一种在驱动轮打滑情况下爬壁机器人动力学建模方法

分析了轮式爬壁机器人(WWCR)在壁面作业容易发生打滑的原因,在建立其理想纯滚动假设条件下的动力学模型基础上,基于车辆动力学理论,引入单个驱动轮的动力学方程,提出了一种在驱动轮打滑情况下WWCR的动力学建模方法.仿真算例表明,吸盘吸附力和壁面附着系数对WWCR运动轨迹影响非常大;在复杂的壁面环境下,可通过对吸盘吸附力和驱动轮力矩的协调控制,合理调节轮子的打滑程度,获得尽可能大的附着系数,并弥补打滑造成的运动轨迹偏移,从而获得良好的壁面运动性能.该建模方法为WWCR在打滑情况下的运动控制和路径规划提供了理论研究基础.     

营造讲真话的德育环境

德育是素质教育的核心,但是长期以来德育并没能有效发挥其育人的作用。根本原因就在于德育脱离了对学生思想实际的把握。要改变这一现状,必须转变德育理念、改变灌输式的德育方法,从鼓励学生讲真话着手,夯实德育的基础。     

航空钛合金的激光冲击研究

介绍了用激光冲击处理航空材料钛合金TC4提高其力学性能的技术.当利用强激光冲击钛合金表面时,涂层表面形成高幅值冲击波.在冲击波的高压作用下,钛合金表面发生微塑性变形,形成高幅值残余压应力层.激光冲击后,表面压应力层厚度达1 mm以上,压应力达200 MPa以上.随着激光能量的增加,冲击区域的残余应力有增大的趋势,在功率密度由1 GW/cm2增加到5 GW/cm2过程中,其冲击波峰值处的压力线性增加,表面最大残余压应力也相应线性增加;在功率密度为2 GW/cm2时,残余压应力随着次数增加而升高,而且表面硬度也大大提高,从而有效地改善了材料的机械性能,大幅度提高航空材料的疲劳寿命和抗应力腐蚀性能.     

机器人奇异形位分析及协调控制方法

把6R机器人奇异形位分为边界奇异、内部奇异、结构边界奇异和腕部奇异，分析了这些奇异形位的形成条件，并对每一种奇异进行了计算机仿真。在深入分析奇异边界构成的基础上，给出了内部奇异直观的计算机图形仿真结果，克服了以往笼统而欠实用描述方法的不足。通过分析J^-1(J为Jacobian矩阵）提出了采用协调控制法回避机械手奇异形位的理论及在线实时控制方法。     

基于Voronoi图的机器人复杂装配新策略

提出了一种基于Voronoi图技术的机器人复杂装配的新策略；在机器人装配研究中引入形象思维方式，即集成Voronoi图技术；装配知识的表示采用Voronoi图方式，通过Voronoi分析对机器人复杂装配过程进行有效规划，从而形成机器人关于装配过程的所有过程；机器人于通过力觉和力控制来感知装配件之间的精确物理关系，并调整装配件的位姿，实施基于Voronoi图知识的机器人装配，实验证明，该方法是有效的。     

紫外辐照纳米尺度TiO2薄膜亲水性转变的机理

用喇曼散射光谱、扫描隧道显微学（STM）和接触角等分析方法研究了纳米尺度TiO2薄膜经365nm波长紫外辐照后的疏水－亲水转变机理。实验中观察到氧空位和OH基团的喇曼峰。用STM进行薄膜结构分析，观察到TiO2表面金红石相到锐钛矿相的结构转变。研究结果表明，纳米尺度TiO2薄膜的光致亲水性强烈地依赖于其独特的表面微结构的变化。     

Formation of substitutional metallofullerenes by laser ablation of externally doped fullerenes C60M x (M=Sm, Pt, Ni and Rh)

Photofragmentation study of metal fullerides C₆₀M _x (M = Sm, Pt, Ni and Rh) by excimer laser ablation-TOF mass spectrometry shows that metallofullerenes C_2n M and C_2n+1M formed in both the positive and negative ionic modes. The isotopic distributions of the metallofullerenes C_2n M and C_2n+1M are consistent with the calculated spectra based on the natural abundance of isotopes of C and M, confirming the formation of metallofullerenes. The metal atom is supposed to be incorporated into the network of the fullerene cage to replace one carbon atom of the cage forming substitutional metallofullerene. Odd-numbered high carbon clusters are observed in our laser ablation study of all the metal fullerides in the negative ion channel. Evolution of mass spectrum with irradiation laser shots shows that the formation of the substitutionally doped fullerenes is closely related to the production of metal carbide (MC). The structures, as well as formation mechanism, of metallofullerenes C_2n+1M and C_2n M with even and odd numbers of total atoms respectively are discussed based on the structural optimization of the odd-numbered high carbon clusters.     

Construction of multivalent DNA vaccines forMycobacterium tuberculosis and its immunogenicity

The coding regions of Ag85B MPT-64, and ESAT-6 secreted proteins were cloned initially into the eukaryotic expression vector pJW4303, then transformed to E. coli Top 10 strain for plasmid DNA extraction and further analysis. Plasmids containing the right insertion were sequenced to confirm their identity. COS7 cells were transfected with a mixture containing serially diluted plasmid DNA encoding three secreted proteins and Lipofectin (Gibco). The supernatants and pellets prepared from various cell lines were run on SDS-PAGE gel and the expression of these proteins in COS7 cells were demonstrated by immunoblot using polyclonal or monoclonal antiserum of M.TBH37Rv. 21 days after first vaccination of C57BL-6 mice by all three recombinant eukaryotic expressing vectors, antibody titer for Ag85B reached 1∶3200. 21 days after second vaccination, the antibody titer reached 1∶102400. The highest antibody levels induced by multivalent vaccines after the second injection were equal to or even greater than the highest antibody levels of single DNA vaccine reported in literature after third injections. Antibody titer of MPT-64 was 1∶50 after the first injection and it reached 1∶200 after the second injection. No antigen-specific antibody against ESAT-6 was detected in sera harvested from immunized mice 21 days after both injections. Antigen-specific IFN-g level of Ag85B was 110 pg/mL while no antigen-specific IFN- g level of ESAT-6 and MPT-64 was detected even after third injections. To our knowledge, it is the first time that studies of polyvalent recombinant DNA vaccines against TB were carried out in C57BL-6 mice. Our results indicated that multiple DNA vaccines could be used to enhance protective responses against M.TB.     

人类结构基因功能研究与应用

对人类结构基因功能的核心问题:基因的多样性、基因的表达、模式生物基因及疾病相关基因研究及应用等方面进行了概述.     

NaOH/KOH二元体系蓄热性能的研究

对NaOH/KON二元体系蓄热性能进行了实验研究，分析 相变材料（PCM）的熔解和凝固等现象，获得了二元体系组成对相变点的影响曲线图，计算了PCM的固－固相变潜热和分别处于液相，混相和固相状态时的导热系数。实验表明，二元体系的相变包括固－液相变和固－固相变，这两倍分的相变潜热值较大；相变过程中会有空穴的产生和不凝气体的存在；NaOH/KOH二元体系导热系数的实验值小于理论值，这在实际工作中应加以考虑。