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提出一种机器人稳态分析新方法,以D-H矩阵的逆矩阵,构建由工具坐标系到机械臂关节空间坐标系之间的线性射映关系,即一种新型的雅可比矩阵,由此导出由工具坐标系到关节坐标系之间力和力矩的传递函数。和传统的稳态分析方法相比,减少矩阵叉积次数,且能得出和关节空间力和力矩关系相一致的表态式,并能用D-H矩阵验证求解的正确性。 相似文献
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海南胶园不同母质发育砖红壤磷素形态特征研究 总被引:1,自引:0,他引:1
采用Hedley磷分级方法对海南胶园5种母质15个砖红壤磷素形态进行了研究。结果表明:由于变幅较大,砂页岩、花岗岩、片麻岩、浅海沉积物和玄武岩5种母质砖红壤Resin-P含量间、NaHCO3-Pi含量间、NaOH-Pi含量间和HCl-P含量间差异均不显著。所有土壤各级磷中残余态磷含量和百分比均最高,且玄武岩发育砖红壤上残余态磷含量和百分比含量均显著高于其他4种母质砖红壤。5种母质砖红壤中浅海沉积物发育砖红壤有机磷总量最低,所有土壤有机磷占全磷百分比的平均值为14.67%;除浅海沉积物发育砖红壤外,其他4种母质发育砖红壤上有机磷均以NaOH-Po为主,其占有机磷总量百分比的平均值为83.68%。Resin-P、NaHCO3-Pi、NaOH-Pi和HCl-P 4个无机磷组分含量间显著或极显著水平正相关,且均与土壤Bray 2提取态磷呈极显著的正相关。NaHCO3-Po和NaOH-Po两个有机磷组分含量间呈极显著正相关,NaHCO3-Po、土壤有机磷总量均与土壤有机质含量呈显著正相关。 相似文献
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模拟降雨条件下施磷量对褐土无机磷含量及形态转化的影响 总被引:1,自引:0,他引:1
采用室内土柱模拟试验,研究在山东平均降雨条件下不同施磷量对褐土各组分无机磷含量及形态转化的影响.结果表明,经过模拟降雨后,在0~10 cm土层中,各施磷处理的无机磷总量随着施磷量的增加而升高;随着土层的加深(10~50 cm),各土层无机磷总量是施磷量为P2(180 kg/hm2)时最高.而在10-30 cm土层,是施磷量为P3(1440 ks/hm2)的土壤无机磷总量高于P1,而在30~50 cm则是P1高于P3.同时,不同施磷量对磷组分含量及其占无机磷总量的比例都发生了改变,当施磷量分别为P1、P2和P3时,各无机磷组分的含量及所占比例按高低排序分别为:Ca10-P>Al-P,O-P>Ca8-P>Fe-P>Ca2-P;O-P>Ca8-P,Ca10-P>Fe-P,AI-P>Ca2-P和Ca10-P,O-P>Fe-P,Ca8-P>Al-P>Ca2-P.随着土层深度的加深,O-P、Fe-P和Ca10-P的含量保持相对稳定,而有效态无机磷源(Ca2-P、Ca8-P和AI-P)有降低的趋势;在小雨强度下,不同施磷量处理的土壤磷淋失量差异不显著,而随着降雨强度的加大,P3处理的土壤磷淋失量明显高于PI和P2处理的磷淋失量.以上结果说明,施磷量显著影响无机磷总量、各组分无机磷含量及其转化;在大于中等降雨条件下,高磷处理磷淋失量明显高于低磷处理磷淋失量. 相似文献
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Pyrophosphate (140 mM, pH 7.1) extracts of two arable soils and one pasture soil were ultrafiltrated separating the extracted material into three fractions: AI with nominal molecular weight (nmw) > 100 kD, AII with nmw between 10 kD and 100 kD and R with nmw < 10 kD. Protease activity was determined in the fractions by using three different substrates: N-benzoyl-l-argininamide (BAA), specific for trypsin; N-benzyloxy-carbonyl-l-phenylalanyl l-leucine (ZPL), specific for carboxypeptidases; and casein, essentially a non-specific substrate. The derivative fractions were also analysed for their amino acid N and humic (HA) and fulvic (FA) acid contents. The organic matter of extracts and derivative fractions obtained from the pasture soil was analysed by isoelectric focusing (IEF) and that of fractions analysed by pyrolysis gas chromatography (Py-GC). Activities of the extract were monitored for their thermal stability and those of the extract and derivative fractions for their optimal pH.Due to the mechanical disintegrating action of sodium pyrophosphate over the humic substances during the fractionation process the amount of total organic C and FA in the fractions was ranked as R > AII > AI. The lowest amino acid N/organic C was found in the R fraction, whereas AII fraction was rich in humic acids, carbohydrates and amino acid N and AI fraction showed the lowest carbohydrate content. At least 70% of the total BAA- and ZPL-hydrolysing activity was associated to particles with nmw higher than 10 kD and at least 30% of these activities were present in particles with nmw higher 100 kD. Casein-hydrolysing activity was quite evenly distributed among the three fractions (AI, AII and R). The extracted protease-organic complexes were resistant to thermal denaturation and some of them showed optimal activity at pH values higher than 10 as a result of the polyanionic characteristics of the humic material surrounding enzyme molecules and of the presence of alkaline protease. Comparison of data obtained in Py-GC analyses and in protease activity suggests that BAA-hydrolysing activity was associated to a highly condensed humic matter and ZPL-hydrolysing activity to less resistant humic substances, while at least some of the extracted casein-hydrolysing activity was present as glyco-proteins not associated to humus. BAA-hydrolysing activity was probably inhibited by fresh organic matter of carbohydrate origin whereas lignin derived organic matter probably inhibited ZPL- and casein-hydrolysing activity. 相似文献
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除草剂的同位素残留分析技术日益受到人们的重视,并取得了长足的发展。本文综述了利用同位素示踪技术对4种磺酰脲类除草剂的残留分析进展。 相似文献
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A fertile hexaploid oat plant was obtained after several generations of selection for seed set and plant type from a colchicine-produced
decaploid hybrid, Avena abyssinica(2n = 4x = 28, AABB) × A. sativa (2n = 6x = 42, AACCDD). The selected line proved to be stably fertile and in many characteristics equal or superior to the
hexaploid parent. The grain protein fractions showed two qualitative differences from those of the pollen parent and several
differences from the maternal parent. The fractionating extraction used was new for oats. The fatty acid composition of grains
of the hybrid derivative was similar to that of the pollen parent, but different from that of the maternal parent. The maternal
parent (A. abyssinica) had a relatively high 16:0 fatty acid content (ca. 20.5 mol%) compared with the level of the hexaploid parent and the hybrid
derivation (ca. 17.5 mol% each) in field-grown grain. However, in grain produced in the greenhouse, the hexaploids had ca.
20.5 mol% of 16:0 fatty acid and a decrease in 18:1 fatty acid, whereas seed of the A. abyssinica parent showed only a slight increase (ca.21.5 mol%) in 16:0 fatty acid. These and other responses statistically significant
may be due to adaptation to temperature conditions being wider in the hexaploids than in the East-African A. abyssinica. A new method of grain lipid extraction was introduced and showed good reproducibility. The derived hexaploid oat can be
crossed with A. sativa for breeding purposes and due to its early maturity might also have direct use in northern or high-altitude cultivation.
This revised version was published online in July 2006 with corrections to the Cover Date. 相似文献