基于A*改进算法的机械臂避障路径规划

为解决机械臂在运行时可能与工作空间中的障碍物发生碰撞,提出圆柱体包络碰撞检测法和基于A*算法的变步长分段搜索法.运用圆柱体包络碰撞检测法,将碰撞检测问题转化为计算圆柱体间的位置关系.变步长分段搜索法解决了应用传统A*算法可能出现的搜索数据量大甚至搜索死循环等问题.分别在基于OpenGL的三维仿真实验平台和实际系统中验证了该方法的有效性和可行性.     

科研女性成长不易,全社会应多给与关注

据2009年中国科协第二次全国科技工作者状况调查结果数据显示,中国女性科技工作者为1437万人,占目前中国5160万科技人力资源总量的近1/3.而且总量与比例仍在持续增加.但是,与总量规模相比较,女科技工作者队伍的质量优势却相对较弱,女性在高层科技群体中所占比例非常低,职位越高女性人数越少.据相关统计,女性中国科学院、中国工程院院士在两院院士中占5%左右,在"973计划"(国家重点基础研究发展计划)首席科学家中占4.6%,在中国青年科技奖获奖者中占8.4%,在全国性自然科学专业学会的常务理事中占8%;而在"863计划"(中国高技术研究发展计划)专家组中,基至没有一位女性.     

状态方程计算高分子共混物的比体积

基于一个简单的非均核链流体分子热力学模型,采用不同形式的微扰项,可构筑不同形式的高分子共混物系统的状态方程。方程已被应用于关联聚苯乙烯/聚2,6-二甲基苯醚(PS/PPO)、聚苯乙烯/聚乙烯甲醚(PS/PVME)、聚苯乙烯/聚丁二烯(PS/PBD)、聚醚砜/聚氧乙烯(PESP/PEO)等高分子共混物的比体积。结果显示,用一个与温度无关的二元相互作用可调参数可满意关联所选体系的比体积,并可预测所选体系的比体积。     

MA法制备复合材料常用设备的比较分析(综述)

简述了机械合金化常用设备的工作原理及特点,分析了机械合金化设备对制备颗粒增强金属基复合材料的影响因素,为制备复合材料的设备选用及工艺的设计提供依据,并对球磨机的研究与开发提出了技术展望.     

事务处理技术及在煤矿安全信息管理系统中的应用

事务处理是重要的数据库完整性保证技术,本文结合煤矿安全信息管理系统的研制,介绍了事务概念、MS SQL Server事务处理语句、ASP事务处理及编程实现.将事务处理技术用于网络数据库系统的开发,将有效地保证系统数据的完整性.     

Defining G protein-coupled receptor peptide ligand expressomes and signalomes in human and mouse islets

Introduction

Islets synthesise and secrete numerous peptides, some of which are known to be important regulators of islet function and glucose homeostasis. In this study, we quantified mRNAs encoding all peptide ligands of islet G protein-coupled receptors (GPCRs) in isolated human and mouse islets and carried out in vitro islet hormone secretion studies to provide functional confirmation for the species-specific role of peptide YY (PYY) in mouse islets.

Materials and methods

GPCR peptide ligand mRNAs in human and mouse islets were quantified by quantitative real-time PCR relative to the reference genes ACTB, GAPDH, PPIA, TBP and TFRC. The pathways connecting GPCR peptide ligands with their receptors were identified by manual searches in the PubMed, IUPHAR and Ingenuity databases. Distribution of PYY protein in mouse and human islets was determined by immunohistochemistry. Insulin, glucagon and somatostatin secretion from islets was measured by radioimmunoassay.

Results

We have quantified GPCR peptide ligand mRNA expression in human and mouse islets and created specific signalomes mapping the pathways by which islet peptide ligands regulate human and mouse GPCR signalling. We also identified species-specific islet expression of several GPCR ligands. In particular, PYY mRNA levels were ~ 40,000-fold higher in mouse than human islets, suggesting a more important role of locally secreted Pyy in mouse islets. This was confirmed by IHC and functional experiments measuring insulin, glucagon and somatostatin secretion.

Discussion

The detailed human and mouse islet GPCR peptide ligand atlases will allow accurate translation of mouse islet functional studies for the identification of GPCR/peptide signalling pathways relevant for human physiology, which may lead to novel treatment modalities of diabetes and metabolic disease.

     

Common variants at TRAF3IP2 are associated with susceptibility to psoriatic arthritis and psoriasis

Psoriatic arthritis (PsA) is an inflammatory joint disease that is distinct from other chronic arthritides and which is frequently accompanied by psoriasis vulgaris (PsV) and seronegativity for rheumatoid factor. We conducted a genome-wide association study in 609 German individuals with PsA (cases) and 990 controls with replication in 6 European cohorts including a total of 5,488 individuals. We replicated PsA associations at HLA-C and IL12B and identified a new association at TRAF3IP2 (rs13190932, P = 8.56 × 10?1?). TRAF3IP2 was also associated with PsV in a German cohort including 2,040 individuals (rs13190932, P = 1.95 × 10?3). Sequencing of the exons of TRAF3IP2 identified a coding variant (p.Asp10Asn, rs33980500) as the most significantly associated SNP (P = 1.13 × 10?2?, odds ratio = 1.95). Functional assays showed reduced binding of this TRAF3IP2 variant to TRAF6, suggesting altered modulation of immunoregulatory signals through altered TRAF interactions as a new and shared pathway for PsA and PsV.     

Dominant missense mutations in ABCC9 cause Cantú syndrome

Cantú syndrome is characterized by congenital hypertrichosis, distinctive facial features, osteochondrodysplasia and cardiac defects. By using family-based exome sequencing, we identified a de novo mutation in ABCC9. Subsequently, we discovered novel dominant missense mutations in ABCC9 in 14 of the 16 individuals with Cantú syndrome examined. The ABCC9 protein is part of an ATP-dependent potassium (K(ATP)) channel that couples the metabolic state of a cell with its electrical activity. All mutations altered amino acids in or close to the transmembrane domains of ABCC9. Using electrophysiological measurements, we show that mutations in ABCC9 reduce the ATP-mediated potassium channel inhibition, resulting in channel opening. Moreover, similarities between the phenotype of individuals with Cantú syndrome and side effects from the K(ATP) channel agonist minoxidil indicate that the mutations in ABCC9 result in channel opening. Given the availability of ABCC9 antagonists, our findings may have direct implications for the treatment of individuals with Cantú syndrome.