机器人雕塑加工中的轨迹生成与优化研究

为了实现雕塑的双侧加工,首先对作业空间进行标定,建立CAM空间与作业空间的映射一致性;其次利用最大轮廓法对CAD/CAM生成的轨迹进行优化,使机器人只在雕塑最大轮廓内加工;双侧加工后雕塑沿最大轮廓处与未加工毛坯分离,从而提高雕塑的加工效率、减少刀具的损耗。实验结果表明,最大轮廓法可以完整地加工出雕塑,并且双侧加工轨迹的配准误差小于0.7 mm。福建省科技重大专项(2016HZ0001-6

Identification of Irradiated Protein-rich Food by Dissociative Tyrosine

建立了高效液相色谱-游离酪氨酸法鉴定高蛋白含量辐照食品的方法。向经过辐照的高蛋白含量样品中加入0.1 MOl/l HCl,使细胞裂解并释放出游离酪氨酸,离心除去细胞碎片后,向上清液中加入80%丙酮并在-20℃下冰冻沉淀除去大部分蛋白,样品中的酪氨酸与三氟乙酸形成离子对后经C18色谱柱分离。在100~1 500μg/l质量浓度范围内,邻酪氨酸和间酪氨酸均具有良好线性,方法的回收率为61%~116%,定量下限(S/n≥10)为10μg/l。该法避免了蛋白质的水解,具有操作简便、测定准确等优点,能很好地区分未经辐照与经5 kgy以上剂量辐照的食品。A novel method was presented for identification of irradiated protein-rich food by HPLC with dissociative tyrosine.The procedure involved the homogenization of fresh sample with 0.1 mol/L HCl,followed by centrifugation to remove the cell debris and the solvent precipitation of protein with acetone at-20 ℃,then the tyrosine was separated by forming ion pair with trifluoroacetic acid on a C18 column.The average recoveries of the drugs ranged from 61% to 116% at the spiked levels of 100-800 μg/L.The method is simple and double-quick,and could be efficiently identified food sample irradiated at a dose of 5 kGy or above.国家质量监督检验检疫总局科研计划资助项目(2009IK183

Biological Effects of Stevia rebaudianum Induced by Carbon Ion Implantation

对甜菊 (SteviarebaudianumBertoni)种子注入能量为 75keV、剂量为 10 14 /cm2 的碳离子 ,研究其种子萌发期产生的一系列生物学效应。注入碳离子的种子萌发率略高于对照组 ,但种苗的成活率比对照组低 (P <0 .0 2 )。运用假设检验法分析 ,结果表明注入离子的种子出苗株高显著高于对照组 (P <0 .0 1)。萌发 4d的处理组 ,叶片细胞壁增厚 ,胞间连丝扩大 ,内有高电子密度的物质沉积 ,细胞质膜皱折 ,膜上有高电子密度的沉积颗粒 ,质膜向细胞壁方向突起 ,质膜上的颗粒通过胞间连丝转移或沉积于细胞壁上。上述现象可能与注入离子的过壁运输有关 ,也可能与胼胝质的积累有关。此外 ,实验组植物的叶绿体发达 ,片层结构明显多于对照组 ,两个质体发生中心同时存在于同一个叶绿体内 ;线粒体丰富 ,内嵴发达 ;微体内可见典型的晶格排列结构。这些结果表明 ,离子注入种子以后 ,种子萌发期的合成代谢和呼吸代谢能力明显强于对照组The biological effects during seed germination were investigated after the dry seeds of Stevia rebaudianum Bertoni were implanted with carbon ion beam of 75 keV and 10 14 ions/cm 2. The results showed that the germination rate of carbon ion implanted seeds was slightly higher than that of the control, but the survival rate of the treated seedlings, on the contrary, was lower than that of the control (P<0.02), while the height of the treated seedlings was significantly higher than that of the control (P<0.01). On the 4th day after germination, the leaf cell wall in the treated group was thick, some high electron_dense substance deposited in the enlarged plasmodesma; Cell membrane creased with high electron_dense granules deposited on it. The plasma membrane protruded towards cell wall, and the granules shifted via plasmodesma or deposited onto cell wall. These phenomena may be related to the conveyance of implanted ions across cell wall, or be related to the accumulation of callose. In addition, the implantation of carbon ions could increase the lamellae of the chloroplast and cause high development of the chloroplast which sometimes contained two plastid centers in an individual chloroplast. Also, the highly developed cristae, abundant mitochondria and typical crystalloid structure in microbody could be found. All these results indicated that the anabolic and catabolic activities in the seedlings implanted with carbon ions before germination were obviously more active than those in the controls.TheNationalKeyProjectofInterdiscipline ( 19890 3 0 0

