中药青蒿紫穗槐二烯合酶基因表达及调控的研究

青蒿素是从我国传统药用植物中药青蒿（Artemisia annua L.）中提取的新型抗疟特效药，其生物合成途径属于植物类异戊二烯代谢途径。目前，青蒿素生物合成的组织部位及其调控机制仍不完全清楚。紫穗槐二烯合酶（amorpha-4， 11-diene synthase, ADS）作为青蒿素生物合成分支途径的第一个关键酶，催化倍半萜化合物的通用前体法呢基焦磷酸环化，生成紫穗槐二烯。本论文通过对ADS 表达特性的分析，研究了青蒿素生物合成的组织特异性及其调控机制，主要研究结果如下： 一．紫穗槐二烯合酶基因启动子功能的研究 从青蒿高产株系001 中克隆得到了2850 bp 的ADS 启动子调控区。通过比较5’RACE 的测序结果与启动子序列，确定转录起始位点位于翻译起始位点上游44 bp，TATA 盒下游27 bp。该启动子序列包含的顺式作用元件有脱落酸应答元件(ABRE )、乙烯应答元件(ERE)、生长素应答元件(AUXRE）等植物激素反应元件，以及低温应答元件（LTRE）、高温应答元件（HSE）等与逆境有关的反应元件，还有与真菌诱导有关的W-box 元件等。将不同长度ADS 启动子与报告基因GUS 融合，构建了植物表达载体，通过农杆菌介导的方法获得稳定整合的转基因烟草。经过组织化学、GUS 荧光活性检测及RT-PCR 分析，发现该启动子的转录活性很低，无法通过GUS 染色进行观察。GUS 荧光活性检测及RT-PCR 结果表明，转录起始位点上游346 bp 是ADS 基础表达所必需的。高温、低温、干旱、水杨酸、茉莉酸甲酯等处理均能促进青蒿中ADS 的表达，而脱落酸和乙烯的作用效果较小，与启动子序列分析的结果并不完全一致。 二．紫穗槐二烯合酶基因表达特性的研究 以青蒿高产株系001 为材料，在基因和蛋白水平揭示了ADS 的表达特性。RT-PCR 和Western 分析结果表明，ADS 在幼叶和花蕾中大量表达，在老叶和完全开放的花中表达量很低，而在青蒿的根和茎中几乎检测不到ADS 的表达。石蜡切片和整体原位杂交的结果表明，ADS 在顶端分生组织、叶原基及分泌腺毛中表达，在非分泌的T 型腺毛中不表达。当叶片完全展开后，ADS 只在分泌腺毛中表达，而且随着叶片的生长和老化，ADS 的表达量逐渐减少。另一个非常有趣的发现是同一叶片上的分泌腺毛，有些有ADS 的表达，有些则没有。用强光、低温、高温和水杨酸等因素处理后，有ADS 表达的分泌腺毛的比例没有明显的变化。 三．外源水杨酸促进青蒿素的生物合成 研究了外源水杨酸对青蒿素生物合成的影响，结果表明：1 mM 水杨酸处理后，青蒿叶片中的游离态水杨酸含量快速增加，处理后4 h 达到 0.79 μg g-1 FW，是对照的3.5 倍。外源水杨酸能够抑制青蒿中过氧化氢酶活性，提高抗坏血酸过氧化物酶活性，并通过对抗氧化酶活性的抑制引起青蒿体内活性氧水平的迅速升高。在处理后4 h，青蒿中H2O2 和O2-的含量分别达到对照的2.1 倍和2.4 倍。青蒿素含量在水杨酸处理后的前8 h 缓慢升高，随后升高的速度增加。外源水杨酸处理后8 h 和96 h，青蒿素含量分别达到9.1 mg g-1DW 和13.9 mg g-1DW，比对照高21.7%和75.8%。处理后8 h，青蒿酸的含量没有明显变化，随后开始增加。处理后16 h，青蒿酸的含量达到3.6 mg g-1DW，比对照高90%， 随后继续升高，至96 h 达到4.98 mg g-1 DW，比对照高127%。二氢青蒿酸的含量在处理后的8 h 内有所下降，随后缓慢升高。处理后8 h，二氢青蒿酸的含量降低了23.3%，随后二氢青蒿酸的含量开始升高，在处理后96 h，达到7.4 mg g-1DW，比对照高72.1%。外源SA 处理提高了青蒿素及其前体的总含量，在处理后1、2、4 天分别比对照提高了1.3、1.5 和1.8 倍。Northern 结果表明，水杨酸强烈诱导了青蒿素生物合成基因HMGR、ADS 的表达，但是对FPS、CYP71AV1 的诱导作用较小。这些研究结果表明，外源水杨酸至少通过两条途径诱导青蒿素的生物合成：一是通过诱导活性氧的产生促进二氢青蒿酸向青蒿素的转化；二是上调部分青蒿素生物合成相关基因的表达。根据这一研究成果，在青蒿田间栽培中，可以在收获前通过喷施水杨酸来快速、有效和低成本地提高青蒿素产量。

