网络机器人遥操作系统设计与实现

本文在分析了网络环境下机器人遥操作系统的结构的基础上,介绍了一套基于网络的移动机器人遥操作实验系统的设备组成及硬软件结构的设计和实现。系统设计简洁有效,网络虚拟机的设计和使用则极大地方便了遥操作研究的开展。

基于网络的机器人遥操作研究

本文在介绍了网络环境下机器人遥操作系统的结构的基础上,通过仿真实验、移动机器人遥操作定位实验和位置跟踪实验,证明了系统的可用性。为了避免移动机器人碰撞到其它物体,在遥操作中将机器人和周围物体的位置转换为力反馈信息,辅助操作者进行控制,实验证明了这一方案的简洁有效。

基于Agent的网络遥操作机器人系统控制研究

为了充分发挥智能机器人的自主性和人的主观能动性,实现通过网络遥操作非结构化环境下的智能机器人,提出了一种基于Agent的网络遥操作机器人控制系统结构,分析了控制系统中各部分的功能,给出了系统中各个Agent的实现方法。该控制方法已通过仿人形机器人的遥操作控制实验得到了验证。

网络遥操作机器人的任务产生方法研究

为了解决网络遥操作中操作者误操作问题,给出了一种在非结构环境下遥操作机器人的模糊控制方法,介绍了一种网络遥操作机器人控制系统结构,对任务产生器进行了设计,并以网络遥操作机械手抓取物品为例,通过实验验证了所设计方法的合理性。

基于IP QoS技术的网络机器人遥操作研究

针对基于 Internet机器人遥操作中存在的问题 ,结合 Internet网络技术的最新发展 ,借助 IP Qo S技术的特点和优势 ,本文研究并设计了基于集成业务体系结构的网络机器人遥操作系统 .通过分析 IP Qo S技术和机器人遥操作技术相互结合的可行性与合理性 ,表明该系统能够克服目前在 Internet遥操作过程中存在的问题并可在未来支持 IP Qo S技术的 Internet中发挥作用 .本文提出了该系统的设计原型及实现方法 .

Luminescent supramolecular microstructures containing Ru(bpy)(3)(2+): Solution-based self-assembly preparation and solid-state electrochemiluminescence detection application

In this correspondence, we report on the first preparation of novel, robust Ru(bpy)(3)(2+)-containing supramolecular microstructures via a solution-based self-assembly strategy, carried out by directly mixing H2PtCl6 and Ru(bpy)(3)Cl-2 aqueous solutions at room temperature. It reveals that both the molar ratio and concentration of reactants have a heavy influence on the morphologies of such microstructures. The electrochemical behavior of the Ru(bpy)(3)(2+) components contained in the solid film of the microstructures formed on the electrode surface is also studied and found to exhibit a diffusion-controlled voltammetric feature. Most importantly, such microstructures exhibit excellent electrochemiluminescence (ECL) behaviors and therefore hold great promise as new luminescent materials for solid-state ECL detection in capillary electrophoresis (CE) or CE microchip.

Phylogenetic studies of pantherine cats (Felidae) based on multiple genes, with novel application of nuclear beta-fibrinogen intron 7 to carnivores

The pantherine lineage of the cat family Felidae (order: Carnivora) includes five big cats of genus Panthera and a great many midsized cats known worldwide. Presumably because of their recent and rapid radiation, the evolutionary relationship among pantherines remains ambiguous. We provide an independent assessment of the evolutionary history of pantherine lineage using two complete mitochondrial (mt) genes (ND2 and ND4) and the nuclear beta-fibrmogen intron 7 gene, whose utility in carnivoran phylogeny was first explored. The available four mt (ND5, cytb, 12S, and 16SrRNA) and two nuclear (IRBP and TTR) sequence loci were also combined to reconstruct phylogeny of 14 closely related cat species. Our analyses of combined mt data (six genes; approximate to 3750 bp) and combined mt and nuclear data (nine genes; approximate to 6500 bp) obtained identical tree topologies, which were well-resolved and strongly supported for almost all nodes. Monophyly of Panthera genus in pantherine lineage was confirmed and interspecific affinities within this genus revealed a novel branching pattern, with P. tigris diverging first in Panthera genus, followed by P. onca, P. leo, and last two sister species P. pardus and P. uncia. In addition, close association of Neofelis nebulosa to Panthera, the phylogenetic redefinition of Otocolobus manil within the domestic cat group, and the relatedness of Acinonyx jubatus and Puma concolor were all important findings in the resulting phylogenies. The potential utilities of nine different genes for phylogenetic resolution of closely related pantherine species were also evaluated, with special interest in that of the novel nuclear beta-fibrinogen intron 7. (c) 2005 Elsevier Inc. All rights reserved.

A novel chemiluminescent immunoassay for microcystin (MC) detection based on gold nanoparticles label and its application to MC analysis in aquatic environmental samples

A novel chemiluminescent immunoassay method based on gold nanoparticles was developed for the detection of microcystins (MCs). The immunoassay included three main steps: indirect competitive immunoreaction, oxidative dissolution of gold nanoparticles, and indirect determination for MCs with Au3+-catalysed luminol chemiluminesent system. The method has a wide working range (0.05-10 mu g L-1, r(2) = 0.9914), the limit of detection was determined to be 0.024 mu g L-1, which is much lower than the World Health Organization's proposed guidelines (1 mu g L-1) for drinking-water. The proposed method was applied to MC analysis in natural water and fish tissue samples, and most results in the proposed method were in agreement with the conventional indirect competitive enzyme-linked immunosorbent assay method, which indicated that the new chemiluminescent immunoassay was sensitive, reliable, and suitable for MC analysis in natural water and fish tissue samples.