完全各向同性解耦3T1R型并联机器人构型综合

为综合得到完全各向同性解耦并联机器人构型,基于GF集理论提出了一种简单而有效的构型综合方法.阐述GF集的基本概念、运算法则,转动特征存在条件;给出机构输入运动副选择原则和分支设计准则,确保了并联机构运动各向同性及解耦性;根据该构型综合原理,实现了3T1R的4自由度完全各向同性解耦并联机构型综合,得到了大量新构型;针对所综合的一种新型并联机构,运用螺旋理论求解其机构的自由度并推导其雅克比矩阵,验证了该机构的完全各向同性,也进一步证明了该构型综合方法的有效性.     

限宽水域中船舶平面运动机构试验及水动力导数数值模拟

为探究有限宽度水域中大型船舶的水动力特性,基于计算流体力学(CFD)技术对限宽水域中的平面运动机构(PMM)试验进行数值模拟.在对有限水域宽度的PMM试验的动态模拟上,开发了混合动网格技术,数值计算结果与循环水槽PMM试验结果对比证明采用该方法有效.继而模拟不同宽度水域中的PMM试验,分析船舶水动力随运动速度变化的关系.结果表明,限宽水域中水动力随运动速度变化的非线性特征更为显著,船舶操纵加速度导数增大,位置导数减小,旋转导数的绝对值有所增加,二阶非线性导数值变化较大.     

WGS-84坐标系下改进的广义最小二乘配准算法

针对广义最小二乘算法在WGS-84坐标系中存在收敛速度慢及收敛性能不稳定的问题,提出了一种改进的广义最小二乘算法.该算法以收敛步数作为最小二乘算法中的量测精度加权因子,使得量测精度随着步数的变化而变化,从而实现了收敛步数的减少和收敛之后稳定性的改善,提高了目标跟踪定位的性能.仿真结果表明,改进的广义最小二乘算法优于广义最小二乘算法,进一步验证了该算法的有效性.     

Delayed ageing through damage protection by the Arf/p53 pathway

The tumour-suppressor pathway formed by the alternative reading frame protein of the Cdkn2a locus (Arf) and by p53 (also called Trp53) plays a central part in the detection and elimination of cellular damage, and this constitutes the basis of its potent cancer protection activity. Similar to cancer, ageing also results from the accumulation of damage and, therefore, we have reasoned that Arf/p53 could have anti-ageing activity by alleviating the load of age-associated damage. Here we show that genetically manipulated mice with increased, but otherwise normally regulated, levels of Arf and p53 present strong cancer resistance and have decreased levels of ageing-associated damage. These observations extend the protective role of Arf/p53 to ageing, revealing a previously unknown anti-ageing mechanism and providing a rationale for the co-evolution of cancer resistance and longevity.     

Serial time-encoded amplified microscopy for ultrafast imaging based on multi-wavelength laser

In this paper, a serial time-encoded amplified microscopy （STEAM） by employing a multiwavelength laser as the light source is proposed and experimentally demonstrated. This system achieves ultrafast optical imaging with a tunable frame rate. The measuring range depends on the spectrum width of the multiwavelength laser. Through tuning the speed of the modulating signal, the frame rate ranges from 100 to 250 MHz. In addition, the spatial resolution can be improved by increasing the group velocity dispersion and reducing the wavelength spacing. Finally, with the development of photonic integrate circuits （PIC）, the multiwavelength laser source has the potential for integration on a photonic chip and thus the size of the proposed STEAM could be reduced in the future.     

