基于模糊调节的两轮自平衡车的终端滑模分解控制

文章针对两轮自平衡车的平衡控制问题,提出一种新型滑模控制方法。该方法首先将平衡控制系统分解为摆角子系统和位移子系统,分别设计各子系统的快速终端滑模面,利用一个具有反正切函数形式的中间变量将位移子系统的控制目标嵌入到摆角子系统的控制目标中,从而用1个控制量实现了对2个子系统的有效控制,使其在有限时间内收敛至平衡点;考虑到滑模面系数对系统状态收敛速度的影响,采用模糊推理对系数进行调节,改善了动态响应速度,且从理论上证明了滑模面的稳定性。最后,针对所提出的方法进行仿真,仿真结果验证了该控制方法的有效性。     

锋电位检测信号的EEMD去噪方法研究

神经元锋电位(spike)是研究大脑信息编码的基础,因其宽带、小幅值等特点而极易受噪声干扰。针对spike信号的间歇性及非平稳性,采用经验模态分解(EMD,Empirical Mode Decomposition)的改进算法--整体平均经验模态分解(EEMD,Ensemble Empirical Mode Decomposition)对spike检测信号进行分解并结合小波阈值法进行去噪。EEMD能将信号中间歇性成分有效分离出来,解决了EMD产生的模态混叠问题。基于仿真和实测数据将其与EMD去噪方法及多元小波去噪法进行比较,结果表明:EEMD去噪方法不仅有效提高了spike检测信号的信噪比,而且降低了spike波形的畸变。在3种去噪方法中,EEMD去噪方法效果最为显著,对仿真信号的信噪比平均提高了4.177 2d B。为随后spike信号的分类和信息编码奠定了良好基础。     

Upregulation of annexin A5 affects the biological behaviors of lung squamous carcinoma cells in vitro

Annexin A5 is a Ca2＋-dependent phospholipid- binding protein and protein kinase C inhibitory protein. It has a potential role in cellular signal transduction, inflam- mation, growth and differentiation. In this study, we evaluated the expression of this protein in lung tumor tis- sues and subsequently established a NCI-H520 cell line that stably expresses the wild-type ANXA5 gene to deter- mine the effects of annexin A5 upregulation on the cell morphology, proliferation and metastasis potential in vitro. The effects of annexin A5 on NCI-H520 cells were tested by crystal violet staining, CCK-8 assay, scratch wound assay, and Transwell assay. The expressions of Akt, PCNA, vimentin, and E-cadherin were examined by Western blot assay. In this study, we demonstrated that annexin A5 is expressed at lower levels in tumor tissues compared with normal tissues. Additionally, the upregu- lation of this protein may inhibit the proliferation, migra- tion, and invasion abilities of NCI-H520 cells in vitro. Thetransfected cells were arrested in the G1/S phase of the cell cycle, and the expression levels of Akt, PCNA and Vimentin were downregulated, while E-cadherin was upregulated.     

军校学员英语学习习惯与效率的相关性探索

通过对军校学员英语学习习惯进行调查分析,发现学员们在英语学习中表现出的种种习惯差异,后将此差异与他们英语学习的效率进行对比,得出某些英语学习习惯与学习效率之间存在着很强的正相关,而某些习惯与学习效率形成弱相关。因此,教员可在英语教学实践中及时提醒学员改掉不良的英语学习习惯和嗜好,教学管理部门、学员队应该尽可能给学员更多的自主支配时间,并提供更便利的自主学习条件,增强其自制力,鼓励其英语学习朝着个性化的方向发展,提高学习效率。     

间歇式厌氧反应器处理猪粪废水工艺条件研究

对间歇式厌氧反应器处理猪粪废水的工艺条件进行了探索研究,结果显示:底物粪水消耗速率与初始COD值高低关系不大,当初始COD为4 000 mg/L左右时,产气量较大;当反应温度为35℃时,中温菌活性较佳,COD下降速率较快,产气量较大;350 mL粪水,配加100 mL污泥时,COD变化速率较快,产气量较大,而且所需的时间较少,0.33 d便有气体产生;产酸菌具有较大的pH适应范围,产甲烷菌对pH值十分敏感,只能在pH6.9附近很小范围内具有强活性。     

