基于强化学习的连续型机械臂自适应跟踪控制

针对空间主动碎片清除操作中连续型三臂节机器人系统跟踪问题,提出一种基于强化学习的自适应滑模控制算法。基于数据驱动的建模方法,采用BP神经网络对三臂节连续型机械臂进行建模,并作为预测模型指导强化学习实时调节所提出滑模控制器的控制参数,从而实现连续型机器人运动的实时跟踪控制。仿真结果表明：提出的数据驱动的预测模型对随机轨迹预测的相对误差保持在±1%以内,能够高精度地反映系统动态特性。对比固定参数的滑模控制器,提出的自适应控制器在保证系统达到控制目标的同时具有更低的超调量和更短的调节时间,表现出更好的控制效果。     

鄂东大别山生物多样性研究

对鄂东大别山区的生物多样性进行了研究.目前已知该区有维管植物195科663属1 461种,占湖北省总种数的24.27%和全国总种数的5.25%,属国家特有、珍稀濒危或重点保护的植物有34种,有苔藓植物30科64属143种.已知该区有陆生脊椎动物26目65科208种,占湖北省总种数的31.04%和全国总种数的8.09%,其中有27种国家重点保护野生动物和61种湖北省级重点保护动物.该区自然植被类型有10个植被型,52个群系.该区不仅动植物区系成分多样性复杂,而且经济类型多样.     

快速数据读取技术的实现

为提高通过Web Services获取数据的速度,提出了一种基于.Net的AppDomain技术和远程对象调用技术,突破Windows系统的线程限制,以最快的速度从数据供应商那里获取数据的一个业务无关模型,并对此模型的一个典型应用--股票系统的应用进行了讨论.基于此模型,用户可以自由设定并发线程的数目来获取数据,不必受到并发线程数目的限制,也不必修改TCPIP.SYS文件.在IBM xSeries X206m服务器上测试结果表明,与不用Domain技术测试比较,可以提高20倍左右的效率.同时,此模型可以经过简单的修改,应用在各种对速度有严格要求的系统中.     

基于修正差别矩阵的高效属性约简算法

为降低基于修正差别矩阵的属性约简算法的复杂度,给出了基于修正差别矩阵的简化差别矩阵,证明了基于该简化差别矩阵的属性约简定义与基于原修正差别矩阵的属性约简定义是等价的.在此基础上设计了一个基于简化差别矩阵的属性约简算法,其空间和时间复杂度分别被降为O(|C|(|U'pos||U/C|))和max{O(|C|2(|U'pos||U/C|)),O(|C||U|log|U|)}.实例说明:用新算法进行属性约简,不仅减少了计算量,而且减少了存储空间,因而是一种高效的属性约简算法.     

Defining G protein-coupled receptor peptide ligand expressomes and signalomes in human and mouse islets

Introduction

Islets synthesise and secrete numerous peptides, some of which are known to be important regulators of islet function and glucose homeostasis. In this study, we quantified mRNAs encoding all peptide ligands of islet G protein-coupled receptors (GPCRs) in isolated human and mouse islets and carried out in vitro islet hormone secretion studies to provide functional confirmation for the species-specific role of peptide YY (PYY) in mouse islets.

Materials and methods

GPCR peptide ligand mRNAs in human and mouse islets were quantified by quantitative real-time PCR relative to the reference genes ACTB, GAPDH, PPIA, TBP and TFRC. The pathways connecting GPCR peptide ligands with their receptors were identified by manual searches in the PubMed, IUPHAR and Ingenuity databases. Distribution of PYY protein in mouse and human islets was determined by immunohistochemistry. Insulin, glucagon and somatostatin secretion from islets was measured by radioimmunoassay.

Results

We have quantified GPCR peptide ligand mRNA expression in human and mouse islets and created specific signalomes mapping the pathways by which islet peptide ligands regulate human and mouse GPCR signalling. We also identified species-specific islet expression of several GPCR ligands. In particular, PYY mRNA levels were ~ 40,000-fold higher in mouse than human islets, suggesting a more important role of locally secreted Pyy in mouse islets. This was confirmed by IHC and functional experiments measuring insulin, glucagon and somatostatin secretion.

