融合视惯传感数据的非接触式物体尺寸获取方法

从视觉数据和惯性测量单元(Inertial Measurement Unit, IMU)数据各自的特点出发,利用计算机视觉三维重建技术从视觉数据中恢复视觉传感器的六维位姿信息,分析计算惯性测量数据和视觉位姿数据的时空关系,实现融合视惯传感数据的场景重建及尺度估计,进而获取待测对象的绝对物理尺寸数据。上述方法在实验数据上取得了相对误差约为3%的非接触式物体尺寸估计结果,由于该方法无需在待测场景中嵌入额外标定物或辅助定位装置,具有较好的灵活性和适用范围。     

基于改进遗传算法工业机器人多路径组合规划

针对工业机器人应用中常见的一类涉及离散多路径组合优化的任务规划问题进行了研究,通过将其转化为非对称哈密顿图表示,采用统一的开环式广义旅行商问题的框架进行建模和求解,由此建立了相应的代价矩阵和目标函数,在此基础上提出了一种新的具有多染色体结构的遗传算法来寻找问题的全局最优解.通过采用不同的染色体分别表示路径的顺序和方向,...     

基于路径规划和反推技术挠性航天器姿态控制

为抑制航天器姿态机动过程中挠性附件的振动,提出了一种基于路径规划和反推技术的姿态自适应控制方案.对航天器姿态机动路径进行规划,以缓解传统控制中快速性和超调量之间的矛盾,并减小姿态机动引起的挠性附件振动.针对航天器姿态动力学和运动学构成的具有不确定性的非线性串级系统,基于反推技术设计了一种仅利用输出信息的自适应控制器,并...     

A GA approach to vehicle routing problem with time windows considering loading constraints

As a new variant of vehicle routing problem (VRP),a finished vehicle routing problem with time windows in finished vehicle logistics (FVRPTW) is modeled and solved.An optimization model for FVRPTW is presented with the objective of scheduling multiple transport routes considering loading constraints along with time penalty function to minimize the total cost.Then a genetic algorithm (GA) is developed.The specific encoding and genetic operators for FVRPTW are devised.Especially,in order to accelerate its convergence,an improved termination condition is given.Finally,a case study is used to evaluate the effectiveness of the proposed algorithm and a series of experiments are conducted over a set of finished vehicle routing problems.The results demonstrate that the proposed approach has superior performance and satisfies users in practice.Contributions of the study are the modeling and solving of a complex FVRPTW in logistics industry.     

GGPPS基因干扰腺病毒载体的构建及鉴定

构建GGPPS基因干扰腺病毒质粒载体并加以鉴定.根据GGPPS基因序列设计GGPPS干扰序列引物,定向克隆至穿梭载体pshuttle-H1的BglⅡ和HindⅢ位点,PmeⅠ酶切线性化的pShuttle-H1-SiGGPPS干扰质粒,并与腺病毒载体(pAdEasy-1质粒)共同转化E.coli BJ5183感受态细菌,产生重组腺病毒载体.用PacⅠ酶切线性化的回收质粒,转染293A细胞包装腺病毒颗粒,在倒置显微镜下观察细胞CPE,用TCID50法测定病毒颗粒的浓度,并初步观察病毒感染PC12细胞对目的基因的干扰效率.经酶切鉴定、测序证实成功构建GGPPS基因干扰腺病毒载体.包装的腺病毒浓缩悬液滴度为1.995×107PFU/mL.GGPPS在人中具有保守性,该病毒能在人源的WRL-68细胞中成功表达,并且对GGPPS基因干扰效率达70%以上.     

Scriptaid affects histone acetylation and the expression of development-related genes at different stages of porcine somatic cell nuclear transfer embryo during early development

Although the somatic cell nuclear transfer(SCNT) technique has been used extensively for cloning and generating transgenic pigs,the cloning efficiency is still very low.It has been proposed that the low efficiency of this technique is the result of incomplete epigenetic reprogramming and abnormal gene expression during early embryonic development.In this study,we investigate the effect of Scriptaid,a low-toxicity histone deacetylase inhibitor,on the developmental competence of porcine SCNT embryos.We found that treating SCNT embryos with 500 nmol/L Scriptaid for 15 h after activation significantly enhanced the blastocyst formation rate(27.7%) compared with the untreated group(control)(12.2%,P<0.05).Using an immunofluorescence technique to measure the average fluorescence intensity,we also found that treating SCNT embryos with Scriptaid increased the level of histone acetylation on histone H3 at lysine 14(acH3K14).Furthermore,treating embryos with Scriptaid increased the expression level of three genes that play important roles during embryonic development(Oct4,Klf4 at the blastocyst stage and Nanog at the 4-cell stage).Moreover,the expression level of the apoptosis-related gene Caspase-3 was significantly lower in the Scriptaid-treated SCNT embryos compared with the control SCNT embryos at the 4-cell and blastocyst stages.In conclusion,these results indicate that Scriptaid treatment improves the development and nuclear reprogramming of porcine SCNT embryos.     

浅谈在学科教学中渗透德育

在学科教学中渗透德育,教师应从各科教材的特点出发,自觉地把德育贯穿于课堂教学之中,使之与其它各学科互相促进、相辅相成地促进学生全面发展。课堂德育渗透的最佳境界,应是在学科教学中自然渗透,在自然渗透中使学生受到良好的思想教育。     

数字绘画情景下的装饰纹样元素运用

中国传统文化渊源流长,古人在很早的时候就开始记载了图形图象.由写实的、生动的、多样化的动植物形象转化为抽象的、符号的、规范化的几何纹饰.文章是对数字绘画的图象含义进行深入了解,以及结合传统图形装饰纹样的形式与现代信息符号设计之间的关系探讨.重点在探寻数字绘画和传统装饰纹样、现代图形、图象形式美感之间关系的协调;形式美服从内容美,同时又具有相对独立性的价值.     

Cooling effect of ripped-stone embankments on Qing-Tibet railway under climatic warming

The heat convection in ballast mass and ripped-stone mass in railway embankments is the problem of heat convection in porous media. In order to calculate the temperature distribution of Qing-Tibet railway embankment, from the governing equations used to study forced convec-tion for incompressible fluids porous media, the finite ele-ment formulae for heat convection in porous media are de-rived by using Galerkin抯 method. The temperature fields of the traditional ballast embankment and the ripped-stone mass embankment, constructed on July 15, have been ana-lyzed and compared under the case that the air temperature in Qinghai-Tibetan Plateau will be warmed up by 2.0℃ in the future 50 years. The calculated results indicate that, the permafrost 5 m below the traditional ballast embankment will be thawed in the regions in which the air yearly-average temperature is larger than -3.5℃ or the yearly-average temperature at the native surface is larger than -1℃. The embankment will cause large thawing settlement. The rail-way embankment will be damaged by permafrost degrada-tion. The ripped-stone mass embankment can not only resist the effect of climatic warm up on it but also provide cool energy for the permafrost under it. It can assure permafrost stability and not subjected to thawing. Therefore, it is highly recommended that the ripped-stone mass embankment be taken as the Qing-Tibet railway embankment structure in high-temperature permafrost regions so that permafrost embankment can be protected as possible as we could.