腹腔镜结直肠癌根治术8例临床分析

目的:探讨腹腔镜结直肠癌根治术方法的可行性。方法:通过对我院2011年6月至2011年9月间8例结直肠癌患者施行腹腔镜结直肠癌根治术,分析总结其临床疗效。结果:所有病例手术均顺利完成,平均手术时间250 min,术中平均出血量250 mL,术后48～96 h肠功能恢复,术后住院12～15 d,未发生严重并发症,无死亡病例。结论:腹腔镜结直肠癌根治术安全、可行,术中出血量少,术后恢复快,疗效满意。     

Tangential stress analysis of myocardial wall by finite element method

A novel method is presented to build the triangular surface model and calculate the tangential stress and strain of myocardial wall ,which can be further used to reflect the left ventricle twisting—a sensitive index to assess the systolic and diastolic function of heart. Firstly, a point distribution model is used to obtain the feature points of the ventricular surface in medical images. Secondly, the surface model is constructed by triangular mesh, and then the subdivision strategy is introduced to refine the model. Thirdly, plane projection and finite element method(FEM) are applied to calculate the tangential stress and strain.Finally, the distribution of tangential modulus of elasticity is discussed. The stimulation results show that the proposed method can be used to compute the tangential stress and strain of myocardial wall effectively and the computing result is consistent with the results mentioned in the literatures.     

基于Verilog的量程自转换数字频率计

本文运用Verilog语言,采用自顶向下的电子系统设计方法,在QuartusⅡ5.0软件环境下,将设计的数字频率计分为5个功能模块分别是分频模块、控制模块、计数模块、锁存模块和显示模块,然后将这五个模块一起生成最终的顶层文件,利用CPLD器件实现了量程自转换,测量精度较高,可以正确显示的数字频率计的设计。     

单纵臂式与扭力梁式悬架特性分析

应用CAE仿真技术和道路实车试验验证的方法,系统分析了单纵臂式与扭力梁式悬架的刚度特性和匹配后对整车性能的影响,揭示了2种悬架的主要区别:汽车在中高速度行驶时,扭力梁式悬架的质心垂直加速度小于单纵臂式悬架车型,具有良好的乘坐舒适性;单纵臂式悬架的汽车侧倾角与侧向加速度小于扭力梁式悬架车型,具有良好的操纵稳定性.在理论研究的基础上,探索出了3项整车匹配单纵臂式与扭力梁式悬架的原则,为乘用车悬架系统的选型和匹配提供了理论依据和设计方法.     

糖多孢红霉菌酮还原酶域在羰基还原中的应用

为研究糖多孢红霉菌聚酮合成酶模块1的酮还原酶域,催化羰基还原的底物特异性和立体选择性,PCR扩增了该酶域的编码基因(eryKR1),并将其克隆到表达载体pET-28a,得到重组质粒pET-eryKR1,转化到Escherichia coli BL21(DE3)后,获得了重组菌株E.coli BL21(pET-eryKR1).将E.coli BL21(pET-eryKR1)和异源表达枯草芽孢杆菌葡萄糖脱氢酶基因的重组大肠杆菌E.coli BL21(pET-gdh1)进行双重组菌耦合,对4-氯乙酰乙酸乙酯、苯乙酮、2-辛酮和环己酮4种底物进行转化还原,利用气相色谱分析转化液,结果显示E.coli BL21(pET-eryKR1)对环己酮的还原效果较好,产物环己醇的得率最高可达93.24%,而对其他3种底物几乎没有还原能力.利用E.coli BL21(pET-eryKR1)2催化2-甲基环己酮不对称还原,产物主要为顺式-2-甲基环己醇,产率可达41.87%,产物的对映体过量值为74.81%.