Development of the remote-controlled platform truck for handling heavy object and the remote control human interface for the disaster response

General interest for robotic technology has been increased by the public and the media after Fukushima Daiichi Nuclear Power Plant (hereafter referred to as 1F) disaster. Especially, robots which can work under the very severe condition where personnel cannot access have demands for development. As to respond to such high demands, NEDO established ‘Disaster response unmanned systems development project’ in 2012.[1] This project is specialized in the development of various remote-controlled equipment, such as remote-controlled platform truck and remote control human interface under ‘Mobile Robot Development’. Remote-controlled platform truck is designed to safely and surely deliver robots and supplies, instead of using stairs and elevator, etc. in and out of building where it is too critical for personnel to work under. Remote control human interface for robots is designed to standardize the command and operation screen for operator, based on opinions from project members, and manned facility construction.[2] In this article, mechanical structure and development tasks for remote-controlled platform truck, and commonalization approach for operation and camera display of various remote-controlled equipment and robot for remote control human interface are stated. Background: due to hydrogen explosion triggered by The Great East Japan Earthquake on 11 March 2011, a reactor building at Fukushima Daiichi Nuclear Power Plant was severely damaged. It is required to reduce high radiation dose in the atmosphere of the reactor building to perform restoration. To pursue decontamination of the reactor building, equipment to lift and carry decontamination devices to upper floor are required.     

基于OpenGL的三维虚拟人手语动画的研究与实现

研究了一种基于OpenGL实现三维虚拟人手语动画的方法.首先构造了三维虚拟人的最小骨骼模型;其次研究分析了手部的关键动作,提出了手部动厕的关键帧手势;又考虑到手部的运动干涉和运动约束,给出了手语动画中的不可能手势,接着基于关键帧手势以及不可能的手势,利用手部各关节之间的联动关系,给出了手部各节点位置的计算方法;最后基于OpenGL实现了三维虚拟人的手语动画.实验结果表明,基于关键帧手势以及不可能的手势的三维虚拟人的手语动画方法不仅解决了真实人手部动作的复杂性问题,又没有裁剪必要的手部动作,获得了理想的手语动画效果.     

Mutational analysis of structure--activity relationships in human tumor necrosis factor-alpha

To determine the region of human tumor necrosis factor-alpha(TNF-), essential for cytotoxic activity against mouse L-M cells,single amino-acid-substituted TNF- mutant proteins (muteins)were produced in Escherichia coli by protein engineering techniques.An expression plasmid for TNF- was mutagenized by passage throughan E.coli mutD5 mutator strain and by oligonucleotide-directedmutagenesis. Approximately 100 single amino-acid-substitutedTNF- muteins were produced and assayed for cytotoxic activity.The cytotoxic activities of purified TNF- muteins, e.g. TNF-31T,-32Y, -82D, -85H, -115L, -141Y, -144K and -146E, were < 1%of that of parent TNF-. These results indicate that the integrityof at least four distinct regions of the TNF- molecule is requiredfor full biological activity. These regions are designated asfollows: region I, from position 30 to 32; region II, from position82 to 89; region III, from position 115 to 117; region FV, fromposition 141 to 146. In addition, TNF-141Y could not completelycompete with parent TNF- for binding to the receptor. This demonstratesthat region IV, and at least aspartk acid at position 141, mustbe involved in the TNF receptor binding site.     

重组抗人CD22嵌合抗体SM03的 125I标记及生物活性

为了探讨125I标记的重组抗人CD22嵌合抗体SM03的生物活性,采用Iodogen法进行单克隆抗体SM03的125I标记, Sephacryl S-300 HR色谱柱分离标记混合物,测定分离后样品的纯度与浓度.采用竞争结合法和酶联免疫吸附法(ELISA)测定纯化后样品的活性.抗体经过放射性标记后,放化纯度>99%,回收率>47%.125I-SM03的生物活性与未标记抗体差异没有显著性,P=0.907.用125I-SM03筛选CD22抗原表达量最多的细胞,在Raji、Daudi和Ramos细胞中,SM03与Ramos细胞的特异性结合量最多,每个细胞的结合量为1.3 pmol.以上结果表明,Indogen法可以用于单克隆抗体SM03的标记,标记后不影响SM03的生物活性.     

