基于模型的四足机器人步态转换控制研究

为了解决基于模型的控制方法在四足机器人步态转换过程中稳定控制问题,本文在仿生学和机构学基础上设计了一款四足机器人样机平台,并推导了机器人单腿运动学模型。在足端可达工作空间内规划了机器人抬腿高度和迈步步长,利用理想的复合摆线轨迹,通过合理控制步态周期,提出了一种过渡段变周期控制方法,实现了步态转换前后定速度控制和变步长控制,保证了步态转换前后速度不变或可变。为了验证所提算法的正确性和稳定性,分别开展了单腿足端轨迹实验和整机步态转换实验。在完成整机运动控制的基础上,对比了基于模型的控制方式和基于中枢模式发生器的控制方式在四足机器人步态转换过程的应用。仿真和实验结果表明,在基于模型的控制算法下,四足机器人可以实现步态的平滑转换,且速度能伴随步长和周期的变化实现调节,满足了不同速度下的行走要求,为四足机器的运动控制提供了参考。     

重金属污染土壤原位钝化修复研究进展

\t\t\t\t\t目的\t\t\t\t\t探究根施脯氨酸对铬胁迫下小麦幼苗生长的影响。\t\t\t\t\t\t\t\t\t\t\t\t\t方法\t\t\t\t\t以小麦品种轮选988为材料,采用溶液培养法,研究30 mg/L脯氨酸对160 mg/L Cr³⁺胁迫下的小麦根系的生理影响。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t结果\t\t\t\t\tCr³⁺胁迫严重抑制小麦生长。与单独Cr³⁺胁迫相比,根施脯氨酸后,小麦幼苗根长、株高、茎叶鲜重、茎叶干重、根鲜重和根干重分别上升了49.4%、17.9%、21.7%、35.4%、52.0%和38.7%;超氧化物歧化酶(SOD)、过氧化物酶(POD)、过氧化氢酶(CAT)和抗坏血酸过氧化物酶(APX)分别升高了8.51%、4.50%、8.19%和9.74%;引起超氧阴离子(\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tPuepose\t\t\t\t\tThe effect of proline on chrome (Cr³⁺) toxicity in wheat (Triticum aestivum L.) was studied.\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tMethod\t\t\t\t\tWheat seedlings exposed to 160 mg/L Cr³⁺ were treated with 30 mg/L proline.\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tResults\t\t\t\t\tCr³⁺ exposure depressed wheat growth. Compared with the single Cr³⁺ stress, after proline application, the root length, plant height, fresh weight of stem leaf, dry weight of stem leaf, root fresh weight and root dry weight of the seedlings increased significantly by 49.4%, 17.9%, 21.7%, 52.0% and 38.7%, respectively. And the activity of superoxide dismutase (SOD), peroxidase (POD), catalase (CAT) and ascorbate perxoidase (APX), increased by 8.51%, 4.50%, 8.19% and 9.74%, respectively; the contents of superoxide anion (O₂⁻·), hydrogen peroxide (H₂O₂), and malondialdehyde (MDA), rise significantly by 60.32%, 24.56% and 34.20%, respectively. Ultimately, the root activity increased by 1.67 times.\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tConclusion\t\t\t\t\tTherefore, exogenous proline could significantly improve the antioxidant capacity of wheat roots, and then it could enhance the resistance ability of wheat and alleviate the toxic effect of chrome on wheat seedlings.\t\t\t\t     

紫花苜蓿自然株高变量分析

测定了9个紫花苜蓿品种生长高峰期的自然株高，统计分析结果表明，紫花苜蓿6－9周龄生长高峰期，各品种平均自然株高与株龄间呈非常显著（P＜0．01）或显著正相关，线性回归方程估测相对误差除Ranger大于5％外，其余线性回归方程估测相对误差均小于5％。第9周龄的Travois和皇后苜蓿平均自然株高显著不显著。第9周龄的Travois和皇后苜蓿平均自然株高显著（P＜0．05）高于对照品种敖汉苜蓿平衡自然株高，其余各参试品种与对照品种敖汉苜蓿比较，平均自然株高株不显著。第9周龄平均自然株高排序前4位的品种依次为Travois, 皇后苜蓿，Ranger,Baker。     

