Asymptotic solutions to a class of nonlinear oscillation systems

In this paper, we present an asymptotic method for the analysis of a class of strongly nonlinear oscillators, derive second-order approximate solutions to them expressed in terms of their amplitudes and phases, and obtain the equations governing the amplitudes and phases, by which the amplitudes of the corresponding limit cycles and their behaviour can be determined. As an example, we investigate the modified van der Pol oscillator and give the second-order approximate analytical solution of its limit cycle. The comparison with the numerical solutions shows that the two results agree well with each other.

A new protein structure of P-II class snake venom metalloproteinases: it comprises metalloproteinase and disintegrin domains

A new metalloproteinase-disintegrin, named Jerdonitin, was purified from Trimeresurus jerdonii venom with a molecular weight of 36 kDa on SDS-PAGE. It dose-dependently inhibited ADP-induced human platelet aggregation with IC50 of 120 nM. cDNA cloning and sequencing revealed that Jerdonitin belonged to the class II of snake venom metalloproteinases (SVMPs) (P-II class). Different from other P-II class SVMPs, metalloproteinase and disintegrin domains of its natural protein were not separated, confirmed by internal peptide sequencing. Compared to other P-II class SVMPs, Jerdonitin has two additional cysteines (Cys219 and Cys238) located in the spacer domain and disintegrin domain, respectively. They probably form a disulfide bond and therefore the metalloproteinase and disintegrin domains cannot be separated by posttranslationally processing. In summary, comparison of the amino acid sequences of Jerdonitin with those of other P-II class SVMPs by sequence alignment and phylogenetic analysis, in conjunction with natural protein structure data, suggested that it was a new type of P-II class SVMPs. (C) 2003 Elsevier Inc. All rights reserved.

含环路布局和运动副轴线方位特征的运动链拓扑结构描述

构造一种含环路布局、构件类型、运动副类型和运动副轴线方位信息的运动链的拓扑特征矩阵。构件的类型构成特定的环路布局,运动副的类型及其轴线的方位配置决定运动的状态特征,多副构件是联系环路间的桥梁。以运动链构成的独立环路为基础构建特征矩阵的行数,运动链的构件数目构建特征矩阵的列数;以独立环路的旋向确定构件及其排序;以代表运动副类型的符号或数字表达构件及环路间的连接关系;以同一构件上两个运动副的相对轴线方位描述运动副的方位特征。构造的运动链特征矩阵为(2l+2)×n,而单环运动链为3×n矩阵。实例表明,该特征矩阵可以描述各类运动链,与传统n×n拓扑矩阵相比,结构大大简化,而且拓扑信息量多。该矩阵特别便于由特征矩阵构造对应的机构简图,同时也为计算机辅助运动学和动力学建模提供了一种便捷途径。

基于独立成分分析和模糊支持向量机的人脸识别方法

成分分析(PCA)只能从2阶上去消除数据的相关性，传统支持向量机在解决多类问题时会出现分类的盲区问题，针对这两种情况，首先采用独立成分分析(ICA)方法解决了高阶上的数据相关性问题；同时在传统支持向量机中引入模糊隶属度函数，用模糊支持向量机解决了传统支持向量机在多类数据识别中的盲区问题。通过实验证明了该方法在人脸识别率上取得了显著提高。

A novel high molecular weight metalloproteinase cleaves fragment F1 of activated human prothrombin

A hemorrhagic proteinase, jerdohagin, was purified from Trimeresurus jerdonii venom by gel filtration and ion-exchange chromatographies. It was a single chain polypeptide with an apparent molecular weight of 96 kDa as estimated by SDS-PAGE under the non-reducing and reducing conditions. Internal peptide sequencing indicated that it consisted of metalloproteinase, disintegrin-like and cysteine-rich domains and belonged to the class III snake venom metalloproteinases (class P-III SVMPs). Like other typical metalloproteinases, hemorrhagic activities of jerdohagin were completely inhibited by EDTA, but not by PMSF. Jerdohagin preferentially degraded a-chain of human fibrinogen. Interestingly, jerdohagin did not activate human prothrombin, whereas it cleaved human prothrombin and fragment F1 of activated human prothrombin. (C) 2004 Elsevier Ltd. All rights reserved.