An anionic antimicrobial peptide from toad Bombina maxima

Amphibian skin is a rich resource of antimicrobial peptides like maximins and maximins H from toad Bombina maxima. A novel cDNA clone encoding a precursor protein that comprises maximin 3 and a novel peptide. named maximin H5. was isolated from a skin cDNA library of B. maxima. The predicted primary structure of maximin H5 is ILGPVLGLVSDTLDDVLGIL-NH2,. Containing three aspartate residues and no basic amino acid residues. maximin H5 is characterized by an anionic property. Different from cationic maximin H peptides. only Gram-positive strain Staphylococcus aureus was sensitive to maximin H5. while the other bacteria] and fungal strains tested ere resistant to it. The presence of metal ions. like Zn2+ and Mg2+, did not increase its antimicrobial potency. Maximin H5 represents the first example of potential anionic antimicrobial peptides from amphibians, The results provide the first evidence that. together kith cationic antimicrobial peptides. anionic antimicrobial peptides may also exist naturally as part of the innate defense system. (C), 2002 Elsevier Science (USA). All rights reserved.

Comparative study on the effect of dietary lipid level on growth and feed utilization for gibel carp (Carassius auratus gibelio) and Chinese longsnout catfish (Leiocassis longirostris Gunther)

An 8-week growth trial investigated the effect of dietary lipid level on growth performance of a carnivorous fish, Chinese longsnout catfish (Leiocassis longirostris Gunther) and an omnivorous fish, gibel carp (Carassius auratus gibelio). For each species, seven isonitrogenous semi-purified diets (455 g kg(-1) crude protein for Chinese longsnout catfish and 385 g kg(-1) crude protein for gibel carp) were formulated to contain 30, 60, 90, 120, 150, 180 or 210 g kg(-1) lipid. For Chinese longsnout catfish, feed intake (FI) decreased with increasing dietary lipid and there was no significant difference in feed intake from 90 to 210 g kg(-1) lipid. Specific growth rate (SGR) increased with dietary lipid level (P < 0.05) and the 150 and 180 g kg(-1) groups were the best. Feed conversion efficiency (FCE), protein retention efficiency (PRE) and energy retention efficiency (ERE) were higher at 180 g kg(-1) lipid. For gibel carp, FI decreased with increased dietary lipid and 180 and 210 g kg(-1) lipid groups showed lower values. SGR increased with dietary lipid level and the 150 and 180 g kg(-1) were the best. FCE was higher at 180 g kg(-1) lipid level. PRE increased with dietary lipid level and there was no significant difference in groups from 120 to 210 g kg(-1) dietary lipid. ERE increased with increasing dietary lipid level, and groups fed 120, 150 and 180 g kg(-1) lipid showed the highest values. In Chinese longsnout catfish, increase in dietary lipid level, resulted in increased carcass dry matter, crude protein, crude lipid and gross energy. In gibel carp, dry matter, crude protein, and crude lipid increased with dietary lipid level. Based on regression between SGR and dietary lipid, dietary lipid requirements for Chinese longsnout catfish and gibel carp were 142.6 and 140.5 g kg(-1), respectively.