浅谈加入WTO对人力资源开发的影响与对策

人力资源是一种比物力资源价值高、作用大的可再生资源。文章从人力资源的内涵、特征以及我国人力资源的现状入手,分析了加入世界贸易组织对我国人力资源结构的变化及影响,探讨了人力资源开发管理的新途径。     

Effects of steaming the root of Panax notoginseng on chemical composition and anticancer activities

The root of Panax notoginseng has been shown to change its saponin composition upon steaming. This study examines the effects of different steaming times and temperature on notoginseng root for saponin composition and anticancer activities. Steaming decreased the content of notoginsenoside R1, ginsenosides Rg1, Re, Rb1, Rc, R2, Rb3 and Rd, but increased the content of Rh1, Rg2, 20R-Rg2, Rg3 and Rh2. Steaming significantly influenced the transformation of Rg3. The amount of ginsenoside Rg3, an anticancer compound, was 5.23-fold greater in root steamed for 2 h at 120 °C than at 100 °C, and 3.22-fold greater when steamed for 4 h than for 1 h at 120 °C. For anticancer effects, the extract of steamed root significantly inhibited proliferation of SW-480 human colorectal cancer cells. The IC₅₀ of the steamed extract for 1, 2, 4 and 6 h at 120 °C was 259.2, 131.4, 123.7 and 127.1 μg/mL, respectively; the effect of unsteamed extract was low. Flow cytometric analysis demonstrated that the apoptotic cell induction rates of SW-480 cells were 56.3% and 64.4% with 150.0 and 200.0 μg/mL extract steamed for 6 h. Compared with Rg1 and Rb1, only Rg3 had a significant antiproliferative effect.     

Human Milk Banking: Influence of Different Pasteurization Temperatures on Levels of Protein Sulfur Amino Acids and Some Free Amino Acids

Human milk is frequently heat‐treated in hospitals, particularly milk that is banked, to destroy contaminating bacteria and viruses, but this treatment simultaneously reduces the content of some vitamins, enzymes, and immunological and nutritional factors. This study was performed to find the optimal conditions for heat treatment. The effects of 2 pasteurization temperatures on levels of protein sulfur amino acids (methionine, cystine) and some free amino acids (taurine, glutamine, glutamic acid) in light of the oxidative instability that occurs especially during thermal treatment were examined. These substances in raw human milk and in milk treated at 56.5 °C and 62.5 °C for 30 min were compared. Samples of mature human milk from all feeds over 24 h were obtained from 13 healthy well‐nourished mothers of term infants. Each sample was divided into 3 parts: raw, treated at 56.5 °C for 30 min, treated at 62.5 °C for 30 min. The results showed that the availability of sulfur amino acids and free taurine is the same after heat treatment, whereas milk processing increased positively the levels of free glutamic acid and glutamine, but there is significance only for glutamine. The mean quantities of considered amino acids were similar in milk treated at the recommended pasteurization temperature (30 min at 62.5 °C) and at 56.5 ° for 30 min.     

单人/多人虚拟维修训练开发平台

目前舰员级维修培训存在实装少、故障设置困难、训练手段单一等不足。针对此问题,文中根据舰员级维修工作的需求,构建了适应基层部队需要的虚拟维修训练开发平台。平台采用包围盒和几何约束相结合的方法解决穿越问题,运用关键帧技术进行虚拟人运动控制,构建了基于Agent的网络通信机制,建立了多角色协作机制,采取了复合的并发冲突控制方案解决多人协作中的冲突问题。平台满足了实时计算的要求,场景设计、维修流程设计、维修动作行为设计、操作指示等相关工作设置简单、快捷,不同类型装备应用证明本平台具有较好的通用性,可用于多种虚拟维修训练系统的快速开发。     

Haptic gas pedal feedback

Active driver support systems either automate a control task or present warnings to drivers when their safety is seriously degraded. In a novel approach, utilising neither automation nor discrete warnings, a haptic gas pedal (accelerator) interface was developed that continuously presents car-following support information, keeping the driver in the loop. This interface was tested in a fixed-base driving simulator. Twenty-one drivers between the ages of 24 and 30 years participated in a driving experiment to investigate the effects of haptic gas pedal feedback on car-following behaviour. Results of the experiment indicate that when haptic feedback was presented to the drivers, some improvement in car-following performance was achieved, while control activity decreased. Further research is needed to investigate the effectiveness of the system in more varied driving conditions. Haptics is an under-used modality in the application of human support interfaces, which usually draw on vision or hearing. This study demonstrates how haptics can be used to create an effective driver support interface.     

复杂背景下人眼自动定位

针对复杂背景下静态人脸灰度图像，提出一种人眼自动定位方法。首先基于人脸几何特征先验知识，建立人眼位置的判定准则，对分割阈值范围进行粗估计；然后采用分割阈值递增法，并结合人眼位置判定准则，判定分割图像中双眼黑块是否出现；最后利用二维相关系数作为对称相似性测度，检验检测出的双眼黑块的真实性。