一般6R机器人的高精度逆运动学优化算法

为提高一般6R机器人逆运动学算法的精度和效率,提出一种基于符号运算和矩阵分解的优化算法。对6个基础逆运动学方程作变换,采用符号运算预处理得到14个逆运动学方程,避免大量浮点数计算累积误差。利用其中6个方程与关节变量3无关的特点,将目标矩阵从24阶降低到16阶,包含的关节变量从3个增加到4个。把一元16次方程求根问题转换为矩阵特征分解问题,并选取较高数量级的相关数据元素计算关节变量,进一步提高了算法精度。以一般6R机器人为例,求解结果表明,提出的算法能够得到具有任意期望精度的最多16组实数逆运动学解。     

Synthesis and Anthelmintic Activity of 7-Hydroxy- 5-oxo-5H-thieno[3,2-b]pyran-6-carboxanilides and -6-thiocarboxanilides

7-Hydroxy-5-oxo-5H-thieno[3,2-b]pyran-6-carboxanilides and -6-thio-carboxanilides represent a novel series of anthelmintic compounds, with broad-spectrum activity against important parasitic nematodes in sheep and dogs. In particular, an improved efficacy against Trichostrongylus colubriformis in sheep over the related 3-carbamoyl-4-hydroxycoumarins has been noted. New synthetic routes to the key intermediate, 7-hydroxythieno[3,2-b]pyran-5-one, have been developed.     

系统引用外部应用程序的对象库

以Visual Basic 6．0这种高级语言开发多要素系统为例,主要介绍在处理具有相关性的各要素组成多要素系统时需要注意的问题及其解决方法,同时阐述了系统相关ActiveX控件的调用及其使用方法。此外,本多要素系统也实现了外部应用程序Microsoft Office对象库Access 2000的引用,同时完成与本多要素系统相关的程序代码。     

6%精喹·嗪酸乳油防除花生田杂草

田间试验结果表明,6%精喹.嗪酸乳油作茎叶处理对马唐、牛筋草、稗草、反枝苋、藜等杂草均有较好的除草效果。推荐应用剂量为有效量45~54 g/hm2(商品量750~900 mL/hm2),药后20 d对杂草的鲜重防效在95%以上。在推荐剂量范围内对花生安全,一次施药即能有效防除花生田全生育期的杂草,除草效果好。     

植物生长调节剂处理对金桔幼果生长的影响

为确定最适用于金桔幼果生长的植物生长调节剂种类及浓度,在金桔第二批花期后幼果膨大期,分别用4种浓度梯度的赤霉素（GA3）、6-苄氨基嘌呤（6-BA）和芸苔素（BR）对金桔果树进行喷施试验,结果表明：各处理果实的横径增加2.47%-12.21%,纵径增加6.33%-16.33%,可溶性蛋白含量增加1.07-1.87倍,过氧化物酶活性提高1.21-5.16倍,有9个处理可溶性糖含量增加,7个处理的还原糖含量提高,9个处理的果形指数增大,各处理对幼果果柄长度无显著增大。对处理后的8个相关品质指标进行主成分分析,结果表明T7(60 mg/L 6-BA)处理更有利于金桔幼果的生长。     

A 13CO2 Enrichment Experiment to Study the Synthesis Pathways of Polyunsaturated Fatty Acids of the Haptophyte Tisochrysis lutea

The production of polyunsaturated fatty acids (PUFA) in Tisochrysis lutea was studied using the gradual incorporation of a ¹³C-enriched isotopic marker, ¹³CO₂, for 24 h during the exponential growth of the algae. The ¹³C enrichment of eleven fatty acids was followed to understand the synthetic pathways the most likely to form the essential polyunsaturated fatty acids 20:5n-3 (EPA) and 22:6n-3 (DHA) in T. lutea. The fatty acids 16:0, 18:1n-9 + 18:3n-3, 18:2n-6, and 22:5n-6 were the most enriched in ¹³C. On the contrary, 18:4n-3 and 18:5n-3 were the least enriched in ¹³C after long chain polyunsaturated fatty acids such as 20:5n-3 or 22:5n-3. The algae appeared to use different routes in parallel to form its polyunsaturated fatty acids. The use of the PKS pathway was hypothesized for polyunsaturated fatty acids with n-6 configuration (such as 22:5n-6) but might also exist for n-3 PUFA (especially 20:5n-3). With regard to the conventional n-3 PUFA pathway, Δ6 desaturation of 18:3n-3 appeared to be the most limiting step for T. lutea, “stopping” at the synthesis of 18:4n-3 and 18:5n-3. These two fatty acids were hypothesized to not undergo any further reaction of elongation and desaturation after being formed and were therefore considered “end-products”. To circumvent this limiting synthetic route, Tisochrysis lutea seemed to have developed an alternative route via Δ8 desaturation to produce longer chain fatty acids such as 20:5n-3 and 22:5n-3. 22:6n-3 presented a lower enrichment and appeared to be produced by a combination of different pathways: the conventional n-3 PUFA pathway by desaturation of 22:5n-3, the alternative route of ω-3 desaturase using 22:5n-6 as precursor, and possibly the PKS pathway. In this study, PKS synthesis looked particularly effective for producing long chain polyunsaturated fatty acids. The rate of enrichment of these compounds hypothetically synthesized by PKS is remarkably fast, making undetectable the ¹³C incorporation into their precursors. Finally, we identified a protein cluster gathering PKS sequences of proteins that are hypothesized allowing n-3 PUFA synthesis.     

