未知环境下基于约束点的移动机器人路径规划

针对未知环境中障碍物种类多样性和位置不确定性的特点,提出了基于约束点的路径规划方法。首先对机器人在未知环境中检测到的局部障碍物信息进行分类和几何特征属性描述,得其约束点信息,然后引入改进后的A*算法,将其搜索范围局限于约束点上,计算约束点的评价函数值后得到子目标点,机器人到达子目标点后,若陷入死区,则采取回溯路径策略,重新选择子目标点,否则根据该点所属的障碍物种类采取跨越或绕行避障策略,最后移动机器人在未知环境中顺利到达目标点。仿真研究说明本文提出的路径规划方法具有可行性和有效性。     

纯电动汽车太阳能辅助空调控制系统的硬件设计

纯电动汽车车载动力电池是其唯一的动力源且很有限,辅助设备消耗的电能减少了纯电动汽车的续驶里程,尤其是空调,所以开发高效的纯电动汽车空调系统是纯电动汽车能够被市场接受的关键。将纯电动汽车顶盖布满太阳电池,可以使空调系统的制冷能力增强,同时还能增加纯电动汽车的行驶距离。对小型纯电动汽车的太阳能辅助空调系统进行研究,设计出适合该空调的自动控制系统,可为纯电动汽车创造出一个更加舒适的驾驶和乘座环境。     

Corrosion behaviour of Ni-Zr-Ti-Si-Sn amorphous plasma spray coating

Ni₅₉Zr₂₀Ti₁₆Si₂Sn₃ amorphous material was deposited by a vacuum plasma spraying technique onto steel and copper substrates in order to investigate their behaviour in a corrosive environment. For comparison, the same alloy was prepared as amorphous ribbons by melt spinning. The amorphous nature of the coatings and ribbons was characterized by XRD, DSC and TEM, while XPS and AES analyses were performed to understand the origin of passivation and mode of corrosion. The corrosion behaviour of the coating was studied in H₂SO₄ and HCl solutions open to air at room temperature. Potentiodynamic polarisation and galvanic coupling tests were carried out on the substrate and the coating. It was found that the formation of Zr-, Ti- and Si-rich passive oxide layers provide a high corrosion resistance in H₂SO₄ solution while the breakdown of the passive layer by chloride ion adsorption was responsible for pitting corrosion of the Ni₅₉Zr₂₀Ti₁₆Si₂Sn₃ amorphous ribbons in HCl solution. Galvanic corrosion was the dominant corrosion mechanism for the coating/copper hybrid structure, in contrast to the Ni₅₉Zr₂₀Ti₁₆Si₂Sn₃ amorphous coating, which efficiently protected the steel substrate in the corrosive environment.     

Effect of atmospheric pollutants on the corrosion of high power electrical conductors: Part 1. Aluminium and AA6201 alloy

The aim of this study was to evaluate the joint effect of marine and industrial pollutants on the atmospheric corrosion of aluminium and its AA6201 alloy. Weight loss was determined after 4, 11, 16 and 24 months exposure being morphology and attack intensity analysed through SEM-EDX. Both materials showed the most intense attack for the highest SO₂ contents. Good correlation among weight loss, attack depth and tensile strength to rupture with time and with pollutant contents was determined for both materials in most sites. The cause for low aggressiveness of the heaviest Cl⁻ polluted atmosphere on aluminium was electrochemically demonstrated.     

高原型交流接触器介绍

CJX4-dG系列高原型交流接触器可适用于海拔高度至5000m高原地区，本文针对高原适应性这一特点分析了高海拔对交流接触器的影响因素，介绍了产品改进后的功能和主要技术性能。     

Taxonomy for protective ability of rust layer using its composition formed on weathering steel bridge

For a quantitative evaluation of the protectiveness of a rust layer formed on a weathering steel bridge, the relationship between the corrosion rate of the bridge and the composition of the rust layers formed on the girders was first investigated. These corrosion rates were clearly classified by the protective ability index (PAI) of α/γ^∗ and (β + s)/γ^∗, where α, γ^∗, β and s are the mass ratio of crystalline α-FeOOH, the total of γ-FeOOH, β-FeOOH and the spinel-type iron oxide (mainly Fe₃O₄), β-FeOOH and spinel-type iron oxide, analyzed by XRD, respectively. The inequality of the former index α/γ^∗ > 1 expressed the protectiveness criterion of the rust layer, while that of the latter index, (β + s)/γ^∗< 0.5 or > 0.5, classified the corrosion rate of the non-protective rust layer. The PAI is useful for a quantitative evaluation of the protectiveness of a rust layer formed on a weathering steel bridge and is an important item for the corrosion assessment of the bridge.     