Discussion

The detailed human and mouse islet GPCR peptide ligand atlases will allow accurate translation of mouse islet functional studies for the identification of GPCR/peptide signalling pathways relevant for human physiology, which may lead to novel treatment modalities of diabetes and metabolic disease.

     

Control of a key transition from prostrate to erect growth in rice domestication

The transition from the prostrate growth of ancestral wild rice (O. rufipogon Griff.) to the erect growth of Oryza sativa cultivars was one of the most critical events in rice domestication. This evolutionary step importantly improved plant architecture and increased grain yield. Here we find that prostrate growth of wild rice from Yuanjiang County in China is controlled by a semi-dominant gene, PROG1 (PROSTRATE GROWTH 1), on chromosome 7 that encodes a single Cys(2)-His(2) zinc-finger protein. prog1 variants identified in O. sativa disrupt the prog1 function and inactivate prog1 expression, leading to erect growth, greater grain number and higher grain yield in cultivated rice. Sequence comparison shows that 182 varieties of cultivated rice, including 87 indica and 95 japonica cultivars from 17 countries, carry identical mutations in the prog1 coding region that may have become fixed during rice domestication.     

浅析抗震设计中短柱问题及其防治

在历次地震灾害中,根据对灾区大量的房屋建筑的研究调查,房屋中大量出现由于形成短柱而产生的破坏。文章叙述了形成短柱的原因,明确了短柱的判定方法,并提出了一些处理措施。从而提高建筑物的抗震性能,避免发生脆性破坏,达到抗震设计的基本要求。     

2.5 Gbit/s PHEMT前置放大器噪声分析与验证

根据OMMIC公司通过测量得到的0.2μm GaAs PHEMT器件参数模型和噪声模型,设计了2.5 Gbit/s的共源跨阻前置放大器.并根据PHEMT晶体管Y参数下的噪声模型,结合Y参数和ABCD参数下的噪声密度矩阵,分析了电路在带有晶体管噪声源情况下整个电路的噪声电压,得出了共源跨阻前置放大器等效输入噪声电流密度的理论公式.实现了芯片制作,并且对芯片进行了噪声参数的测量,测量结果、仿真结果和理论分析结论在6GHz的频率范围内基本符合.     

煤粉高压密相气力输送特性

在输送压力可达4.0MPa,固体输送流率达840kg/h的仓式泵高压气力输送试验装置上进行粉煤高压浓相气力输送试验研究.考察了流化风量、充压风量、输送总差压对煤粉输送量、固气比的影响.研究表明:随着流化风量的增大,煤粉输送量逐渐增大,固气体积比先增大然后减小;当煤粉在发料罐内被充分流化后,再加大充压风量,固气体积比逐渐减小,而煤粉输送量略有增加;输送总压差对煤粉输送量有显著影响,随着总压差的增加,煤粉输送量呈线性增加.研究结果对高压超浓相气力输送系统的设计、运行和控制具有指导作用.     

设置边缘构件配筋砌块砌体剪力墙的抗震能力

为了研究配筋砌块砌体剪力墙的抗震能力,采用约束砌块砌体和约束混凝土作为剪力墙的约束边缘构件以增加延性;通过对位移延性的计算,得出影响剪力墙位移延性的主要因素有轴压比、形状比、砌体的极限压应变等,并建议了不同约束边缘构件剪力墙的轴压比限值.在此基础上用反应调整系数衡量配筋砌块砌体剪力墙的抗震能力,明确了设置约束边缘构件剪力墙所隐含的抗震能力;对不同抗震等级剪力墙的反应调整系数与地震动比值进行计算,通过比较得出结论:配筋砌块砌体剪力墙为实现规范预期的抗震设防目标,必须对剪力墙的形状比进行限制.