Molecular evolution of connective tissue growth factor in Cyprinidae (Teleostei: Cypriniformes)

Connective tissue growth factor (CTGF) plays an important role in regulation of cell growth, differentiation, apoptosis and individual development in animals. The study of sequences variation and molecular evolution of CTGF gene across various species of the cyprinid could be helpful for understanding of speciation and gene divergence in this kind of fish. In this study, 19 novel sequences of CTGF gene were obtained from the representative species of the family Cyprinidae using PCR amplification, cloning and sequencing. Phylogenetic relationships of Cyprinidae were reconstructed by neighbor-joining (NJ), maximum parsimony (MP), maximum likelihood (ML) and Bayesian method. Oryzias latipes from the family Cyprinodontidae was assigned to be the outgroup taxon. Leuciscini and Barbini were clustered into the monophyletic lineages respectively with the high nodal supports. The estimation of the ratio of nonsynonymous to synonymous substitution (dN/dS) for the various branches indicated that there stood the different evolution rates between the Leuciscini and the Barbini. With the ratio of dN/dS of the Leuciscini being lower than that of the Barbini, species within the Barbini were demonstrated to be subjected to the relatively less selection pressure and under the relaxable evolution background. A 6 bp indel (insertion/deletion) was found at the 5' end of CTGF gene of Cyprinidae, and this 6 bp deletion only appeared in the Leuciscini, which is a typical characteristic of the Leuciscini and provides evidence for the monophylogeny of the Leuciscini. For the amino acid sequences of CTGF protein, the most variations and Indels were distributed in the signal region and IGFBP region of this protein, implying that these variations were correlated with the regulation of the CTGF gene expression and protein activity.     

海上多元热流体注入沿程热物性评价模型

稠油储量占渤海总石油储量的60%,是中国石油接替储量的重要组成部分。多元热流体的应用克服了海上平
台承载能力有限的难题,是海上稠油热采的新方向。首次考虑井口注入条件变化及海水流动的影响,以一段时间内注
入到管线中的多元热流体为控制体,分别考虑平台、海水段和地层注汽管柱结构的影响,建立了多组分热流体沿程热
物性评价模型。计算结果与中国某油田实际热采井沿程热物性参数吻合较好。基于模块计算,评价了多元热流体组
成,海水深度对其沿程热利用率的影响,为多元热流体在海上稠油油藏热采中的应用提供了一定的理论支持。     

Neural network based adaptive sliding mode control of uncertain nonlinear systems

The purpose of this paper is the design of neural network-based adaptive sliding mode controller for uncertain unknown nonlinear systems. A special architecture adaptive neural network, with hyperbolic tangent activation functions, is used to emulate the equivalent and switching control terms of the classic sliding mode control (SMC). Lyapunov stability theory is used to guarantee a uniform ultimate boundedness property for the tracking error, as well as of all other signals in the closed loop. In addition to keeping the stability and robustness properties of the SMC, the neural network-based adaptive sliding mode controller exhibits perfect rejection of faults arising during the system operating. Simulation studies are used to illustrate and clarify the theoretical results.     

含横向裂纹悬臂梁的损伤检测

研究了含有横向裂纹的悬臂梁的弯曲问题,并给出了一种对悬臂梁进行损伤检测的方法.将梁的损伤模拟为一个附加柔度,根据理论分析,建立了梁的挠度和损伤位置以及附加柔度之间的关系,定义损伤处梁的剖面惯性矩与完整剖面的惯性矩之比为惯性矩系数,结合有限元法,建立附加柔度和惯性矩系数的关系,给出了一个由附加柔度计算惯性矩系数的公式,根据惯性矩系数估计损伤程度.通过一个梯形截面梁的算例证明,提出的计算公式和损伤检测法是准确有效的.     

盐岩在库车拗陷中的作用

库车拗陷的勘探实践表明,盐层与油气密切相关。通过对2条地震测线的分析发现,盐层、盐上地层、盐下地层变形看似孤立,实际相互影响。盐层构造变形一般发育在古隆起上部,盐上构造变形主要发生在盐枕构造的翼部,无盐地区主要发育基底卷入式构造。膏盐层可以延缓盐下地层烃源岩的热演化程度,可以改善盐下储层的储集性能;膏盐层本身也有可能成为油气储集层;膏盐层具有形成超压封闭和物性封闭的双重封闭机制,对盐下油气藏的保存极为有利;膏盐层的塑性流动特性,使得盐下构造圈闭在强烈的构造挤压中得以保存。