绿洲膜下滴灌调亏对马铃薯土壤环境及产量的影响

为测定膜下滴灌调亏马铃薯全生育期内不同调亏水平土壤养分、土壤水热动态、生长动态、产量效应和水分利用效率,于2016年在河西荒漠绿洲灌区民乐县益民灌溉试验站开展了马铃薯不同生育阶段水分调亏灌溉的试验研究,结果表明,马铃薯膜下滴灌调亏土壤水热变化均匀且利用率高,有利于马铃薯对土壤养分的充分吸收和利用;土壤养分是土壤肥力的核心,是植物在生长发育过程中不可或缺的重要因素,膜下滴灌调亏栽培能有效减少土壤速效养分的流失,并提高马铃薯对土壤速效养分的利用效率;不同生育阶段马铃薯耗水量受水分调亏程度影响较大,其耗水量随调亏程度增大而显著减少(P0.05),水分调亏处理马铃薯全生育期总耗水量均低于全生育期充分灌水CK处理。块茎形成期轻度水分亏缺马铃薯水分利用效率、灌溉水利用效率、生物量均达到最大,较全生育期充分灌水显著提高29.04%,35.61%。因此,块茎形成期轻度水分亏缺灌溉方式能使马铃薯根区土壤始终保持湿润状态,有效减少渗漏损失和植株间无效蒸发损失,改善土壤水、肥和热量状况,有利于提高作物水分利用效率,且不显著降低马铃薯最终产量。     

羊附红细胞体巢式PCR检测方法的建立及临床应用

根据GenBank上发表的羊附红细胞体16SrRNA基因序列（登录号AF338268）设计2对引物,用巢式PCR方法扩增16SrRNA的部分序列,将目的片段克隆并测序。测序结果与AF338268相似性达99%以上,只有3bp的差异。该方法与猪附红细胞体、羊肺炎支原体、链球菌、葡萄球菌和大肠杆菌均无交叉反应,能检测到的最低DNA量为25fg。用于检测的28份临床样本中,23份为阳性。所建立的巢式PCR检测方法具有较高的敏感性和特异性,可用于羊附红细胞体病急性感染和隐性感染的早期诊断,为该病的临床检测、流行病学调查、进出口检疫和实验室研究提供了新的技术手段。     

二月兰不同翻压量对土壤肥力的影响

通过室内土壤培养试验,研究了绿肥二月兰（Orychophragmus violaceus）不同翻压量对土壤肥力的影响。结果表明,翻压二月兰可有效降低石灰性土壤pH值,45 000 kg·hm^-2（处理Ⅰ）和90 000 kg·hm^-2（处理Ⅱ）翻压量的土壤pH值在培养结束时（120 d）分别比对照降低了0.24和0.41个单位;翻压二月兰可显著提高土壤全氮、速效磷和速效钾含量,培养结束时处理Ⅰ、Ⅱ的土壤全氮、速效磷和速效钾含量分别比对照增加了0.06 g·kg^-1、2.00 mg·kg^-1、26.28 mg·kg^-1和0.09 g·kg^-1、3.32 mg·kg^-1、63.00 mg·kg^-1;土壤有效氮含量在翻压15天时达到峰值,此时处理Ⅰ、Ⅱ的有效氮含量分别比对照增加了12.95 mg·kg^-1和21.70 mg·kg^-1,但培养60天后各处理有效氮含量相近;翻压二月兰可在培养前期（22 d）较大幅度提高土壤有机碳含量,但22天后处理间差异缩小,培养结束时处理Ⅰ、Ⅱ的有机碳含量分别比对照增加了-0.06 g·kg^-1和0.33 g·kg^-1;翻压二月兰可降低土壤碳氮比,培养结束时处理Ⅰ、Ⅱ的碳氮比分别比对照下降了2.02和1.51个单位,降幅分别达到20.82%和15.58%。     

