一种引入通信的多移动机器人编队方法*

提出以视觉跟踪为基础并引入通信进行多机器人的编队控制方法,根据需要编写了一种新的通信协议,采用闭环l-Φ实现编队算法.这种多机器人编队控制避免了视觉系统的局限,能够更好地在复杂未知环境中协作完成任务,解决了编队控制的无反馈和实时性不高的问题,使得机器人能够准确迅速地进行跟踪和通信编队,一起顺利达到目标点.试验结果证明了该方法的有效性.     

Screening of Inhibitors Targeting Heat Shock Protein 47 Involved in the Development of Idiopathic Pulmonary Fibrosis

Heat shock protein 47 (HSP47), a collagen-specific molecular chaperone, is causally related to fibrotic diseases, including idiopathic pulmonary fibrosis. The identification of Compounds that interfere with the HSP47-collagen interaction is essential for the development of relevant therapeutics. Herein, we prepared human HSP47 as a soluble fusion protein expressed in E. coli and established an assay system for HSP47 inhibitor screening. We screened a natural and synthetic Compound library established at Nagasaki University. Among 1023 Compounds, 13 exhibited inhibitory activity against human HSP47, of which three inhibited its function in a dose-dependent manner. Epigallocatechin-3-O-gallate, one of these three Compounds, is a typical polyphenol Compound derived from tea leaves. Structurally related Compounds were synthesized and examined for their activity, revealing a hydroxyl group at A-ring position 5 as important for its activity. The present findings provide valuable insight for the development of natural product-derived therapeutics for fibrotic diseases, including idiopathic pulmonary fibrosis.     

Dynamic “Molecular Portraits” of Biomembranes Drawn by Their Lateral Nanoscale Inhomogeneities

To date, it has been reliably shown that the lipid bilayer/water interface can be thoroughly characterized by a sophisticated so-called “dynamic molecular portrait”. The latter reflects a combination of time-dependent surface distributions of various physicochemical properties, inherent in both model lipid bilayers and natural multi-component cell membranes. One of the most important features of biomembranes is their mosaicity, which is expressed in the constant presence of lateral inhomogeneities, the sizes and lifetimes of which vary in a wide range—from 1 to 10³ nm and from 0.1 ns to milliseconds. In addition to the relatively well-studied macroscopic domains (so-called “rafts”), the analysis of micro- and nanoclusters (or domains) that form an instantaneous picture of the distribution of structural, dynamic, hydrophobic, electrical, etc., properties at the membrane-water interface is attracting increasing interest. This is because such nanodomains (NDs) have been proven to be crucial for the proper membrane functioning in cells. Therefore, an understanding with atomistic details the phenomena associated with NDs is required. The present mini-review describes the recent results of experimental and in silico studies of spontaneously formed NDs in lipid membranes. The main attention is paid to the methods of ND detection, characterization of their spatiotemporal parameters, the elucidation of the molecular mechanisms of their formation. Biological role of NDs in cell membranes is briefly discussed. Understanding such effects creates the basis for rational design of new prospective drugs, therapeutic approaches, and artificial membrane materials with specified properties.     

An electrochemical method for the preparation of Mg–Li alloys at low temperature molten salt system

Mg–Li alloys have been prepared by electrolysis in a molten salt electrolyte of 50% LiCl–50% KCl (mass%) at low temperature of 420–510 °C. The effects of electrolytic temperature and cathodic current density on alloy formation rate and current efficiency were studied. For the deposition of metallic lithium on the cathode consisting of solid Mg and liquid Mg–Li, both electrolytic temperature and cathodic current density have no obvious influence on current efficiency; while for the deposition of metallic lithium on the solid magnesium cathode, both electrolytic temperature and cathodic current density greatly affect alloy formation rate and current efficiency. The optimum electrolysis condition is—molten salt mixture, LiCl:KCl = 1:1 (mass%), electrolytic temperature: 480 °C, cathode current density: 1.13 A cm⁻². Mg–Li alloys with low lithium content (about 25 wt% Li) were prepared via electrolysis at low temperature following by thermal treatment at higher temperature.     

