一类6自由度Delta型机器人运动学分析

为满足工业机器人多角度操作需求,提出了一类具有3组耦合分支,且对称分布的6自由度Delta型机器人。首先,将每组耦合分支拆分为独立运动单元,并等效为串联运动链,基于旋量理论求出等效后的运动自由度;其次,利用闭环矢量回路法分别计算耦合分支中每条主动链的位置逆解,建立机器人的逆运动学模型;在此基础上,提出一种搜索算法,用于描绘满足边界条件的机器人运动空间,并与相同尺度参数的3自由度Delta机器人进行对比。结果表明,3自由度Delta机器人的运动空间是所提机器人工作空间的子集。最后,根据理论分析,完成了工程样机的搭建与运动实验,实验结果表明,该Deta型机器人具有6个自由度运动能力,且所提运动空间搜索算法具有较高的计算精度。     

Potato absorption and phytoavailability of Cd,Ni, Cu,Zn and Pb in sierozem soils amended with municipal sludge compost

Effects of sludge utilization on the mobility and phytoavailability of heavy metals in soil-plant systems have attracted broad attention in recent years. In this study, we analyzed the effects of municipal sludge compost(MSC) on the solubility and plant uptake of Cd, Ni, Cu, Zn and Pb in a soil-potato system to explore the mobility, potato plant uptake and enrichment of these five heavy metals in sierozem soils amended with MSC through a potato cultivation trial in Lanzhou University of China in 2014. Ridge regression analysis was conducted to investigate the phytoavailability of heavy metals in amended soils. Furthermore, CaCl_2, CH_3 COONH_4, CH_3COOH, diethylene triamine pentacetic acid(DTPA) and ethylene diamine tetraacetic acid(EDTA) were used to extract the labile fraction of heavy metals from the amended soils. The results show that the MSC could not only improve the fertility but also increase the dissolved organic carbon(DOC) content of sierozem soils. The total concentrations and labile fraction proportions of heavy metals increase with increasing MSC percentage in sierozem soils. In amended soils, Cd has the highest solubility and mobility while Ni has the lowest solubility and mobility among the five heavy metals. The MSC increases the concentrations of heavy metals in the root, stem, peel and tuber of the potato plant, with the concentrations being much higher in the stem and root than in the peel and tuber. Among the five heavy metals, the bioconcentration factor value of Cd is the highest, while that of Ni is the lowest. The complexing agent(DTPA and EDTA) extractable fractions of heavy metals are the highest in terms of phytoavailability. Soil properties(including organic matter, p H and DOC) have important impacts on the phytoavailability of heavy metals. Our results suggest that in soil-potato systems, although the MSC may improve soil fertility, it can also increase the risk of soils exposed to heavy metals.     

基于气相离子迁移谱的热处理对催熟香蕉的挥发性物质分析

以香蕉果实为试验材料,利用热激、低温和催熟处理采后香蕉果实,采用气相离子迁移谱检测香蕉的挥发性物质,研究热处理对催熟香蕉果实挥发性物质的影响。结果表明:与对照相比,7 ℃ 6 d+催熟3 d和H+7 ℃ 6 d+催熟3 d 2个处理均明显降低了糠醇、苯甲醛、4-甲基苯酚、己酸乙酯、二甲基二氧杂环酮、1-戊醇、己二酮、3-甲基丁酸、2-甲氧基苯酚、2-己醇、丁酸乙酯等组分的含量;相反,这2个处理均明显增加了丙醇、乙酸丙酯、戊酮-2,3-二酮、二甲基二硫、2,3-丁二醇、甲基吡嗪、3-甲基丁酸乙酯、α-蒎烯、1-辛烯-3-醇、二甘醇二甲醚、E-2-辛烯醛、E,Z-2,6-壬醛、顺式-3-己烯醇、辛酸、庚烷-2-酮等组分的含量。另外,H+7 ℃ 6 d+催熟3 d处理明显增加了羟基丙酮、3-甲基-3-丁烯-1-醇、3-甲基-2-丁醇等组分的含量。与7 ℃ 6 d+催熟3 d相比,H+7 ℃ 6 d+催熟3 d处理明显降低了三乙胺、苯酚、2-戊酮、2-戊基呋喃、癸醛、E-2-辛烯醛、甲硫基丙醛、2-己醇、2,3,5-三甲基吡嗪等组分的含量,导致这些组分含量与对照基本一致。进一步研究发现,热处理能明显降低7 ℃冷藏香蕉果实的冷害指数,减轻香蕉果实的冷害症状。热处理诱导催熟香蕉果实上述挥发性物质的变化,可能与热处理诱导香蕉果实产生抗冷性的过程密切相关。     

Progress of ELMO family on malignant tumor invasion and metastasis

It is one of the main characters of malignant tumors that malignant tumor cells invade surrounding tissues and metastasize to distant tissues. Multiple factors are involved in this complicated dynamic process. Metastasis is the major factor influencing recurrence and prognosis. Therefore, it is important to explore the mechanism of invasion and metastasis for reducing recurrence rate and mortality of malignant tumors. Engulfment and cell mobility (ELMO) family is one kind of conserved protein in evolutional process. It includes 3 members, ELMO1, ELMO2 and ELMO3. The members of ELMO family play an important role in cell phagocytosis and cell migration, and they also have close correlation with malignant tumor cell invasion and metastasis. In this paper, we review the progress of the relationship between ELMO family and malignant tumor invasion and metastasis.     

