基于OpenGL的仿人机器人步行仿真研究

已有的仿真建模中,为了减少复杂性,大多将人足模型简化为点或圆弧,这与实际情况相差较远.在C++Builder 6.0环境下利用“Open GL”图形库建立了3D仿人型机器人双足步行仿真系统,用多关节串联机构模拟足部,实现包括由前脚掌支撑、足部转动的多种步态方式,并分析步行中各种步态间的转换,根据机器人脚跟、脚尖与地面接触状态的变化动态切换不同的步态方式,符合人足步行的实际情况,增强了机器人步行的灵活性与拟人性.该系统的控制部分采用位置反馈与正弦驱动相结合的行走控制方法,通过对人足模型的多关节动力学建模,有效地实现了机器人的稳定步行仿真,并实现了步行过程中的实时步态调整.     

Mutations affecting components of the SWI/SNF complex cause Coffin-Siris syndrome

By exome sequencing, we found de novo SMARCB1 mutations in two of five individuals with typical Coffin-Siris syndrome (CSS), a rare autosomal dominant anomaly syndrome. As SMARCB1 encodes a subunit of the SWItch/Sucrose NonFermenting (SWI/SNF) complex, we screened 15 other genes encoding subunits of this complex in 23 individuals with CSS. Twenty affected individuals (87%) each had a germline mutation in one of six SWI/SNF subunit genes, including SMARCB1, SMARCA4, SMARCA2, SMARCE1, ARID1A and ARID1B.     

Involvement of a sperm aminopeptidase in fertilization of the sea urchin

Summary Inhibitory efficiencies of bestatin methyl ester and its nine analogs for sea urchin sperm aminopeptidase activity were similar to the efficiency of the same compounds as inhibitors either of sperm respiration or of fertilization. This suggests that a sperm aminopeptidase plays a role in fertilization in the sea urchin, possibly through its involvement in sperm respiration.Acknowledgment. We are grateful to Dr Wataru Tanaka of Nippon kayaku co. for his gifts of bestatin and its analogs. We are also indebted to Mrs Akiko Tsuchida-Watanabe for her technical assitance, and to the staff of Asamushi Marine Biological Station, Tohoku University, where part of this work was carried out. This work was supported in part by a Grant-in-Aid for Scientific Research from the Ministry of Education, Science and Culture of Japan.     

Effects of Avermectin Bla on the motility of various parasitic helminths

Summary Using an isotonic transducer recently devised in Japan, it was observed that Avermectin Bla, a new anthelmintic, caused paralyzing effects onAngiostrongylus cantonensis andMetastrongylus elongatus at concentrations of more than 3.6×10^–18 M.     

Effects of disodium EDTA on the cardiovascular responses to prostaglandin E1

Zusammenfassung Die Wirkung des Dinatrium-EDTA auf die Kreislaufreaktionen des Prostaglandin E₁ (PGE₁) wurde an narkotisierten Hunden untersucht. Das Ausmass der positiv chronotropen und inotropen Einflüsse des PGE₁ war während der Infusion von EDTA bedeutend geringer als das des PGE₁ vor der EDTA-Gabe. Die Gegenwart oder das Einströmen von Kalziumionen scheint in der pharmakologischen Wirkung des PGE₁ eine Rolle zu spielen.     

Loss of Siglec-14 reduces the risk of chronic obstructive pulmonary disease exacerbation

Chronic obstructive pulmonary disease (COPD) is a leading cause of mortality worldwide. COPD exacerbation, or episodic worsening of symptoms, often results in hospitalization and increased mortality rates. Airway infections by new bacterial strains, such as nontypeable Haemophilus influenzae (NTHi), are a major cause of COPD exacerbation. NTHi express lipooligosaccharides that contain sialic acids, and may interact with Siglec-14, a sialic acid recognition protein on myeloid cells that serves as an activating signal transduction receptor. A null allele polymorphism in SIGLEC14 may attenuate the inflammatory responses to NTHi by eliminating Siglec-14 expression. We asked if the loss of Siglec-14 attenuates the inflammatory response by myeloid cells against NTHi, and if the SIGLEC14-null polymorphism has any effect on COPD exacerbation. We found that NTHi interacts with Siglec-14 to enhance proinflammatory cytokine production in a tissue culture model. Inhibitors of the Syk tyrosine kinase suppress this response. Loss of Siglec-14, due to SIGLEC14-null allele homozygosity, is associated with a reduced risk of COPD exacerbation in a Japanese patient population. Taken together, Siglec-14 and its downstream signaling pathway facilitate the “infection–inflammation–exacerbation” axis of COPD disease progression, and may represent promising targets for therapeutic intervention.     

Molecular cloning and characterization of the rat NMDA receptor.

A complementary DNA encoding the rat NMDA receptor has been cloned and characterized. The single protein encoded by the cDNA forms a receptor-channel complex that has electrophysiological and pharmacological properties characteristic of the NMDA receptor. This protein has a significant sequence similarity to the AMPA/kainate receptors and contains four putative transmembrane segments following a large extracellular domain. The NMDA receptor messenger RNA is expressed in neuronal cells throughout the brain regions, particularly in the hippocampus, cerebral cortex and cerebellum.     

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.     

Ferroelectricity from iron valence ordering in the charge-frustrated system LuFe2O4

Ferroelectric materials are widely used in modern electric devices such as memory elements, filtering devices and high-performance insulators. Ferroelectric crystals have a spontaneous electric polarization arising from the coherent arrangement of electric dipoles (specifically, a polar displacement of anions and cations). First-principles calculations and electron density analysis of ferroelectric materials have revealed that the covalent bond between the anions and cations, or the orbital hybridization of electrons on both ions, plays a key role in establishing the dipolar arrangement. However, an alternative model-electronic ferroelectricity-has been proposed in which the electric dipole depends on electron correlations, rather than the covalency. This would offer the attractive possibility of ferroelectric materials that could be controlled by the charge, spin and orbital degrees of freedom of the electron. Here we report experimental evidence for ferroelectricity arising from electron correlations in the triangular mixed valence oxide, LuFe(2)O(4). Using resonant X-ray scattering measurements, we determine the ordering of the Fe(2+) and Fe(3+) ions. They form a superstructure that supports an electric polarization consisting of distributed electrons of polar symmetry. The polar ordering arises from the repulsive property of electrons-electron correlations-acting on a frustrated geometry.