Moving Target Tracking of Robot Based on Human Simulated Intelligent Control

基于仿人智能控制理论,设计了轮式机器人动态目标跟踪控制方案.通过特征提取与识别对机器人感知状态空间进行划分,建立感知模态,结合多种控制方法,构成不同的控制模态,并利用产生式规则使不同的感知驱动相应运动控制.以中型机器人frOnTIEr-I为例,进行了仿真与实物控制实验,并与传统PId进行对比.结果表明该算法具有较好的轨迹优化和快速响应能力.A target tracking control system for wheeled robot is proposed based on human simulated intelligent control theory.Firstly,the perception space is divided into several modes through character extraction and recognition.Secondly,different control modes are built by combining different basic control methods.Finally,the corresponding motion control is driven by different perception according to production rule.Based on some middle-sized robot,Frontier-I,many experiments have been done in simulation and actual environment respectively,and are compared with the traditional PID control method.Experiment results show that the built controller has track optimizing capacity and fast responding ability.国家自然科学基金资助项目(60443004);重庆市教委科技项目(KJ080621

Investigation of behaviour of particle impact on material by impinging jet

颗粒冲击材料现象广泛存在于自然界以及工业领域中。应用实验测量与数值计算相结合的方法研究了颗粒射流冲击材料(304不锈钢)的磨损行为。考虑了颗粒粒; 径、运动轨迹、颗粒-壁面撞击点分布以及所导致材料物相结构变化。实验测试包括材料质量损耗、材料元素X射线衍射(XRD)分析、表面微观结构扫描电镜(; SEM)观察。对相应的颗粒射流冲击材料行为进行了数值计算,获得流场,颗粒场以及相应材料磨损。结果表明:颗粒射流冲击下颗粒运动轨迹与撞击点的分布不; 同,造成了材料样品表面磨损区域明显不同。颗粒-壁面碰撞不仅会导致材料损失而且会造成材料物相结构的变化。Particle-material impact is popular in the nature and industries. In; this work, experimental measurement and numerical calculation were; carried out to investigate the particle impinging jet effect on the; behaviour of material (304 stainless steel). Herein, particle diameter,; particle tracking trajectories, particle-wall collision point; distribution were considered to study material loss and the phase change; of material structure. In the experimental work, the measurements were; carried out for material mass loss, material element X-ray; diffractometry (XRD) analysis, surface micro-structure scanning electron; microscopy (SEM) observation and so on. In addition, the behaviour of; particle impinging jet impact on wall material was studied by numerical; simulations. Particularly, flow fields, particle trajectories and wall; material loss were obtained. The results show that particle collision; point distribution is quite different from their tracking trajectories; under particle impinging jet impact, which causes the wear zones on; sample surface different from each other obviously. It is concluded that; particle-wall impact will not only lead to material loss but also cause; the phase change of material structure.国家自然科学基

Population ecology of Ligophorus hamulosus on Liza carinatus

棱鮻(lIzA CArInATuS)样品于2000年12月--2001年10月取自广东湛江。按常规方法从鱼鳃上挑取小钩鲻鱼虫(lIgOPHOruS HAMulOSuS),进行压片、计数。结果显示:随着宿主体长的增长,小钩鲻鱼虫种群的平均密度、平均感染强度呈上升趋势;从12月到次年4月,其平均密度和平均感染强度上升,随后呈下降趋势,8月最低,10月略有回升;小钩鲻鱼虫种群在不同大小的宿主上和在不同季节均呈聚集分布。Ligophorus hamulosus was collected from the gills of Liza carinatus,which were captured in Zhanjiang,Guangdong Province from Dec,2000 to Nov.2001.The routine Parasitology methods were adopted in the study.The results showed that the abundance and the mean intensity of L.hamulosus population were increased with the increase of body length.From Dec.towards next Apr.the abundance and the mean intensity was increased,and afterwards they declined the lowest in Aug.but in Oct.they were increased slightly.The prevalence seemed to be decreased with the increase of the mean water temperature.The frequency distribution and the population parameters of L.hamulosus showed that the parasite populations in the host population group were over-dispersed for different body length and in different seasons.国家自然科学基金(39870144);广东省自然科学基金(980314

