多段线缆驱动连续型空间机械臂建模与控制

该文针对一类带有弹性杆的新型多段线缆驱动连续型空间机械臂的建模与控制问题开展研究,基于刚体等效建模思想建立了机械臂的几何模型。对每节机械臂进行单元划分,将各单元上的弹性杆等效为轻质连杆。在此基础上,应用欧拉-拉格朗日建模方法,建立了多段线缆驱动连续型空间机械臂动力学模型。针对系统中存在的参数不确定性与外部时变干扰,基于Lyapunov稳定性理论,提出了一种基于非奇异终端滑模有限时间控制(NTSMFC)的连续型机械臂控制方法。仿真结果表明：与比例-微分(PD)控制器相比,NTSMFC能在有限时间内快速跟踪期望姿态角,PD控制器的姿态跟踪快速性较低;NTSMFC姿态角稳态误差为±0.002 rad, PD控制器姿态角稳态误差为±0.01 rad。     

一种考虑杆件初始弯曲的非线性杆单元

在假定杆件初始弯曲为半波正弦曲线的基础上,提出考虑初始弯曲的非线性杆单元,推导了轴力与轴向变形的关系和轴向切线刚度的表达式,得到了初始弯曲对轴向刚度的影响系数.分析表明,初始弯曲影响与刚度比、初始弯曲幅值、轴力大小以及杆单元长度有关.结合某索拱结构工程实例,研究不同初始预应力取值下,杆件初始弯曲对结构非线性稳定性能的影响程度和影响规律,结果表明:杆件初始弯曲对结构屈曲前的整体刚度影响很小,但对结构的极限荷载与屈曲后性能影响较大;初始预应力取值的增加对结构的位移控制非常有效,但是对结构的刚度影响却很小;在不同初始预应力取值下,极限荷载随杆件初始弯曲变化的规律相似,并且都接近于线性.非线性杆单元能够广泛应用于桁架结构和网格结构的设计与分析,在考虑杆件初始弯曲后,将使结构的设计与分析更加合理、更加科学.     

The cystic fibrosis transmembrane conductance regulator (CFTR) and its stability

The cystic fibrosis transmembrane conductance regulator (CFTR) is responsible for the disease cystic fibrosis (CF). It is a membrane protein belonging to the ABC transporter family functioning as a chloride/anion channel in epithelial cells around the body. There are over 1500 mutations that have been characterised as CF-causing; the most common of these, accounting for ~70 % of CF cases, is the deletion of a phenylalanine at position 508. This leads to instability of the nascent protein and the modified structure is recognised and then degraded by the ER quality control mechanism. However, even pharmacologically ‘rescued’ F508del CFTR displays instability at the cell’s surface, losing its channel function rapidly and it is rapidly removed from the plasma membrane for lysosomal degradation. This review will, therefore, explore the link between stability and structure/function relationships of membrane proteins and CFTR in particular and how approaches to study CFTR structure depend on its stability. We will also review the application of a fluorescence labelling method for the assessment of the thermostability and the tertiary structure of CFTR.     

Genome-wide association studies of 14 agronomic traits in rice landraces

Uncovering the genetic basis of agronomic traits in crop landraces that have adapted to various agro-climatic conditions is important to world food security. Here we have identified ～ 3.6 million SNPs by sequencing 517 rice landraces and constructed a high-density haplotype map of the rice genome using a novel data-imputation method. We performed genome-wide association studies (GWAS) for 14 agronomic traits in the population of Oryza sativa indica subspecies. The loci identified through GWAS explained ～ 36% of the phenotypic variance, on average. The peak signals at six loci were tied closely to previously identified genes. This study provides a fundamental resource for rice genetics research and breeding, and demonstrates that an approach integrating second-generation genome sequencing and GWAS can be used as a powerful complementary strategy to classical biparental cross-mapping for dissecting complex traits in rice.     

Maize HapMap2 identifies extant variation from a genome in flux

Whereas breeders have exploited diversity in maize for yield improvements, there has been limited progress in using beneficial alleles in undomesticated varieties. Characterizing standing variation in this complex genome has been challenging, with only a small fraction of it described to date. Using a population genetics scoring model, we identified 55 million SNPs in 103 lines across pre-domestication and domesticated Zea mays varieties, including a representative from the sister genus Tripsacum. We find that structural variations are pervasive in the Z. mays genome and are enriched at loci associated with important traits. By investigating the drivers of genome size variation, we find that the larger Tripsacum genome can be explained by transposable element abundance rather than an allopolyploid origin. In contrast, intraspecies genome size variation seems to be controlled by chromosomal knob content. There is tremendous overlap in key gene content in maize and Tripsacum, suggesting that adaptations from Tripsacum (for example, perennialism and frost and drought tolerance) can likely be integrated into maize.     

