Systematic robustness analysis of least squares mobile robot velocity estimation using a regular polygonal optical mouse array

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived, from which the least squares estimation of the mobile robot velocity is obtained as the simple average of the optical mouse velocity readings. Second, it is shown that a redundant number of optical mice contributes to the robustness of the least squares mobile robot velocity estimation against both measurement noises and partial malfunction of optical mice. Third, the sensitivity analysis of the least squares mobile robot velocity estimation to imprecise installation of optical mice is made, from which a practical method of optical mouse position calibration is devised. Finally, some experimental results using commercial optical mice are given to demonstrate the validity and performance of the proposed mobile robot velocity estimation. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

IPv6网络安全的实现与测试

IPv4地址日趋枯竭,IPv6协议替代IPv4协议势在必行。与IPv4协议相比,IPv6协议在地址空间、路由聚合、服务质量和网络安全等方面带来了很大的发展和提升空间,但IPv6的网络安全仍然存在。本文对IPv6的防火墙和入侵检测系统进行了测试,并对其结果进行了分析。为正确部署防火墙和定位入侵检测系统提出了系列建议。     

Surface characterization of 6H-SiC (0001) substrates in indentation and abrasive machining

Surface characterization of 6H-SiC (0001) substrates in indentation and abrasive machining was carried out to investigate microfracture, residual damage, and surface roughness associated with material removal and surface generation. Brittle versus plastic deformation was studied using Vickers indention and nano-indentation. To characterize the abrasive machining response, the 6H-SiC (0001) substrates were ground using diamond wheels with grit sizes of 25, 15 and 7 μm, and then polished with diamond suspensions of 3 and 0.05 μm. It is found that in indentation, there was a scale effect for brittle versus plastic deformation in 6H-SiC substrates. Also, in grinding, the scales of fracture and surface roughness of the substrates decreased with a decrease in diamond grit size. However, in polishing, a reduction in grit size of diamond suspensions gave no significant improvement in surface roughness. Furthermore, the results showed that fracture-free 6H-SiC (0001) surfaces were generated in polishing with the existence of the residual crystal defects, which were associated with the origin of defects in single crystal growth.     

Ti-22Nb-6Zr(at%)合金的超弹性和形状记忆效应

用弯曲法和拉伸法测定Ti-22Nb-6Zr（at％）合金的超弹性和形状记忆效应，研究固溶处理温度对Ti-22Nb-6Zr合金组织结构及性能的影响。结果表明：固溶处理后Ti-22Nb-6Zr合金的室温组织为单一的β相，晶粒尺寸随固溶处理温度升高而增大；合金的静态弹性模量小于30GPa；Ti-22Nb-6Zr合金具有良好的超弹性和一定的形状记忆效应。室温下变形，合金的超弹性和形状记忆效应随固溶处理温度升高而提高。900℃固溶处理后的合金在室温下拉伸变形，应变为5％时，总的最大回复应变达4．12％，其中超弹性回复应变为3．91％，记忆回复应变为0.21％。     

Mobile learning in chemical engineering: An outlook based on case studies

In the context of the electronic learning (E-learning) methodology, mobile learning (M-learning) focuses on the use of portable technology (such as mobiles or tablets) and the mobility of students. E-learning, and particularly M-learning, can be implemented in combination with other pedagogical methodologies for chemical engineering teaching and learning. We can consider that the vast majority of undergraduates own personal mobile devices nowadays. Moreover, many case studies have shown that M-learning is an effective methodology to capture students’ attention and to actively engage them in the learning process. In most cases, lecturers have reported an improvement in both academic performance and qualifications and have expressed a favourable opinion towards this type of initiative in surveys. In line with the increasing interest in the incorporation of E-learning, this review discusses cases studies based on M-learning within the field of chemical engineering teaching through different technological platforms and apps which can be installed or directly used on mobile devices. All the platforms described in this work offer a free version, emphasizing the possibility of extending this methodology within the university with no need for additional economic resources.     

ATP-Independent Initiation during Cap-Independent Translation of m6A-Modified mRNA

The methylation of adenosine in the N⁶ position (m⁶A) is a widely used modification of eukaryotic mRNAs. Its importance for the regulation of mRNA translation was put forward recently, essentially due to the ability of methylated mRNA to be translated in conditions of inhibited cap-dependent translation initiation, e.g., under stress. However, the peculiarities of translation initiation on m⁶A-modified mRNAs are not fully known. In this study, we used toeprinting and translation in a cell-free system to confirm that m⁶A-modified mRNAs can be translated in conditions of suppressed cap-dependent translation. We show for the first time that m⁶A-modified mRNAs display not only decreased elongation, but also a lower efficiency of translation initiation. Additionally, we report relative resistance of m⁶A-mRNA translation initiation in the absence of ATP and inhibited eIF4A activity. Our novel findings indicate that the scanning of m⁶A-modified leader sequences is performed by a noncanonical mechanism.     

