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。     

基于投入产出模型的MICK-4FI模式研究

波特竞争战略侧重从外部行业环境角度解释企业运营问题,但是实证分析结果证明资源对企业发展影响重大。针对目前尚无具体模式研究企业如何立足现有资源进行发展问题,本文基于资源基础论,将企业资源具体分为物质、信息、资金和知识资源(MICK),提出了MICK-4FI(四流集成)资源运营模式,借助投入产出模型构建MICK-4FI模式分析框架。文中利用聚焦和杠杆作用定性地解释了企业培育或者集成资源,即企业获取资源形成竞争优势的机理。本模式将资源基础论应用到企业实践层次,解决了企业通过集成运营内外部资源以求快速发展的路径依赖问题。资源运营理论从微观资源角度分析企业经营,与波特从宏观行业分析的理论共同构成一套系统的企业运营理论体系。     

基于MU+DSP的小型水轮发电机组

嵌入式微处理器MC68HC912DG128A 和DSP TMS320F2812应用于小型水轮发电机单元智能监控主、辅装置，克服了可编程逻辑控制器（PLC）在小型水轮发电机组监控应用中难以实现单元监控的困难，简化了外围集成电路和数据采集接口，增强了单元监控系统内部和系统之间的数据交互能力，提高了小型水轮发电机单元监控自动化水平。文中具体介绍了两类不同处理器的特点及其在水轮发电机组单元监控装置中的应用，同时引入了流程设计方案的概念，实现了单元监控系统的现场可编程功能。测试结果表明，监控装置适合于小型水电站智能监控。     

Mechanism of Fuzilizhong decoction alleviating inflammatory damage of rats with non-alcoholic fatty liver disease

AIM To observe the effect of Fuzilizhong decoction on the inflammatory damage of non-alcoholic fatty liver disease （NAFLD） rats and to explore its mechanism. METHODS SPF male SD rats were randomly divided into 6 groups： control group, model group, high dose （20 mg·kg^-1·d^-1）, middle dose （10 mg·kg^-1·d^-1）, low dose （5 mg·kg^-1·d^-1） Fuzilizhong decoction group and Yishanfu （30 mg·kg^-1·d^-1）group, 8 rats in each group. A NAFLD rat modelwas established by intragastric administration of fat emulsion for 4 weeks. Then the drug was given for 4 weeks in each treatment group. HE staining was performed to observe the histopathological changes of the rat liver.The serum levels of interleukin-2（IL-2）, IL-6 and tumor necrosis factor-α（TNF-α） were measured by ELISA. The expression of toll like receptor 4（TLR4） and NF-κB p65 in liver tissues at mRNA and protein levels was determined by RT-qPCR and Western bolt,respectively. RESULTS Compared with control group, the inflammatory damage of liver tissue was more serious, the serum levels of IL-2, IL-6 and TNF-α, the mRNA expression TLR4 and NF-κB p65 in liver tissues were significantly increased in model group（P<0.05）. However, compared with model group, the liver pathological changes in each treatment group were significantly relieved, the serum levels of IL-2, IL-6 and TNF-α, the mRNA expression of TLR4 and NF-κB p65 in liver tissues were significantly reduced（P<0.05）.In addition, the changes of TLR4 and p-NF-κB p65 protein levels in liver tissue were consistent with the changes of TLR4 and NF-κB p65 mRNA. CONCLUSION Fuzilizhong decoction attenuates the inflammatory damages of NAFLD in rats by inhibiting TLR4/NF-κB p65 signaling pathway.     

Correlation between progression of atherosclerosis accelerated by emotional stimulation and imbalance of SDF-1/CXCR4 in mice

AIM To observe effects of emotional stimulation on expression of stromal cell-derived factor-1（SDF-1） and CXC chemokine receptor 4 （CXCR4） in plasma, platelets, aortas, hippocampus and bone marrow of apolipoprotein E gene knockout （ApoE^-/-） mice, and to reveal the possible mechanism of the aggravated atherosclerotic plaque vulnerability by emotional stimulation. METHODS Thirty 8-week-old male ApoE^-/- mice were randomly divided into normal control group, high fat group, and emotional stimulation group. Ten 8-week-old inbred C57BL/6J mice served as blank control group. After 12 weeks of intervention, the serum levels of SDF-1 and CXCR4 were investigated by ELISA. The protein levels of SDF-1 and CXCR4 in platelets, aortas, hippocampus and bone marrow were determined by Western blot. The pathological damage of aortas was observed by oil red O staining. RESULTS Compared with blank control group, normal control group and high fat group, the mice subjected to emotional stimulation showed more serious atherosclerosis in aortas detected by oil red O staining, and increased levels of SDF-1 and CXCR4 in the plasma and aortas were also observed （P<0.05）. The results of Western blot showed that the protein levels of SDF-1 and CXCR4 in platelets, aortas and hippocampus were increased in the mice subjected emotional stimulation, but the expression of SDF-1 and CXCR4 in the bone marrow was decreased （P<0.05）. CONCLUSION Imbalance of SDF-1/CXCR4 may be the key target by which emotional stimulation accelerates the progression of atherosclerosis.     

