平面2R机器人机构混沌运动的控制

应用混沌控制方法中的周期扰动参数方法有效地控制了平面2R机器人机构中的混沌运动．在周期扰动参数控制法中，外扰周期信号的频率和振幅是混沌控制成功与否的关键．通过计算系统的最大Lyapunov指数的符号与频率或振幅的关系，可以选取适当的频率和振幅，将系统的混沌运动转化为规则的周期运动．     

萘丁美酮对十二指肠胃返流所致胃黏膜损伤保护作用的实验研究

目的探讨非甾体类消炎药萘丁美酮对十二指肠返流导致返流性胃炎的治疗作用。方法用SD大鼠建立十二指肠胃返流模型,40只模型大鼠等分为萘丁美酮组和西沙比利组、铝碳酸镁组、空白手术组;另取10只SD大鼠作为假手术组。干预时间12周。对模型大鼠的胃标本进行病理学检查,采用免疫组化方法对胃黏膜的COX2和TNFα进行染色。结果萘丁美酮组的病理改变明显轻于空白手术组(P<0.01)而又重于假手术组(P<0.05),与铝碳酸镁组和西沙比利组相比则差异不显著(P>0.05)。TNFα的免疫组化染色显示,萘丁美酮组与其他各组间均无显著性差异(P>0.05)。COX2的免疫组化染色显示,萘丁美酮组与空白手术组相比COX2表达明显降低(P<0.01),与铝碳酸镁组、西沙比利组和假手术组相比则无显著性差异(P>0.05)。结论在十二指肠返流导致的返流性胃炎中,萘丁美酮有明显的治疗效果。萘丁美酮可明显降低胃黏膜组织中COX2水平。     

MP2P网络的移动节点域间预切换方法

移动P2P网络具有高度动态性,但节点的频繁移动影响整个网络的可达性,降低了网络的服务质量.为了维护节点的可达性需要减少节点移动时的切换时延,为此文中提出了基于超级节点的分层预切换方法HPH.该方法在基于超级节点分层模型的基础上引入移动IPv6的快速切换的思想,对节点的域间移动采用预切换机制,解决网络中因节点频繁移动而带来的负面影响.仿真结果分析表明,较之传统KaZaA切换方法,HPH方法的切换时延降低了20.5％,丢包率降低了10.2％.     

共因失效在定量安全分析中的应用探究

对于采用冗余架构的安全苛求产品,为证明其安全完整性等级满足相应的定量指标,结合IEC 61508和EN50129对共因失效的要求,探究共因失效在定量安全分析中的应用.通过TFFR计算结果对比分析,建议在分析证明独立性满足EN50129标准的前提下,定量安全分析可忽略共因失效的影响.     

基于Simulink的图像角点检测及匹配的实验平台

基于Matlab的Simulink设计的图像角点检测和匹配的实验平台,首先根据角点检测原理利用Level-2 M-file S-Function建立角点检测模块,其次根据角点匹配原理利用Simulink模型库搭建出角点匹配模块,最后将各个模块连接起来形成实验平台。此平台将每个模块封装,可以从模块外部更方便的调整参数,通过图像角点检测和匹配效果来测试各个模块性能,及参数影响效果。实验结果表明,该系统满足实验测试要求。     

靶向下调FoxM1基因表达对肺癌细胞侵袭能力的影响

目的探讨Forkhead box M1对肺癌细胞侵袭能力的影响,为肺癌的基因靶向治疗提供理论依据。方法应用RNA干扰技术下调FoxM1在肺癌细胞株A549中的表达,观察肺癌细胞侵袭能力的改变,并检测侵袭相关蛋白MMP-2的表达情况。结果运用RNA干扰技术能够有效下调FoxM1基因及蛋白表达水平,下调FoxM1表达水平降低了肺癌细胞的侵袭能力,并引起了肺癌细胞中MMP-2的表达下降。结论下调FoxM1表达水平能够抑制肺癌细胞的侵袭能力,提示FoxM1可能成为肺癌治疗的新靶点。     

Designing H ∞/GH 2 static-output feedback controller for vehicle suspensions using linear matrix inequalities and genetic algorithms

This paper presents an approach to design the H _∞/GH ₂ static-output feedback controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). Three main performance requirements for an advanced vehicle suspension are considered in this paper. Among these requirements, the ride-comfort performance is optimized by minimizing the H _∞ norm of the transfer function from the road disturbance to the sprung mass acceleration, while the road-holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H ₂ (GH ₂) norms of the transfer functions from the road disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH ₂ norm as well. A four-degree-of-freedom half-car model with active suspension system is applied in this paper. Several kinds of H _∞/GH ₂ static-output feedback controllers, which use the available sprung mass velocities or the suspension deflections as feedback signals, are obtained by using the GAs to search for the possible control gain matrices and then resolving the LMIs together with the minimization optimization problem. These designed H _∞/GH ₂ static-output feedback controllers are validated by numerical simulations on both the bump and the random road responses which show that the designed H _∞/GH ₂ static-output feedback controllers can achieve similar or even better active suspension performances compared with the state-feedback control case in spite of their simplicities.     

Daily and seasonal variations of the partial pressure of CO2 in surface seawater along Belgian and southern Dutch coastal areas

The variations of the partial pressure of CO₂ (pCO₂) and related parameters were determined in surface seawater along the Belgian coast, from January 1995 to June 1996, at both daily and seasonal time scales. The distribution of pCO₂ in this area is regulated by river input from the Scheldt, biological activity and hydrodynamics. The contribution of each of these processes varies as a function of the considered time scale: (i) the daily variation of pCO₂ depends on the tide although modulated by the biological diel cycle; (ii) the seasonal variation of pCO₂ depends on the input from the Scheldt and the seasonal variations of phytoplanktonic biomass. During winter, the plume of the river Scheldt is oversaturated in pCO₂ with respect to the atmosphere. During spring and summer, phytoplankton blooms occur both in the lower Scheldt estuary and in the river plume and may lead to undersaturation of pCO₂ in the easternmost area of the river plume. However, the degradation of phytoplankton induces oversaturation of pCO₂, in the westernmost area of the plume. Furthermore, the inter-annual variation of pCO₂ depends partly on the fluctuations of the discharge of the Scheldt. Our preliminary results strongly suggest that, on an annual basis, the Scheldt plume behaves as a net source of CO₂ to the atmosphere.     

昆明市主城二环快速系统改扩建工程规划及设计

2009年建成的昆明市主城二环快速系统是昆明主城区交通干线网络的重点基础设施建设项目,该文简要介绍该工程规划、前期研究、工程设计及工程主要技术特点等。     

SnO_2/CNTs复合材料的制备与表征

采用热蒸发法制备SnO2/CNTs复合材料,在不同工艺条件下制备了SnO2/CNTs复合材料,对影响SnO2/CNTs复合材料的生长条件,主要是温度和环境压力等参数进行了研究.使用X射线衍射仪、拉曼谱仪对样品进行了成分及结构测试,并用扫描电镜对样品表面形貌进行了观测.结果表明,以温度900℃、压力0.08 MPa、保温时间120 min为参数制备的复合材料纯度最高.进一步分析了沉积理论,证明低温、高压利于SnO:的形成.