An extension of Wagner's analysis of competing scale formation

Wagner's criterion to predict the minimum concentration of solute (N _B(min) ⁰ )necessary for the exclusive formation of its scale has been modified to incorporate both thermodynamic and kinetics requirements. The analysis presented here involves a receding alloy/scale interface for which the composition of the alloy at this interface is governed by thermodynamic equilibrium between the two competing scale phases and the base alloy. This is a more rigorous analysis than that of Wagner's, who assumed the alloy/scale interface to be immobile and the solute composition at the interface to be zero. A comparison is made between values of N _B(min) ⁰ found experimentally and those predicted by Wagner's and the present criterion for a number of alloy-gas systems. It is shown that the criterion developed in the present analysis can often provide a better approximation of the actual N _B(min) ⁰ .The expressions derived from the present analysis have been extended also in a semiquantitative manner to provide a criterion for the minimum amount of solute in the alloy required for the transition from internal to external scale formation.     

叶蜡石的矿物成分对合成金刚石的影响

通过对闽东矿区五种不同类型叶蜡石所做的化学分析及DTA、TG分析，计算出了其相应的矿物成分。将这几种叶蜡石分别制成传压介质进行了合成金刚石的实验并与北京门头沟叶蜡石作了比较，结果表明：(1)含有一定量石英(20％左右)的叶蜡石做传压介质有利于降低金刚石合成压力，提高金刚石质量；(2)结晶水含量较低的叶蜡石合成出的金刚石质量更好。作者对实验结果进行了分析并指出：在选择作为传压介质的叶蜡石时，不能只要求其硬度低、叶蜡石成分高，而应全面考虑其中所含矿物成分及其在高温高压下可能发生的变化。     

RTM工艺中气泡形成及消除研究

总结了关于RTM（树脂压铸）工艺中气泡缺陷的文献报道，对RTM中气泡缺陷的形成机理、影响因素及各研究者提出的消泡方法、理论和模型进行了概述，同时对RTM工艺中气泡缺陷的研究现状给予充分关注，并对RTM缺陷研究的未来方向进行了展望。     

Bubble Formation at a Rotating Cylindrical Surface in Cross‐Flowing Liquid

A novel method of gas sparging from a rotating cylinder is proposed, which prevents against formation of large attached gas cavities in cross‐flowing liquids including those flowing downwards. Experimental and theoretical results regarding critical rotation speed necessary to remove the attached cavity, bubble formation process and size distribution of the produced bubbles in a low viscosity system (air‐water) are presented in this study.     

Automated procedure to determine the thermodynamic stability of a material and the range of chemical potentials necessary for its formation relative to competing phases and compounds

We present a simple and fast algorithm to test the thermodynamic stability and determine the necessary chemical environment for the production of a multiternary material, relative to competing phases and compounds formed from the constituent elements. If the material is found to be stable, the region of stability, in terms of the constituent elemental chemical potentials, is determined from the intersection points of hypersurfaces in an (n−1)$(n-1)$-dimensional chemical potential space, where n$n$ is the number of atomic species in the material. The input required is the free energy of formation of the material itself, and that of all competing phases. Output consists of the result of the test of stability, the intersection points in the chemical potential space and the competing phase to which they relate, and, for two- and three-dimensional spaces, a file which may be used for visualization of the stability region. We specify the use of the program by applying it both to a ternary system and to a quaternary system. The algorithm automates essential analysis of the thermodynamic stability of a material. This analysis consists of a process which is lengthy for ternary materials, and becomes much more complicated when studying materials of four or more constituent elements, which have become of increased interest in recent years for technological applications such as energy harvesting and optoelectronics. The algorithm will therefore be of great benefit to the theoretical and computational study of such materials.     

云母钛珠光颜料的形成机理研究

阐述了云母钛的形成机理，即云母依靠静电引力吸附[Ti(H2O)6]^4 形成双电层，双电层上的[Ti(H2O)6]^4 发生水解引起多核络合物生长为水合二氧化钛，水解的水合二氧化钛与云母产生异质颗粒间的互凝而形成云母钛。