Minimally modified low-density lipoprotein up-regulates endothelin receptors in mouse mesenteric artery through p38 MAPK pathway

AIMTo investigate whether minimally modified low-density lipoprotein (mmLDL) affects the quantity and activity of endothelin （ET） type A (ET_A) and type B (ET_B) receptors in mouse mesenteric artery by activating p38 mitogen-activated protein kinase (MAPK) inflammatory pathway. METHODSThe KM mice were divided into normal saline (NS) group (injection of NS via caudal vein), mmLDL group (injection of mmLDL via caudal vein), LDL group (injection of LDL via caudal vein), mmLDL+SB 203580 group (injection of mmLDL via caudal vein and intraperitoneal injection of p38 MAPK pathway specific inhibitor SB 203580) and mmLDL+DMSO group (injection of mmLDL via caudal vein and intraperitoneal injection of DMSO). Mesenteric artery ring segment vasoconstriction dose-response curves affected by sarafotoxin 6c (S6c) and ET-1 were recorded by the myography system. The mRNA levels of ET_B receptor, ET_A receptor and interleukin-6 (IL-6) were detected by RT-qPCR. The protein levels of ET_B receptor, ET_A receptor, IL-6, p38 MAPK, p-p38 MAPK, NF-κB and p-NF-κB were determined by Western blot. The serum concentration of IL-6 was measured by ELISA. RESULTSThe contractile responses of the blood vessel segments to S6c and ET-1 were significantly increased by mmLDL (P<0.01). The mRNA and protein expression levels of ET_A receptor, ET_B receptor, and IL-6 significantly increased (P<0.01). The protein levels of p-p38 MAPK and p-NF-κB were significantly increased (P<0.01). The serum level of IL-6 was significantly increased (P<0.01). These effects of mmLDL were inhibited by p38 MAPK inhibitor SB 203580. CONCLUSION mmLDL increses the serum concentration of IL-6, up-regulates the expression of IL-6, ET_A receptor and ET_B receptor in mouse mesenteric artery, and enhances the vasoconstriction function medi?ated by ET_A and ET_B receptors, which is related to the activation of p38 MAPK inflammatory pathway and downstream NF-κB pathway.     

不同浓度NAA/6BA配比对不同品种甘薯茎尖培养特性的影响

为明确不同品种甘薯茎尖培养的最佳NAA/6BA配比,设置0.1 mg/L/2.5 mg/L、0.2 mg/L/2.5 mg/L、0.2 mg/L/1.0 mg/L 3组NAA/6BA浓度配比处理,观测不同浓度激素处理对‘北京553’、‘红香蕉’、‘苏薯8号’、‘烟薯25’、‘安吉芋’、‘济徐23’、‘渝紫7号’、‘商薯19’茎尖培养成苗率、愈伤组织直径、不定根数目、叶片数和植株高度的影响,同时调查不同品种试管苗的移栽成活率。结果表明,‘红香蕉’、‘济徐23’、‘渝紫7号’、‘商薯19’在0.1 mg/L/2.5 mg/L的处理下培养效率最高;‘安吉芋’在0.2 mg/L/2.5 mg/L的处理下培养效率最高;‘苏薯8号’、‘北京553’、‘烟薯25’在0.2 mg/L/1.0 mg/L的处理下培养效率最高。因此,在甘薯茎尖培养过程中,不同甘薯品种适宜的NAA/6BA配比存在显著差异,在实际生产中应根据品种特性来进行调整激素的用量和比例。     

复硝酚钠与胺鲜酯对棉花化肥吸收率的影响

【目的】研究复硝酚钠(CSN)与胺鲜酯(DA-6)2种植物生长调节剂,分别和化肥复配施用对棉花化肥吸收率的影响。【方法】通过复硝酚硝与胺鲜酯分别和化肥复配施用,采集棉花2叶期、4叶期、6叶期各20株,测定棉株鲜重,干重,以及全氮、全磷和全钾含量,计算棉花3个时期的干物质比、氮吸收率、磷吸收率、钾吸收率,与CK相比较,分析复硝酚钠与胺鲜酯对棉花肥料吸收率的影响。【结果】复硝酚钠和化肥复配施肥后,棉花对肥料的吸收率在2叶期时氮、磷、钾吸收率分别提高了10.76%、0.87%和10.4%。4叶期时氮、磷、钾吸收率分别提高了18.5%、2.34%和24.86%。6叶期时氮、磷、钾吸收率分别提高了31.14%、5.33%和35.56%;胺鲜酯和化肥复配施肥后棉花对肥料的吸收率在2叶期时氮、磷、钾吸收率分别提高了8.31%、0.85%和9.25%。4叶期时氮、磷、钾吸收率分别提高了11.51%、1.48%和15.66%。6叶期时氮、磷、钾吸收率分别提高了27.11%、4.49%和30.31%。【结论】复硝酚钠与胺鲜酯与化肥复配施用,对棉花化肥吸收率有明显的促进作用。     

长枝木霉T6菌株对美洲南瓜枯萎病菌的抑制作用

为探明长枝木霉T6菌株对美洲南瓜枯萎病菌的作用机理,采用对峙培养、显微观察、孢子萌发、室内防效测定等方法研究其抑制能力和防治效果。结果表明：长枝木霉T6菌株对美洲南瓜枯萎病菌具有较强的抑制作用,对峙培养7 d时,长枝木霉T6菌株对该病菌的抑制率为60.09%;显微形态观察表明：长枝木霉T6菌株菌丝与美洲南瓜枯萎病菌菌丝发生缠绕;长枝木霉T6菌株发酵液对美洲南瓜枯萎病菌分生孢子萌发具有明显的抑制作用,抑制率为31.00%;长枝木霉T6菌株对美洲南瓜枯萎病具有较好的防治效果,室内盆栽防效为69.06%。