Determination of fungicide anilinopyrimidine residues in food by series solid phase extraction-high performance liquid chromatography-tandem mass spectrometry

建立了食品中嘧啶胺类杀菌剂嘧霉胺、嘧菌胺及嘧菌环胺残留的串联固相萃取-液相色谱-串联质谱(HPlC-MS/MS)检测方法。胡萝卜、辣椒等样品经乙酸乙酯提取,石墨化炭黑-弗罗里硅藻土串联固相萃取柱(EnVI-CArb-flOrISIl SPE)净化后,在HPlC-MS/MS仪上进行检测分析,采用外标法定量。质谱分析采用电喷雾电离,正离子扫描,多反应监测模式。结果表明,柱净化后无明显的基质效应,嘧霉胺、嘧菌胺和嘧菌环胺在1~20μg/l内相关系数可达0.999 0以上,具有良好的线性关系;每种杀菌剂选择两个离子对,其中一组用于定量:嘧霉胺M/z 200.1/107.1,嘧菌胺M/z 224.0/106.0及嘧菌环胺M/z 226.0/108.1;另一组用于确证:嘧霉胺M/z 200.1/183.1,嘧菌胺M/z 224.0/131.1和嘧菌环胺M/z 226.0/133.1。样品中添加0.1、0.5、1.0μg/kg的标准品,其回收率为73.2%~98.7%,相对标准偏差(n=10)小于10%;嘧霉胺、嘧菌胺、嘧菌环胺的检出限(信噪比(S/n)=3)均为0.03μg/kg;嘧霉胺、嘧菌胺、嘧菌环胺的定量限(S/n=10)均为0.1μg/kg。实验结果表明,该方法提取效果好,具有良好的灵敏度、回收率和重复性。A high performance liquid chromatography-tandem mass spectrometry(HPLC-MS/MS) method was established for the determination of fungicide anilinopyrimidine residues including pyrimethanil,mepanipyrim,and cyprodinil in foodstuffs with series solid phase extraction(SPE).The food sample was first extracted with ethyl acetate,and then purified by an ENVI-Carb cartridge and a Florisil SPE cartridge.The analytes were determined by HPLC-MS/MS and quantified by external standard method.The mass spectrometric detection was operated with electrospray in positive ionization mode and the fungicide anilinopyrimidines were identified in multiple reaction monitoring(MRM) mode.The linear range of the method was 1-20 μg/L,with the correlation coefficient(r2) over 0.9990.The transitions of the precursor ions to two selected product ions were involved,in which one group for quantification were m/z 200.1/107.1 for pyrimethanil,m/z 224.0/106.0 for mepanipyrim and m/z 226.0/108.1 for cyprodinil,and the other group for identification were m/z 200.1/183.1 for pyrimethanil,m/z 224.0/131.1 for mepanipyrim and m/z 226.0/133.1 for cyprodinil,respectively.No significant matrix effect was found for spiked samples after the purification.The recoveries of the fungicide anilinopyrimidines spiked in food samples were 73.2%-98.7% at the spiked levels of 0.1,0.5,1.0 μg/kg.The relative standard deviations(RSDs) were less than 10%.The limits of detection(LODs) and limits of quantification(LOQs) were 0.03 μg/kg and 0.1 μg/kg for the three fungicides,respectively.The results showed that the proposed method is sensitive and accurate for the determination of fungicide anilinopyrimidines in foodstuffs.The method should be applicable for routine analysis of pyrimethanil,mepanipyrim,cyprodinil residues in foodstuffs.厦门市科技计划项目(3502Z20092009、3502Z20102013);国家质检总局科技计划项目(2010IK192

Effects of marine bacteria on the growth and toxin production of red-tide algae under different pHand salinities

