基于Cross-EKF定位的多机器人协作围捕策略研究

针对目前多机器人协作围捕过程中收敛速度慢、稳定性差、定位精度低的问题,提出一种新的围捕策略.设计出Cross-EKF定位算法,对目标位置的后验估计协方差进行交叉计算,以取得最小协方差区域.以区域边缘点到均值中心最大距离为半径,构建收敛圆,将对动态点的收敛扩展为对动态面的收敛.实验结果表明,系统能快速平稳地收敛该圆,从而实现对目标的精确围捕,该方法具有较高的实用价值.     

Identification of two distinct properties of class II major histocompatibility complex-associated peptides

We have examined the interactions of various peptides with the mouse class II major histocompatibility complex molecule I-Ak. The peptides were derived from the model protein hen egg white lysozyme (HEL). The immunodominant peptide of HEL is a 10-mer, residues 52-61. Our previous work established that this sequence contains the key residues for binding and presentation to T cells. Now we show that the binding of this 10-mer sequence resulted in complexes of I-Ak and peptide that, in SDS/PAGE (without boiling the protein), rapidly dissociated from the component alpha and beta chains. The binding interactions were studied in vitro, by incubating purified I-Ak and radiolabeled peptide, or ex vivo, by using antigen-presenting cells incubated with peptides. Peptides with additional residues at either the amino or carboxyl terminus behaved dramatically differently. Complexes of I-Ak with the longer peptides were stable to SDS/PAGE. Very few amino acid additions result in the change from unstable to stable complexes. The important issue here is that when cultured with HEL, antigen-presenting cells selected the HEL peptides containing the 52-61 sequences that favored stability [Nelson, C. A., Roof, R. W., McCourt, D. W. & Unanue, E. R. (1992) Proc. Natl., Acad. Sci. USA 89, 7380-7383]. Also, from other studies, such sequences correlate with a high immunogenicity of the peptide. We conclude that there are structural features of peptides that change the stability of the class II molecule and that are independent of the "core" peptide seen by the T cells.     

钨酸催化氧化环己酮合成己二酸

以钨酸-有机酸性添加剂为催化体系,在无有机溶剂和相转移剂的情况下,催化30%过氧化氢氧化环己酮合成己二酸。当钨酸∶有机酸性添加剂∶环己酮∶过氧化氢=11∶4∶01∶76(摩尔比,钨酸用量为2.5mmol)时,使用有机酸性添加剂来调节钨酸催化活性,结果表明以钨酸-磺酸水杨酸氧化环己酮效果最优,反应8h时己二酸分离产率达86.8%、纯度为99.9%;以间苯二酚或邻苯二酚为添加剂时,己二酸分离产率分别达到85.9%和84.5%,纯度约为100%;而不使用任何添加剂时,己二酸分离产率只有68.1%、纯度为95.2%。当使用磺酸水杨酸、草酸等为有机酸性添加剂时,随反应时间的延长,己二酸分离产率均升高。当磺酸水杨酸用量为2.5mmol时,己二酸分离产率和纯度均较高。钨酸-磺酸水杨酸和钨酸-草酸催化体系重复使用5次后,己二酸分离产率仍分别可达80.2%和80.9%。     

Detection by a solid phase independent enzyme immunoassay of monoclonal anti-idiotypic antibodies against monoclonal antibodies neutralizing Semliki Forest virus and encephalomyocarditis virus

3-Hydroxy-3-methylglutaryl coenzyme A (HMG-CoA) reductase (EC 1.1.1.34) is the rate limiting step in the mevalonate pathway that produces isoprenoids and cholesterol. Inhibitors of HMG-CoA reductase are teratogenic in vivo and induce neural tube defects in rat embryo culture, effects which appear unrelated to cholesterol deficiency. This study is the first to localize HMG-CoA reductase mRNA by in situ hybridization (ISH). Expression of reductase mRNA was examined in post-implantation rat embryos, and for control purposes in rat liver and UT-1 cells, using a digoxigenin-11 (dig-11) labelled cRNA probe. Eighteen-day fetal liver showed heavy but patchy hybridization, and adult rat liver showed strong hybridization only on some periportal hepatocytes, which was absent in livers of fasted animals. UT-1 cells stimulated to overexpress HMG-CoA reductase mRNA were strongly positive with the same probe. Control hybridizations with sense strand RNA probe, or with cRNA probe on pre-RNased tissue were negative. Strong hybridization signal for HMG-CoA reductase mRNA was observed in all tissues of the post-implantation rat embryo, from egg cylinder to 30 somite stages (7 to 12 days). Heavy signal was noted in primitive ectoderm and neural tube. The wide embryonic and extraembryonic distribution and abundance of HMG-CoA reductase mRNA may reflect developmental requirements for products of the mevalonate pathway, e.g., isoprenoids for post-translational farnesylation of p21ras.     

