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.     

Generation of a uniform thymic malignant lymphoma model with C57BL/6J p53 gene deficient mice

Lymphoma is the third most common cancer diagnosed in children, and T-cell lymphoma has the worst prognosis based on clinical observations. To date, a lymphoma model with uniform penetrance has not yet been developed. In this study, we generated a p53 deficient mouse model by targeting embryonic stem cells derived from a C57BL/6J mouse strain. Homozygous p53 deficient mice exhibited a higher rate of spontaneous tumorigenesis, with a high spontaneous occurrence rate (93.3%) of malignant lymphoma. Because tumor models with high phenotypic consistency are currently needed, we generated a lymphoma model by a single intraperitoneal injection of 37.5 or 75 mg/kg N-methyl-N-nitrosourea to p53 deficient mice. Lymphoma and retinal degeneration occurred in 100% of p53^+/− mice administered with higher concentrations of N-methyl-N-nitrosourea, a much greater response than those of previously reported models. The main anatomic sites of lymphoma were the thymus, spleen, bone marrow, and lymph nodes. Both induced and spontaneous lymphomas in the thymus and spleen stained positive for CD3 antigen, and flow cytometry detected positive CD4 and/or CD8 cells. Based on our observations and previous data, we hypothesize that mice with a B6 background are prone to lymphomagenesis.     

Use of two PGPR strains in the integrated management of blast disease in rice (Oryza sativa) in Southern Spain

Biocontrol capacity of two plant growth-promoting rhizobacteria (PGPR) strains, against blast disease in rice paddy fields in Southern Spain was studied in three cropping seasons. Both strains (Pseudomonas fluorescens Aur 6 and Chryseobacterium balustinum Aur 9) had already shown biocontrol capacity against pathogens, ability to induce systemic resistance against leaf pathogens and against salt stress in different plant species. Bacterial treatments were carried out on seeds and/or on leaves. Strains were inoculated individually and in combination. Protection against natural disease incidence was evaluated, and rice production and quality measured in 2005 and 2006 trials. In 2004, natural disease incidence was low (between 0.1% and 0.35% of damaged leaf surface) due to environmental conditions; under these conditions, both strains significantly protected plants against rice blast. In 2005, disease incidence was higher than in 2004, reaching higher values of affected leaf surface in controls. In these conditions, each strain individually protected rice against rice blast, although the combination of both strains was the most effective treatment. All three treatments (Aur 6, Aur 9 and Aur 6 + Aur 9) reached 50% protection in panicles, with Aur 9 being the most effective. In 2006, the most effective treatment was the combination of both strains on leaves in three physiological stages, suggesting a biocontrol mediated protection. On the other hand, when bacteria were applied to seeds, disease incidence decreased up to 50%, suggesting induction of systemic resistance. Finally, a direct relation between protection mediated by the PGPR and the increase in rice productivity (mT/ha) and quality (weight of 1000 seeds and number of intact grains after milling) was found.     

雄性不育及育性恢复基因表达载体的构建

将拟南芥花药特异表达启动子A6与核酸酶基因融合构建不育基因,与核酸酶Bamase特异抑制剂Barstar基因融合构建育性恢复基因,再分别与抗除草剂溴苯睛基因表达盒bxn串联,形成紧密连锁,分别构建植物雄性不育和育性恢复基因表达载体pwP一AN及pwp一AS,以抗澳苯睛基因作为转化和繁殖、制种过程的筛选标记。     

树鼩Tssk6基因cDNA克隆、组织表达谱及生物信息学分析

本研究旨在克隆出树鼩Tssk6基因cDNA的全长序列,阐明其组织表达谱及基本生物信息学特征。以GenBank中收录的树鼩Tssk6基因mRNA预测序列为参考设计特异性引物,对树鼩Tssk6基因的cDNA全长序列进行克隆,用实时荧光定量PCR检测该基因在树鼩不同组织中的表达情况,并对cDNA序列的CDS区核苷酸序列与蛋白质结构进行了生物信息学分析。结果显示,树鼩Tssk6基因cDNA的CDS区序列长度为822 bp,编码273个氨基酸;Tssk6基因仅表达于树鼩睾丸组织;对树鼩和其他8种哺乳动物Tssk6基因cDNA的CDS区核苷酸序列构建的系统进化树显示,树鼩与人、黑猩猩、恒河猴3种灵长类动物亲缘关系较近,与小鼠、大鼠、金仓鼠3种啮齿类动物亲缘关系较远。本研究为进一步研究树鼩Tssk6基因的功能奠定了基础。     