The Effects of Benzo [a] Pyrene (BaP) Exposure on the CYP1A1 mRNA and AhR2 mRNA Expression of Red Seabream(Pagrus major)

通过水体暴露方式对海水养殖真鲷进行bAP持续染毒,利用实时定量PCr技术研究了真鲷细胞色素P450基因(CyP1A1)和芳香烃受体基因(AHr2)随bAP暴露剂量、时间的动力学变化。结果发现,0.1~1.5μg/l环境浓度的bAP能够显著性诱导CyP1A1基因和AHr2基因的表达,且AHr2 MrnA早于CyP1A1 MrnA被诱导表达;bAP持续暴露48 H,CyP1A1和AHr2基因的表达水平均随暴露时间的延长而显著升高,染毒72 H后又回复到本底水平,实验表明这两个基因的表达与bAP的暴露剂量和暴露时间之间具有显著性的剂量-效应和时间-效应关系。The gene expression patterns of CYP1A1 and Aryl hydrocarbon receptor(AhR2) of red seabream(Pagrus major) were both measured using real-time quantitative PCR(qPCR) when fish exposed to environmentally relevant concentration of BaP(0.1,0.5 and 1.0 μg/L,respectively).The results showed that CYP1A1 mRNA and AhR2 mRNA could be induced significantly,besides,the time of AhR2 mRNA induced ahead of the time of CYP1A mRNA induced.The two genes were induced markedly at the begining of BaP exposure,and then decreased to the basal levels after 72 h.The results demonstrate that BaP can regulate CYP1A1 and AhR2 transcript in a dose and time dependent manner.国家“863”计划重点资助项目(2007AA091406);国家自然科学基金资助项目(30770391

Adsorption behavior of Fe-Mn binary oxide towards As(Ⅲ) and As(Ⅴ) and its application in biogas slurry

研究了铁锰复合氧化物(fMbO)吸附去除AS(Ⅲ)、AS(V)的性能。结果表明fMbO对AS(Ⅲ)、AS(V)均具有较好的吸附能力,其饱和吸附量分别为111.10、71.40 Mg·g-1。AS(Ⅲ)和AS(V)是通过与fMbO表面的fE—OH基团进行交换并形成内层络合物的形式被fMbO吸附,且AS(Ⅲ)的吸附是吸附和氧化共同作用的结果。另外,沼液中共存离子对AS(Ⅲ)和AS(V)的吸附有不同的影响。zn2+能够增加fMbO对AS(Ⅲ)、AS(V)的吸附量,且增加幅度随着zn2+浓度的增加而增加;磷酸根对AS(Ⅲ)、AS(V)的吸附有明显的抑制作用,当磷与砷的分子摩尔比为1时,fMbO对AS(Ⅲ)、AS(V)的吸附量分别降低了34.70%、31.50%;但是有机物(腐殖酸、动物蛋白及尿素)对fMbO吸附AS(Ⅲ)、AS(V)的影响不大。利用fMbO对实际沼液中的砷进行吸附,结果表明砷的去除率平均达到65%左右,使吸附后某些沼液中砷的浓度达到生活饮用水标准和地表水排放标准。因此,将fMbO用于砷污染的沼液及水体的治理具有很好的应用前景。The adsorption behavior of arsenite(As(Ⅲ)) and arsenate(As(Ⅴ)) by Fe-Mn binary oxide(FMBO) was studied.The results indicated that FMBO had strong adsorption ability to both As(Ⅲ) and As(Ⅴ) and the maximum adsorption capacity was 111.10, 71.40 mg·g-1 respectively.As(Ⅲ) and As(Ⅴ) were adsorbed on FMBO surface through forming inner-sphere surface complexes by ligand exchange with hydroxyl groups, and As(Ⅲ) removal by FMBO was through an oxidation and adsorption combined process.In addition, the influences of co-existing substances generally present in biogas slurry were examined.Zinc ion could promote As(Ⅲ) and As(Ⅴ) adsorption on FMBO and the adsorption capacity increased with increasing zinc ion concentration.Phosphate had significant effect on As(Ⅲ) and As(Ⅴ) removal.When P/As ratio was equal to 1, the adsorption capacity of As(Ⅲ) and As(Ⅴ) was reduced by 34.70%, 31.50%, respectively.However, organics, such as humic acid, animal protein and carbamide had no significant effect on As(Ⅲ) and As(Ⅴ) removal.Moreover, FMBO as adsorbent for removal arsenic of actual biogas slurry was investigated.The average removal rate of arsenic of actual biogas slurry was about 65%, decreasing the arsenic concentration of some biogas slurry to the drinking water and surface water discharge standard.Therefore, FMBO could be an attractive adsorbent for both As(Ⅴ) and As(Ⅲ) removal from biogas slurry.国家重点基础研究发展计划项目(2013CB733505); 国家自然科学基金项目(21077086)~

