机器人无碰撞路径规划方法研究及实现

在分析现有路径规划和碰撞检测方法的基础上 ,提出了两种新的机器人路径规划方法 :中值检测算法和行进方向矢量优化法 .两种算法各有其特点 ,结合使用可取得更好的效果 ,通过基于三维图形的仿真实验证明了算法的有效性 .所开发的无碰撞路径规划及仿真软件已成功用于机器人无碰撞路径规划与仿真 .     

有测量噪声的不确定互联系统自适应鲁棒控制

分析了一类具有时变不确定性的互联系统．结果表明，系统的确定部分是可镇定的，不确定的部分被假设为满足匹配条件，而且不确定部分具有锥形界，但此界未知．基于与不确定界有关的确定性质进行控制设计．反馈信息具有测量误差的状态进行控制设计．     

非最小相位离散系统的模型参考自适应控制

将单输入单输出非最小相位离散时间系统的模型参考自适应控制的新方法（即用从最小二乘获得的近似逆系统方法）推广到多变量场合．讨论了如何避免不稳定的零极点对消及如何将扰动的作用与对象的输出进行解耦的问题．计算机仿真结果说明了推广方法的有效性．     

实验大鼠仙台病毒ELISA检测试剂盒的研制及其初步应用

报导实验大鼠仙台病毒血清抗体IgG ELISA检测试剂盒的研制过程及其初步应用。在ELISA反应条件及试剂盒的实用性方面进行了研究,首次进行了试剂盒的阴性对照血清的标化;并且同其它血清学方法进行了比较。结果表明,试剂盒的敏感性高、特异性强、重复性良好,操作简便,适用于常规检测。通过对京津地区六个单位的实验大鼠仙台病毒抗体检测发现,在普通大鼠中,阳性率高达81％:在清洁大鼠中,未发现仙台病毒的感染。     

实验大鼠肺支原体ELISA检测方法的建立

报告了实验大鼠肺支原体感染ELISA检测方法的研究。抗原包被量在0.5μg/ml,酶结合物1:16000稀释时,P/N值最大。波长在492时O.D值随抗原和抗体浓度不同而呈现有规律的变化。阳性血清稀释至1:1280时,P/N值仍在阳性范围之内。与常规的分离培养方法相比较,ELISA的阳性检出率高,且阳性血清的ELISA阻断率均大于50％。重复测定,实验结果的再现性好。以上结果说明所建立的ELISA方法,其敏感性、特异性和重复性均好。在所检测的130只普通级大鼠中,抗体阳性率达91％。另外还发现在实验大鼠中还存在关节支原体的感染,且一般与肺支原体以混合感染的形式存在。在清洁级大鼠中未见这两种支原体的感染。     

Deep resequencing of GWAS loci identifies independent rare variants associated with inflammatory bowel disease

More than 1,000 susceptibility loci have been identified through genome-wide association studies (GWAS) of common variants; however, the specific genes and full allelic spectrum of causal variants underlying these findings have not yet been defined. Here we used pooled next-generation sequencing to study 56 genes from regions associated with Crohn's disease in 350 cases and 350 controls. Through follow-up genotyping of 70 rare and low-frequency protein-altering variants in nine independent case-control series (16,054 Crohn's disease cases, 12,153 ulcerative colitis cases and 17,575 healthy controls), we identified four additional independent risk factors in NOD2, two additional protective variants in IL23R, a highly significant association with a protective splice variant in CARD9 (P < 1 × 10(-16), odds ratio ≈ 0.29) and additional associations with coding variants in IL18RAP, CUL2, C1orf106, PTPN22 and MUC19. We extend the results of successful GWAS by identifying new, rare and probably functional variants that could aid functional experiments and predictive models.     

Genome-wide association study identifies 12 new susceptibility loci for primary biliary cirrhosis

In addition to the HLA locus, six genetic risk factors for primary biliary cirrhosis (PBC) have been identified in recent genome-wide association studies (GWAS). To identify additional loci, we carried out a GWAS using 1,840 cases from the UK PBC Consortium and 5,163 UK population controls as part of the Wellcome Trust Case Control Consortium 3 (WTCCC3). We followed up 28 loci in an additional UK cohort of 620 PBC cases and 2,514 population controls. We identified 12 new susceptibility loci (at a genome-wide significance level of P < 5 × 10??) and replicated all previously associated loci. We identified three further new loci in a meta-analysis of data from our study and previously published GWAS results. New candidate genes include STAT4, DENND1B, CD80, IL7R, CXCR5, TNFRSF1A, CLEC16A and NFKB1. This study has considerably expanded our knowledge of the genetic architecture of PBC.     

Dynamic Changes of the Farmers and Herdsmen’s Income Sources in the Tibet Autonomous Region

0Introduction Beingaregionrelativelybehindintermsofruraleconomicdevelopment,theTibetanAutonomousRegionin2003achievedanaveragenetincomepercapitaof1690yuan(RMB)for thefarmersandherdsmen,rankingthe4thnationwide.Comparedwiththatof2001,thisis aconsiderablerise,howeverthereisstillabiggapfromotherprovincesandregionsthatare economicallydeveloped[1].HowtoraiseTibetfarmersandherdsmen’sincome,improve livingqualityoftheminoritynationalityareasandpromoteregionaldevelopmenthavebecome thepriorityoftheCen…