无线多跳网中具有网络编码意识的机会路由协议

针对现有COPE协议消极编码的问题,提出一种具有网络编码意识的机会路由协议NCAOR。该协议兼取机会路由和网络编码的优势实现高效地报文投递。在每一跳转发时,节点均选取多个冗余邻居节点构成机会节点集协助数据发送。收到报文后,机会节点利用局部拓扑知识和侦听的邻居报文接收信息判断转发报文的网络编码机会,并通过综合路径距离和编码收益的效用函数评估报文转发效能,智能设置转发响应时间。仿真结果表明,该协议相对采用最短路径路由的COPE方案具有网络吞吐量大、能耗低和节点编码机会更多的优点。

Heterogeneity in structurally arrested hard spheres

When cooled or compressed sufficiently rapidly, a liquid vitrifies into a glassy amorphous state. Vitrification in a dense liquid is associated with jamming of the particles. For hard spheres, the density and degree of order in the final structure depend on the compression rate: simple intuition suggests, and previous computer simulation demonstrates, that slower compression results in states that are both denser and more ordered. In this work, we use the Lubachevsky-Stillinger algorithm to generate a sequence of structurally arrested hard-sphere states by varying the compression rate.

The investigation of exfoliation process of organic modified montmorillonite in thermoplastic polyurethane with different molecular weights

Cloisite 30B (30B) was melt-mixed with two kinds of thermoplastic polyurethane (TPU) with different molecular weights to discern the roles of molecular diffusion and shear in the exfoliation process. The higher level of exfoliation was achieved in TPU matrix with higher molecular weight due to the appropriate viscosity. In order to have an insight into the mechanism of exfoliation, the degree of dispersion and exfoliation of 30B was characterized by wide angle X-ray diffraction and transmission electron microscopy. The layers of 30B were exfoliated via a slippage process, which was also observed in polyamide 12 nanocomposites recently.

Effects of polar group saturation on physical gelation of Amphiphilic polymer solutions

Monte Carlo simulation on the basis of the comblike coarse grained nonpolar/polar (NP) model has been carried out to study the polar group saturation effect on physical gelation of amphiphilic polymer solutions. The effects of polar group saturation due to hydrogen bonding or ion bridging on the sol-gel phase diagram, microstructure of aggregates, and chain conformation of amphiphilic polymer solutions under four different solvent conditions to either the nonpolar backbone or the polar side chain in amphiphilic polymer chains have been investigated. It is found that an increase of polar group saturation results in a monotonically decreased critical concentration of gelation point, which can be qualitatively supported by the dynamic theological measurements on pectin aqueous solutions. Furthermore, various solvent conditions to either the backbone or the side chain have significant impact on both chain conformation and microstructure of aggregates. When the solvent is repulsive to the nonpolar backbone but attractive to the polar side chain, the polymer chains are collapsed, and the gelation follows the mechanism of colloidal packing; at the other solvent conditions, the gelation follows the mechanism of random aggregation.

Influence of molecular topology on the static and dynamic properties of single polymer chain in solution

The influence of molecular topology on the structural and dynamic properties of polymer chain in solution with ring structure, three-arm branched structure, and linear structure are studied by molecular dynamics simulation. At the same degree of polymerization (N), the ring-shaped chain possesses the smallest size and largest diffusion coefficient. With increasing N, the difference of the radii of gyration between the three types of polymer chains increases, whereas the difference of the diffusion coefficients among them decreases. However, the influence of the molecular topology on the static and the dynamic scaling exponents is small. The static scaling exponents decrease slightly, and the dynamic scaling exponents increase slightly, when the topology of the polymer chain is changed from linear to ring-shaped or three-arm branched architecture. The dynamics of these three types of polymer chain in solution is Zimm-like according to the dynamic scaling exponents and the dynamic structure factors.

Possibility of design of nanodevices by confined macromolecular self-assembly

Computer simulation has revealed that dual nanostructures for the development of nanodevices as nanowires, optical nanofibres and nanobatteries be obtained by the self-assembly of block copolymers confined geometry. The formation of individual nanostructures depends on the structures of block copolymers the confinement geometry and the interactions block copolymers and the boundary of the confinement geometry. In order to obtain individual nanostructures experimentally, attention needs to be paid to the manufacture of the confinement geometry and the design of the interactions between block copolymers and the boundary of the confinement geometry, The recently developed lithography technique should make experiments successful.

Species of rare earth (III), calcium (II) and zinc (II) in the presence of L-histidine and L-typtophane

Rare earth(III)-histidine (His)- tryptophane (Trp). Ca(II)-His-Trp and Zn(II)-His-Trp systems were studied by potentiometric titration and computer simulation under physiological conditions. The species of the systems and their stability constants were determined. The distributions of species of rare earth(III), Ca(II) and Zn(II) were discussed.

Dominant chloramphenicol-resistant bacteria and resistance genes in coastal marine waters of Jiaozhou Bay, China

Studies of abundance, diversity and distribution of antibiotic-resistant bacteria and their resistance determinants are necessary for effective prevention and control of antibiotic resistance and its dissemination, critically important for public health and environment management. In order to gain an understanding of the persistence of resistance in the absence of a specific antibiotic selective pressure, microbiological surveys were carried out to investigate chloramphenicol-resistant bacteria and the chloramphenicol acetyltransferase resistance genes in Jiaozhou Bay after chloramphenicol was banned since 1999 in China. About 0.15-6.70% cultivable bacteria were chloramphenicol resistant, and the highest abundances occurred mainly in the areas near river mouths or sewage processing plants. For the dominant resistant isolates, 14 genera and 25 species were identified, mostly being indigenous estuarine or marine bacteria. Antibiotic-resistant potential human or marine animal pathogens, such as Escherichia coli, Klebsiella pneumoniae, Proteus mirabilis and Shewanella algae, were also identified. For the molecular resistance determinants, the cat I and cat III genes could be detected in some of the resistant strains, and they might have the same origins as those from clinical strains as determined via gene sequence analysis. Further investigation about the biological, environmental and anthropogenic mechanisms and their interactions that may contribute to the persistence of antibiotic-resistance in coastal marine waters in the absence of specific antibiotic selective pressure is necessary for tackling this complicated environmental issue.

