The antioxidant activity of 2-(4(or 2)-hydroxyl-5-chloride-1,3-benzene-di-sulfanimide)-chitosan

Chitosan (CS) with two different molecular weights was modified by reacting with 4-hydroxyl-5-chloride-1,3-benzene-disulfo-chloride or 2-hydroxyl-5-chloride-1,3-benzene-disulfo-chloride to give new 2-(4(or 2)-hydroxyl-5-chloride-1,3-benzene-di-sulfanimide)-chitosan (2-HCBSAHCS, 2-HCBSALCS, 4-HCBSAHCS, 4-HCBSALCS). The structure of the derivatives was characterized by FT-IR and C-13 NMR spectroscopy. The antioxidant activities of the derivatives were investigated employing various established systems, such as hydroxyl radical ((OH)-O-center dot)/superoxide anion (O-2(radical anion)) scavenging/reducing power and chelating activity. All the derivatives showed stronger scavenging activity on hydroxyl radical than chitosan and ascorbic acid (Vc), and IC50 of 4-HCBSAHCS, 4-HCBSALCS, 2-HCBSAHCS and 2-HCBSALCS was 0.334, 0.302, 0.442, 0.346 mg/mL, respectively. The inhibitory activities of the derivatives toward superoxide radical by the PMS-NADH system were strong. The results showed that the superoxide radical scavenging effect of 2-(4(or 2)-hydroxyl-5-chloride-1,3-benzene-disulfanimide)-chitosan was higher than chitosan. The derivatives had obviously reducing power and slight chelating activity. The data obtained in in vitro models clearly establish the antioxidant potency of 2-(4(or 2)-hydroxyl-5-chloride-1,3-benzene-disulfanimide)-chitosan. (C) 2007 Elsevier Masson SAS. All rights reserved.

The preparation and antioxidant activity of the sulfanilamide derivatives of chitosan and chitosan sulfates

Chitosan (CS) and chitosan sulfates (CSS) with different molecular weight (Mw) were reacted with 4-acetamidobenzene sulfonyl chloride to obtain sulfanilamide derivatives of chitosan and chitosan sulfates (LSACS, HSACS, LSACSS, HSACSS). The preparation conditions such as different reaction time, temperature, solvent, and the molar ratio of reaction materials are discussed in this paper. Their structures were characterized by FTIR spectroscopy and elemental analyses. The antioxidant activities of the derivatives were investigated employing various established in vitro systems, such as hydroxyl-radical (OH) superoxide anion (O-2(center dot-)) scavenging and reducing power. All kinds of the compounds (HCS, LCS, HCSS, LCSS, HSACS, LSACS, HSACSS, LSACSS) showed stronger scavenging activity on hydroxyl radical than ascorbic acid (Vc). The inhibitory activities of the derivatives toward superoxide radical by the PMS-NADH system were obvious. The experiment showed that the superoxide radical scavenging effect of sulfanilamide derivatives of chitosan and chitosan sulfates was stronger than that of original CS and CSS. All of the derivatives were efficient in the reducing power. The results indicated that the sulfanilamide group were grafted on CS and CSS increased the reducing power of them obviously. (c) 2007 Elsevier Ltd. All rights reserved.

The preparation and antioxidant activity of 2-[phenylhydrazine (or hydrazine)-thiosemicarbazone]-chitosan

