基于6-DOF解耦操作臂的空间遥操作控制及运动学分析

针对由6-DOF解耦操作臂及其末端手爪组成的操作臂系统,设计了符合工程实际的遥操作控制策略,并提出了一种简单的运动学解算方法.采用Motoman工业操作臂,对提出的方法进行了实验验证.实验结果证明了所提方法的可行性.     

Agglomeration control of hydroxyapatite nano-crystals grown in phase-separated microenvironments

Materials synthesis processes that require high temperatures consume large quantities of energy that generate an environmental burden. We attempted to synthesize hydroxyapatite (HAp) nano-crystals without firing or melting. “Water in oil” (W/O) emulsions were employed as microreactors for HAp formation. The surfactant-bounded water mediated HAp crystal nucleation, and HAp nano-crystallites were obtained. The obtained particles were aggregates composed of plate-like nano-crystals and monodisperse tiny crystals. Utilization of the W/O emulsions resulted in tunable nucleation frequency and the reactant provision, and yielded HAp nano-crystals with characteristic agglomeration properties.     

Surface modification of biodegradable plastics by ion beams

Biodegradable plastics can be used as conventional plastics, while on disposal they decompose to water and carbon dioxide by microorganisms existing in natural environment. Products using biodegradable plastics have recently been developed in many companies pursuing ecology. In this study, surface modification of biodegradable plastics was carried out by inert ion beams for improvement of photo deterioration under an ultraviolet ray. The hardness of biodegradable plastics tended generally to decrease with irradiation of an ultraviolet ray. In this method, the hardness of ion-bombarded biodegradable plastics was kept at an initial value under an ultraviolet ray, because the modified layer by ion bombardment intercepted an ultraviolet ray. The hardness of He⁺ ion-bombarded biodegradable plastics showed larger value than that of Ar⁺ ion bombardment. He⁺ ion bombardment at ion energy of 10 keV produced the suitable property with both of high transmittance of a visible ray and high interception of an ultraviolet ray in a surface layer of biodegradable plastics.     

The Atmospheric Scanning Electron Microscope with open sample space observes dynamic phenomena in liquid or gas

Although conventional electron microscopy (EM) requires samples to be in vacuum, most chemical and physical reactions occur in liquid or gas. The Atmospheric Scanning Electron Microscope (ASEM) can observe dynamic phenomena in liquid or gas under atmospheric pressure in real time. An electron-permeable window made of pressure-resistant 100 nm-thick silicon nitride (SiN) film, set into the bottom of the open ASEM sample dish, allows an electron beam to be projected from underneath the sample. A detector positioned below captures backscattered electrons. Using the ASEM, we observed the radiation-induced self-organization process of particles, as well as phenomena accompanying volume change, including evaporation-induced crystallization. Using the electrochemical ASEM dish, we observed tree-like electrochemical depositions on the cathode. In silver nitrate solution, we observed silver depositions near the cathode forming incidental internal voids. The heated ASEM dish allowed observation of patterns of contrast in melting and solidifying solder. Finally, to demonstrate its applicability for monitoring and control of industrial processes, silver paste and solder paste were examined at high throughput. High resolution, imaging speed, flexibility, adaptability, and ease of use facilitate the observation of previously difficult-to-image phenomena, and make the ASEM applicable to various fields.     

Deuterium trapping by irradiation damage in tungsten induced by different displacement processes

The deuterium trapping behaviors in tungsten damaged by light ions with lower energy (10 keV C⁺ and 3 keV He⁺) or a heavy ion with higher energy (2.8 MeV Fe²⁺) were compared by means of TDS to understand the effects of cascade collisions on deuterium retention in tungsten. By light ion irradiation, most of deuterium was trapped by vacancies, whose retention was almost saturated at the damage level of 0.2 dpa. For the heavy ion irradiation, the deuterium trapping by voids was found, indicating that cascade collisions by the heavy ion irradiation would create the voids in tungsten. Most of deuterium trapped by the voids was desorbed in higher temperature region compared to that trapped by vacancies. It was also found that deuterium could accumulate in the voids, resulting in the formation of blisters in tungsten.     

Fe-Ni-Si基奥氏体时效合金的马氏体相变和形状记忆效应

It is well known that the morphologies of the α martensite formed from the γ phase in ferrous alloys are classified into five types of lath, butterfly, (225)A type plate,lenticular and thin-plate. Among those α martensites, onlythe thinplate martensite, which is characterized by containing a high density of transformation twins, has a potential of exhibiting a perfect shape memory (SM) effect.Recently the present authors found in Fe-Ni-Si alloys that the thin-plate martensite is formed by the introduction of fine and coherent γ-(Ni,Fe)3Si particles with a L12 ordered structure in the austenite matrix due to ausaging. In the present study, the SM properties of the ausaged Fe-Ni-Si alloys with the thin-plate martensite are investigated by a conventional bending-test. The effects of the addition of Co to the Fe-Ni-Si alloys on the martensitic transformation and the SM properties are also investigated. It is shown that while the ausaged Fe-Ni-Si ternary alloys exhibit an imperfect SM effect due to reverse transformation from stress-induced thin-plate martensite to austenite, the SM properties are improved by the addition of Co. An almost perfect SM effect is confirmed in the Fe-Ni-Si-Co alloys by heating to 1 100 ℃ after deformation at -196 ℃.     