The effect of food concentration on the life history of three types of Brachionus calyciflorus females

The effect of food concentration on the life history of three types of Brachionus calciflorus females (amictic, unfertilized mictic and fertilized mictic female) was studied with replicated individual cultures at 25 degrees and at four food concentrations (1.5, 3.0, 6.0 and 9.0 x 10(6) cells mL(-1)) of Scenedesmus obliquus. There were highly significant effects of both food concentration and female type, independently and in interaction on the duration of juvenile period of the rotifer, but neither a;ere the effects on the duration of post-reproductive period and mean life-span. The duration of juvenile period of unfertilized mictic female at the food concentration of 9.0 x 10(6) cells mL(-1) was the longest among all the food concentration-female type combinations. Both food concentration and female type influenced significantly the duration of reproductive period and the number of eggs produced by each type of female per life cycle, respectively. There was, however, no significant interaction between food level and female type. Among the three types of females, the number of eggs produced by an unfertilized mictic female was the largest. and that of a fertilized mictic female was the smallest.

Raman scattering from In1-x-yGaxAlyAs quaternary alloys

Raman scattering studies were reported of In1-x-yGaxAlyAs/InP lattice matched quaternary alloys. The quaternary alloys a.ere grown on (100) oriented InP substrates by MBE method. The composition and intensity dependence of optical phonon mode frequencies show that the quaternary alloys exhibit three-mode behavior, i.e. InAs-like, GaAs-like and AlAs-like modes. Polarization analysis of the Raman spectra shows that the LO phonon modes are Raman active in the depolarized configuration and Raman inactive in the polarized configuration. TO phonon modes were also observed due to disorder effects, resulting in the asymmetrical shapes of the Raman peaks of the optical phonons.

