基于主动试探的微小型爬壁机器人步态控制

针对欠平滑壁面上微小型爬壁机器人吸盘足吸附失败后的自主行为控制问题,根据机器人的结构设计及运动步态特点,提出基于主动试探的机器人吸盘足着地点自主选择步态控制方法。分析机器人的三种运动模式,以及直线运动和转向运动的基本步态。定义机器人的状态矢量,建立机器人吸盘足的有限状态机模型和状态转移图,并按"就近"原则设定状态转移函数的优先级。以上述研究为基础,提出在缺少壁面环境信息条件下的机器人步态控制主动试探方法。对步态控制方法进行仿真分析,并在实验室模拟环境和实际的飞机外表面环境进行试验验证,结果表明,所提出方法对于改善机器人的控制性能和提高机器人的自主能力是可行和有效的。

基于多传感器的可变形机器人自主控制方法研究

将GPS、电子罗盘、倾角仪、码盘传感器等应用到可变形机器人自主运动控制中.针对可变形机器人自身结构特点,提出了一种基于多传感器信息融合的可变形机器人在野外环境中自主控制的方法.该方法主要实现了在非结构环境中机器人的自主变形、自主避障和自主导航定位等功能.实验验证了该方法的有效性.

Direct detection of Yersinia pestis from the infected animal specimens by a fiber optic biosensor

The FOB-3, anew type fiber optic biosensor, is designed to rapidly detect a variety of biological agents or analytes with better stability, sensitivity and specificity. In order to detect Y. Pestis, a sandwich immunoassay was developed by using the purified antibody against antigen FI immobilized on polystyrene probes as the capture antibody and the monoclonal antibody-Cy5 conjugate as the detector. After a series of optimization for the stability, sensitivity and specificity of the FOB-3, 50-1000 ng/ml of antigen FI and 6 x 10(1)-6 x 10(7) CFU/ml Y. pestis could be detected constantly in about 20 min, and Y pestis could be detected specifically from Y. pseudotuberculosis, Y. enterocolitica, B. anthracis and E. coli. Then, 39 blind samples, including 27 tissues of mice infected with Y pestis and 12 tissues of healthy mice as negative control, were detected with the FOB-3. 92.6% infected tissues were identified from the tissues of healthy mice and the tissues containing more than 100 CFU/ml bacteria could be detected by the biosensor. The results demonstrated the feasibility of the FOB-3 as an effective method to detect Y. pestis rapidly and directly from the infected animal specimens with the advantage of portability, simple-operation as well as high sensitivity and specificity. (c) 2006 Elsevier B.V. All rights reserved.

Origin of rabbit (Oryctolagus cuniculus) in China: evidence from mitochondrial DNA control region sequence analysis

A fragment of mitochondrial DNA (mtDNA) control region (similar to700 bp) was sequenced in 104 individuals from 20 breeds (three Chinese domestic breeds, five recently derived breeds and 12 introduced breeds) of domestic rabbits, Oryctolagus cuniculus . Nineteen sites were polymorphic, with 18 transitions and one insertion/deletion, and eight haplotypes (A1, A2, A3, A4, A5, A6, A7 and A8) were identified. Haplotype A1 was the most common and occurred in 89 individuals. In the 25 Chinese rabbits, only haplotype A1 was observed, while four haplotypes (A1, A3, A5 and A6) were found in 26 recently derived individuals. Haplotype A2 was shared by seven individuals among three introduced strains. The other six haplotypes accounted for 0. 96-1. 92% of the animals. Combined with the published sequences of European rabbits, a reduced median-joining network was constructed. The Chinese rabbit mtDNAs were scattered into two clusters of European rabbits. These results suggest that the (so-called) Chinese rabbits were introduced from Europe. Genetic diversity in Chinese rabbits was very low.