自动避障三轮管道机器人设计

管道机器人作为一种有效的探测设备,可以深入人类无法到达的狭小空间内执行勘查任务。轮式机器人具有结构简单、运动连续平稳、速度快、可靠性高等诸多优点,因此开发了基于STC系列单片机的三轮轮式结构管道机器人。应用红外传感器电路实现有效避障功能;加入角度传感器模块,确保机器人可以在管道最底端平稳行进;采用脉宽调制技术驱动直流电机,通过改变占空比来控制机器人运动。设计的轮式管道机器人实物具有体积小、可裁剪性强、便捷等特点,能够完成管道内探测、数据收集等功能。     

分子生物学技术及其在环境样品微生物分析中的应用

综述了荧光原位杂交(FISH)、多聚酶链式反应(PCR)、DNA克隆及DNA测序等分子生物学技术,并将这些分子生物学技术应用到淡水水体底泥厌氧氨氧化茵(anammox菌)和好氧氨氧化菌的原位检测中,从底泥样品中鉴别出这两种细菌,其中好氧氨氧化菌属于亚硝酸单胞菌属,厌氧氨氧化菌属于anammox菌的Brocadia分支,为进一步研究淡水环境中氮的微生物循环过程提供了一定的依据．     

Ancient DNA sequences of rice from the low Yangtze reveal significant genotypic divergence

Rice (Oryza sativa) was first domesticated in the lower and middle Yangtze regions of China, and rice remains have been found in many Chinese archaeological sites. Until now, only phenotypic archeobotanical evidence, such as the spikelet bases of ancient grains, has been used to speculate on the domestication process and domestication rate of rice. In this study, we sequenced 4 genomic segments from rice remains in Tianluoshan, a site of the local Hemudu Neolithic culture in the low Yangtze and two other archaeological sites (~2400 and 1200 BC, respectively). We compared our sequences with those of the current domesticated and wild rice (O. rufipogon) populations. At least two genotypes were found in the remains from each site, suggesting a heterozygotic state of the rice seeds. One ancient genotype was not found in the current domesticated population and might have been lost. The rice remains belonged to the japonica group, and most if not all were japonica-type, suggesting that the remains might be at an early stage of indica-japonica divergence or an indica-japonica mixture. We also identified sequences with significant similarity to those from species of Sapindales, Zygophyllales, and Brassicales, which is consistent with the identification of other plant remains in the Tianluoshan site and the common rice field weeds such as mustards in southern China.     

An important functional group,benzo[1,3]dioxole,of alkaloids induces the formation of the human telomeric DNA G-quadruplex

Over the past few decades, numerous molecules have been discovered or designed to interact efficiently and selectively with a peculiar DNA structure named G-quadruplex. Some of these molecules have been developed as anticancer agents. To aid the design of anticancer agents, the ability of alkaloids possessing Protoberberine and Benzophenanthridine groups to induce the formation of G-quadruplexes were studied using CD spectroscopy. By careful examination of their structures, we found that a benzo[1,3]dioxole group plays an important role in influencing their inductive properties. The more functional groups the alkaloids have, the stronger their G-quadruplex inductive ability.     

聚乙二醇修饰多壁碳纳米管对质粒DNA的影响

利用体外评价方法(plasmid DNAassay)和原子力显微镜(atomic force microscopy,AFM)直接观测相结合,研究原始多壁碳纳米管(multi-walled carbon nanotubes,MWNTs)、纯化后的MWNTs以及聚乙二醇(polyethylene glycol,PEG)修饰的MWNTs与DNA的相互作用.结果表明:原始MWNTs对质粒的损伤较为严重;纯化后的MWNTs对质粒的损伤有所减弱;而经PEG修饰的MWNTs对质粒的损伤非常小,表现出良好的生物相容性.     

高速切削淬硬钢主剪切区绝热剪切失稳微观机理研究

使用光学显微镜、扫描电子显微镜(SEM)和透射电子显微镜(TEM)对高速切削淬硬30CrNi3MoV高强度钢形成的锯齿状切屑主剪切区内材料微观特征进行了观察,并对绝热剪切失稳的微观机理进行了分析.微观观察和分析结果表明,绝热剪切带中心由平均直径0.4～0.6μm的细小等轴晶粒组成,过渡区内为碎化并沿剪切方向拉长的马氏体板条组织.锯齿状切屑的形成应归因子主剪切区材料绝热剪切失稳的发生,在此过程中,动态回复和再结晶成为微结构演化的主要冶金过程,绝热温升起到了关键作用.等轴晶组织的形成机制为旋转式动态再结晶.     

一种三维DNA构象的交互式参数化模拟方法

提出一种适用于移动平台的交互式参数化DNA三维动态模拟方法.依据不同的DNA模式参数,利用基于自然特征的AR识别技术和曲线,直观形象地展示DNA的多种三维构象,动态模拟碱基互补配对、碱基对边堆叠边螺旋、 DNA复制的边解旋边半保留半不连续复制等微观过程.研发DNA三维动态模拟原型系统,实验结果表明,通过视、听、触、实物等多通道交互,有利于用户随时随地自主使用,增强用户对DNA知识的理解、掌握,引导用户进行更深层次的思考,提高知识的传递效率.     

镓(Ⅲ)-水杨醛氨基酸Schiff碱配合物与DNA的相互作用研究

应用紫外-可见光谱、循环伏安法和粘度法研究了3个镓(Ⅲ)—水杨醛氨基酸Schiff碱配合物(GaL2,GaLbipyCl,GaLphenCl,L为水杨醛谷氨酸Schiff碱,bipy为2,2'-联吡啶,phen为1,10-邻菲啰啉)与DNA分子的键合作用.紫外-可见光谱表明配合物与DNA发生插入作用;循环伏安法表明GaLbipyCl与DNA的作用涉及沟槽或静电结合方式,GaL2和GaLphenCl与DNA发生嵌入作用;粘度法表明配合物与DNA以沟槽模式或部分插入的方式结合.综上所述,推测3个配合物以沟槽模式或部分插入的方式与DNA结合.     

磺基水杨酸和精氨酸构筑的Cu(Ⅱ)配合物与DNA的相互作用

首先, 合成并表征一种新型配合物Cu₂(L-Arg)₂(SSA)(H₂O)₂ (L-Arg=精氨酸, SSA=磺基水杨酸), 然后以鲱鱼精DNA为靶点, 用电化学法、 光谱法和黏度法研究配合物与DNA间的相互作用. 结果表明： 当扫描速率为0.1 V/s时, 配合物在0.124 8,-0.518 9 V处出现一对明显的氧化还原峰, 且配合物的氧化还原峰电流随扫描速率的增大而增大, 配合物在玻碳电极上的反应由扩散过程控制; 加入DNA后, 配合物的氧化和还原峰电流均减小, 式量电位增大, 配合物的峰位发生移动, 吸光强度降低, 且与DNA的浓度呈正相关; 配合物的相对黏度呈增大趋势. 因此配合物与DNA间存在嵌插作用.     

新型啮合式电动机全数字化控制系统设计

以一种新型啮合式电动机为研究对象,设计了一种结构简单、性能可靠的全数字化电机控制统。系统采用TMS320F240为主控单元,详细介绍了系统的结构组成和工作原理,包括啮合式电机驱动电路,电流、电压检测电路,位置/速度检测电路。该系统可以实现电机位置、速度的开环或闭环控制。以速度闭环控制为例,介绍了系统控制算法的设计。最后用试验结果检验了控制系统的闭环调速性能。