研究了在可控生态条件下,一株分离自厦门西海域沉积物的海洋细菌S10在不同pH 和盐度条件下对赤潮原因种塔玛亚历山大藻( A lexandrium tamarense) 生长和产毒的影响. 结果表明,实验用藻株适宜生长pH 为6～8 ,适宜盐度为20～34 ;该藻株在不同pH 及不同盐度条件下,藻细胞毒力差异显著,且随着pH 升高而下降,随着盐度增加而加大,到盐度为30 时达到最高值,然后逐渐下降;菌株S10 (1. 02 ×1010cells·ml - 1) 在pH 7～9 和盐度15～34 下均能有效抑藻生长和产毒,且在pH 7 、盐度34 时其抑藻生长作用最强;在pH 7 时抑藻产毒效果较好,且其抑藻产毒作用强度不随盐度变化而异.国家重点基础研究发展规划项目(2001CB409710) 和国家自然科学基金资助项目(49676302 ,30200041

不同 pH和盐度下海洋细菌对赤潮藻生长和产毒的影响

研究了在可控生态条件下 ,一株分离自厦门西海域沉积物的海洋细菌S10 在不同pH和盐度条件下对赤潮原因种塔玛亚历山大藻 (Alexandriumtamarense)生长和产毒的影响 .结果表明 ,实验用藻株适宜生长 pH为 6～ 8,适宜盐度为 2 0～ 34;该藻株在不同pH及不同盐度条件下 ,藻细胞毒力差异显著 ,且随着pH升高而下降 ,随着盐度增加而加大 ,到盐度为 30时达到最高值 ,然后逐渐下降 ;菌株S10 (1.0 2× 10 10cells·ml-1)在pH 7～ 9和盐度 15～ 34下均能有效抑藻生长和产毒 ,且在 pH 7、盐度 34时其抑藻生长作用最强 ;在 pH 7时抑藻产毒效果较好 ,且其抑藻产毒作用强度不随盐度变化而异

Absolute Asymmetric Synthesis and Resolution Mechanism of Chiralcis-bromoamminebis(ethylenediamine)cobalt(III) Bromide

分别用绝对不对称合成和改进的拆分方法制备标题配合物!-(+)D-cis-[CoBr(NH3)(en)2]Br2(1)和"-(-)D-cis-[CoBr(NH3)(en)2]Br2(2),以及制备了cis-[CoBr(NH3)(en)2]Br·22H2O(3)(en=1,2-乙二胺).用元素分析、差热-热重、旋光度、UV-Vis、CD光谱等对产物进行了表征.通过CD光谱法获得了绝对不对称合成Co(III)配合物的产物ee值分布图.当利用绝对不对称合成得到的手性Co(III)配合物去“逆向拆分”外消旋溴代樟脑磺酸铵[NH4(dl-BCS)]时只获得部分拆分,初步认为这与交互拆分过程中阴阳离子之间的有效手性识别有关,对于手性Co(III)配合物的绝对不对称合成还提出了一个新的反应机理,即“催化-结晶诱导”机理.The absolute asymmetric synthesis of the title complexes ?撰-(+)D-cis-[CoBr(NH3)(en)2]Br2(1) and ?驻-(-)D-cis-[CoBr(NH3)(en)2]Br2(2)(en=1,2-ethylenediamine) as well as the improved optical resolution of cis-[CoBr(NH3)(en)2]Br2·2H2O(3) are described in detail. The products were characterized by means of elemental analysis, TG-DTA, optical rotation, UV-Vis, and CD spectra. The distribution of enantiomeric excess(ee) of cis-[CoBr(NH3)(en)2]Br2 in the absolute asymmetric synthesis was obtained by the measurements of their CD spectra. It was found that the complete resolution of rac-cis-[CoBr(NH3)(en)2]Br2·2H2O was achieved by use of NH4(d-BCS) (ammonium d-α-bromocamphor-π-sulfonate) or NH4(l-BCS) while NH4(dl-BCS) could only be partially resolved by chiral cis-[CoBr(NH3)(en)2]Br2 at the same condition. It is deduced that there are notable differences in the chiral discrimination of the reciprocal resolution between cis-[CoBr(NH3)(en)2]Br2 and NH4BCS. Moreover, a new "catalysis-crystal induction" mechanism in the preparation of the chiral Co(III) complex is put forward.国家自然科学基金(20171037,20373056);; 福建省自然科学基金(C0020001)资助项