Changes in Cd,Cu, Ni,Pb and Zn Fractionation and Liberation Due to Mussel Shell Amendment on a Mine Soil

Mining activities are related to relevant environmental pollution issues that should be controlled. We used sequential extractions to fractionate Cd, Cu, Ni, Pb and Zn retained on unamended or mussel shell‐amended mine soil samples, all of them treated with a mixture of the five heavy metals (total metal concentration of 1·57 mmol L⁻¹), after 1, 7 and 30 days of incubation. In addition, we used the stirred flow chamber technique to study the release of each of the five heavy metals from these different unamended and shell‐amended soil samples. The results indicate that the shell amendment caused a decrease in the most soluble fraction, while increasing the most recalcitrant (least mobile) fraction. With equivalent implications, the stirred flow chamber experiments showed that mussel shell amendment was associated to a decrease in heavy metal release and increased retention. The highest mussel shell dose and incubation time caused the most relevant changes in pH values and thus in metal retention, also indicating the importance of pH modifications in the mechanism of retention acting in the amended samples. In view of these results, the use of mussel shell amendment can be encouraged to increase heavy metal retention in acid mine soils, in order to minimise risks of environmental pollution. Copyright © 2016 John Wiley & Sons, Ltd.     

中学体育教师的社会流动——基于公立与私立中学比较的视野

改革开放以来，伴随着社会结构的重大变迁，社会流动的问题引起了学术界的高度重视。然而，这一问题尚未进入体育学术界的主流研究视野，特别是有关中学体育教师社会流动的研究还十分薄弱。以个案研究为主要方法，选取广州市公立与私立中学各3所，对其72名被调查对象的代际流动和代内流动进行了比较，并以“合理的社会流动是社会良性运行的重要机制”、“复制式社会流动与替代式社会流动”、“希望与现实的差距”、“加强法规制度建设，促进中学教师合理有序的流动”等几点思考替代了本文的研究结论。     

The borders within: Mobility and enclosure in the Riau Islands1

Abstract: The border studies literature makes a strong case against claims for unfettered transnationalism and ‘borderlessness’ in our ‘globalising world’. However, its focus on movement across borders means that it fails to address bordering practices that occur within the nation‐state as a result of transnational activity. In this paper, we extend Cunningham and Heyman’s concepts ‘enclosure’ and ‘mobility’ to confront the different layers of bordering (both physical and non‐physical) that have occurred in Indonesia’s Riau Islands since they became part of the Indonesia–Malaysia–Singapore Growth Triangle.     

重金属迁移与土壤性质的关系

Cu, Zn, Pb and Hg runoff from yellow limestone soil and purple soils and the relationships between the mobility of the heavy metals and the soil characteristics were studied in laboratory using a rainfall simulator. The results showed that the concentrations of soluble Zn in surface runoff were significantly negatively correlated with the contents of < 0.002 mm particles and CEC of the soils, indicating that Zn was mostly adsorbed by clays in the soils. The contents of Cu and Hg in surface runoff were positively related to their contents in the soils. The amounts of Cu, Zn, Pb and Hg removed by surface runoff were influenced by the amounts of soil and water losses and their contents in the soils, and were closely related to the contents of soil particles 1~0.02 mm in size.     

Redistribution of 10B Absorbed by Leaves and Roots of Cashew Seedlings

Boron (B) is transported mainly in the xylem, but by using isotopic tracers it was possible to verify that B has significant mobility in the phloem of polyols-producing species. Thus, the objective of this study was to evaluate the mobility of ¹⁰B applied to cashew plants. The experiment was conducted from 05/10 to 07/10/2010 in a greenhouse of University of São Paulo State-UNESP, Ilha Solteira Campus, State of São Paulo, Brazil. 0.5 mg of B L^?1 of soil was used in the substrate. A solution of 255 mg of B L^?1 was used in recently mature and fully developed leaves. The total content of B and and percentage of boron in the plant derived from fertilizer (Bppf%) were evaluated in the old and new leaves stemming at 30 and 60 days after the application of ¹⁰B. As evidenced, B applied to leaves had restricted mobility in cashew tree. However, B applied in the substrate was absorbed and translocated to young leaves.