Chitosan (CS) with two different molecular weight were modified by reacting with methyl hydrazine-dithiocarboxylate and methyl phenylhydrazine-dithiocarboxylate to give 2-(hydrazine-thiosemicarbazone)-chitosan (2-HTCHCS, 2-HTCLCS) and 2-(phenylhydrazine-thiosemicarbazone)chitosan (2-PHTCHCS, 2-PHTCLCS). The structure of the derivatives was characterized by FT-IR spectroscopy and elemental analysis. The antioxidant activities of the derivatives were investigated employing various established systems, such as hydroxyl radical (*OH)/superoxide anion (O-2(center dot-)) scavenging/reducing power and chelating activity. All of the derivatives showed strong scavenging activity on hydroxyl radical than chitosan and ascorbic acid (Vc), and IC50 of 2-HTCHCS, 2-HTCLCS, 2-PHTCHCS and 2-PHTCLCS was 0.362, 0.263, 0.531 and 0.336 mg/mL respectively. The inhibitory activities of the derivatives toward superoxide radical by the PMS-NADH system were strong. The results showed that the superoxide radical scavenging effect of 2-[phenylhydrazine (or hydrazine)-thiosemicarbazone]-chitosan were higher than that of chitosan. The derivatives had obviously reducing power and chelating activity. The data obtained from vitro models clearly establish the antioxidant potency of 2-[phenylhydrazine (or hydrazine)-thiosemicarbazone]-chitosan. (C) 2010 Elsevier B.V. All rights reserved.

唐古特白刺果实花色苷体外清除自由基的活性

为探讨唐古特白刺（Nitraria tangutomn Bobr.）果实花色苷体外清除自由基活性，研究了其对超氧阴离子（O_2~-•）体系、羟基自由基（•OH）体系和二苯代苦味酰基自由基（DPPH•）体系的清除效果，并与抗坏血酸（Vc）进行了比较。结果表明，该花色苷对O_2~-•、•OH、DPPH•均具有清除作用，且与浓度呈量效关系。对•OH和DPPH•清除效果相对较好，优于Vc。

青藏高原药用植物唐古特山莨菪和唐古特大黄光合作用对强光的响应

与唐古特大黄相比，唐古特山莨菪的表观光合量子效率（AQY）较高，但最大净光合速率（Pmax）较低．在光强小于1200μmol•m^-2•s^-1时，后者用于碳同化的电子传递占总光合电子传递的比例（JC/JP）比前者高，而分配于光呼吸的电子传递（JO/JP）及Rubisco氧化和羧化速率的比值（VO/VC）则相反；光强大于1200μmol•m^-2•s^-1以后两种植物的这些参数都趋向稳定．随光强增加，后者叶片吸收光能分配于热耗散（D）的增加斜率较前者高，表明两高山植物对强辐射的适应方式略有不同。加强光呼吸途径的耗能代谢和PSII天线热耗散份额是唐古特山莨菪适应高原强辐射的主要方式，而提高叶片光合能力则是唐古特大黄的一种适应方式。

Altitudinal differences in the leaf fitness of juvenile and mature alpine spruce trees (Picea crassifolia)

In many plant species, leaf morphology varies with altitude, an effect that has been attributed to temperature. It remains uncertain whether such a trend applies equally to juvenile and mature trees across altitudinal gradients in semi-arid mountain regions. We examined altitude-related differences in a variety of needle characteristics of juvenile (2-m tall) and mature (5-m tall) alpine spruce (Picea crassifolia Kom.) trees growing at altitudes between 2501 and 3450 m in the Qilian Mountains of northwest China. We found that stable carbon isotope composition (delta C-13), area- and mass-based leaf nitrogen concentration (N-a, N-m), number of stomata per gram of nitrogen (St/N), number of stomata per unit leaf mass (St/LM), projected leaf area per 100 needles (LA) and leaf mass per unit area (LMA) varied nonlinearly with altitude for both juvenile and mature trees, with a relationship reversal point at about 3 100 m. Stomatal density (SD) of juvenile trees remained unchanged with altitude, whereas SD and stomatal number per unit length (SNL) of mature spruce initially increased with altitude, but subsequently decreased. Although several measured indices were generally found to be higher in mature trees than in juvenile trees, N-m, leaf carbon concentration (C.), leaf water concentration. (LWC), St/N, LA and St/LM showed inconsistent differences between trees of different ages along the altitudinal gradient. In both juvenile and mature trees, VC correlated significantly with LMA, N-m, N-a, SNL, St/LM and St/N. Stomatal density, LWC and LA were only significantly correlated with delta C-13 in mature trees. These findings suggest that there are distinct ecophysiological differences between the needles of juvenile and mature trees that determine their response to changes in altitude in semi-arid mountainous regions. Variations in the fitness of forests of different ages may have important implications for modeling forest responses to changes in environmental conditions, such as predicted future temperature increases in high attitude areas associated with climate change.