Egonol龙胆三糖苷及Egonol衍生物促雌二醇生成活性研究

对Egonol龙胆三糖苷及以Egonol衍生物对雌二醇生成活性及其相关机制进行了研究。发现Egonol龙胆三糖苷促雌二醇最高生成率在MCF-7、HepG2、ROS1728中分别为157% 、182.4%、226.8%（以空白组200μg/ml睾酮转换成E2值作为100%生成率）。活性的强弱可能与芳香化酶的组织特异性表达情况一致，说明Egonol龙胆三糖苷促雌二醇活性可能与芳香化酶有关。芳香化酶的组织特异性表达与特异性启动子有关系，Egonol龙胆三糖苷在各组织中皆有促雌二醇活性，说明该化合物不是通过调节该酶的基因表达而起作用。 在探究Egonol龙胆三糖苷及其衍生物是否介导cAMP-PKA途径从而影响芳香化酶的表达中，发现该系列化合物在HEK-293T细胞中对cAMP的影响非常弱小。在人HepG2细胞中显示了极强的提高cAMP的作用。而化合物对cAMP的作用与其促雌二醇活性强弱不呈正相关关系，对c AMP-PKA途径的激活可能与胞内雌激素有关。 Egonol龙胆三糖苷及其衍生物对HepG2细胞增殖影响显示，该系列化合物同雌二醇一样有相似的较弱促HepG2细胞增殖作用。而且存在一定剂量依赖性。在瞬时转染有ERE（雌激素作用元件）的HepG2中，Egonol龙胆三糖苷及其衍生物也显示了类似于雌二醇与ERE结合的作用，进一步提示Egonol龙胆三糖苷及其衍生物在HepG2细胞中具备雌激素样作用。 为研究Egonol龙胆三糖苷及其衍生物是否可能直接提高芳香化酶的活性，我们计划将芳香化酶从芳香化酶阳性细胞中克隆后表达到芳香化酶阴性的细胞中。在MCF-7细胞中以Oligo dT为引物合成的cDNA模板，和在ROS1728细胞中以Oligo dT及大鼠引物F链为引物合成的cDNA模板能成功扩增出与芳香化酶全长编码序列大小一致的片段。 Egonol衍生物在HepG2、ROS1728细胞中促雌二醇活性的实验表明，Egonol苯环上引入其它基团可以提高Egonol的活性。 从雌激素经典的基因组效应和非基因组效应两方面对雌激素信号转导研究进展进行了简单的综述。 The promoting effects of egonol gentiotrioside and egonol derivatives on the synthesis of estrogen E2 were studied. In vitro test, egonol gentiotrioside promoted the synthesis of estrogen E2 in MCF-7, HepG2,ROS1728 cell lines with mean yields of estrogen E2 57%,82.4% and 126.8%, higher than those of blank control at a concentration of 100 mg/ml. The difference of estrogen E2 synthesis promoting effects among the cell lines suggested tissue specificity. It is in accordance with tissue specific character of aromatase expression. The evidence implied that effect of egonol gentiotrioside on promoting the synthesis of estrogen E2 was related to the aromatase. Different expression levels of aromatase in different tissues are attributed to their specific promoters, but egonol gentiotrioside can promote the synthesis of estrogen E2, in many tissues,so the fact is controversary to the estimation that this compound regulates the aromatase on gene level. In order to investigate whether egonol gentiotrioside and its synthetic derivatives regulates aromatase activity through the cAMP-PKA signal pathway,we transfected the p CRE-Luc luciferase reporter gene into the HEK-293T cells and HepG2 cells. These compounds had weak activity in promoting the cAMP activity in HEK-293T cells but strong in HepG2 cells.The compounds’effect of promoting the cAMP may be related to their estrogenic activity in cells. The modified HepG2 cell proliferation assay was used to evaluate the estrogenic activity of egonol gentiotrioside and its derivatives. The weak estrogenic activity of egonol gentiotrioside and its derivatives at various concentrations expressed as proliferative effect relative to that of blank control was examined. We transfected the pERE-Luc luciferase reporter gene into the HepG2 cells. These compounds possessed significant activity on estrogen response element compared with the one treated with 10 n M estrogen E2. This evidence indicated that the estrogenic activity of egonol gentiotrioside and its derivatives. In order to investigate whether the egonol gentiotrioside and its derivatives can upregulate the activity of aromatase directly, The full-length of P450 aromatase cDNA encoding aromatase were amplified by using primer Oligo dT in MCF-7,and specific primer in ROS1728,respectively. The structure-activity relationship of Egonol in promoting the synthesis of E2 in HepG2 and ROS1728 cells indicated that introduction of some group on the basic sketon of egonol could improve the effect. The progress in research of signal pathway of estrogen in recent years was summarized.