Mouse melanoma cell exosomes promote expression of Rac1 protein in fibroblasts

AIM To investigate the effect of exosomes secreted by mouse melanoma cells on the expression of Ras-related C3 botulinum toxin substrate 1 (Rac1) protein in fibroblasts. METHODS Ultracentrifugation was adopted to separete exosomes secreted by mouse melanoma B16-F10 cells. The morphological structure of exosomes was observed by negative-staining electron microscopy. The size distribution of exosomes was determined by nanoparticle tracking analysis (NTA). The exosomal markers, tumor susceptibility gene 101 (Tsg101) and tyrosinase-related protein 2 (Tyrp2), were identified by Western blot. Laser confocal microscopy was used to observe the process that mouse embryonic fibroblasts (MEF) took in exosomes during co-culture. Immunocytochemical staining and Western blot were used to detect the expression of Rac1 protein in MEF. RESULTS B16-F10 cell exosomes showed a typical tea tray-like structure, with a size range of 141~255 nm, and expressed protein markers Tsg101 and Tyrp2. The results of laser confocal microscopy showed that compared with co-culture at 0 h, a small number of exosomes appeared in the MEF at 12 h, and a large number of exosomes accumulated in the MEF after co-cultured for 24 and 36 h. Western blot analysis showed that compared with co-culture at 0 h, the expression of Rac1 protein in the MEF was significantly increased at 24 h and 36 h of co-culture (P<0.01). The results of immunocytochemical staining showed that compared with co-culture at 0 h, the positive expression level of Rac1 in the MEF cells was significantly increased at 12 h, 24 h and 36 h of co-culture (P<0.05 or P<0.01). CONCLUSION Intake of exosomes secreted by mouse melanoma cells promotes the expression of Rac1 protein in fibroblasts.     

Involvement of extracellular signal regulated kinase in the regulation of amyloid precursor protein processing in PC12 cells by TPPB

AIM: To explore the signal transduction pathways involved in the regulation of amyloid precursor protein (APP) processing by protein kinase C (PKC) activator TPPB.METHODS: PC12 cells were treated with TPPB (PKC activator) for 3 h and various signal transduction inhibitors were added to the conditioned medium to investigate their effects on α-secretase form of soluble amyloid precursor protein (sAPPα) secretion after TPPB treatment via Western blotting. Extracellular signal regulated kinase (ERK, p42/44MAPK) and phospho-p42/44MAPK were also measured after TPPB treatment.RESULTS: TPPB (1 μmol/L) significantly increased sAPPα secretion as compared with control group. The increase in sAPPα secretion by TPPB was partially blocked by ERK inhibitor U0126, c-Jun N-terminal kinase (JNK) inhibitor SP600125 and protein tyrosine kinase (PTK) inhibitor genistein, but not by p38MAPK inhibitor SB203580. TPPB (1 μmol/L) increased the expression of phospho-p42/44MAPK without altering total p42/44MAPK levels.CONCLUSION: ERK, JNK and PTK may be involved in the regulation of APP processing by TPPB.     

自发气调包装对蜂糖李采后生理及贮藏品质的影响

以蜂糖李为试验材料,采后通过4种不同的自发气调包装处理(PE40、PE30、PE20和微孔),对蜂糖李采后生理和贮藏期品质进行定期测定,研究不同的自发气调包装对蜂糖李采后生理及贮藏期品质的影响。通过对呼吸强度、乙烯释放率、总酚含量、PPO活性、贮藏期的微环境气体成分、果实硬度、可溶性固形物、可滴定酸、褐变指数、腐烂指数、含水率等指标的分析,发现自发气调包装袋的保鲜效果依次为PE40>PE30>PE20>微孔。在0℃条件下,采后用PE40自发气调包装处理对蜂糖李保鲜效果最好。