多模式驱动的机器人关节控制器设计及实验

建立了基于直流电机的系统模型,提出了基于PID的闭环反馈控制策略和基于时间或电流的切换控制方法.然后,借助Matlab/Simulink软件分别进行了位置控制、力矩控制及二者切换的仿真,并进行了关节驱动控制系统的软硬件设计.最后,通过实验对所提方法进行了验证与分析.仿真和实验结果表明:所设计的关节控制器,能够实现位置控制、力矩控制功能.在位置控制模式下,影响其响应速度的因素主要是驱动系统硬件.在力矩控制模式下,影响其响应速度的因素主要是PID参数,且当PID参数Kp,Ki,Kd分别为0.2,0.325,3.0时,系统具有较好的响应特性.位置控制与力矩控制2种模式间可基于时间和电流进行稳定的切换.该关节控制器能够应用于机器人关节驱动系统,实现关节的驱动与灵活的控制.     

Senescence and tumour clearance is triggered by p53 restoration in murine liver carcinomas

Although cancer arises from a combination of mutations in oncogenes and tumour suppressor genes, the extent to which tumour suppressor gene loss is required for maintaining established tumours is poorly understood. p53 is an important tumour suppressor that acts to restrict proliferation in response to DNA damage or deregulation of mitogenic oncogenes, by leading to the induction of various cell cycle checkpoints, apoptosis or cellular senescence. Consequently, p53 mutations increase cell proliferation and survival, and in some settings promote genomic instability and resistance to certain chemotherapies. To determine the consequences of reactivating the p53 pathway in tumours, we used RNA interference (RNAi) to conditionally regulate endogenous p53 expression in a mosaic mouse model of liver carcinoma. We show that even brief reactivation of endogenous p53 in p53-deficient tumours can produce complete tumour regressions. The primary response to p53 was not apoptosis, but instead involved the induction of a cellular senescence program that was associated with differentiation and the upregulation of inflammatory cytokines. This program, although producing only cell cycle arrest in vitro, also triggered an innate immune response that targeted the tumour cells in vivo, thereby contributing to tumour clearance. Our study indicates that p53 loss can be required for the maintenance of aggressive carcinomas, and illustrates how the cellular senescence program can act together with the innate immune system to potently limit tumour growth.     

废FCC催化剂中稀土元素的浸出及动力学分析

针对FCC废催化剂中所含的稀土元素,本研究以废FCC催化剂为原料,与无水碳酸钠混合焙烧活化,以盐酸为浸出剂,探究了盐酸浓度、浸出温度、浸出时间、浸出固液比以及焙烧时间等因素对FCC废催化剂中稀土元素镧(La)、铈(Ce)的浸出率的影响,并进行了浸出过程动力学分析和表观活化能计算。实验结果表明：废FCC催化剂在750℃条件下和碳酸钠以质量比为1:1混合焙烧300 min后,在70℃的条件下,用6 mol/L的盐酸溶液且固液比为1:25浸出120 min时,La、Ce最佳浸出率可达到88.06%、90.07%;FCC废催化剂浸出前后SEM和XRD测试分析表明废FCC在酸浸后衍射特征峰基本消失,晶格结构被破坏,浸出渣主要为SiO₂;缩芯模型浸出过程动力学分析和Avrami表观活化能计算结果均表明：La和Ce的浸出活化能的测定值分别为27.1、21.2 KJ/mol,该浸出过程受扩散控制。该研究对固废资源中稀土元素的高效回收具有一定的指导意义。     

动态交通分配模型仿真研究

依据最优控制理论，建立了一种能够用于多OD对拥挤道路网上的时交通流形态预测的动态用户最优分配模型，讨论了此模型离散形式的解法，并利用Frank-Wolfe算法对模型进行了仿真，计算机仿真结果表明了该方法是有效的。     

Dynamic characteristics of the planetary gear train excited by time-varying meshing stiffness in the wind turbine

Wind power has attracted increasing attention as a renewable and clean energy. Gear fault frequently occurs under extreme environment and complex loads. The time-varying meshing stiffness is one of the main excitations. This study proposes a 5 degree-of-freedom torsional vibration model for the planetary gear system. The influence of some parameters (e.g., contact ratio and phase difference) is discussed under different conditions of a single teeth pair and double pairs of teeth. The impact load caused by the teeth face fault, ramped load induced by the complex wind conditions, and the harmonic excitation are investigated. The analysis of the time-varying meshing stiffness and the dynamic meshing force shows that the dynamic design under different loads can be made to avoid resonance, can provide the basis for the gear fault location of a wind turbine, and distinguish the fault characteristics from the vibration signals.     

天山大峡谷国家森林公园土地利用变化及生态系统服务价值研究

通过对1990年、2000年、2010年和2018年4期遥感解译的土地利用数据,采用土地利用动态度、生态系统服务价值评价和敏感性分析等方法,分析了研究区的土地利用变化及生态系统服务功能,同时以ArcGIS软件为支撑,探讨了天山大峡谷国家森林公园在不同时期内的土地利用变化对生态系统服务(ESV)的影响.研究结果表明:19...     

Isothermal reduction kinetics and mineral phase of chromium-bearing vanadium-titanium sinter reduced with CO gas at 873-1273 K

Reduction of chromium-bearing vanadium-titanium sinter (CVTS) was studied under simulated conditions of a blast furnace, and thermodynamics and kinetics were theoretically analyzed. Reduction kinetics of CVTS at different temperatures was evaluated using a shrinking unreacted core model. The microstructure, mineral phase, and variation of the sinter during reduction were observed by X-ray diffraction, scanning electron microscopy, and metallographic microscopy. Results indicate that porosity of CVTS increased with temperature. Meanwhile, the reduction degree of the sinter improved with the reduction rate. Reduction of the sinter was controlled by a chemical reaction at the initial stage and inner diffusion at the final stage. Activation energies measured 29.22-99.69 kJ/mol. Phase transformations in CVTS reduction are as follows:Fe₂O₃→Fe₃O₄→FeO→Fe; Fe₂TiO₅→Fe₂TiO₄→FeTiO₃; FeO·V₂O₃→V₂O₃; FeO·Cr₂O₃→Cr₂O₃.     

用可编程控制器改造Y5132插齿机

介绍用可编程控制器（ＰＬＣ）改造插齿机的原理和方法．分析了插齿机切削运动，给出电气系统设计，ＰＬＣ编程方法以及部分梯形图     

甲壳素/壳聚糖的应用研究进展

甲壳素是一种极其有前途和极其重要的天然高分子可再生的物质,是不造成环境污染的新型高分子材料.本文全面的综述了甲壳素/壳聚糖的性质和制备以及在食品工业、医药卫生、环境保护、农业和作为功能高分子方面的应用.     

灰多元线性回归及其在搜索引擎中的应用

经典多元线性回归分析模型不能实时跟踪响应变量的动态变化和在大量样本中因出现病态数据而影响拟合效果的问题,基于灰色系统时间序列的特性,提出了将灰系统思想与经典多元线性回归分析模型结合,形成一种全新的模型——灰多元线性回归分析模型。实验结果表明,该模型不仅能更加准确地给出响应变量的变化趋势,而且能过滤掉少量病态数据,从而避免了对拟合效果的影响。将新模型应用到网站的搜索引擎中,通过对网站访问流量及各个关键字搜索频率,预测该网站下一阶段的网站的访问流量,预测结果可为网站的管理者提供决策支持的理论依据。