基于Unity3D的水下机器人半实物仿真系统

基于Unity3D研制了一种由地面控制终端、机器人本体和三维仿真系统3部分组成的水下机器人半实物仿真系统,为水下机器人开发过程中的性能测试、控制算法分析和人员操作培训提供了仿真和测试平台。该系统采用同一地面控制终端作为三维仿真系统和机器人控制系统的统一指令输入源,以实现虚拟对象和机器人本体的同步工作,可对系统进行实时监测、调参。采用多目视觉技术对机器人位置采集,对传感器数据进行卡尔曼滤波处理。机器人运动仿真试验结果表明,机器人实际运动路径和仿真规划路径基本相同,该系统动态响应性和控制系统同步性较好。     

硼酸对苗期花生叶片保护酶活性的影响

研究不同浓度硼酸对苗期花生叶片保护酶活性的影响。结果表明,喷施浓度为0.1%~0.4%的硼酸可以显著提高苗期花生叶片的POD、SOD、CAT和PPO活性;以浓度为0.2%~0.3%的硼酸喷施效果最好。但当硼酸浓度为0.6%时,4种保护酶的活性反而低于对照。     

The start-up of biohydrogen-producing process by bioaugmentation in the EGSB reactor

Expanded granular sludge bed (EGSB) reactor and bioaugmentation were employed to investigate biohydrogen production with molasses wastewater. The start-up experiments consisted of two stages. In the first stage (0～24d) seeded with activated sludge, the butyric acid type-fermentation formed when the initial expanding rate, organic loading rate (OLR), the initial redox potential (ORP) and hydraulic retention time (HRT) were 10%, 10.0 kg COD/(m3·d), - 215 mV and 6.7 h, respectively. At the beginning of the second stage on day 25, the novel hydrogen-producing fermentative bacterial strain B49 (AF481148 in EMBL) were inoculated into the reactor under the condition of OLR 16. 0 kg COD/(m3·d), ORP and HRT about - 139 mV and 6.7 h, respectively, and then the reaction system transformed to ethanol-type fermentation gradually with the increase in OLR. When OLR, ORP and HRT were about 94.3 kg COD/(m3·d), -250 mV and 1.7 h, respectively, the system achieved the maximum hydrogen-producing rate of 282.6 mL H2/L reactor· h and hydrogen percentage of 51%～53% in the biogas.     

基于Agent的异常处理在进销存管理系统中的应用

针对基于工作流的进销存管理系统中存在的异常问题,提出了一个基于Agent的工作流异常处理模型,建立了异常监测、分析、处理机制,采用ECA规则建立了异常规则库,利用Agent的自学习性解决系统中出现的不可预测的异常,提高了系统的灵活性和可适应性,增强了系统处理异常的能力.     

多光谱卫星云图降水区域与强度估计的模糊推理模型

在卫星云图降水分析中,针对降水天气和降水强度具有明显的"模糊"特性,提出了云图降水的模糊推理模型.从不同云类降水的经验知识和降水天气的卫星云图样本中,提取出若干云类降水规则.在此基础上,引入模糊推理方法,建立了卫星云图降水分布和降水强度估计的模糊推理模型.实际应用中,对卫星云图进行云分类,根据云分类结果,去除不可能产生降水的云类区域.对可能产生降水的云类区域,通过提取多光谱云图的灰度等特征进行推理判别,进而得出该区域是否降水以及降水强度和降水分布的估算.试验结果表明,该方法在客观性、定量性和自动化程度方面优于传统的降水估计方法,且建模所需的样本少,可适用于多种类型的气象卫星云图.     

高动态GPS/INS组合导航算法研究

首先介绍了新型深组合GPS/INS系统原理图及组合导航滤波算法。在该算法中,组合卡尔曼滤波器除完成INS误差及GPS接收机时钟误差的估计外,还参与了GPS码跟踪,即完成传统码跟踪环中环路滤波器的功能。采用自适应码跟踪误差估计器补偿组合卡尔曼滤波器测量值中的相关分量,从而消除了传统组合中不稳定的主要根源。然后进行了计算机仿真计算,仿真结果表明,新型深组合GPS/INS导航算法适用于机动性较高的载体。     

浅谈盾构隧道推进及衬砌拼装

文章针对在松软含水地层中采用手掘式敞胸盾构施工,需辅以气压、人工井点降水及其他地层加固措施,论述了在这种条件下盾构开挖掘进时的几种施工方法.     

自适应阶梯模糊控制在电涡流缓速器中的应用

分析了电涡流缓速器在制动过程中所要求的恒速模式及在制动中出现的热衰退现象,提出了采用自适应阶梯模糊控制方法．该方法采用分段调节的机制,通过在线改变规则中的调整因子α,使得电涡流缓速器控制器根据实时转速和转子盘温度的变化,调整模糊控制规则,最终使得电涡流缓速器输出的励磁电流根据转速和转子盘温度实时调节．通过在电涡流缓速器转鼓实验台上对该算法进行验证,对比常规的控制方法,该方法具有更好的控制性能．     

<Emphasis Type="Italic">Yersinia pseudotuberculosis</Emphasis> supports Th17 differentiation and limits de novo regulatory T cell induction by directly interfering with T cell receptor signaling

Adaptive immunity critically contributes to control acute infection with enteropathogenic Yersinia pseudotuberculosis; however, the role of CD4⁺ T cell subsets in establishing infection and allowing pathogen persistence remains elusive. Here, we assessed the modulatory capacity of Y. pseudotuberculosis on CD4⁺ T cell differentiation. Using in vivo assays, we report that infection with Y. pseudotuberculosis resulted in enhanced priming of IL-17-producing T cells (Th17 cells), whereas induction of Foxp3⁺ regulatory T cells (Tregs) was severely disrupted in gut-draining mesenteric lymph nodes (mLNs), in line with altered frequencies of tolerogenic and proinflammatory dendritic cell (DC) subsets within mLNs. Additionally, by using a DC-free in vitro system, we could demonstrate that Y. pseudotuberculosis can directly modulate T cell receptor (TCR) downstream signaling within naïve CD4⁺ T cells and Tregs via injection of effector molecules through the type III secretion system, thereby affecting their functional properties. Importantly, modulation of naïve CD4⁺ T cells by Y. pseudotuberculosis resulted in an enhanced Th17 differentiation and decreased induction of Foxp3⁺ Tregs in vitro. These findings shed light to the adjustment of the Th17-Treg axis in response to acute Y. pseudotuberculosis infection and highlight the direct modulation of CD4⁺ T cell subsets by altering their TCR downstream signaling.