基于专家系统的多机器人协调避碰规划

介绍一个基于专家系统技术的多机器人协调运动避碰规划系统,简述该系统的结构和各部分的功用;然后举例讨论了本系统的程序设计,并给出两机器人无碰撞协调运动规划的仿真结果。本研究对多机器人协调运动规划具有参考价值。     

有限多层180°铁电畴中界面波的色散特性

从克利斯托夫方程出发,通过数值计算,对PZT-有限多层180°铁电畴结构中的界面波的色散特性进行了理论探讨.指出偶层数结构基模类似于铁电畴层弯曲波,奇层数结构基模类似于铁电畴层波,并与其他一些情况下的结果进行了比较,最后通过实验验证了部分理论结果.     

面向合同生产的钢铁企业多阶段生产物流平衡模型

研究了典型钢铁产品生产工艺流程下的生产物流平衡问题，建立了面向合同交货期和交货量的多阶段生产物流平衡模型．采用启发式算法及粗平衡和细平衡通过调整用户合同的交货期予以解决．     

论WTO争端解决机制中赔偿救济制度的嵌入--基于发展中成员方的视角

WTO争端解决机制中赔偿救济制度的嵌入有助于多边贸易体制的有效运行,将使争端解决中胜诉方的经济权益得到更为现实地保障.发展中成员方在参与和变革WTO争端解决机制的过程中有了更多的话语权,发达成员方也有强化争端机制的需求,使得赔偿制度的嵌入有其现实和可行性.赔偿救济制度的构建内容包括明确其在整个救济措施体系中的地位和性质、赔偿制度的适用情形、赔偿范围和数额、赔偿方式等方面.     

A Novel Stochastic Blind Adaptive Multiuser Detector for CDMA Systems

0　IntroductionInCDMAsystems ,multiuserdetectionisoneofthekeytechniquesforcombatingmultiuseraccessin terference (MAI)andthenear farproblem .Linearadaptivemultiuserdetectionhasattractedagreatdealofattentionbecauseithascertainsignificantadvan tages.Forexample ,itcanadapttotime varyingchanneltoadjustsystem parameters.Nevertheless ,thecommonadaptivemultiuserdetectionalgorithmshavecertaindrawbacks ,especiallyundertime varyingmultipathchannelenvironments.Whenchannelre sponsechangessuddenlyornewc…     

The Kinematic Team Role Behavior in Work Team

Work-team has emerged as an important unit composi ng the organization today. The concepts relating to the properties of team-role t hat fit with today‘s business environment have attracted much attention from the theorists and researchers. A team having a balanced composition of team-ro les is called a balanced team. Theoretically, a balanced team usually renders a better team performance. Therefore, to improve the performance of the team, mana gement needs to ensure that their work teams are composed...     

Human metabolic phenotype diversity and its association with diet and blood pressure

Metabolic phenotypes are the products of interactions among a variety of factors-dietary, other lifestyle/environmental, gut microbial and genetic. We use a large-scale exploratory analytical approach to investigate metabolic phenotype variation across and within four human populations, based on 1H NMR spectroscopy. Metabolites discriminating across populations are then linked to data for individuals on blood pressure, a major risk factor for coronary heart disease and stroke (leading causes of mortality worldwide). We analyse spectra from two 24-hour urine specimens for each of 4,630 participants from the INTERMAP epidemiological study, involving 17 population samples aged 40-59 in China, Japan, UK and USA. We show that urinary metabolite excretion patterns for East Asian and western population samples, with contrasting diets, diet-related major risk factors, and coronary heart disease/stroke rates, are significantly differentiated (P < 10(-16)), as are Chinese/Japanese metabolic phenotypes, and subgroups with differences in dietary vegetable/animal protein and blood pressure. Among discriminatory metabolites, we quantify four and show association (P < 0.05 to P < 0.0001) of mean 24-hour urinary formate excretion with blood pressure in multiple regression analyses for individuals. Mean 24-hour urinary excretion of alanine (direct) and hippurate (inverse), reflecting diet and gut microbial activities, are also associated with blood pressure of individuals. Metabolic phenotyping applied to high-quality epidemiological data offers the potential to develop an area of aetiopathogenetic knowledge involving discovery of novel biomarkers related to cardiovascular disease risk.     

Towards a transgenic model of Huntington's disease in a non-human primate

Non-human primates are valuable for modelling human disorders and for developing therapeutic strategies; however, little work has been reported in establishing transgenic non-human primate models of human diseases. Huntington's disease (HD) is an autosomal dominant neurodegenerative disorder characterized by motor impairment, cognitive deterioration and psychiatric disturbances followed by death within 10-15 years of the onset of the symptoms. HD is caused by the expansion of cytosine-adenine-guanine (CAG, translated into glutamine) trinucleotide repeats in the first exon of the human huntingtin (HTT) gene. Mutant HTT with expanded polyglutamine (polyQ) is widely expressed in the brain and peripheral tissues, but causes selective neurodegeneration that is most prominent in the striatum and cortex of the brain. Although rodent models of HD have been developed, these models do not satisfactorily parallel the brain changes and behavioural features observed in HD patients. Because of the close physiological, neurological and genetic similarities between humans and higher primates, monkeys can serve as very useful models for understanding human physiology and diseases. Here we report our progress in developing a transgenic model of HD in a rhesus macaque that expresses polyglutamine-expanded HTT. Hallmark features of HD, including nuclear inclusions and neuropil aggregates, were observed in the brains of the HD transgenic monkeys. Additionally, the transgenic monkeys showed important clinical features of HD, including dystonia and chorea. A transgenic HD monkey model may open the way to understanding the underlying biology of HD better, and to the development of potential therapies. Moreover, our data suggest that it will be feasible to generate valuable non-human primate models of HD and possibly other human genetic diseases.