哺乳动物克隆的研究进展

哺乳动物体细胞克隆是20世纪末生命科学领域最引人注目的高新技术,该技术在农业、生物学和医药等方面具有广泛的应用前景。近年来克隆技术发展迅速,多种哺乳动物相继克隆成功,但也存在着克隆效率太低、克隆动物表型正常而实质异常等问题。本文在近年来克隆技术研究的基础上,对克隆的概念、研究历史以及克隆的方法、过程进行了综述,展望了克隆的意义及克隆动物的应用前景,分析了目前克隆技术尚存在的问题,并提出了解决这些问题的关键。     

微粒在会聚高斯光束中的受力分析

以射线光学模型为基础,对会聚高斯激光束中微粒所受轴向力进行了计算.数值计算的结果表明,束腰越小捕获越稳定;相对折射率必须大于1并存在一个最佳相对折射率;激光波长、粒子半径以及激光功率也对捕获力有重要影响.数值计算和分析为搭建光镊仪器选取系统参数提供必要的理论依据.     

A collision detection approach in virtual environment of micromanipulation robot

Operators suffer much diffieulty in manipulating miero-size objects without the assistance of friendly interfaces due to the scaling effects in micro worht. The paper presented a general framework for mieromanipulation robot hased on virtual reality technology. With the framework we brought forward a FDH （Fixed Direction Hulls） based hounding box method to handle the eollision ,teteetion of the peg-in-hole mieroassembly. The eollision response model for the collision between micro needle and hole was presented. The virtual three and corresponding displacement were calculated with the model of bending deformation and pressing ,teformation. Experiments verify the validity of collision response model.     

Progress in phototaxis mechanism research and micromanipulation techniques of algae cells

Phototactic movement is a characteristic of some microorganisms' response to light environment. Most of the algae have dramatically phototactic responses, underlying the complicated biological, physical and photochemical mechanisms are involved. With the development of the micro/nano and sensor techniques, great progress has been made in the research of the algae phototaxis. This review article summarizes the progress made in the research on the functional phototactic structures, the mechanisms of photo-response process and photodynamics of phototaxis in algae, and describes the latest developed micro-tracking technique and micromanipulation technique. Moreover, based on our own research results, the potential correlation between the phototaxis and photosynthesis is discussed, and the directions for future research of the phototactic mechanism are proposed.     

土结构研究的回顾及两点新设想

从技术手段、研究方法和成果应用三个方向综述了土结构研究的三个阶段。在分析当前研究成果的基础上,对土结构多尺度耦合分析缺少直接来自细观－微观结构的几何－力学性质动态参数这一不足进行了讨论。通过对比细观－微观材料几何－力学性质研究领域内其他学科的技术手段与研究方法,结合作者的初步试验成果提出了土结构进一步研究工作的两点新设想,一是通过显微操作手段实现颗粒物质间结构连结强度定量测定;二是在根据土结构几何－力学性质动态参数,以连续介质力学与非连续介质力学相结合的研究手段,提高土结构的多尺度耦合的准确度。     

Progress in phototaxis mechanism research and micromanipulation techniques of algae cells

Phototactic movement is a characteristic of some microorganisms' response to light environment. Most of the algae have dramatically phototactic responses, underlying the complicated biological, physical and photochemical mechanisms are involved. With the development of the micro/nano and sensor techniques, great progress has been made in the research of the algae phototaxis. This review article summarizes the progress made in the research on the functional phototactic structures, the mechanisms of photo-response process and photodynamics of phototaxis in algae, and describes the latest developed micro-tracking technique and micromanipulation technique. Moreover, based on our own research results, the potential correlation between the phototaxis and photosynthesis is discussed, and the directions for future research of the phototactic mechanism are proposed.     

机械手圆周运动的轨迹规划与实现

研究机器人跟踪由任意不共线空间三点所决定的外接圆曲线,提出了机器人圆周运动的一种笛卡尔空间的轨迹规划方法.该方法通过坐标变化将三维空间内的圆周轨迹规划问题简化到二维平面上进行研究,由此简化了轨迹规划问题;为了保证机器人圆周运动较好的插补精度和圆周轮廓,提出了一种可控插补精度的圆周插补算法.根据坐标变化以及插补算法给出了轨迹规划的算法步骤,将该规划方法用于微操作机械手,完成了机械手的圆周涂胶作业,实际应用表明该方法能够满足实时性和精度指标要求.     

并联柔性铰机器人的静刚度研究

并联柔性铰机器人是一类具有超精密定位能力的微动操作手,对这类采用非常规运动副的微动机器人,其静刚度在相当程度上决定了机器人的有载定位精度。该文首先通过一系列坐标系的建立和转换,导出终端位姿的摄动位移与柔性铰微变形间的映射关系,进而利用虚功原理提出并联柔性铰机器人的静刚度模型,显示出影响静刚度的主要因素不仅与传动刚度有关还与柔性铰的刚度有关,此外通过该模型研究了静刚度特性,其结果可用于指导机构优化设计。最后,以实例分析了并联柔性铰机器人的静刚度。     

Progress in phototaxis mechanism research and micromanipulatlon techniques of algae cells

Pholotaclic movement is a characteristic of some microorganisms' response to light environment. Most of the algae have dramatically phototactic responses, underlying the complicated biological, physical and photochemical mechanisms are involved. With the development of the micro/nano and sensor techniques, great progress has been made in the research of the algae phototaxis. This review article summarizes the progress made in the research on the functional phototactic structures, the mechanisms of photo-response process and photodynamics of phototaxis in algae, and describes the latest developed micro-tracking technique and micromanipulation technique. Moreover, based on our own research results, the potential correlation between the phototaxis and photosynthesis is discussed, and the directions for future research of the phototactic mechanism are proposed.