Downhill kinetics of biomolecular interface binding: Globally connected scenario

We study the kinetics of the biomolecular binding process at the interface using energy landscape theory. The global kinetic connectivity case is considered for a downhill funneled energy landscape. By solving the kinetic master equation, the kinetic time for binding is obtained and shown to have a U-shape curve-dependence on the temperature. The kinetic minimum of the binding time monotonically decreases when the ratio of the underlying energy gap between native state and average non-native states versus the roughness or the fluctuations of the landscape increases. At intermediate temperatures,fluctuations measured by the higher moments of the binding time lead to non-Poissonian, non-exponential kinetics. At both high and very low temperatures, the kinetics is nearly Poissonian and exponential.

Preparation of Pb-Ca-Na master alloy using molten chloride salt electrolysis

An electrolysis technique for co-deposition of Ca2+ and Na+ at the liquid lead cathode was put forward. The experiment was carried out at an electrolysis temperature below 650 degrees C and had a current efficiency of 98%, which are respectively 100 similar to 300 degrees C lower and 15% similar to 30% higher than those reported both at home and abroad.

监控式水下机械手及相关技术的研究

水下机械手作为水下机器人通用作业工具得到广泛地应用，目前水下机械手的主要操作方式为主从方式。虽然主从方式具有操作直观，灵活的特点，但难于完成需要精确定位，轨迹控制的水下作用，如海洋石油钻井平台导管架的检查作用。为了扩展水下机器人的作业能力，提高水下作业智能化程度，沈阳自动化所承担国家863课题“水下虚拟遥操作与监控机械手系统”关键技术的研究工作。作者参加了此课题的研究工作，以Schilling水下机械手为研究对象，深入研究机械手的作用功能，对机械手的逆运动学，焊缝空间轨迹规划作了深入的研究，形成本文阐述的主要内容。由于Schilling水下机械手各关节之间的连接参数中存在多个偏距，其运动学逆解不能简单由解析方式给出。机械手进行控制与轨迹规划等操作必须找到一种快速求解的方法。本篇文章得出一种基于信赖域法的机械手运动学逆解算法。由于该算法具有收敛速度快的特点，故可以被应用于在线求解机械手运动学逆解；由于没有直接求解二阶导数，故不存在奇异解的问题。经理论分析和实验证明该方法在解决水下监控机械手在线跟踪水下结构物空间轨迹的技术问题具有较好的效果。作为课题的实际应用背景的导管架焊缝曲面为一复杂的空间曲面。为了实现课题的研究目标，本课题不仅要求解焊缝的轨迹，而且要给出其法线方向。对于这样一个问题，用空间解析几何和微分几何方法是很难求解的，本文给出了一种基于B样条参数曲面及曲面求交的方法，具有速度快，通用性强的优点。