高温钎料PdCu-Ti在氧化铝陶瓷上的润湿性及界面反应

本文采用座滴法试验研究了合金系统ＰｄＣｕ－Ｔｉ在Ａｌ２Ｏ３上润湿性的变化规律，探讨了界面冶金及结合等行为，运用热力学理论对结果进行了分析，随Ｔｉ含量的增加及Ｐｄ含量的减少润湿角逐渐降低，Ｔｉ的加入使界面发生了一个双重变化；液相侧富氧，钛吸收层的生成及随后的固相侧氧化钛的生成，只有界面上生成一氧化钛，才能有较好的润湿行为和较强的结合力。     

Stannate and permanganate conversion coatings on AZ31 magnesium alloy

The formation of stannate and permanganate–phosphate conversion coatings on AZ31 magnesium alloy was investigated in situ by EIS measurements and their protective performances were studied by different electrochemical techniques in diluted (0.05 M) sodium sulphate solution.The influence that short or long treatment times exert on the performances of such conversion coatings is discussed. While permanganate–phosphate baths always built layers characterized by penetrating cracks, long stannate baths produced layers without interconnected porosity, but were defective. This accounted for the initial greater protectiveness achieved with the stannate treatment; nevertheless, the easy penetration of the electrolytic solution through such a layer quickly decreased its corrosion resistance.     

The Attenuated Secretion of Hyaluronan by UVA-Exposed Human Fibroblasts Is Associated with Up- and Downregulation of HYBID and HAS2 Expression via Activated and Inactivated Signaling of the p38/ATF2 and JAK2/STAT3 Cascades

Little is known about the effects on hyaluronan (HA) metabolism of UVA radiation. This study demonstrates that the secretion of HA by human dermal fibroblasts (HDFs) is downregulated by UVA, accompanied by the down- and upregulation of mRNA and protein levels of the HA-synthesizing enzyme (HAS2) and the HA-degrading protein, HYaluronan Binding protein Involved in HA Depolymerization(HYBID), respectively. Signaling analysis revealed that the exposure distinctly elicits activation of the p38/MSK1/CREB/c-Fos/AP-1 axis, the JNK/c-Jun axis, and the p38/ATF-2 axis, but downregulates the phosphorylation of NF-kB and JAK/STAT3. A signal inhibition study demonstrated that the inhibition of p38 significantly abrogates the UVA-accentuated mRNA level of HYBID. Furthermore, the inhibition of STAT3 significantly downregulates the level of HAS2 mRNA in non-UVA exposed HDFs. Analysis using siRNAs demonstrated that transfection of ATF-2 siRNA but not c-Fos siRNA abrogates the increased protein level of HYBID in UVA-exposed HDFs. An inhibitor of protein tyrosine phosphatase but not of protein serine/threonine phosphatase restored the diminished phosphorylation level of STAT3 at Tyr 705, accompanied by a significant abolishing effect on the decreased mRNA expression level of HAS2. Silencing with a protein tyrosine phosphatase PTP-Meg2 siRNA revealed that it abrogates the decreased phosphorylation of STAT3 at Tyr 705 in UVA-exposed HDFs. These findings suggest that the UVA-induced decrease in HA secretion by HDFs is attributable to the down- and upregulation of HAS2 and HYBID expression, respectively, changes that are mainly ascribed to the inactivated signaling of the STAT3 axis due to the activated tyrosine protein phosphatase PTP-Meg2 and the activated signaling of the p38/ATF2 axis, respectively.     

Identification of Cyclophilin A as a Potential Anticancer Target of Novel Nargenicin A1 Analog in AGS Gastric Cancer Cells

We recently discovered a novel nargenicin A1 analog, 23-demethyl 8,13-deoxynargenicin (compound 9), with potential anti-cancer and anti-angiogenic activities against human gastric adenocarcinoma (AGS) cells. To identify the key molecular targets of compound 9, that are responsible for its biological activities, the changes in proteome expression in AGS cells following compound 9 treatment were analyzed using two-dimensional gel electrophoresis (2-DE), followed by MALDI/TOF/MS. Analyses using chemical proteomics and western blotting revealed that compound 9 treatment significantly suppressed the expression of cyclophilin A (CypA), a member of the immunophilin family. Furthermore, compound 9 downregulated CD147-mediated mitogen-activated protein kinase (MAPK) signaling pathway, including c-Jun N-terminal kinase (JNK) and extracellular signal-regulated protein kinase 1/2 (ERK1/2) by inhibiting the expression of CD147, the cellular receptor of CypA. Notably, the responses of AGS cells to CypA knockdown were significantly correlated with the anticancer and antiangiogenic effects of compound 9. CypA siRNAs reduced the expression of CD147 and phosphorylation of JNK and ERK1/2. In addition, the suppressive effects of CypA siRNAs on proliferation, migration, invasion, and angiogenesis induction of AGS cells were associated with G2/M cell cycle arrest, caspase-mediated apoptosis, inhibition of MMP-9 and MMP-2 expression, inactivation of PI3K/AKT/mTOR pathway, and inhibition of hypoxia-inducible factor-1α (HIF-1α) and vascular endothelial growth factor (VEGF) expression. The specific interaction between compound 9 and CypA was also confirmed using the drug affinity responsive target stability (DARTS) and cellular thermal shift assay (CETSA) approaches. Moreover, in silico docking analysis revealed that the structure of compound 9 was a good fit for the cyclosporin A binding cavity of CypA. Collectively, these findings provide a novel molecular basis for compound 9-mediated suppression of gastric cancer progression through the targeting of CypA.