瓦山安息香中苯并呋喃促雌激素合成的机理研究

雌激素是人体内重要的激素之一，具有广泛的生理功能。雌激素缺乏与许多疾病相关，如卵巢功能低下，更年期综合征以及骨质疏松等；雌激素过剩也将导致某些疾病，如乳腺癌、卵巢癌、子宫内膜癌等。目前，如何降低肿瘤组织中的雌激素水平而达到治疗肿瘤的目的，已经得到广泛的研究，但促雌激素生成或调节卵巢功能药物或其相关研究则很少。 本实验室前期的研究发现，瓦山安息香属植物果实中的乙醇提取物具有促雌激素生成作用，通过活性追踪和结构鉴定，确认促E2 生成的主要成分为苯并呋喃类化合物。苯并呋喃类化合物的作用与芳香酶有关，但其确切的作用机理有待证实和深入研究。 为了探讨安息香苯并呋喃类化合物的促雌激素合成的作用机理，拟采用如下的实验方案： 1、细胞学方面，对小鼠3T3-L1 前脂肪细胞、人乳腺癌细胞MCF-7、MDA-MB-231 以及人卵巢癌细胞OVCAR-3、OVCAR-4、OVCAR-5、OVCAR-8、IGROV1 等细胞株，采用RT-PCR 和ELISA 方法研究芳香酶Aro基因的表达和雌二醇E2 的生成，芳香酶抑制剂Formestane 作为阳性对照，研究时效曲线和量效曲线，确定安息香苯并呋喃类化合物SP25 的有效浓度和作用时间。 2、RNAi 方面，设计合成了针对人芳香酶Aro基因的3 对RNAi 序列，转染入细胞，芳香酶促进剂Forskolin 和地塞米松、芳香酶抑制剂Formestane 作为阳性对照，采用实时定量PCR 技术，研究RNA 干扰后，安息香苯并呋喃类化合物SP25 对人芳香酶Aro基因表达水平瓦山安息香苯并呋喃促雌激素合成的机理研究的影响。 3、雌激素受体方面，设计一段ERE 的雌激素调控元件，构建重组荧光素酶报告基因载体，瞬时转染人乳腺癌细胞株MDA-MB-231，建立针对雌激素受体的报告基因筛选模型，观察安息香苯并呋喃类化合物SP25 对雌激素受体的选择性和亲和力，从受体水平考察安息香苯并呋喃类化合物SP25 促进雌激素生成的药理学机理。 实验结果显示： 1、分化后的小鼠3T3-L1 前脂肪细胞、人乳腺癌细胞MCF-7 、MDA-MB-231 以及人卵巢癌细胞OVCAR-3、OVCAR-4、OVCAR-8 等细胞株具有芳香酶基因的表达。睾酮向雌二醇的转化能够被芳香酶抑制剂Formestane 所阻断，其中OVCAR-3 最适合进行下一步的RNAi研究。 2、RNAi 实验结果显示，设计的3 对RNAi 序列中R2 的干扰效果最强，相应的阴性对照C2 与R2 的表达量相差118 倍（24 小时）和19 倍（48 小时），显示R2/C2 这组序列可用于进一步的RNAi 试验。以R2 干扰OVCAR-3 细胞株，药物作用24、48 小时后，芳香酶抑制剂Formestane 与R2 相对表达量相比分别为0.83 倍和0.04 倍；芳香酶促进剂Forskolin 与R2 相对表达量相比分别为3.61 和1.84 倍；芳香酶促进剂地塞米松与R2 相对表达量相比分别为5.76 倍和3.49倍；苯并呋喃类化合物SP25 与R2 相对表达量相比分别为8.13 倍和4.59 倍。实验证实安息香苯并呋喃类化合物SP25 能够促进因RNAi 而发生基因沉默的人芳香酶Aro表达水平的上调。 3、雌激素受体实验结果显示，构建成功重组pERE-pGL3-promoter 荧光素酶报告基因载体和基于报告基因系统的雌激素受体激动剂或拮抗剂的细胞筛选模型。实验结果表明安息香苯并呋喃类化合物SP25 与雌激素受体ERα和ERβ亲和力选择性之比约为3：1 ，SP25通过与雌激素受体ERα结合作用其受体，刺激芳香酶的表达。 本课题通过RNA 干扰、ELISA、荧光实时定量PCR、报告基因筛选模型等技术手段，从细胞水平、蛋白酶水平和基因表达水平、雌激素受体水平等方面系统地研究了从瓦山安息香属植物果实中提取的苯并呋喃SP25 促进促雌激素生成的机理研究。试验结果显示苯并呋喃类化合物SP25 促雌激素生成的主要作用机制是直接促进芳香酶基因表达水平，以及与雌激素受体a 结合，刺激芳香酶活性。 Estrogen is an important hormone that has versatile physiologicalfunctions. Lack of estrogen will lead to many diseases such as lower ovarianfunction, climacteric syndrome and osteoporosis. Excessive estrogen alsoinduces breast carcinoma, oophoroma and endometrial carcinoma and otherdiseases. To depress the estrogen level in tumor tissue to cure carcinomawas widely studied, but there is only few studies reported on the induction ofestrogen and on the regulation of ovary function. We found that the extracts from seeds of Styrax perkinsiae couldpromote the synthesis of estrogen. The active compounds benzofurans wereidentified. Effect of benzofurans may be related to aromatase, but the mechanism was not clear. To reveal the mechanism of these benzofurans to promote estrogensynthesis, the following protocols were adopted: 1 Cytology: 3T3-L1 preadipocytes,human ovary carcinoma celllines OVCAR-3,OVCAR-4,OVCAR-5,OVCAR-8,IGROV1 andbreast carcinoma cell lines MCF-7 and MDA-MB-231 were usedto determine Aro gene expression and estrogen production withRT-PCR AND ELISA methods. Formestane, an aromataseinhibitor, was used as positive control. And dose-curve,time-curve and the effective concentration of SP25 were also studied. 2 Designed 3 pairs of RNAi for human aromatase gene, andtransfected into cell. Aromatase inducer Forskolin andDexamethasone, and aromatase inhibitor Formestane were usedas positive controls. We studied the change of Aro expressionlevel with SP25 by using real-time PCR after RNA interfering. 3 Estrogen Receptor: We constructed the recombined Luciferasereport vector and establish a screening system for estrogenagonist and antagon. With this system, we studied the affinity ofSP25 and estrogen receptor. Results: 1 Differentiated 3T3-L1 preadipocytes¡¢human ovary carcinomacell lines:OVCAR-3, OVCAR-4, OVCAR-8 and breast carcinomacell lines MCF-7, MDA-MB-231 had detected aromatase geneexpression.And OVCAR-3 is more suitable for further aromatasegene function research. 2 In RNAi assay, R2 has a strong interfering effcet in OVCAR-3 cellline, and ratio of C2 (the negative control) to R2 were 118 times(24 hours) and 19 times (48 hours). This means sucessful inRNA interfering. After R2 acted on OVCAR-3 cell line, the ratiosof formestane to R2 were 0.83 and 0.04 times, 5.76 and 3.49times (Dex), 3.61 and 1.84 times (forskolin) and 8.13 and 4.59times (sp25) after drug treated 24 or 48 hours respectively.These results indicated that SP25 can directly induce aromatasegene up-regulation. 3 We had constructed pERE-pGL3-promoter recombined vectorand the Luciferase report gene screening system. Luciferasereport gene assay showed that sp25 had a higher affinity with strogen receptor alpha than estrogen receptor beta, this indicated that SP25 can act on estrogen receptor and induce aromatase. Our results revealed that the mechanisms of benzofuran to promoteestrogen were the upregulation aromatase gene expression and promotion ofaromatase activity and have partially elective affinity with estrogen receptoralpha.

