仿生六足机器人步态规划策略实验研究

采用日本弓背蚁进行常规步态实验学研究和仿生学探索,通过对高速数字摄像机采样结果的判断和分析,发现了蚂蚁后足的滑行过程并定义为“滑动相“.此外,还针对蚂蚁直线前进步态给出了合理的步态关系表达式,通过与周期规则步态的对比证明了该式的现实可行性,为仿生六足机器人进行周期不规则步态的规划奠定了理论基础.所采用的实验学研究和仿生学探索相结合的方法能有效提高仿生机器人的技术水平.     

BRD7 regulates the insulin-signaling pathway by increasing phosphorylation of GSK3β

Reduced hepatic expression levels of bromodomain-containing protein 7 (BRD7) have been suggested to play a role in the development of glucose intolerance in obesity. However, the molecular mechanism by which BRD7 regulates glucose metabolism has remained unclear. Here, we show that BRD7 increases phosphorylation of glycogen synthase kinase 3β (GSK3β) in response to activation of the insulin receptor-signaling pathway shortly after insulin stimulation and the nutrient-sensing pathway after feeding. BRD7 mediates phosphorylation of GSK3β at the Serine 9 residue and this effect on GSK3β occurs even in the absence of AKT activity. Using both in vitro and in vivo models, we further demonstrate that BRD7 mediates phosphorylation of ribosomal protein S6 kinase (S6K) and leads to increased phosphorylation of the eukaryotic translation initiation factor 4E-binding protein 1 (4E-BP1) and, therefore, relieves its inhibition of the eukaryotic translation initiation factor 4E (eIF4E). However, the increase in phosphorylation of 4E-BP1 with BRD7 overexpression is blunted in the absence of AKT activity. In addition, using liver-specific BRD7 knockout (LBKO) mice, we show that BRD7 is required for mTORC1 activity on its downstream molecules. These findings show a novel basis for understanding the molecular dynamics of glucose metabolism and suggest the unique function of BRD7 in the regulation of glucose homeostasis.     

一种新的模糊自校正控制学习算法

提出一种基于模糊竞争学习的模糊自校正控制方法.通过基于模糊竞争学习确定一种在线模糊辨识算法,在采用此模糊辨识方法对对象进行在线估计的基础上,用调节器实现参数的自动整定.为了验证所提方法的有效性,给出了非线性系统的控制结果.     

柔臂弯曲和挠转振动的非线性应力反馈控制

用数值仿真的方法讨论了一种用新型的应力及其微分的非线性反馈律来镇定柔性臂的弯曲和扭转振动的问题。该法使用跟踪－微分器取得柔性臂根部应力信号和微分信号,并与根部应力信号以及端咪的挠率信号一起组成非线性控制输入来控制柔性臂的弯曲和扭转振动。其镇定的仿真实验效果很好。     

滞后中立型线性离散系统的滞后无关稳定性判据

给出了几个滞后中立型线性离散系统稳定性的充分条件，由于这些条件与滞后无关且形成简单，对于初步判定其稳定性提供了有用的工具。     

金属有机化合物化学气相淀积含钛硬质涂层的性能研究

在用文题淀积方法制备出氮化钛、碳氮化钛和碳氮氧化钛硬质涂层的基础上,用表面分析手段分别进行了成分、结构分析、形貌观察和硬度测定。结果表明:以二乙胺基钛为原料可分别在773K和973K淀积氮化钛和碳氮化钛涂层;用钛酸异丙酯和钛酸丁酯可分别在973K和1073K获得碳氮氧化钛涂层。所得的涂层表面光洁度高、与基体附着性好、硬度满足实用要求。相比于普通化学气相淀积方法,本法在制备硬质涂层上有两大优点:(1)淀积温度降低,扩大了基体的选用范围;(2)固溶体涂层的获得扩大了涂层的适用范围。     

基于奇异谱分析的我国航空客运量集成预测模型

针对时间序列包含噪声以及单一模型可能存在预测表现不稳定的问题,本文提出了一个基于奇异谱分析(SSA)的集成预测模型,并将其运用于我国年度航空客运量的预测中.首先,采用SSA方法对原始时间序列进行分解和重构,得到一个剔除噪声的时间序列,然后将其作为单整自回归移动平均模型(ARIMA)、支持向量回归模型(SVR)、Holt-Winters方法(HW)等单一模型的输入并进行预测,接着再采用加权平均集成预测方法(WA)将三种单一模型的预测结果进行综合集成.通过与各单一模型、基于经验模态分解方法(EMD)的模型以及简单平均集成预测方法(SA)的预测结果进行对比发现,本文所建模型具有较高的预测精度和较稳定的预测表现.最后,采用本文的模型对我国2014-2016年年度航空客运量进行了预测.     

A Flexible Functional Form Approach To Mortality Modeling: Do We Need Additional Cohort Dummies?

The increasing amount of attention paid to longevity risk and funding for old age has created the need for precise mortality models and accurate future mortality forecasts. Orthogonal polynomials have been widely used in technical fields and there have also been applications in mortality modeling. In this paper we adopt a flexible functional form approach using two‐dimensional Legendre orthogonal polynomials to fit and forecast mortality rates. Unlike some of the existing mortality models in the literature, the model we propose does not impose any restrictions on the age, time or cohort structure of the data and thus allows for different model designs for different countries' mortality experience. We conduct an empirical study using male mortality data from a range of developed countries and explore the possibility of using age–time effects to capture cohort effects in the underlying mortality data. It is found that, for some countries, cohort dummies still need to be incorporated into the model. Moreover, when comparing the proposed model with well‐known mortality models in the literature, we find that our model provides comparable fitting but with a much smaller number of parameters. Based on 5‐year‐ahead mortality forecasts, it can be concluded that the proposed model improves the overall accuracy of the future mortality projection. Copyright © 2016 John Wiley & Sons, Ltd.     

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.