Complete physical map of the common deletion region in Williams syndrome and identification and characterization of three novel genes

Williams syndrome (WS) is a contiguous gene deletion disorder caused by haploinsufficiency of genes at 7q11.23. We have shown that hemizygosity of elastin is responsible for one feature of WS, supravalvular aortic stenosis (SVAS). We have also implicated LIM-kinase 1 hemizygosity as a contributing factor to impaired visual-spatial constructive cognition in WS. However, the common WS deletion region has not been completely characterized, and genes for additional features of WS, including mental retardation, infantile hypercalcemia, and unique personality profile, are yet to be discovered. Here, we present a physical map encompassing 1.5 Mb DNA that is commonly deleted in individuals with WS. Fluorescence in situ hybridization analysis of 200 WS individuals shows that WS individuals have the consistent deletion interval. In addition, we identify three novel genes from the common deletion region: WS-betaTRP, WS-bHLH, and BCL7B. WS-betaTRP has four putative beta-transducin (WD40) repeats, and WS-bHLH is a novel basic helix-loop-helix leucine zipper (bHLHZip) gene. BCL7B belongs to a novel family of highly conserved genes. We describe the expression profile and genomic structure for each of these genes. Hemizygous deletion of one or more of these genes may contribute to developmental defects in WS.     

贵州作为全国磷复肥建设基地磷化工产业发展前景广阔

分析国际、国内高浓度磷复肥的需求与产能形势,贵州发展磷化工产业的优势条件;提出对贵州省磷化工产业发展的若干建议,认为我国磷复肥产能虽然过剩,但作为全国磷复肥建设基地的贵州省磷化工产业仍具有广阔的发展前景.     

影响涂料耐磨性能的主要因素

研究了影响涂料耐磨性能的主要因素，试验表明，填料的种类，粒径，含量，涂料基料的种类，配比对涂层的耐磨性能影响较大，利用扫描电镜图对涂料的耐磨过程及机理进行了探讨，证明在涂层磨损过程中，有选择性磨损现象出现，这在一定程度上，减轻了涂层的磨损过程。     

稀土配合物杂化材料的制备与性能研究

综述了近年来稀土配合物杂化材料的制备和性能．按基质的不同，稀土配合物杂化材料可分为稀土配合物，无机杂化材料，稀土配合物，有机杂化材料以及稀土配合物，混合基质杂化材料。本文对以上3种杂化材料的优缺点进行了较为详细的分析，并提出一步法制备稀土配合物杂化材料，以简化合戍步骤，提高稀土配合物在基质分布的均匀性，因而该方法有望戍为制备稀土配合物杂化材料的一个重要发展方向。     

人体压力分布测量及其传感技术

体压分布测量系统是测试病人坐卧时,人体与接触面之间压力的可视化工具.介绍了人体压力分布测量系统的一般结构,对其关键点--传感器技术作了较为详细的叙述.它们分别是电容式压力传感器;用电阻油墨制成的电阻式压力传感器阵列;压电电阻传感器等.有针对的介绍了国外三种典型的人体压力测试产品,Xsensor、Tekscan和FSA;论述了它们的主要特点及优缺点,并对其主要性能作了对比.最后介绍了自行设计的体压分布测量系统,并给出了实测结果.     

炮采放顶煤工作面采空区顶板抽放瓦斯实践

文章介绍了高瓦斯炮采放顶煤工作面采空区煤层顶板抽放瓦斯的实践,通过对钻场中钻孔抽放过程的跟踪测试、观察、归纳分析,总结出提高瓦斯抽放效率的最佳顶板裂隙带高度,并对关键性技术要点和裂隙带高度的确定提供了理论判定方法。