7种化学杀菌剂和拮抗菌代谢物对苹果斑点落叶病菌的抑制活性及增效组合筛选

目的 为苹果斑点落叶病的防控提供新颖的杀菌剂及其增效组合。方法 采用菌丝生长速率法测定了7种化学杀菌剂、拮抗菌发酵代谢物及其复配剂对苹果斑点落叶病菌的抑制活性。结果 7种化学杀菌剂均对病菌有较强的抑制活性,其中戊唑醇、苯醚甲环唑和丙环唑3种药剂对病菌抑制效果最佳,EC₅₀分别达0.21、0.30和0.81 μg/mL,其次为吡唑醚菌酯、代森锰锌和嘧菌酯。多菌灵的抑菌效果最差,EC₅₀为15.03 μg/mL。生防菌发酵上清液和发酵上清粗提物对病菌的EC₅₀分别为2.38 μL/mL和0.53 μL/mL。发酵上清液粗提物和代森锰锌、吡唑醚菌酯的复配均表现为增效作用,其中体积比6∶4和7∶3达最大毒性比,分别为1.39和1.41。结论 戊唑醇、苯醚甲环唑和丙环唑对苹果斑点落叶病菌的毒力最大。解淀粉芽孢杆菌SJ1606所产粗提物对化学杀菌剂代森锰锌和吡唑醚菌酯具有增效作用,为后续农药新制剂研发提供了参考数据。     

基于启发式信息熵的粗集数值属性离散化算法

在一致性假设前提下,以数据集的统计性质作为启发式知识,从候选离散点集中选择离散点,根据数据集的期望值和方差来确定搜索最优离散点的区域,提出一种新的基于信息熵粗集数值属性离散化算法,并采用UCI国际标准数据集来验证新算法.新算法与已报道的算法所得到的离散断点集完全一致,决策表的离散化结果也相同,但时间代价不同,新算法比其计算效率提高40%～50%.     

基于共形阵的角度和极化信息联合估计算法

针对复杂载体上共形阵列存在多极化接收和遮挡效应的问题,本文提出一种基于方向图矩阵重构导向矢量的改进极化多重信号分类(multiple signal classification, MUSIC)算法。首先对共形天线阵列进行建模,在获取各个阵元的方位和俯仰分量方向图数据后,将方向图数据分解并重构阵列的导向矢量矩阵,最后结合极化MUSIC算法进行波达方向(direction of arrival, DOA)和极化参数联合估计。相对于理论导向矢量的极化MUSIC算法,本文所提改进算法在解决了遮挡效应的同时具有更高的估计精度,并可有效降低运算量。仿真实验结果验证了这一结论。     

世界一流科技社团发展现状国际比较——基于实践动态的视角

以世界一流科技社团2019年9月-2020年6月的新闻数据,分析总结了世界一流科技社团的实践动态及发展规律.研究发现:(1)国内科技社团强调党建引领,制度优势体现出强大的凝聚力;(2)国外科技社团更加善于聚合公共资源,并将产生的新知识转化为可供应用的产品和服务,推进科技与经济、创新链与产业链的融合;(3)国外科技社团善...     

Micro-expression recognition algorithm based on the combination of spatial and temporal domains

Aiming at the problem of unsatisfactory effects of traditional micro-expression recognition algorithms,an efficient micro-expression recognition algorithm is proposed,which uses convolutional neural networks(CNN) to extract spatial features of micro-expressions,and long short-term memory network(LSTM) to extract time domain features.CNN and LSTM are combined as the basis of micro-expression recognition.In many CNN structures,the visual geometry group(VGG) using a small convolution kernel is finally selected as the pre-network through comparison.Due to the difficulty of deep learning training and over-fitting,the dropout method and batch normalization method are used to solve the problem in the VGG network.Two data sets CASME and CASME II are used for test comparison,in order to solve the problem of insufficient data sets,randomly determine the starting frame,and a fixedlength frame sequence is used as the standard,and repeatedly read all sample frames of the entire data set to achieve trayersal and data amplification.Finallv.a hieh recognition rate of 67.48% is achieved.