Interleukin 6 and Aneurysmal Subarachnoid Hemorrhage. A Narrative Review

Interleukin 6 (IL-6) is a prominent proinflammatory cytokine. Neuroinflammation in general, and IL-6 signaling in particular, appear to play a major role in the pathobiology and pathophysiology of aneurysm formation and aneurysmal subarachnoid hemorrhage (SAH). Most importantly, elevated IL-6 CSF (rather than serum) levels appear to correlate with delayed cerebral ischemia (DCI, “vasospasm”) and secondary (“vasospastic”) infarctions. IL-6 CSF levels may also reflect other forms of injury to the brain following SAH, i.e., early brain damage and septic complications of SAH and aneurysm treatment. This would explain why many researchers have found an association between IL-6 levels and patient outcomes. These findings clearly suggest CSF IL-6 as a candidate biomarker in SAH patients. However, at this point, discrepant findings in variable study settings, as well as timing and other issues, e.g., defining proper clinical endpoints (i.e., secondary clinical deterioration vs. angiographic vasospasm vs. secondary vasospastic infarct) do not allow for its routine use. It is also tempting to speculate about potential therapeutic measures targeting elevated IL-6 CSF levels and neuroinflammation in SAH patients. Corticosteroids and anti-platelet drugs are indeed used in many SAH cases (not necessarily with the intention to interfere with detrimental inflammatory signaling), however, no convincing benefit has been demonstrated yet. The lack of a robust clinical perspective against the background of a relatively large body of data linking IL-6 and neuroinflammation with the pathophysiology of SAH is somewhat disappointing. One underlying reason might be that most relevant studies only report correlative data. The specific molecular pathways behind elevated IL-6 levels in SAH patients and their various interactions still remain to be delineated. We are optimistic that future research in this field will result in a better understanding of the role of neuroinflammation in the pathophysiology of SAH, which in turn, will translate into the identification of suitable biomarkers and even potential therapeutic targets.     

Design,Synthesis, and Biological Evaluation of Novel 6H-Benzo[c]chromen-6-one Derivatives as Potential Phosphodiesterase II Inhibitors

Urolithins (hydroxylated 6H-benzo[c]chromen-6-ones) are the main bioavailable metabolites of ellagic acid (EA), which was shown to be a cognitive enhancer in the treatment of neurodegenerative diseases. As part of this research, a series of alkoxylated 6H-benzo[c]chromen-6-one derivatives were designed and synthesized. Furthermore, their biological activities were evaluated as potential PDE2 inhibitors, and the alkoxylated 6H-benzo[c]chromen-6-one derivative 1f was found to have the optimal inhibitory potential (IC₅₀: 3.67 ± 0.47 μM). It also exhibited comparable activity in comparison to that of BAY 60-7550 in vitro cell level studies.     

Molecular Mechanisms of the Deregulation of Muscle Contraction Induced by the R90P Mutation in Tpm3.12 and the Weakening of This Effect by BDM and W7

Point mutations in the genes encoding the skeletal muscle isoforms of tropomyosin can cause a range of muscle diseases. The amino acid substitution of Arg for Pro residue in the 90th position (R90P) in γ-tropomyosin (Tpm3.12) is associated with congenital fiber type disproportion and muscle weakness. The molecular mechanisms underlying muscle dysfunction in this disease remain unclear. Here, we observed that this mutation causes an abnormally high Ca²⁺-sensitivity of myofilaments in vitro and in muscle fibers. To determine the critical conformational changes that myosin, actin, and tropomyosin undergo during the ATPase cycle and the alterations in these changes caused by R90P replacement in Tpm3.12, we used polarized fluorimetry. It was shown that the R90P mutation inhibits the ability of tropomyosin to shift towards the outer domains of actin, which is accompanied by the almost complete depression of troponin’s ability to switch actin monomers off and to reduce the amount of the myosin heads weakly bound to F-actin at a low Ca²⁺. These changes in the behavior of tropomyosin and the troponin–tropomyosin complex, as well as in the balance of strongly and weakly bound myosin heads in the ATPase cycle may underlie the occurrence of both abnormally high Ca²⁺-sensitivity and muscle weakness. BDM, an inhibitor of myosin ATPase activity, and W7, a troponin C antagonist, restore the ability of tropomyosin for Ca²⁺-dependent movement and the ability of the troponin–tropomyosin complex to switch actin monomers off, demonstrating a weakening of the damaging effect of the R90P mutation on muscle contractility.