Predominant expression and cellular distribution of fish Agr2 in renal collecting system

Anterior gradient 2 (Agr2) genes encode secretory proteins, and play significant roles in anterior-posterior patterning and tumor metastasis. Agr2 transcripts were shown to display quite diverse tissue distribution in different species, and little was known about the cellular localization of Agr2 proteins. In this study, we identified an Agr2 homologue from gibe[ carp (Carassius auratus gibelio), and revealed the expression patterns and cellular localization during embryogenesis and in adult tissues. The full-length cDNA of CagAgr2 is 803 nucleotides (nt) with an open reading frame of 510 nt encoding 169 amino acids. The Agr2 C-terminus matches to the class I PDZ-interacting motif, suggesting that it might be a PDZ-binding protein. During embryogenesis, CagAgr2 was found to be transcribed in the mucus-secreting hatching gland from tailbud stage and later in the pharynx region, swim bladder and pronephric duct as revealed by RT-PCR and whole mount in situ hybridization. In the adult fish, its transcription was predominantly confined to the kidney, and lower transcription levels were also found in the intestine, ovary and gills. To further localize the Agr2 protein, the anti-CagAgr2 polyclonal antibody was produced and used for immunofluorescence observation. In agreement with mRNA expression data, the Agr2 protein was localized in the pronephric duct of 3dph larvae. In adult fish, Agr2 protein expression is confined to the renal collecting system with asymmetric distribution along the apical-basolateral axis. The data provided suggestive evidence that fish Agr2 might be involved in differentiation and secretory functions of kidney epithelium. (C) 2009 Elsevier Inc. All rights reserved.

软件多进程结构改造为多线程结构的方法研究

将软件的某些进程结构改造为多线程结构,可以解决逻辑并发性、物理并行性等问题,显著提高运行效率.但如何改造(特别是大型软件)是一个比较困难的事情,方法不当很容易造成系统不稳定.该文针对目前该领域研究多局限于理论分析,缺少具体实施方法的问题,提出了一套在Linux环境下将软件的多进程结构改造成多线程结构的具体方案,并围绕改造信号量、信号处理和全局变量等几个难点,提出合理的解决方法.最后,应用此方法成功地将一个著名开放源代码数据库(PostgreSQL)改造为多线程结构数据库.性能得到显著提高.

Small-scale turbulent fluctuations beyond Taylor's frozen-flow hypothesis

The space-time cross-correlation function C-T(r, tau) of local temperature fluctuations in turbulent Rayleigh-Benard convection is obtained from simultaneous two-point time series measurements. The obtained C-T(r, tau) is found to have the scaling form C-T(r(E), 0) with r(E)=[(r-U tau)(2)+ V-2 tau(2)](1/2), where U and V are two characteristic velocities associated with the mean and rms velocities of the flow. The experiment verifies the theory and demonstrates its applications to a class of turbulent flows in which the requirement of Taylor's frozen flow hypothesis is not met.

Dimensional crossover of heat conduction in low dimensions

The dimensional crossover phenomena of heat conduction is studied by a two-dimensional (2D) Fermi-Pasta-Ulam lattice. The 2D divergence law of the thermal conductivity is confirmed by the simulations results. The divergence law of the thermal conductivity will change from the 2D class to 1D class as delta=N-y/N-x decreases, here N-y is the size in transverse direction and N-x in longitude direction. The simulation's results suggest that the dimensional crossover happens in delta(*)-> 0 as N-x ->infinity.

A Semi-Quantitative Analysis of Essential Micronutrient in Folium Lycii Using Laser-Induced Breakdown Spectroscopy Technique

In this paper, the capabilities of laser-induced break down spectroscopy (LIBS) for rapid analysis to multi-component plant are illustrated using a 1064 nm laser focused onto the surface of folium lycii. Based on homogeneous plasma assumption, nine of essential micronutrients in folium lycii are identified. Using Saha equation and Boltzmann plot method electron density and plasma temperature are obtained, and the irrelative concentration (Ca, Mg, Al, Si, Ti, Na, K, Li, and Sr) are obtained employing a semi-quantitative method.