Modeling trophic positions of the alpine meadow ecosystem combining stable carbon and nitrogen isotope ratios

Stable carbon and nitrogen isotope ratios of single tissues or whole bodies were analyzed to establish trophic positions of main consumers living at the alpine meadow ecosystem in the Tibetan Plateau. The results demonstrated that delta C-13 and delta N-15 values of vertebrates showed great variations and ranged from -26.83 to -22.51 parts per thousand and from 2.33 to 8.44 parts per thousand, respectively. Plateau pika, root vole, plateau hare, infants of rodents and hatchlings of passerine bird species had the lowest delta C-13 and delta N-15 values. delta C-13 and delta N-15 values of omnivorous and insectivorous birds and amphibians showed intermediate. Carnivorous species, steppe polecat and Upland buzzard, and omnivorous Robin accentor and White wagtail possessed extremely higher VC and delta N-15 values. Omnivorous birds captured in earlier year had significantly less negative delta C-13 and greater delta N-15 values than those captured later. Based on steady angular enrichment between trophic levels, an "alpha and vector model" combing delta C-13 and delta N-15 values was introduced to reveal trophic positions, the results indicated that Tibetan sheep, Tibetan yak, plateau pika, root vole, plateau hare, infants of small rodents showed the lowest trophic positions (TP 1.81-2.38). While omnivorous and insectivorous birds, their hatchlings and amphibians showed intermediate trophic positions (TP 2.06-2.89), carnivorous species steppe polecat and Upland buzzard, migrant birds possessed extremely higher trophic positions (TP 2.89-3.05). The isotopic investigation of organisms and the introduced "alpha and vector model" successfully demonstrated the same trophic positions and diet prediction of consumers as nitrogen enrichment model at the alpine meadow ecosystem. Besides of this information, the "alpha and vector model" can also be incorporated into multiple isotope signatures to infer trophic relationships. This angular enrichment model has the potential to address basic ecological questions, such as trophic structure, trophic dynamics, and energy flow in other terrestrial ecosystems of properly handled. (C) 2005 Elsevier B.V. All rights reserved.

基于B/S模式的机器人监控平台的研究

针对目前移动机器人本体研究平台存在局限性的问题,设计出一种基于B/S模式的机器人软件控制系统。系统的实现采用了Java和Vc相结合的方式,在利用Java语言的JNI技术解决接口问题的同时,为了充分利用现有软件模块,提出了一种新型的控制架构,使得整个系统更加完善。通过实验验证了此方法的有效性,有效的提高了系统的可维护性,可扩展性以及可复用性,最终很好实现了控制机器人的目的。

