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。     

U形拱棚配锚索在盘区巷道支护中的应用

通过对大同煤矿集团公司雁崖矿14#层414盘区巷道变形、破坏机理的分析和研究,根据锚索和U型钢支架对巷道的不同支护原理,充分利用锚索的高预应力和U型钢棚的可缩性的优点,"抗、让"结合,既有效控制了顶板离层,又利用u型钢棚的可缩性对围岩应力卸载,提高了巷道稳定性,在实际应用中取得成功.     

住达三期工程沉降观测技术探讨

在住宅建设施工测绘中,使用瑞士莱卡NA2补尝式自动安平水准仪进行外业数据采集,结合威远图沉降数据处理软件进行沉降观测的技术方法,降低了施工成本,大大提高了工作效率.     

Blockage of the NLRP3 inflammasome by MCC950 improves anti-tumor immune responses in head and neck squamous cell carcinoma

The NLRP3 inflammasome is a critical innate immune pathway responsible for producing active interleukin (IL)-1β, which is associated with tumor development and immunity. However, the mechanisms regulating the inflammatory microenvironment, tumorigenesis and tumor immunity are unclear. Herein, we show that the NLRP3 inflammasome was over-expressed in human HNSCC tissues and that the IL-1β concentration was increased in the peripheral blood of HNSCC patients. Additionally, elevated NLRP3 inflammasome levels were detected in tumor tissues of Tgfbr1/Pten 2cKO HNSCC mice, and elevated IL-1β levels were detected in the peripheral blood serum, spleen, draining lymph nodes and tumor tissues. Blocking NLRP3 inflammasome activation using MCC950 remarkably reduced IL-1β production in an HNSCC mouse model and reduced the numbers of myeloid-derived suppressor cells (MDSCs), regulatory T cells (Tregs) and tumor-associated macrophages (TAMs). Moreover, inhibiting NLRP3 inflammasome activation increased the numbers of CD4⁺ and CD8⁺ T cells in HNSCC mice. Notably, the numbers of exhausted PD-1⁺ and Tim3⁺ T cells were significantly reduced. A human HNSCC tissue microarray showed that NLRP3 inflammasome expression was correlated with the expression of CD8 and CD4, the Treg marker Foxp3, the MDSC markers CD11b and CD33, and the TAM markers CD68 and CD163, PD-1 and Tim3. Overall, our results demonstrate that the NLRP3 inflammasome/IL-1β pathway promotes tumorigenesis in HNSCC and inactivation of this pathway delays tumor growth, accompanied by decreased immunosuppressive cell accumulation and an increased number of effector T cells. Thus, inhibition of the tumor microenvironment through the NLRP3 inflammasome/IL-1β pathway may provide a novel approach for HNSCC therapy.     

Forecasting the duration of short‐term deflation episodes

The paper proposes a simulation‐based approach to multistep probabilistic forecasting, applied for predicting the probability and duration of negative inflation. The essence of this approach is in counting runs simulated from a multivariate distribution representing the probabilistic forecasts, which enters the negative inflation regime. The marginal distributions of forecasts are estimated using the series of past forecast errors, and the joint distribution is obtained by a multivariate copula approach. This technique is applied for estimating the probability of negative inflation in China and its expected duration, with the marginal distributions computed by fitting weighted skew‐normal and two‐piece normal distributions to autoregressive moving average ex post forecast errors and using the multivariate Student t copula.     

MicroRNA Mirn140 modulates Pdgf signaling during palatogenesis

Disruption of signaling pathways such as those mediated by sonic hedgehog (Shh) or platelet-derived growth factor (Pdgf) causes craniofacial abnormalities, including cleft palate. The role that microRNAs play in modulating palatogenesis, however, is completely unknown. We show that, in zebrafish, the microRNA Mirn140 negatively regulates Pdgf signaling during palatal development, and we provide a mechanism for how disruption of Pdgf signaling causes palatal clefting. The pdgf receptor alpha (pdgfra) 3' UTR contained a Mirn140 binding site functioning in the negative regulation of Pdgfra protein levels in vivo. pdgfra mutants and Mirn140-injected embryos shared a range of facial defects, including clefting of the crest-derived cartilages that develop in the roof of the larval mouth. Concomitantly, the oral ectoderm beneath where these cartilages develop lost pitx2 and shha expression. Mirn140 modulated Pdgf-mediated attraction of cranial neural crest cells to the oral ectoderm, where crest-derived signals were necessary for oral ectodermal gene expression. Mirn140 loss of function elevated Pdgfra protein levels, altered palatal shape and caused neural crest cells to accumulate around the optic stalk, a source of the ligand Pdgfaa. These results suggest that the conserved regulatory interactions of mirn140 and pdgfra define an ancient mechanism of palatogenesis, and they provide candidate genes for cleft palate.     

有约束多目标系统的模糊匈牙利决策及其应用

首先将指标值矩阵转化为模糊关系合成矩阵,再将模糊关系合成矩阵与解决指派问题的匈牙利方法结合起来,提出了有约束多目标系统的一种新决策方法——模糊匈牙利法,并建立其模型,该模型可用著名的匈牙利算法来求解。最后应用该法于文献［1～3］中的实例,通过比较,方法简便,效果很好     

2型模糊集对率模系统可靠性分析的推广

鉴于2型模糊集对于模糊现象的描述更为深刻的特点,将系统的模糊成功和模糊故障用2型模糊集表示,引入模糊随机变量等数学工具对率模系统可靠性进行了分析,得到了率模可靠度,率模寿命,率模故障率等结论,推广了文献［1］的结果