多关节机器人通用体系结构的研究

结合一个五自由度教学工业两用型机器人应用实例，构造出多关节机器人通用体系结构，包括总体原型、机械结构、关节传动链、伺服驱动元件、电气控制系统、关节坐标系及其运动学方程、通信协议和软件设计思路等。通过实际使用表明，本文提出的通用体系结构是实用的、合理的。     

磷氮阻燃腈纶结构性能及阻燃机理研究

研究了含磷酸二氢铵和脲复合阻燃剂的共混阻燃腈纶的结构和性能。研究表明，在纤维成形加工过程中，部分阻燃剂聚合生成聚磷酸铵和聚脲，阻燃剂以微粒状均匀分散并包埋在纤维内部；阻燃剂的加入使纤维高序区大分子间等距离排列的规整性和片状结构单元等距离平行排列的程度降低，热稳定性亦略有下降；但纤维的宏形态结构及物理机械性能没有明显变化；磷氮阻燃腈纶具有良好的阻燃性和阻燃耐久性，经碱洗２０次、水洗３０次后，阻燃剂的磷和氮的保留率分别高达８２．９％和８９．５％，纤维的ＬＯＩ值仍在２６％以上。     

Potassium channels: a computer prediction of structure and selectivity

Model structures for the pore of the potassium channels Shakerand ROMK1 are predicted. The models arise from computer simulationsand suggest reasons for the striking selectivity of these channelsfor K+ and the blocking of ROMK1 by internal Mg²⁺. The modelledstructure of the Shaker pore is supported by mutagenesis data.The mutagenesis experiments indicate the side chains responsiblefor binding to blocking agents [tetraethylammonium (TEA) andcharybdotoxin (CTX)] and the model has these side chains suitablyoriented for binding. An aromatic K+ binding site part way downthe pore is also predicted by the Shaker pore model.     

高层住宅结构设计

主要介绍长沙梦泽园高层住宅从基础到上部楼层各部位的结构设计,以及在设计、施工过程中所考虑的一些问题及处理方法。     

Quantification of secondary structure prediction improvement using multiple alignments

The use of multiple sequence alignments for secondary structurepredictions is analysed. Seven different protein families, containingonly sequences of known structure, were considered to providea range of alignment and prediction conditions. Using alignmentsobtained by spatial superposition of main chain atoms in knowntertiary protein structures allowed a mean of 8% in secondarystructure prediction accuracy, when compared to those obtainedfrom the individual sequences. Substitution of these alignmentsby those determined directly from an automated sequence alignmentalgorithm showed variations in the prediction accuracy whichcorrelated with the quality of the multiple alignments and distanceof the primary sequence. Secondary structure predictions canbe reliably improved using alignments from an automatic alignmentprocedure with a mean increase of 6.87percnt;, giving an overallprediction accuracy of 68.5%, if there is a minimum of 25% sequenceidentity between all sequences in a family.     

不同活化剂对石油焦基活性炭孔结构的影响

以石油焦为原料 ,Na OH,KOH和 Na2 CO3 为活化剂制备活性炭 ,采用氮气吸附考察了不同活化剂对活性炭的比表面积、中孔和微孔孔径分布、孔容积及平均孔径等孔结构的影响 .结果表明 :KOH活化制备的活性炭包含 1 nm的微孔和 4nm的中孔 ,总孔容 0 .648cm3 /g,比表面积大 ;Na OH制备的活性炭以 1 nm的微孔为主 ,占总孔容 ( 0 .1 65 cm3 /g)的 98% ,平均孔径 1 .83nm;Na2 CO3 制备的活性炭以 4nm的中孔为主 ,占总孔容 ( 0 .1 43cm3 /g)的 68.5 % ,平均孔径 3.42 nm,比表面积小 .3种样品的孔径都呈现出多峰分布特征 .KOH和 Na2 CO3 活化制备的活性炭的 N2 吸附脱附曲线属于 型 ,Na OH活化制备的活性炭吸附脱附曲线属于 型 .     

Structure development in amorphous starch as revealed by X‐ray scattering: Influence of the network structure and water content

The evolution of the amorphous structure of starch was characterized during the drying process by real‐time X‐ray wide‐angle scattering. The X‐ray diffractograms of injection‐molded starch show two superposed, rather broad, scattering maxima indicative of noncrystalline structures. The location of the two peaks has been associated to disordered starch single helices. A third maximum that arises upon drying the material in vacuum is associated to the scattering emerging from regions containing double helices. A model for the starch network is proposed, assuming a primary and a secondary component. The wider, temperature stable component appearing first, is correlated to the entanglement network of the melt. The narrower network component, which is created later, at lower temperature (secondary network), is explained by the formation of double helix regions that densify the wider primary network. The secondary network is increased strongly by the drying process. X‐ray experiments performed during the penetration of water, provoking a higher molecular mobility, reveal a better‐packed helical structure that becomes the precursor of a double helix crystalline formation. When temperature increases, the secondary network is dissolved and water molecules arrange themselves in better‐organized crystals as strongly bound crystal water. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 99: 1880–1886, 2006     

An evaluation of the performance of an automated procedure for comparative modelling of protein tertiary structure

A 3-D model of a protein can be constructed from its amino acidsequence and the 3-D structures of one or more homologues byannealing three sets of fragments: the structurally conservedregions, structurally variable regions and the side chains.The method encoded in the computer program COMPOSER was assessedby generating 3-D models of eight proteins whose crystal structuresare already known and for which 3-D structures of homologuesare available. In the structurally conserved regions, differencesbetween modelled and X-ray structures are smaller than the differencesbetween the X-ray structures of the modelled protein and thehomologues used to build the model. When several homologuesare used, the contributions of the known structures are weighted,preferably by the square of sequence similarity; this is especiallyimportant when the similarities of the homologues to the modelledstructure differ greatly. The ‘collar’ extensionapproach, in which a similar region of different length in ahomologue is used to extend the framework, can result in a moreaccurate model. If known homologues comprise more than one relatedgroup of proteins and they are both distantly related to theunknown, then alignment of the sequence to be modelled witheach group of homologues facilitates identification of structurallyconserved regions of the unknown and leads to an improved model.Models have root mean square differences (r.m.s.d.s) with thestructures defined by X-ray analysis of between 0.73 and 1.56Å for all C atoms, for seven of the eight models. Forthe model of mucor pepsin, where the closest homologue has 33%sequence identity and 20% of the residues are in structurallyvariable regions, the r.m.s.d. for the framework region is 1.71Å and the r.m.s.d. for all C atoms is 3.47 Â.     

New catalyst systems for the polymerization of acetylene

The catalytic activities of WCI₆Ph₄Sn, MoCl₅Ph₄Sn and tetrabenzyltitanium were examined in the polymerization of acetylene. The structure, morphology and electrical conductivity of the doped and non doped polyacetylene were also studied.     

基于Wiener结构的软测量模型及辨识算法

Wiener模型结构能有效地表征系统的动态和静态特性, 因此这里首先基于这一结构建立软测量模型, 利用动态与静态子模型分别建立辅助变量与主导变量间的动态与静态关系, 并说明该软测量模型的可行性, 给出模型具体表达式. 其次, 针对所提模型, 提出分步辨识方式获得最优模型参数, 说明其可行性. 再次, 为了减少计算和实现模型在线更新, 这里提出参数辨识递推算法, 并给出软测量模型参数的收敛性结论. 通过实例仿真, 可以看出本文提出模型的可行性, 以及分步辨识方式与递推算法的有效性.