基于时间序列数据挖掘的旋转机械预诊断方法研究

基于状态的维护(CBM, Condition Based Maintenance)是近年来新兴的一种设 备维护策略，它的基本理念是在机械设备需要维护的时候才对其进行维护，强调 维护要及时、准确和经济。采用这种维护策略，能够提高工业生产的安全性和可 靠性，系统地降低企业运营成本。 机械设备状态预诊断是实现CBM 的核心支撑技术，对其进行深入研究，对推 动CBM 的发展具有重要意义。但是，由于相关研究起步不久，目前预诊断技术还 未能得到很好的实现，研究人员有必要不断地尝试各种新的有效方法来更好地解 决这一问题，加快其实现方法与技术应用的成熟进程。基于此，本文从数据挖掘 的角度，探索了机械设备预诊断新的解决方法和途径，深入研究和探讨了基于时 间序列数据挖掘的旋转机械预诊断方法。本文的主要工作包括： 1. 结合CBM 的基本理念和应用实际的需求，对机械设备状态预诊断的基本 内涵进行了系统分析。将状态评估、故障预测和剩余有效使用寿命预测三个预诊 断基本功能进一步抽象，提出了包含特征提取、状态预测和模式匹配三个子问题 的预诊断一般流程模式。在详细分析机械设备状态预诊断理论方法和应用技术研 究现状的基础上，提出了预诊断技术研究的发展趋势及各子问题的研究侧重点。 并对利用时间序列数据挖掘这一理论方法解决机械设备状态预诊断问题的可行性 进行了分析。 2. 针对具有波动频繁、噪声干扰严重等特点的原始振动量时间序列无法直接 用于旋转机械性能状态分析的问题，结合全息诊断信息融合分析旋转机械振动全 貌的思想，提出了全息状态矩阵的概念并给出定义，用类时间轴上的多维序列表 征转子系统振动全貌，以实现振动量时间序列的高级表示，为后续预测与匹配分 类工作提供良好的数据源，同时增强全息诊断的信息检索和知识自动获取的能力。 3. 将旋转机械性能状态预测，归结为旋转机械设备维护应用背景下的一维数 值型时间序列预测问题来进行深入研究。针对现有预测方法长期预测能力较弱， 且自动化水平低的不足，提出了用于旋转机械性能状态预测的ARIMA 动态间隔预 测法。该方法以动态间隔获取时间序列样本建模并预测的策略，提高了ARIMA 模 型用于设备状态长期预测的准确性，并且能够实现建模与预测的自动化，满足CBM 系统的实时性要求。 4. 针对全息状态矩阵表示的旋转机械性能状态特征数据，提出了一种全息状 态矩阵相似性匹配方法。结合旋转机械预诊断领域应用的特点定义了全息状态矩 阵的相似性度量模型，基于全息状态矩阵近似距离三角不等式设计了剪枝搜索策 略，并在此基础上设计了全息状态矩阵相似性高效准确匹配算法，不需要借助专家经验和人工识别确认，在一定阈值范围内能够实现高质量的旋转机械性能状态 相似性匹配。 5. 旋转机械基本振动量特征时间序列具有海量、超高维度、短期波动频繁和 大量噪声等特征，与时间序列数据挖掘传统应用的金融商业领域数据不同，直接 采用传统方法会存在搜索速度大幅度降低的问题。针对这一问题，提出了基于随 机投影的时间序列相似性搜索方法。该方法利用近年来新兴的随机投影统计学降 维法，将原始时间序列集映射到低维空间，并利用R*树进行索引，能够在保持高 准确率的同时，实现旋转机械基本振动量特征时间序列相似性快速搜索。 6. 针对现有机械设备性能状态分类方法不考虑误分类代价的问题，提出了一 种代价敏感直推式旋转机械设备性能状态分类法。该方法将代价敏感分类和直推 式学习的基本思想和理论相结合，采用一种代价敏感的直推式分类机制，实现了 机械设备性能状态的代价敏感分类。该方法在保证较高分类准确率的基础上，明 显地降低了误分类总代价。 7. 基于CBM 的基本理念，设计了旋转机械CBM 系统的基本结构，并以本 文理论方法的研究成果为核心，详细设计了各模块的基本功能和处理逻辑，采用 VC#.net 与Matlab 混合编程的方式开发了一个面向大型旋转机械的CBM 系统原 型，以验证本文机械设备预诊断方法研究成果的可操作性和实用性，为CBM 系统 应用技术研究做出了有益的探索。

除草机器人机械臂的逆向求解与控制

设计了一种基于机器视觉导航和杂草识别的除草机器人模型,该机器人能沿作物行间自主行走并能准确地识别和"清除"杂草。设计了除草机器人的机械臂除草执行系统,求取了机械臂运动学逆解,用VC++开发了控制程序。试验显示,图像处理算法所需时间少,能够适应户外自然光线在一定范围的变化,机械臂能够平稳动作并精确定位杂草目标。

轮式移动机器人与地形交互运动仿真研究

分析了轮式移动机器人(WMR)在不平坦的三维地形上运动的运动学模型.利用速度投影法,得到了WMR运动模型的一种新形式.基于虚拟现实技术,利用VC++OpenGL实现了WMR虚拟漫游系统.该系统具有较强的交互性和实时性,为星球探测机器人的虚拟导航、遥操作等提供了验证平台.

