上制备离子液体支撑膜可以较好地解决该问题。在压力为0.2 MPa、流量为50 m L·min-1、温度在298～318 K范围内变化时,测定了CO_2在1-乙基-3甲基咪唑双三氟磺酰亚胺盐([Emim][Tf_2N])和1-乙基-3-甲基咪唑醋酸盐([Emim][AC])2种离子液体支撑膜中的渗透系数、溶解度和扩散系数,采用Van’t Hoff方程对溶解度数据进行关联、Arrhenius方程对渗透和扩散系数的数据进行关联。实验结果表明,CO_2在2种离子液体支撑膜中的渗透和扩散系数随着温度的升高而增大,溶解度随着温度的升高而降低。[Emim][Tf_2N]离子液体支撑膜对CO_2的捕集性能优于[Emim][AC]支撑膜,CO_2在[Emim][Tf2N]支撑膜中的溶解度最大值为0.447,在[Emim][AC]离子液体支撑膜中的最大溶解度为0.253,由此可确定离子液体支撑膜分离CO_2的最佳工作温度,为其在工业应用中奠定良好的基础。