柔性气动连续体机器人关节结构设计与运动学分析

基于气动人工肌肉和缆绳组合驱动,提出了一种三自由柔性气动连续体机器人关节,该关节具有结构紧凑、柔顺性高、控制简单等特点。通过分析该机器人关节结构特性,采用修正的D-H法,建立了其正反解运动学模型,求解了其位置运动学解和速度运动学解,通过仿真验证了关节结构的合理性和运动学方程的正确性。     

露天液压钻车变幅机构运动学分析与工作空间研究

针对某型露天液压钻车对变幅机构进行了介绍,首先利用D-H法建立露天液压钻车变幅机构的坐标系,并采用齐次变换法,建立其运动学方程;选取变幅机构特定姿态,验证所得运动学方程的正确性;利用MATLAB进行编程计算,采用伪随机数法得到露天液压钻车变幅机构的可达工作空间、有效工作空间及有效工作范围的相关视图,并进行了三种工作空间的对比。全面系统的提出了露天液压钻车变幅机构运动学分析方法与相关工作空间的概念。     

7,12-二甲基苯并蒽对人肝星状细胞活化的影响

探讨7,12-二甲基苯并蒽(DMBA)对肝星状细胞活化的影响。DMBA(1μmol·L-1)处理人肝星状细胞株LX-2 24h后,Western blot、ELISA和实时定量PCR观察肝星状细胞活化标志蛋白α-SMA、TGF-β1、CYP1A1和CYP1B1蛋白表达和分泌量以及mRNA表达。研究发现,与对照组相比,DMBA处理后的LX-2中α-SMA蛋白和mRNA表达均显著升高(P0.05),TGF-β1分泌量(P0.05)和mRNA表达(P0.01)也显著升高。此外,DMBA处理的LX-2中CYP1A1和CYP1B1的mRNA表达也显著升高(P0.05)。结果表明DMBA可活化人肝星状细胞,可能与诱导LX-2中CYP1A1和CYP1B1表达有关。     

辅助救护人员配置对介护老人安全疏散影响研究

运用Pathfinder 仿真软件,从安全疏散角度研究养老建筑中护理人员人力配置问题,为养老建筑人员疏散配置提供理论基础,为相关政策措施的制定提供依据。研究结果表明：人力供应阶段,随着护理人员数量增加,疏散所用的时间减少,但呈现边际效用递减的趋势;外部人力再供应阶段,消防救援人员人数增加,疏散所用的时间减少,同样呈现边际效用递减的趋势;护理人员与消防救援人员配置都存在最优配置点,最优配置点处总体疏散时间下降最明显,人数超过最优配置点后,辅助救护人员数量的增加对介护老人安全疏散效果提升不明显,甚至会由于辅助救护人员过多引起疏散中的拥堵造成疏散效率下降。     

Human Adipose-Derived Mesenchymal Progenitor Cells Engraft into Rabbit Articular Cartilage

Mesenchymal stem cells (MSCs) are known to have the potential for articular cartilage regeneration, and are suggested for the treatment of osteoarthritis (OA). Here, we investigated whether intra-articular injection of xenogeneic human adipose-derived mesenchymal progenitor cells (haMPCs) promoted articular cartilage repair in rabbit OA model and engrafted into rabbit articular cartilage. The haMPCs were cultured in vitro, and phenotypes and differentiation characteristics of cells were evaluated. OA was induced surgically by anterior cruciate ligament transection (ACLT) and medical meniscectomy of knee joints. At six weeks following surgery, hyaluronic acid (HA) or haMPCs was injected into the knee joints, the contralateral knee served as normal control. All animals were sacrificed at the 16th week post-surgery. Assessments were carried out by macroscopic examination, hematoxylin/eosin (HE) and Safranin-O/Fast green stainings and immunohistochemistry. The data showed that haMPC treatment promoted cartilage repair. Signals of human mitochondrial can be directly detected in haMPC treated cartilage. The haMPCs expressed human leukocyte antigen I (HLA-I) but not HLA-II-DR in vivo. These results suggest that intra-articular injection of haMPCs promotes regeneration of articular cartilage in rabbit OA model, and support the notion that MPCs are transplantable between HLA-incompatible individuals.     

IgG and IgA with Potential Microbial-Binding Activity Are Expressed by Normal Human Skin Epidermal Cells

The innate immune system of the skin is thought to depend largely on a multi-layered mechanical barrier supplemented by epidermis-derived antimicrobial peptides. To date, there are no reports of antimicrobial antibody secretion by the epidermis. In this study, we report the expression of functional immunoglobulin G (IgG) and immunoglobulin A (IgA), previously thought to be only produced by B cells, in normal human epidermal cells and the human keratinocyte line HaCaT. While B cells express a fully diverse Ig, epidermal cell-expressed IgG or IgA showed one or two conservative V_HDJ_H rearrangements in each individual. These unique VDJ rearrangements in epidermal cells were found neither in the B cell-derived Ig VDJ databases published by others nor in our positive controls. IgG and IgA from epidermal cells of the same individual had different VDJ rearrangement patterns. IgG was found primarily in prickle cells, and IgA was mainly detected in basal cells. Both epidermal cell-derived IgG and IgA showed potential antibody activity by binding pathogens like Staphylococcus aureus, the most common pathogenic skin bacteria, but the microbial-binding profile was different. Our data indicates that normal human epidermal cells spontaneously express IgG and IgA, and we speculate that these Igs participate in skin innate immunity.     

Predicted Trans-Acting siRNAs in the Human Brain

Endogenous small non-coding RNAs play pivotal roles in regulating gene expression in eukaryotes. Many studies have investigated the function and molecular mechanism of microRNAs in the development and disease of various organisms via mRNA repression of protein-coding genes. Recent findings indicate microRNAs might trigger the generation of trans-acting small interfering RNAs (ta-siRNAs). The interaction among different types of small RNA molecules reveals an even more complicated and elaborate pattern of RNA regulation during gene expression than previously thought. We developed a method for mining ta-siRNA sequences and evaluated the performance of our novel method using data from Arabidopsis thaliana. Additionally, using small RNA and degradome data for the human brain, we identified 155 small RNAs that satisfied ta-siRNA characteristics. The DRAXIN and ATCAY genes, which are preferentially expressed in the human brain, were predicted to be the targets of 12 potential ta-siRNAs.     

基于手势的自然用户界面(NUI)在会议中的应用

自然用户界面NUI的清晰、简洁、智能化的方式让用户体验更加直观,更为人性化。基于自然用户界面的应用设备层出不穷,手势识别这种操作技术占据了重要的位置。随着虚拟现实技术快速发展,人们的办公方式也发生了很大的变化。在幻灯片演示方面,传统的方式显得呆板,不能让人们自由使用动作。因此,文中提出一种使用手势来代替鼠标输入的方法,使用Leap Motion控制器。经过试验,计算机的反应速度快,并能准确地辨别出有效手势,能够对幻灯片进行操作。     

基于MATLAB/Simulink的内涨式夹紧机构运动学仿真

通过对热煨弯管坡口机内涨式夹紧机构进行分析,将其简化为双滑块机构,通过机构运动学方程建立了仿真模型,利用Matlab/Simulink软件对机构进行了运动学仿真分析,得到了机构的各种运动参数仿真结果,验证了仿真的正确性和有效性。