自主移动机器人足球比赛视觉定位方法综述

综述了RoboCup足球赛中全自主移动机器人基于视觉的定位技术,包括机器人自定位和多机器人协作物体定位.介绍了定位技术的发展情况与分类.从机器人环境构建形式的不同以及先验位姿和概率方法的应用与否等方面,系统地分析和比较了各种自定位方法.对于多机器人协作物体定位,阐述了静态方法和动态跟踪方法.总结了定位过程中需要重点研究的传感器模型构建、图像处理、特征匹配以及协作过程涉及的相关问题.最后就视觉定位存在的问题和技术发展趋势进行了讨论.

类Lyapunov理论在类人形机器人任务空间内跟踪的应用

考虑了类人形机器人的各种不确定因素,提出了其手臂控制的新方法.基于类Lyapunov方法,设计出具有鲁棒性功能的任务空间控制器.该方法得到的控制器不但在有限确定时间内达到稳定跟踪,而且不需要雅可比矩阵求逆,对一定类型的外部干扰具有鲁棒性功能.最后通过数值仿真显示了所得结果的有效性及其应用方法.

一种新的多智能体强化学习算法及其在多机器人协作任务中的应用

在多机器人系统中 ,评价一个机器人行为的好坏常常依赖于其它机器人的行为 ,此时必须采用组合动作以实现多机器人的协作 ,但采用组合动作的强化学习算法由于学习空间异常庞大而收敛得极慢 .本文提出的新方法通过预测各机器人执行动作的概率来降低学习空间的维数 ,并应用于多机器人协作任务之中 .实验结果表明 ,基于预测的加速强化学习算法可以比原始算法更快地获得多机器人的协作策略 .

面向多目标搜索的多UUV协作机制及实现方法研究

由不同功能UUV组成的异构系统能够实现对水下多个目标的探测和识别，多台UUV的协作机制已经成为当前水下机器人领域的一个热点课题。论文的研究工作依托国家863计划“基于弱通信的多机器人协调控制关键技术研究”等多项课题，面向水下多目标搜索应用背景，针对水下声学通信以及探测、导航传感器的局限性，研究弱通信条件下异构多UUV系统协作机制及实现方法，具体研究内容包括如下几个方面： (1) 构建了异构多UUV系统的体系结构：提出了基于多智能体角色联盟的UUV群体体系结构，使其能够适应多重的使命需求，具有开放性。设计了基于智能体思维结构的UUV个体体系结构，将UUV智能体的思维状态分为个体心智和社会心智两个层次分别实现，更加符合人类社会思维模式。基于面向对象Petri网理论对角色联盟进行建模，能够对角色内部控制逻辑和角色之间协作逻辑进行描述。 (2) 设计了多UUV系统的编队搜索策略：面向多目标搜索应用设计了编队搜索策略，保证搜索区域的连续性，采用基于大地坐标系的队形结构，更易于转弯时的队形控制。提出了基于思维层规划的队形控制方法，将跟随领航者法集成到队形控制任务的规划中，方便在不同任务间的切换，具有通用性。此外，设计了多UUV系统的队形重规划策略。 (3) 研究了多UUV系统的任务分配方法：针对同步搜索中的分布式任务分配问题，提出了动态熟人网方法，该方法对传统熟人网方法进行了改进和扩充，能够满足弱通信条件下任务分配的响应时间、执行时间、可靠性和负载均衡等性能要求，将动态熟人网方法应用于目标识别任务分配问题，仿真结果表明动态熟人网相比传统熟人网具有更好的性能。针对异步搜索中的多目标优化任务分配问题，提出了多蚁群系统（MACS）算法，该算法针对多个目标的不可公度性，对现有蚁群系统（ACS）算法进行了扩展，将MACS方法应用于多目标优化任务分配问题，仿真结果显示MACS算法相比加权法ACS具有更好的性能。 (4) 研究了多UUV系统低成本自主导航方法：提出了基于移动双信标的协作导航方法，采用两台携带高精度导航传感器的主UUV，为数量不限的携带低精度导航传感器的从UUV提供导航信息。设计了基于扩展卡尔曼滤波器的从UUV位置估计算法，该方法能够有效提高从UUV的导航精度，并且适应弱通信条件。 多UUV仿真平台的实验结果验证了本文提出的协作机制及实现方法是正确有效的，能够满足弱通信条件下多目标搜索的实际需求。