多段线缆驱动连续型空间机械臂建模与控制

该文针对一类带有弹性杆的新型多段线缆驱动连续型空间机械臂的建模与控制问题开展研究,基于刚体等效建模思想建立了机械臂的几何模型。对每节机械臂进行单元划分,将各单元上的弹性杆等效为轻质连杆。在此基础上,应用欧拉-拉格朗日建模方法,建立了多段线缆驱动连续型空间机械臂动力学模型。针对系统中存在的参数不确定性与外部时变干扰,基于Lyapunov稳定性理论,提出了一种基于非奇异终端滑模有限时间控制(NTSMFC)的连续型机械臂控制方法。仿真结果表明：与比例-微分(PD)控制器相比,NTSMFC能在有限时间内快速跟踪期望姿态角,PD控制器的姿态跟踪快速性较低;NTSMFC姿态角稳态误差为±0.002 rad, PD控制器姿态角稳态误差为±0.01 rad。     

(4S)-4-苄基-3-(2'(E)-丁烯酰基)-2-噁唑烷酮的核磁分析

利用1H NMR、13C NMR、H,H-COSY和H,C-COSY核磁共振技术,对化合物(4S)-4-苄基-3-(2′(E)-丁烯酰基)-2-噁唑烷酮进行了分析,所得数据与其结构相吻合,进一步说明了化合物分子内氢键的存在.     

甘蓝型油菜和Lesquerella fendleri fad2基因片段克隆及hpRNA植物表达载体的构建

首先利用PCR从甘蓝型油菜(Brassica napus L.)和Lesquerella fendleri基因组DNA中分别扩增出Δ12-脂肪酸去饱和酶fad2基因片段,再以扩增出的片段为模板设计引物从一端扩增出相应的小片段,然后将同一基因的大小片段反向连接,插入到种子特异表达载体2300-nap多克隆位点的napin启动子和nos终止子之间,构建成可以在种子中转录表达发夹RNA(Hairpin RNA,hpRNA)结构的植物表达载体.     

基于无线传输的智能小区门禁系统设计

设计了基于无线传输的智能小区门禁系统,介绍了系统的读卡模块、无线数据传输模块、液晶显示模块、随机密码键盘模块。设计了以大容量串行e-Flash MM36SB020为载体的16×16点阵字库。针对数据传输中易出现的网络冲突问题,在通信协议中提出了随机延时的解决方案。     

话“术语哲学”

2003 年,国际术语学研究所举办了东西欧术语学基础理论比较研讨会,在此会议上,来自东、西欧的术语学研究者畅所欲言,对自20世纪30年代以来,在奥地利(代表欧洲中西部地区)和苏联等东欧国家逐渐发展起来的术语学理论进行了深入研讨。俄罗斯女学者阿莱克谢耶娃做了“术语学和哲学之间的相互影响”的主题发言,国际术语学研究所副所长布丁教授也以“对术语哲学的展望”为题做了演讲,它探究了术语学的哲学源头,分析了术语学理论与“知识工程”和“知识本体”的内在联系,以此作为对东欧学者的呼应。文章旨在介绍布丁教授这篇演讲里的重要观点,以期为广大读者充分了解术语学的理论基石提供途径。     

浅论气象术语标准研制的问题与对策

为避免气象术语中出现循环定义、定义不协调、定义与术语不匹配、定义重复术语名称或使用代词等问题,运用术语学原理分析,提出研制术语时要注意“语料收集、定义研制、术语分类、辨析关系”的对策建议,这对提高术语研制质量,增强表达交流效果,完善气象标准体系具有重要作用。     

Creating ‘Rhizomatic Systems’ for Understanding Complexity in Organizations

The article describes and demonstrates the use of a new research proposal for understanding the complexity in organizations in terms of a Deleuzian sense of an event. It creates the rhizome metaphor that allows the emergence of different ways of systems thinking, a legitimate challenge to the Modernist’s orthodoxy. For Deleuze and Guattari, micropolitics are the essence of what we call ‘rhizomatic systems.’ It is this concept of the organization, as a rhizome or rhizomatic systems that we want to focus from ‘problem solving’ in a real-world situation to the process of problematization, that is, the making or appreciating a series of events in the problematizing fields. The paper draws on the research experience in which participatory action research was carried out in a Korean distribution company. The participatory learning process happened to create a series of events in which ‘time-related research’ was conducted in order to facilitate the process of problematization within the organization.

Differentiated cells are more efficient than adult stem cells for cloning by somatic cell nuclear transfer

Since the creation of Dolly via somatic cell nuclear transfer (SCNT), more than a dozen species of mammals have been cloned using this technology. One hypothesis for the limited success of cloning via SCNT (1%-5%) is that the clones are likely to be derived from adult stem cells. Support for this hypothesis comes from the findings that the reproductive cloning efficiency for embryonic stem cells is five to ten times higher than that for somatic cells as donors and that cloned pups cannot be produced directly from cloned embryos derived from differentiated B and T cells or neuronal cells. The question remains as to whether SCNT-derived animal clones can be derived from truly differentiated somatic cells. We tested this hypothesis with mouse hematopoietic cells at different differentiation stages: hematopoietic stem cells, progenitor cells and granulocytes. We found that cloning efficiency increases over the differentiation hierarchy, and terminally differentiated postmitotic granulocytes yield cloned pups with the greatest cloning efficiency.     

木素对测量木素中残存糖分的影响

利用超滤和有机溶剂法提纯碱木素并使用水解法和澄清法制备糖分测量的样品,对比了3,5-二硝基水杨酸（DNS）比色法和高效液相色谱（HPLC）法测定木素内残余糖分。研究结果表明：DNS法测量木素中残留糖分的含量远大于HPLC法的测量值,木素中的醛基结构是造成显色法结果偏大的主要原因。