咪鲜胺原药中微量2,4,6-三氯苯酚测定方法的研究

建立了高效液相色谱法测定咪鲜胺原药中微量2,4,6-三氯苯酚含量的方法。采用Hypersil BDS C18色谱柱,以甲醇/水(72/28 V/V)为流动相(每500mL流动相中含0.5g四丁基溴化铵),检测波长为296nm,2,4,6-三氯苯酚的质量浓度在0～871.2μg/L范围内线性关系良好,其线性相关系数为0.999 8;加标回收率为99.71%～102.02%,变异系数为1.14%,检出限为0.88μg/L。     

小麦秸秆静态高温堆腐过程中的理化特征

为了解小麦秸秆堆肥过程中的生物化学特征,进行了高温好氧堆肥试验.结果表明,添加复合微生物腐解菌剂处理较不添加复合微生物腐解菌剂(CK)升温快,温度高,高温持续时间长;堆腐第2d添加菌剂处理堆体温度上升到50℃以上,第3 d达到最高温度67.1℃,50℃以上持续6 d;CK堆腐第3 d达到50℃,第4 d达最高温度59.5℃,50℃以上持续5 d.堆腐第9 d添加菌剂处理E4/E6值达高峰值3.419,CK的达高峰值4.085,堆腐第23 d后添加菌剂处理的胡敏酸E4/E6值为1.512～1.709,而CK处理的E4/E6值为1.649～2.060,堆腐过程添加菌剂处理的E4/E6值一直低于CK,表明添加菌剂能促进腐殖质的缩合和芳构化.堆肥腐熟后pH值较堆制前有所提高,添加菌剂处理的pH值相对较低,变化幅度较小.加入微生物菌剂处理的电导率(EC)值较高,且在持续高温阶段高于后熟阶段.     

豆芽中6-苄基腺嘌呤残留的膳食风险评估

近年来,我国相关监管部门、专业人士及社会舆论对豆芽中6-苄基腺嘌呤(6-BA)残留是否会给消费者带来膳食健康风险出现了很大争议,但一直未见有系统的风险评估研究报告。为明确豆芽中6-BA残留的膳食暴露风险,在充分收集市场豆芽残留监测数据和中国裁判文书中豆芽残留数据的基础上,采用点评估方法评估了我国不同人群的6-BA膳食暴露风险。评估结果显示:近年我国各类人群的6-BA膳食暴露(情景Ⅰ)风险商(RQ)平均值为0.001,97.5百分位点值为0.001~0.003;在豆芽制发中普遍使用6-BA的情况下(情景Ⅱ),其风险商平均值为0.001~0.003,97.5百分位点值为0.003~0.006;在极端高残留假设下(情景Ⅲ)的风险商平均值为0.011~0.025,97.5百分位点值为0.025~0.055;在果蔬中普遍残留假设下(情景Ⅳ)的风险商平均值为0.007~0.020,97.5百分位点值为0.012~0.031。可见,豆芽中6-BA的膳食暴露风险非常低,远未达到健康关注水平。6-BA在豆芽生产中规范使用具有技术必要性和高安全性,建议重新允许使用,同时制定其使用规范和残留限量要求,建议其残留限量(MRL)值可设为0.2 mg/kg。     

己酸二乙胺基乙醇酯气相色谱分析

论述了以邻苯二甲酸二乙酸酯为内标，用HP－5色谱柱，氢火焰检测器，气谱法对DA－6进行定量分析。方法标准偏差为0．01，变异系数0．79％，回收率为99．5％－100．5％。