Fault tolerant motion planning based on joint torque limit for redundant manipulators

0 IntroductionWith the development of science and technology,manipulators have been widely utilized in some specialfields of space , deeper ocean, and nuclear materialcleanup.Becausethese workingenvironments are distant ,harsh and dangerous ,itis difficultfor peopletorepairthefailed manipulators onthe spot .Therefore ,the manipula-tors should operate normally for a long time . To meetthese requirements ,the manipulators must have not onlyhigher reliability but also fault tolerance capabilities…     

基于物体关系描述的单目语义SLAM方法

外界环境的语义感知和自身位置的准确估计是移动机器人自主导航和作业的关键。提出了一种基于单目相机的语义SLAM(simultaneous localization and mapping)方法,在轨迹估计的同时完成三维目标检测。提取物体自身语义、尺寸、颜色分布及其邻域拓扑结构等多元信息作为描述子,实现帧间物体的准确关联。在后端对相机位姿、地图点和物体路标进行联合优化,并自适应调整代价函数中各误差项的权重系数,以提高各状态变量的估计精度和鲁棒性。实验结果表明,所提出的算法在地图构建方面具有较高的精度。     

基于烟花算法的基站群协作计算卸载模型研究

车联网、AR、AI等计算密集、时延敏感型应用迅速发展,而移动设备因自身计算能力相对不足,执行此类应用任务时会因高时延而严重影响用户体验甚至无法满足用户需求。针对此问题,提出综合考虑时延与成本的多用户、多MEC (mobile edge computing)服务器的基站群协作计算卸载模型。并提出基于凸优化的改进烟花算法（improved fireworks algorithm based on convex optimization, CVX-FWA）来对模型进行求解,对用户任务进行合理的卸载与资源分配。仿真结果表明,提出的计算卸载方案有效降低了任务总时延成本值,实现计算卸载资源的整体优化配置。     

全数字突发模式8PSK系统的时钟和载波同步

突发模式传送系统中前导字作为系统开销降低了数据传送效率,提出一种全数字无前导字突发模式8PSK接收机方案,接收机的时钟和载波恢复均采用前向同步技术,并对载波频偏恢复算法进行了详细推导,并通过仿真验证了算法的可行性和有效性。     

水合4-氧-1(4H)-吡啶乙酸镁配合物[Mg(H2O)6](p-OPA)2·2H2O的合成与表征

合成了一个新的配合物[Mg(H2O)6](p-OPA)2.2H2O(p-OPA-=4-氧-1(4H)-吡啶乙酸根),并对其进行了元素分析和单晶X射线的表征。配合物晶体属单斜晶系,空间群为P 21/c,晶胞参数为a=1.2561(3)nm,b=1.2947(3)nm,c=0.67885(14)nm,β=99.32(3)°,V=1.0895(4)nm3,Z=2,Mr=472.69,Dc=1.441g/cm3,μ=0.154mm-1,F(000)=500,最终R=0.0525,wR=0.1398。Mg(Ⅱ)原子与六个水分子配位形成八面体构型,4-氧-1(4H)-吡啶乙酸根作为抗衡离子,配阳离子与阴离子之间通过静电吸引和氢键作用形成了三维氢键超分子网络结构。     

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 loss-of-function variants of the epidermal barrier protein filaggrin are a major predisposing factor for atopic dermatitis

Atopic disease, including atopic dermatitis (eczema), allergy and asthma, has increased in frequency in recent decades and now affects approximately 20% of the population in the developed world. Twin and family studies have shown that predisposition to atopic disease is highly heritable. Although most genetic studies have focused on immunological mechanisms, a primary epithelial barrier defect has been anticipated. Filaggrin is a key protein that facilitates terminal differentiation of the epidermis and formation of the skin barrier. Here we show that two independent loss-of-function genetic variants (R510X and 2282del4) in the gene encoding filaggrin (FLG) are very strong predisposing factors for atopic dermatitis. These variants are carried by approximately 9% of people of European origin. These variants also show highly significant association with asthma occurring in the context of atopic dermatitis. This work establishes a key role for impaired skin barrier function in the development of atopic disease.     

Common variants near MC4R are associated with fat mass, weight and risk of obesity

To identify common variants influencing body mass index (BMI), we analyzed genome-wide association data from 16,876 individuals of European descent. After previously reported variants in FTO, the strongest association signal (rs17782313, P = 2.9 x 10(-6)) mapped 188 kb downstream of MC4R (melanocortin-4 receptor), mutations of which are the leading cause of monogenic severe childhood-onset obesity. We confirmed the BMI association in 60,352 adults (per-allele effect = 0.05 Z-score units; P = 2.8 x 10(-15)) and 5,988 children aged 7-11 (0.13 Z-score units; P = 1.5 x 10(-8)). In case-control analyses (n = 10,583), the odds for severe childhood obesity reached 1.30 (P = 8.0 x 10(-11)). Furthermore, we observed overtransmission of the risk allele to obese offspring in 660 families (P (pedigree disequilibrium test average; PDT-avg) = 2.4 x 10(-4)). The SNP location and patterns of phenotypic associations are consistent with effects mediated through altered MC4R function. Our findings establish that common variants near MC4R influence fat mass, weight and obesity risk at the population level and reinforce the need for large-scale data integration to identify variants influencing continuous biomedical traits.     

浅谈城市轨道交通工程施工中450t提运架设备架梁的应用

文章针对广珠城际轨道交通工程施工中450 t提运架设备箱梁架设施工方法、工艺及技术保证措施展开论述。     

关于L-Fuzzy子集层仿紧性的注记

文[2]曾指出L－Fuzzy拓扑学中关于L－Fuzzy子集的几种仿紧性不是一般拓扑学中子集仿紧性的真正推广,即它们不以分明子集仿紧性为特款,进一步修正了几个定义并重新证明了有关的几个定理,在这篇文章中,我们拟对层仿紧性进行修正并重证相关的几个定理。