Density functional study of the second row transition metal dimers

Equilibrium geometries, vibrational frequencies and dissociation energies of the second row transition metal dimers (from Y-2 to Cd-2 except Tc-2) ere studied by use of density functional methods B3LYP, BLYP, B3PW91, BHLYP, BP86, B3P86, SVWN, MPW1PW91 and PBE1PBE. The accuracy DFT methods is found to be highly dependent on the functional employed, in particular for vibrational frequency and dissociation energy. In most cases, the predicted bond distance is in general agreement with experiment and previous theoretical results. For van der Waals dimer Cd-2, B3LYP and BLYP have excellent performance in predicting the bond distance. For Ag-2, all density functional methods used in this study perform well in producing the bond distance, vibrational frequency and dissociation energy.

Morphology and structure of poly(aryl ether ketone ketone) containing isophthaloyl moieties crystallized from dilute solution

Spherulites and lamellar single crystals of poly(aryl ether ketone ketone) containing isophthaloyl moieties (PEKK(I)) were obtained from dilute alpha-chloronaphthalene solution. The morphology and structure of the spherulites and single crystals were studied by electron microscopy and electron diffraction. The spherulites were found to consist of elongated lamellar branches that grow with the b crystallographic axis in the radial direction. Single crystals possess a similar habit, with b parallel to the long axis, a transverse, and c perpendicular to the lamellae plane. High-resolution images of the PEKK(I) crystals which show the perfection of and defects in the crystals, were obtained, and many defects or dislocations a,ere observed. (C) 1997 Elsevier Science Ltd.