芥蓝二氢黄酮醇4–还原酶基因BoaDFR的克隆与功能鉴定

以白花芥蓝‘四季粗条’为材料克隆了Boa DFR基因,Gen Bank登录号为MT472647,CDS序列长为1158 bp,编码385个氨基酸,与甘蓝型油菜、甘蓝和白菜等具有高度同源性。Boa DFR表达水平在芥蓝不同发育时期、不同器官中存在显著差异,随植株发育总体呈现先下降后上升的趋势,在幼嫩种子中表达量最高。芥蓝原生质体的亚细胞定位结果显示Boa DFR定位在细胞核上。构建了农杆菌介导的芥蓝瞬时过表达体系,将Boa DFR转入白花芥蓝‘四季粗条’和黄花芥蓝‘福州黄花’中,发现Boa DFR在两种芥蓝中均高水平表达,转基因植株叶片颜色明显变紫,花青素苷显著积累,总含量最高达461.43μg·g-1 FW,而野生型和转空载体芥蓝叶片中几乎检测不到花青素苷。通过HPLC在转基因植株叶片中共检测到8种花青素苷,均为矢车菊花青素苷,其中矢车菊–3–阿魏酰–丙二酰–槐糖苷–5–葡萄糖苷占比最高。     

博落回急性及亚慢性毒性试验

博落回对小鼠经口急性毒性和对大鼠腹腔注射慢性毒性试验结果表明：博落回生物碱硫酸盐对昆明系小鼠的急性毒性为：水溶液ＬＤ５０＝９００ｍｇ·ｋｇ＾－１，水混悬液ＬＤ５０＝１０４３ｍｇ·ｋｇ＾－１，均属低毒级。博落回注射液对Ｗｉｓｔａｒ大鼠亚慢性毒作用的靶器官主要为肝，长时间或大剂量接毒引起肝细胞变性，增生，使雄性动物肝／体比明显增高，而血清谷－丙转氯酶下降。     

微波磷酸法中密度纤维板厂废料制备活性炭

以中密度纤维板(MDF)厂废料为原料,采用微波辐射磷酸法制备活性炭。探讨了在微波功率900W条件下磷料比、水料比、辐照时间对产品活性炭各项主要指标的影响。得到了试验条件下微波辐射磷酸法制备活性炭的最佳工艺: 磷料比3．5:1,水料比1:1,辐照时间9min。用此工艺制备活性炭产品的得率39．44％,碘吸附值949．08mg／g,亚甲基蓝脱色力10．76mL／0．1g,苯酚吸附值350．25mg／g。本工艺方法为中密度纤维板厂废料的综合利用找到了新的途径。     

禽腺病毒血清4型感染鸡组织中NLRP3基因转录水平的实时荧光定量PCR分析

旨在分析禽腺病毒血清4型(FAdV-4)感染鸡组织中NLRP3基因的转录水平,本研究设计鸡NLRP3特异性引物,利用RT-PCR扩增NLRP3基因180 bp片段并克隆至pMD-18T载体,制备重组质粒pMD-18T-NL-RP3.以pMD-18T-NLRP3质粒作为标准品进行荧光定量PCR并建立标准曲线.通过反应条件...     

融合卷积神经网络与视觉注意机制的苹果幼果高效检测方法

果实表型数据高通量、自动获取是果树新品种育种研究的基础,实现幼果精准检测是获取生长数据的关键。幼果期果实微小且与叶片颜色相近,检测难度大。为了实现自然环境下苹果幼果的高效检测,采用融合挤压激发块(Squeeze-and-Excitation block, SE block)和非局部块(Non-Local block, NL block)两种视觉注意机制,提出了一种改进的YOLOv4网络模型(YOLOv4-SENL)。YOLOv4模型的骨干网络提取高级视觉特征后,利用SE block在通道维度整合高级特征,实现通道信息的加强。在模型改进路径聚合网络(Path Aggregation Network, PAN)的3个路径中加入NL block,结合非局部信息与局部信息增强特征。SE block和NL block两种视觉注意机制从通道和非局部两个方面重新整合高级特征,强调特征中的通道信息和长程依赖,提高网络对背景与果实的特征捕捉能力。最后由不同尺寸的特征图实现不同大小幼果的坐标和类别计算。经过1 920幅训练集图像训练,网络在600幅测试集上的平均精度为96.9%,分别比SSD、Faster R-CNN和YOLOv4模型的平均精度提高了6.9百分点、1.5百分点和0.2百分点,表明该算法可准确地实现幼果期苹果目标检测。模型在480幅验证集的消融试验结果表明,仅保留YOLOv4-SENL中的SE block比YOLOv4模型精度提高了3.8百分点;仅保留YOLOv4-SENL中3个NL block视觉注意模块比YOLOv4模型的精度提高了2.7百分点;将YOLOv4-SENL中SE block与NL blocks相换,比YOLOv4模型的精度提高了4.1百分点,表明两种视觉注意机制可在增加少量参数的基础上显著提升网络对苹果幼果的感知能力。该研究结果可为果树育种研究获取果实信息提供参考。