Incidence of diverse integrons and beta-lactamase genes in environmental Enterobacteriaceae isolates from Jiaozhou Bay, China

Environmental microbiology investigation was performed to determine the molecular diversity of beta-lactamase genes among ampicillin-resistant bacteria from Jiaozhou Bay. beta-lactamase genes were detected in 93.8% of the bacterial isolates identified as Enterobacteriaceae. The most frequently detected gene was bla(TEM), followed by bla(SHV), bla(OAX-1), bla(MOX) and bla(CMY). Most of the isolates (68.8%) were positive for the intI1 integrase gene, and two isolates were also found for the intI2 gene. The dfr and aadA gene cassettes were predominant. Anthropogenic contamination from onshore sewage processing plants might contribute predominantly to the beta-lactamase gene reservoir in the studied coastal waters. Environmental antibiotic-resistant bacteria and resistance genes may serve as bioindicators of coastal environmental quality or biotracers of the potential contamination sources. This is the first report of the prevalence and characterization of beta-lactamase genes and integrons in coastal Enterobacteriaceae from China.

Changes in nitrogen and phosphorus and their effects on phytoplankton in the Bohai Sea

Systematic studies of the changes in dissolved inorganic nitrogen (DIN) and dissolved inorganic phosphorus (DIP) and their effects on phytoplankton over the last 30 years in the Bohai Sea are presented. The amount of sewage disposal, use of fertilizer and the Huanghe River runoff were found to have a significant influence on the DIN or DIP concentrations in the Bohai Sea over the last 30 years. Moreover, the changes in DIN and DIP resulted in changes in the limiting nutrients of phytoplankton in the Bohai Sea from nitrogen in the early 1980s to nitrogen-phosphorus in the late 1980s, and then to phosphorus after the 1990s. In addition, changes in nitrogen and phosphorus had a significant effect on the phytoplankton community structure. The half saturation constant (K (s)) was used to evaluate the effect of nutrients on the phytoplankton community structure in the Bohai Sea over the last 30 years. Cell abundance percentages of dominant phytoplankton species with high K (s) values for phosphorus and low K (s) values for nitrogen have decreased since the 1980s, while those of dominant phytoplankton species with low K (s) values for phosphorus and high K (s) values for nitrogen increased during this period.

基于解耦控制的SCARA机器人轨迹跟踪控制器设计

SCARA型机器人的控制问题由于其动力学模型中没有重力矩项的作用而得以简化,由于在实际应用中经常要求其高速运动,则对具有强耦合的哥氏力与向心力的控制就成为制约其系统性能的重要问题。提出通过线性变换对机器人系统解耦,将高阶系统转化为解耦的低阶系统进行控制的方法,并且应用极点配置对解耦的系统求解机器人控制器。该方法无需测量关节速度和加速度,只需要测量关节位置信号。所提出的控制器既能保证闭环系统全局渐进稳定,又能通过对线性化系统闭环极点的配置来获得期望的闭环系统响应性能。仿真实验证明了所提出的控制器设计方法的可行性。

基于状态构形矢量和状态构形矩阵的可重构模块星球机器人构形水

可重构模块星球机器人系统由母体和多个子机器人模块组成,单个模块可以独立运动和操作,多个模块可以重构组合成不同构形,模块采用非对称式轮手一体机构,具有姿态方位性和运动方向性,重构目的是组成在某种环境下更好地完成有向性运动的构形。基于此,提出矢量构形概念,将运动趋势方向和方位性融合到构形拓扑结构中。在模块矢量分析模型基础上,提出并构建状态构形矢量(State configuration vector,SCV)和状态构形矩阵(State configuration matrix,SCM),对非对称式单模块和整体构形的状态信息进行描述,同时支持预定义的数学变换操作,可以表达并触发模块的基础动作、构形重构。提出离散模块组合重构成目标构形的优化分析算法,通过实例仿真计算获得优化分析的选择结果。

基于神经网络的六维力传感器静态标定方法研究

利用BP神经网络研究了六维力传感器的静态标定方法.良好的泛化能力是基于神经网络标定方法的关键,而现有基于神经网络的传感器标定方法对网络的泛化能力鲜有考虑.针对上述问题,以提高神经网络泛化能力为目的,对神经网络的训练样本、训练期望误差值和网络隐层单元数等的选取进行了研究.实验及计算机仿真表明,当选取样本数据具有遍历性时,利用神经网络标定后进行补偿计算可提高六维力传感器的测量精度.

蛇形机器人行波运动的研究

对蛇形机器人的行波运动机理进行了研究,基于Serpenoid曲线建立了蛇形机器人行波运动的形状控制模型、运动学模型、机构动力学模型及环境动力学模型,给出了求解过程。仿真结果表明:在行波运动中,各关节输入力矩大小呈周期变化,且随其与蛇体重心距离的增加而减小。蛇体中心关节的最大输入力矩为蛇形机器人所需最大输入力矩。对称关节输入力矩幅值变化规律相同,但相差不同;运动初始弯角保持不变,关节输入力矩随着环境摩擦因数的增加而增加。环境摩擦因数保持不变,关节输入力矩随着初始弯角的增加而减小。