基于集群空间机器人的合作目标协同定位技术

根据集群空间机器人群内各成员功能的差异,设计了合作目标的协同定位方法. 首先,采用状态方程建立了集群动力学模型,并基于线性Kalman滤波理论,设计了集中式协同定位滤波算法,为降低集中式协同定位滤波算法的计算量,进一步设计了分布式协同定位滤波算法. 研究结果表明,本文分析了所提出的协同定位滤波算法的性能,并通过数学仿真进行了验证其稳定性和精度.      

硝酸铋修饰碳纤维电极循环伏安法测定水样中的半胱氨酸

半胱氨酸是生物体系中的一种重要氨基酸和临床分析中的疾病标记物。以循环伏安电化学方法在碳纤维簇电极表面上沉积铋粒子,从溶液中固相微萃取半胱氨酸,研究萃取过程的动力学和热力学。在最佳实验条件下,铋一半胱氨酸络合物的氧化峰电流与半胱氨酸浓度的对数存在两段线性关系,1．0×10^-4 -1．0×10^-7mol／L和1．0×10^-10～1．0×10^-16mol／L,最低检测限为1．0×10^-16mol／L,相对标准偏差为6．6％。共存的白氨酸、胱氨酸和蛋白质不干扰测定。用于沈阳师范大学湖水样本中的半胱氨酸检测,半胱氨酸含量为6．20μm。操作简便,快速,结果令人满意。     

A clustered routing protocol based on energy and link quality in WSNs

Influenced by the environment and nodes status,the quality of link is not always stable in actual wireless sensor networks (WSNs).Poor links result in retransmissions and more energy consumption.So link quality is an important issue in the design of routing protocol which is not considered in most traditional clustered routing protocols.A based on energy and link quality' s routing protocol (EQRP) is proposed to optimize the clustering mechanism which takes into account energy balance and link quality factors.EQRP takes the advantage of high quality links to increase success rate of single communication and reduce the cost of communication.Simulation shows that,compared with traditional clustered protocol,EQRP can perform 40％ better,in terms of life cycle of the whole network.     

无毛突变基因对无毛小鼠免疫器官结构及功能的影响

摘要: 目的探讨无毛突变基因的作用,对无毛小鼠、有毛小鼠的免疫器官结构及功能进行了对比研究。方法比 较无毛小鼠和有毛小鼠主要免疫器官组织学变化,以及血清白介素－ 2 受体、淋巴细胞亚群、淋巴细胞增殖等方面 的差别。结果发现无毛小鼠和有毛小鼠免疫器官结构及功能均有一定的差异。结论研究结果提示无毛突变 基因不仅影响被毛结构,对免疫器官及功能也有一定的影响。该基因在杂合状态时也有一定的作用,表明该突变 基因具有一定的共显性。     

Architecture Design of a Variable Length Instruction Set VLIW DSP

The cost of the central register file and the size of the program code limit the scalability of very long instruction word (VLIW) processors with increasing numbers of functional units. This paper presents the architectural design of a six-way VLIW digital signal processor (DSP) with clustered register files. The architecture uses a variable length instruction set and supports dynamic instruction dispatching. The one-level memory system architecture of the processor includes 16-KB instruction and data caches and 16-KB instruction and data on-chip RAM. A compiler based on the Open64 was developed for the system. Evaluations show that the processor is suitable for high performance applications with a high code density and small program code size.     

Cloning and functional analysis of the sequences flanking mini-Tn5 in the magnetosome-deleted mutant NM21 of Magnetospirillum gryphiswaldense MSR-1

A magnetosome-deleted mutant NM21 of Magnetospirillum gryphiswaldense MSR-1 was generated by mini-Tn5 lacZ2 transposon mutagenesis, and a 3073-bp fragment flanking mini-Tn5 lacZ2 in NM21 was cloned by Anchored PCR. Sequencing analysis showed that this fragment involved three putative ORFs; the mini-Tn5 lacZ2 was inserted into ORF1. Functional complementary test indicated that the 3073-bp fragment was required for biosynthesis of magnetosomes in M. gryphiswaldense MSR-1. The majority of proteins, which had homology with the protein encoded by ORF1, were the cation transporter. Transmembrane domain analysis showed that the protein encoded by ORF1 contained four transmembrane domains. It may be a transmembrane protein. The protein encoded by ORF1 contained two putative conserved domains: COG0053 and PRK09509. The MMT1 and FieF, containing conserved domains COG0053 and PRK09509 too, were Fe²⁺ transporter (cation diffusion facilitator superfamily). It was suggested that the protein encoded by ORF1 might take part in the magnetosomes biosynthesis as Fe²⁺ transporter. Supported by National Natural Science Foundation of China (Grant No. 30570023) and Scientific Research Project of Huaibei City, Anhui Province (Grant No. 070114)     