高原鼠兔的季节性繁殖

A nnual changes of the rep roduct ive act ivity in adult male p lateau p ika (Ochotona curzoniae) , a small endemic mammal in Q inghai2T ibet P lateau, w ere invest igated from J anuary to December, 1991. A ll of the animals w ere k illed and decap itated during the nigh t (23:00～ 24:00) and the p lasma, p ineal glands, testes ep ididym is, sem inal vesicles, deferent ducts were co llected and used for biochemical, and histo logical studies. Significant changes associated with seasonal cycles were found. (1) In February～ early April, the restoration phase, the weights of testes, epididym ides and deferent ducts were increased; the process of sperm atogenesis was strengthened and testo sterone level in plasma was increased, but the pineal weight and its melatonin content were decreased. (2) During the middle of April～ late May, the sexually active phase, a significant elevation of gonadal activity was observed. In this period, gonadalw eights were increased, spermatogenesis was completed, pineal weights were decreased and melatonin contents were fluctuated at alow level. These results suggested the increasing in sexual activity as well as in the ability of testo sterone secretion. (3) A striking reduction of test icular activity appears in June～A ugust. In this inhibition phase, gonada lweight, process of sperm atogenesis, plasma testo sterone level were decreased while the pineal weight and pineal melatonin content were increased. (4) During Sep tember～ J anuary, the sexually quiescent phase, declining in weights of testes and epididymides, arrest of spermatogenesis, decreasing of plasma testo sterone concent ration, fluctuating in pineal weights and increasing in pinealmelatonin level were observed. Our findings indicated that the male pikas under natural conditions exhibited an annual rep roductive cycle. A possible relationship between pineal activity and reproductive function was also suggested.

新型4自由度并联机器人位姿误差分析

将一种新型四自由度并联机器人等效为由串联机构构成的空间闭环机构 ,运用 Denavit- Hartenberg方法提出了运动平台位姿误差的一种分析算法。利用这个算法可以分析各种构件加工、安装误差对运动平台位姿精度的影响。进行了数值仿真验证了算法的正确性。最后分析出对位姿精度影响较大的因素 ,通过重视这些因素可提高实际机构的操作精度

库车坳陷-南天山盆山系统第三纪脆性构造研究

Study on the structural coupling relationship between basin and range is not only helpful to recognize the basin formation and evolution systematically, but also to guide petroleum exploration in the basin. As a late Paleozoic Orogen, the South Tianshan Mountains reactivated and uplifted rapidly during the Cenozoic, and led to the Mesozoic-Cenozoic considerable thick deposits in the Kuqa Depression. The researches of the dissertation were carried out in the Kuqa depression-South Tianshan M ountain s ystem, a nd t he b rittle m icrotectonics w. ere c hosen as t he m ost important object. Based on observations and measurements of the field, we made detailed investigations on the geometry and kinematics of this area, and analyzed the abutting and cutting relationships and relative sequence of many brittle structures, such as joint, shear fractures, faults and some small-scale structures related to them closely. According to those brittle fractures' relationships with stress, the nature and variation of regional palaeostress field during the Cenozoic were studied through inversion of fault slip data and inferring stress state from joint sequences. And the deformation time was estimated primarily via ESR dating of faulting. Results show that the stress field varies as well in times as in space. The maximal principal stress direction shifted from the vertical to the horizontal, and stress regime from weak extension to strong compression from the Paleogene to the Neogene regionally. During the late Neogene, the structural deformation of the South Tianshan and the basin-range boundary was dominated by near N-S extension, while near N-S compressive deformation in the interior of the Kuqa Depression. There exits obvious differential stress state from the north to the south. ESR dating of the faulting during the Cenozoic indicates that, the normal faulting in the north edge of the Kuqa Depression have been active all along from the Miocene to the early Pleistocene, but the thrusting and reverse faulting in the interior only been active from the Pliocene to the early Pleistocene. On the base of those geological data and some geophysical information and theoretical calculation results, we infer that, the different stress regime the basin-range system is ascribed to the vertical uplift of the Tianshan Mountain. It was the vertical uplift that lead to the gravity-driven gliding of thick layers lying on the faulted basement from the South Tianshan Mountain to the Kuqa depression, and to folding and thrusting in the interior and frontal of the Kuqa depression. Combining the structural evolution with petroleum geological conditions of the Kuqa Depression, we think that the strong compressive deformation of the Kuqa Depression during rapid uplifting of the Tianshan Mountains from the Pliocene to the early Pleistocene play crucial role in the structural trap formation and proliferous gas accumulation.