“动物酵素营养液”对母猪便秘的影响

从200头母猪中选出同一时期怀孕的母猪40头做两次试验,以验证“动物酵素营养液“对母猪便秘的影响。结果显示,A组试验,试验组便秘猪痊愈,治愈时间短,且没发现复发情况。b组试验,对照组有便秘情况发生,腹泻发病率达14.46%,仔猪死淘率达13.25%,试验组无便秘发生,腹泻发病率仅为3.125%,仔猪死淘率仅为1.56%。黑龙江省教育厅自然科学研究项目:酵素在黑龙江省养猪生产中的应用研究。项目编号为1253515

HIV-1 gp160截短蛋白在酿酒酵母中的表达

利用PCR技术从pNL-43上扩增出截短的编码gp160蛋白的基因片断,克隆到酿酒酵母表达载体YEpFLAG-1上构建表达质粒YEp-gp160Δ12,电转化到酿酒酵母中,用缺色氨酸的SC培养基筛选出阳性克隆,重组子经YP培养基诱导后进行全菌蛋白的SDS-PAGE和Western Blotting分析,筛选出高表达菌株.纯化后的重组gp160Δ12(rgp160Δ12)蛋白经ELISA鉴定显示具有良好的生物活性

X射线双星系统的探测

搜寻X射线双星并建立大规模样本是解决众多科学问题(如\"银河系中有多少黑洞X射线双星?黑洞和中子星之间有无质量间隙?球状星团中有无黑洞?\"等)的基础.爱因斯坦探针卫星拥有更灵敏的探测能力,将在运行的几年之中,预计可以发现一批新的中子星和黑洞X射线双星,研究其空间和动力学质量分布成为解决上述问题的关键.国家重点研发计划(编号:2016YFA040080X);;国家自然科学基金(编号:1133305);;中国科学院战略性先导科技专项(编号:XDA15052100,XDB23040000)资助项

重组毕赤酵母高密度发酵表达H5N1禽流感病毒糖蛋白

在10L发酵罐中,对高致病性禽流感病毒H5N1糖蛋白HA1在重组毕赤酵母中的表达发酵工艺进行了研究。通过分批补料培养方法探讨不同培养温度、诱导温度、补料方式、微量元素等因素对菌体的生长以及重组蛋白表达和活性的影响。结果表明,菌种培养和诱导温度均为25oC时,菌体的生长、分泌表达量和与广谱中和抗体的反应活性较好;微量元素是影响重组HA1蛋白生物活性的重要因素;通过优化高密度发酵工艺,H5N1病毒糖蛋白HA1在发酵罐中的表达量比摇瓶培养提高10.5倍,达到约120mg/L,为大规模制备高致病性禽流感病毒的HA1蛋白奠定了基础

动物酵素营养液对保育猪呼吸道疾病影响的研究

本试验选择28日龄的仔猪,喂养动物酵素营养液至70日龄,结果表明:酵素组的仔猪中,康复率为75%,28.6%完全康复,57.1%转为轻微患病,14.3%处于严重状态,在对照组中只有40%完全康复,严重时有1头死亡,4头转为轻微患病,说明动物酵素营养液对仔猪呼吸道疾病有较好的促进康复的效果