基于立体视觉的虚拟机械臂平面定位研究

结合星球探测的应用背景,对漫游车的工作方式进行了研究,针对车载机械臂开发了一套基于立体视觉的机械臂平面定位仿真系统。该系统依靠虚拟现实技术,通过虚拟机械臂对三维重建得到的平整物体表面的定位仿真得到机械臂的各关节参数,以此指导真实机械臂的运动。论述了基于立体视觉的机械臂定位机理和基于OpenGL的虚拟机械臂的实现过程。采用VC++构建了仿真实验平台,进行了定位实验,获得了较高的定位精度。

可重构星球探测机器人的空间对接研究

提出了以改装后的位置敏感传感器来引导机器人完成自动对接的方法,分析了具体工作原理。对可重构星球探测机器人在运动模式下完成对接的两种姿态进行了比较,分别用一般方法和改进后的规划方法计算出了对接工作空间,比较结果说明,机器人在运动模式下三角边着地有利于完成自动对接。对工作模式机器人在工作空间内的运动进行了静力学分析,分析结果表明,机器人在工作空间内可以自由运动。用VC和OpenGL搭建的平台对空间对接进行了仿真试验,试验结果验证了对接工作空间计算的正确性和完成空间自动对接的可能性。

基于分布式专家系统的超高压输电线路巡检机器人控制系统的研究

探讨了基于分布式专家系统的超高压输电线路巡检机器人控制系统，给出了一种利用CUPS和C、VC++混合编程构成分布式专家系统作为机器人控制器的方法，并且提出了一种基于规则和证据的可信度(CF)的分布式专家系统的协调算法．经过试验论证，该控制方法能很好地实现超高压输电线路巡检机器人的作业功能。

基于真实地形场景的移动机器人运动仿真研究

月球探测对于我国有着长远的战略意义，移动机器人将在我国“二”期月球探测计划中发挥举足轻重的作用。因为月面环境恶劣、机器人自主性有限，所以基于虚拟现实的遥操作技术将在月球探测任务中发挥重要作用。它给操作者提供一种三维的、逼真的和可交互的机器人仿真平台。在此平台上，操作者可以借助科学家的智能来解决月球探测机器人自主和遥操作的结合问题，可以验证路径规划、机械臂运动规划及控制指令等。 本文分析了月球探测机器人和真实三维地形几何拓扑信息的交互过程，借助基于虚拟现实的遥操作技术，开发了基于真实地形场景的移动机器人运动仿真平台。在此平台上，运动仿真反应了机器人真实的运动状态。 首先通过对真实地形三维点云的三角剖分和纹理影射，我们得到了真实三维地形场景。然后借助OpenGL软件库和Solidworks软件我们对月球探测机器人进行了精确的几何建模。 本文在分析国内外星球探测机器人仿真系统基础上，提出了一种轮式移动机器人轮子与地形几何拓扑信息交互的方法，此方法解释了地形变化如何影响到机器人姿态的变化。通过在虚拟地形上实验和分析机器人状态数据，证明了此方法的合理性。 本文还推导了六轮移动机器人的运动学模型，确定了机器人车体位姿及其变化与轮子接地点位姿及其变化之间的关系，为机器人如何调整姿态以适应变化的三维崎岖地形提供了理论基础。并利用速度投影法，得到了轮式移动机器人运动学模型新的形式。 最后结合运动学模型和几何模型，我们在Windows平台上利用VC++OpenGL 开发了基于真实地形场景的星球探测机器仿真系统，实现了月球探测机器人的实时仿真。该系统具有较强的交互性和实时性，为星球探测机器人虚拟导航、路径验证、遥操作等提供了验证平台。