预制缺陷球轴承剥落研究

为研究航空发动机球轴承的剥落规律,在4套球轴承外圈滚道表面预制不同数量和分布形式的压坑,模拟轴承实际剥落过程形成的麻坑或剥落坑,利用轴承试验器开展预制缺陷球轴承剥落试验。综合利用润滑油光谱分析、自动磨粒分析及铁谱分析方法对轴承试验润滑油中磨粒进行分析。结果表明：轴承剥落时产生的磨粒以疲劳磨粒为主,严重滑动磨粒和切削磨粒为辅,同时存在磨粒氧化现象;轴承剥落产生的球形磨粒主要在5 μm以下,少量分布在6～10 μm,个别在10 μm以上;轴承剥落过程中,磨粒总量和大尺寸磨粒数量出现明显增长。航空发动机球轴承的剥落机制为：预制凹坑边缘首先产生疲劳裂纹,然后因预制凹坑后方的一段区域内难以形成动压润滑,在交变接触应力作用下,外圈滚道表面或次表面出现疲劳裂纹,形成剥落区;滚道剥落区沿周向不断朝两侧扩展,并逐渐将预制凹坑区域覆盖,形成长条形的大面积剥落带,直至轴承最终失效。     

A Gedunin-Type Limonoid, 7-Deacetoxy-7-Oxogedunin,from Andiroba (Carapa guianensis Aublet) Reduced Intracellular Triglyceride Content and Enhanced Autophagy in HepG2 Cells

The seed oil of Carapa guianensis Aublet (Andiroba) has been used in folk medicine for its insect-repelling, anti-inflammatory, and anti-malarial activities. This study aimed to examine the triglyceride (TG) reducing effects of C. guianensis-derived limonoids or other commercially available limonoids in human hepatoblastoma HepG2 cells and evaluate the expression of lipid metabolism or autophagy-related proteins by treatment with 7-deacetoxy-7-oxogedunin (DAOG; 1), a principal limonoid of C. guianensis. The gedunin-type limonoids, such as DAOG (% of control at 20 μM: 70.9 ± 0.9%), gedunin (2, 74.0 ± 1.1%), epoxyazadiradione (4, 73.4 ± 2.0%), 17β-hydroxyazadiradione (5, 79.9 ± 0.6%), 7-deacetoxy-7α-hydroxygedunin (6, 61.0 ± 1.2%), andirolide H (7, 87.4 ± 2.2%), and 6α-hydroxygedunin (8, 84.5 ± 1.1%), were observed to reduce the TG content at lower concentrations than berberine chloride (BBR, a positive control, 84.1 ± 0.3% at 30 μM) in HepG2 cells pretreated with high glucose and oleic acid. Andirobin-, obacunol-, nimbin-, and salannin-type limonoids showed no effect on the intracellular TG content in HepG2 cells. The TG-reducing effect of DAOG was attenuated by the concomitant use of compound C (dorsomorphin), an AMPK inhibitor. Further investigation on the detailed mechanism of action of DAOG at non-cytotoxic concentrations revealed that the expressions of autophagy-related proteins, LC3 and p62, were upregulated by treatment with DAOG. These findings suggested that gedunin-type limonoids from Andiroba could ameliorate fatty liver, and that the action of DAOG in particular is mediated by autophagy.     

Visualizing Intramolecular Dynamics of Membrane Proteins

Membrane proteins play important roles in biological functions, with accompanying allosteric structure changes. Understanding intramolecular dynamics helps elucidate catalytic mechanisms and develop new drugs. In contrast to the various technologies for structural analysis, methods for analyzing intramolecular dynamics are limited. Single-molecule measurements using optical microscopy have been widely used for kinetic analysis. Recently, improvements in detectors and image analysis technology have made it possible to use single-molecule determination methods using X-rays and electron beams, such as diffracted X-ray tracking (DXT), X-ray free electron laser (XFEL) imaging, and cryo-electron microscopy (cryo-EM). High-speed atomic force microscopy (HS-AFM) is a scanning probe microscope that can capture the structural dynamics of biomolecules in real time at the single-molecule level. Time-resolved techniques also facilitate an understanding of real-time intramolecular processes during chemical reactions. In this review, recent advances in membrane protein dynamics visualization techniques were presented.     

DRTE:面向基础教育的术语抽取方法

术语抽取从非结构化文本中自动抽取专业术语。该工作在中文分词、信息抽取、知识库构建中发挥着重要的作用。当前术语抽取方法很大程度上依赖于词的统计信息,由于基础教育学科中术语具有极强的长尾特性,导致基于统计的术语抽取方法很难抽取出处于尾端的术语。该文结合基础教育的学科特点,提出了DRTE: 一种利用术语定义与术语关系挖掘,综合构词规则与边界检测的术语抽取方法。该文以初高中的数学课本为数据源进行术语抽取,实验结果表明我们的术语抽取方法F1值达到82.7％,相比目前的方法提高了40.8％,能够有效地在中文基础教育领域进行自动化的术语抽取。