基于AHRS反馈的仿人机器人步行稳定控制

以实现仿人机器人步行稳定控制为目的,为克服零力矩点（ZMP）反馈控制算法不能补偿较大冲击干扰以及反射响应方法打断当前步行任务的缺点,以低成本微机电系统（MEMS）传感器及方向余弦矩阵描述的补偿算法构成航姿参考系统。提出了由姿态转角和角速度的线性组合表达的步行稳定性判据,并实现了躯干姿态校正的比例-微分控制器。基于仿人机器人全方位步态规划方法,调整下一步步幅和步频为行为方式,实现了步行稳定控制。样机实验结果表明：在原地踏步和稳定前进等情况下,机器人受到冲击干扰以致倾斜角度达20°时,仍能够不打断全方位步行且有效避免倾覆。     

时变OFDM稀疏信道估计中最优导频选择

针对时变OFDM系统中基于压缩感知的频率选择性衰落信道估计,为了提高其估计精度,结合最优导频选择方式,给出一种自适应求最优导频方法。通过闭环反馈信道稀疏度变化的方式,实时的求取最优导频进行信道估计,并与周期性求最优导频方法进行对比分析。仿真结果表明,自适应方法具有更低的信道估计均方误差,与随机方式相比,性能增益平均提高了11 dB,比周期性方法,平均提高了4 dB,且自适应方法误差曲线更平滑。     

Structural basis for gate-DNA recognition and bending by type IIA topoisomerases

Type II topoisomerases disentangle DNA to facilitate chromosome segregation, and represent a major class of therapeutic targets. Although these enzymes have been studied extensively, a molecular understanding of DNA binding has been lacking. Here we present the structure of a complex between the DNA-binding and cleavage core of Saccharomyces cerevisiae Topo II (also known as Top2) and a gate-DNA segment. The structure reveals that the enzyme enforces a 150 degrees DNA bend through a mechanism similar to that of remodelling proteins such as integration host factor. Large protein conformational changes accompany DNA deformation, creating a bipartite catalytic site that positions the DNA backbone near a reactive tyrosine and a coordinated magnesium ion. This configuration closely resembles the catalytic site of type IA topoisomerases, reinforcing an evolutionary link between these structurally and functionally distinct enzymes. Binding of DNA facilitates opening of an enzyme dimerization interface, providing visual evidence for a key step in DNA transport.     

Whole-genome analysis informs breast cancer response to aromatase inhibition

To correlate the variable clinical features of oestrogen-receptor-positive breast cancer with somatic alterations, we studied pretreatment tumour biopsies accrued from patients in two studies of neoadjuvant aromatase inhibitor therapy by massively parallel sequencing and analysis. Eighteen significantly mutated genes were identified, including five genes (RUNX1, CBFB, MYH9, MLL3 and SF3B1) previously linked to haematopoietic disorders. Mutant MAP3K1 was associated with luminal A status, low-grade histology and low proliferation rates, whereas mutant TP53 was associated with the opposite pattern. Moreover, mutant GATA3 correlated with suppression of proliferation upon aromatase inhibitor treatment. Pathway analysis demonstrated that mutations in MAP2K4, a MAP3K1 substrate, produced similar perturbations as MAP3K1 loss. Distinct phenotypes in oestrogen-receptor-positive breast cancer are associated with specific patterns of somatic mutations that map into cellular pathways linked to tumour biology, but most recurrent mutations are relatively infrequent. Prospective clinical trials based on these findings will require comprehensive genome sequencing.     

枫杨、羊蹄水浸液对钉螺肝功能的影响

用酶学速率法测定并分析了不同浓度枫杨、羊蹄水浸液对钉螺肝脏谷丙转氨酶 (GPT)、谷草转氨酶 (GOT)活力的影响 ,同时比较了两种植物的作用效果及灭螺效果 .结果显示 ,随枫杨叶水浸液浓度的升高 ,GPT、GOT酶活力随之增高 ,0 .1 %、0 .5%浓度 (质量体积分数 )与水对照无明显差异 ,1 .0 %、2 .5%显著高于水对照 .羊蹄处理之钉螺肝GPT和GOT活性随浓度升高到 1 .0 %浓度达到峰值 ,2 .5%开始下降 ;除 0 .1 %与对照无明显差异外 ,其余浓度有明显差异 .两种植物相比 ,羊蹄对两种转氨酶的影响明显大于枫杨 ,灭螺效果也较之好 .     

机器人制备生物芯片的分样量均一化方法

为解决机器人携带钢针分配头制备高集成度生物芯片时存在的分样量均一性差的问题,提出一种提高分样量一致性的方法:在正式点样前先使钢针与吸水材料接触,并停留一定时间,以去掉针尖外缘样品。实验结果表明:这种方法是可行的,可以显著提高分样量的一致性;用中速定性滤纸去样0.5～1.8s,可使分样量的变异系数降低到10%以下。     

Java字节码异常处理中信息流的分析

为提高Java移动代码动态安全验证的准确性和实用性,通过分析Java字节码中异常处理的方式与流程,提出了追踪、记录异常处理中信息流的方法.采用字节码改写技术,将异常处理中信息流的相关数据封装在异常类当中,从而保证了所采取的处理对Java虚拟机的透明性,并进一步提高了动态验证的精度.