白桦转BpGH3.5基因叶片早衰突变株的光合特性及生长分析

【目的】植物叶片早衰将影响作物产量和品质,研究叶片早衰机制对于培育耐早衰优良品种具有重要意义。【方法】以转BpGH3.5基因的白桦叶片早衰突变株(G4)、非转基因白桦(WT)及叶片正常的转基因白桦(G21)等为材料,测定其叶绿素含量、净光合速率(P_n)、气孔导度(G_s)、胞间CO₂浓度(C_i)、蒸腾速率(T_r)等光合指标,测定苗高的时序变化规律。【结果】叶片早衰突变影响了叶片叶绿素的合成及积累,突变株的叶绿素相对含量(SPAD)均值为36.08,相对两个对照株系分别下降7.34%、7.48%。叶片早衰突变影响了白桦光合呼吸作用。突变株的净光合速率、气孔导度、蒸腾速率分别为WT野生株系的67.54%、64.44%、64.93%,胞间CO₂浓度达到234.33 μmol/mol,显著高于G21对照株系( P<0.05)。突变株的当年高生长显著低于WT、G21 两个对照株系,当年高生长分别是WT、G21 两个对照株系的68.9%、85.0%。利用Logistic方程对3个参试株系当年苗高生长量的变化过程进行了拟合,其系数均高于0.98,同时,通过Logistic方程计算的生长参数揭示了早衰突变株高生长较两个对照株系低的原因是速生期苗高平均生长量(GR)、苗高日生长量的平均值(GD)等生长参数较低。【结论】转BpGH3.5基因的白桦发生了叶片早衰现象,使叶绿素提前降解,影响了光合呼吸作用,进而影响了苗高生长。     

水稻阶段性返白突变体的鉴定和候选基因分析

从粳稻品种中花11 的后代中发现了一个叶色突变体sgra, 该突变体幼苗期叶色正常, 而6~8 叶期以后新生叶白化, 随后白化叶转绿. 突变体的遗传分析表明, 该突变体表型受1 对隐性核基因控制. 利用籼粳杂交F2群体对突变位点进行了基因定位, 将其定位于水稻第11 染色体的2 个标记ID343-11 和PSM415 之间, 遗传距离分别为0.9 和1.0 cM. 随后, 利用已公布的水稻序列和SSR标记, 在两标记间发展了9 对新的标记, 进一步将SGRA基因定位在IDM-2 和RM26739 之间, 物理距离约为17.6 kb. 对野生型和突变体候选区段基因组DNA 测序分析表明, 候选基因编码一个ABC 转运蛋白.     

异三聚体G蛋白在拟南芥生长过程中的作用

利用拟南芥的野生型和异三聚体G蛋白α亚基基因GPA1缺失突变体(gpα1-1,gpα1-2)和超表达突变体(wGα,cGα)为材料,对植株生长发育的一些形态指标进行了观测比较．结果表明2个缺失突变体的植株高度、叶片宽度、长角果果柄长度都明显超过野生型,而超表达突变体的部分指标与野生型相比也有明显差别．实验结果表明,异三聚体G蛋白参与某些器官生长发育的调节,初步证明G蛋白α亚基在伸长生长过程中可能起负调节作用。     

Reduced Na+ and K+ permeability of K+ channel in plasma membrane isolated from roots of salt-tolerant mutant of wheat

The Na⁺ and K⁺ permeability of K⁺ channel in plasma membrane, isolated from roots of the salt-tolerant mutant of wheat, was lower than that of wild type in 100 mmol/L KCl and NaCl solution. The opening frequency of K⁺ channel of the mutant reduced more significantly than that of wild type in two kinds of solution mentioned above. It is assumed that the reduction of opening frequency mainly contributes to the Na⁺ and K⁺ permeability of K⁺ channel of the mutant. The electric conductance of single-channel of the mutant was similar to that of wild type and the main difference between them was exhibited as the opening frequency. Their K⁺/Ka⁺ selectivity of K⁺ channel had no significant difference. The K⁺/Na⁺ selectivity of the mutant and wild type was 3.35 and 3.18 respectively.