螺旋藻基因组结构分析和藻胆蛋白的适应性进化

螺旋藻 (Spirulina，或称节旋藻 Arthrospira) 是一类丝状不形成异型胞的蓝藻，常分布于湖泊、池塘和半咸水中。作为目前利用最广泛的经济微藻，螺旋藻的规模培养、生理生化以及分子遗传等都受到了广泛的关注。但由于缺乏足够的基因组信息，影响了螺旋藻的品种改良以及进一步的基因功能产品的开发。 本研究从挑取单藻丝开始，建立了钝顶螺旋藻 (Spirulina platensis) 的纯培养体系，并构建插入片段分别为1-2Kb和4-6Kb的基因组文库，利用鸟枪法进行全基因组测序，共得到具有8倍覆盖度的7.4Mb拼接后的基因组数据。在该草图中，预测有7795个开放读码框 (ORFs)，其中包括长度小于120个氨基酸的ORFs和非全长ORFs。在所有蛋白编码序列中，约有39%的基因是螺旋藻特有的，此外，还有389个基因相对于其他蓝藻，与非蓝藻基因有着更高的相似性。通过Pfam结构域聚类分析发现，螺旋藻含有特有的结构域，如Peptidase_MA、DMT、OB、ATP-grasp、Flavokinase 等。 由于目前尚未有成熟的螺旋藻遗传转化系统，而其体内复杂的限制性内切酶系可能是妨碍外源基因顺利导入和整合的关键因素。在此草图的基础上，我们利用比较基因组学和分子进化的手段，深入分析了螺旋藻及其他蓝藻的限制修饰系统 (Restriction-modification system)，为建立螺旋藻的遗传转化技术，并实现后续的螺旋藻基因功能验证模式奠定了基础。 螺旋藻及其他蓝藻的基因组计划提供了大量基因组序列和结构信息，有助于我们深入了解光合微生物基因的结构、功能和进化，以及环境因子或特定突变是如何塑造其基因组的。本文以藻胆蛋白为例，利用分子进化和群体遗传学理论，描绘出一幅藻胆蛋白进化的动态图景，并分析了环境 - 结构 - 功能之间的相互联系，为藻类捕光色素进化机制理论提供了科学依据。 本研究结果发现低光适应型原绿球藻和海洋聚球藻的藻红蛋白中正选择位点分布有着显著差异，提示二者的藻红蛋白基因有不同的进化模式；正选择作用位点多集中在藻胆蛋白的色基结合区域及XY发卡结构处，这些结构域主要与藻胆蛋白的光能捕获、能量传递和结构组装有关。该研究结果不仅揭示了正选择作用的重要性，而且提示光质、光强和能量传递压等可能是潜在的正选择压力。此外，又深入研究了高光和低光适应型两个生态群体的原绿球藻藻红蛋白基因系统发育、种内多态性和种间变异度，以此揭示环境因子对藻胆蛋白进化的影响。 本研究首次对螺旋藻全基因组进行测序，并以藻胆蛋白为例，从分子进化角度揭示其结构和功能的关系，并首次提出正选择压力可能是促使藻胆蛋白功能分化的主要原因，并认为原绿球藻中藻红蛋白的进化呈现出不同的模式，新的捕光色素的出现以及其所处的海洋环境可能使藻红蛋白获得了新的功能。

非结构环境下基于人机合作技术的抓取作业研究

介绍了一种利用人机合作技术在非结构环境引导机械手抓取静态目标的方法.分别介绍了将激光—CCD摄像机系统与操作者的经验相结合获得抓取目标位置的方法,及将虚拟现实技术与操作者的经验相结合获得抓取目标姿态的方法.继而利用基于模型的视觉引导技术,引导手臂完成抓取操作.

基于视觉伺服的输电线巡检机器人抓线控制

巡检机器人在越障时,需要完成机器人手臂的准确抓线控制.结合输电线的几何特征和摄像机成像原理,提出了一种基于单摄像机的立体视觉方法来确定输电线的位置和姿态.基于该定位方法及视觉伺服理论,建立机械手抓线伺服控制模型.利用自行研制的巡检机器人进行了视觉伺服抓线实验;实验结果验证了该方法的有效性.

智能机器人多传感器实验平台的图像伺服系统

结合智能机器人多传感器实验平台的研制工作 ,系统介绍了其图像伺服子系统的工作原理、系统构成以及实现方案 ,涉及图像处理、机器视觉和机器人跟踪控制等相关内容 ,并讨论了物体自动识别和抓取过程中需要注意的一些问题 .

基于网络直角坐标机器人视觉伺服系统研究

为了实现定位抓取任务,提出基于网络的直角坐标机器人视觉控制系统。针对机器人运动控制的非线性与强耦合特性,采用神经网络控制器,构建了图像偏差与运动控制量之间的对应关系。通过对图像增强、边缘提取、特征提取等图像处理方法的综合分析,提出了一套优化组合图像处理法。在计算机网络环境下,采用自定义协议实现图像处理器与运动控制器协调控制,并将远程监控应用到机器人控制中。实验结果表明,该系统能够在视野范围内自动实现定位抓取动作。

汽车变速器装配生产线监控系统的设计

生产监控系统在企业生产管理中具有重要的不可替代的地位。网络化生产监控系统适应了企业管控一体化发展的要求,它可以直接与企业上层管理信息系统相融合,使得管理人员可以直观的了解到生产现场细致的生产数据,从而可以在宏观和微观两个方面来把握企业生产、计划、调度、管理。本文以现场总线技术和OPC技术为理论基础,提出了一种网络化监控系统架构,并讲述了其功能,着重阐述了系统功能的设计和实现。

煤层气储层工程的地下水行为研究

The practice of coalbed methane development from home and abroad demonstrated Hydrogeological factor is one of the important geological factors influencing the coalbed methane productivity. The grasp of groundwater behavior feature is the prerequisite to success development of coalbed methane. Through researching the mechanism by which hydrodynamics factors control the storage and transportation of coalfen methane, the ground- water behavior reflecting the feature of coalbed, and mathematics model describing the production process of coalbed methane, this paper devoted to finding the law of groundwater behavior during the course of storage and production and gave hydrogeology theoretical support to the development of coalbed methane. This paper firstly studied hydrodynamic factors influencing the productivity of coalbed methane, based on the analysis of the relative feature of coalbed methane and that of it's reservoir. The productivity of coalbed methane is controlled by reservoir pressure、permeability and recharge conditions. Reservoir pressure, the key factor controlling gas content of coalbed, is ruled by the history of hydrodynamic and current hydrogeological conditions. It indirectly controls the poductivity through influencing the permeability. The permeability of coalbed is the direct factor controlling the productivity. The recharge conditions controls the productivity through influencing initial reservoir pressure and the descend of reservoir pressure during development of coalbed methane. The field of hydrodynamic and the field of hydrochemistry can be used to identified the flow model of groundwater and the coalbed feature can be deducted by the hydraulic gradient、pressure compartment and hydrochemistry. The production of coalbed methane is a complex physical process which including the mutual action between water、solid and gas. This paper studied the mechanism of water-solid action and that of water-gas action, conducted the controlling equation describing the complex process and gave the corresponding mathematics model with its solution by finite-Element method. Finally, this paper analysised the prospective of coalbed methane development of the south section of Hongguo area in Yizikong basin and put emphasis on the analysis of productivity of liangshan and jingzhuping blocks.

高山峡谷地区大跨度桥梁岸坡稳定性分析、趋势预测及应用研究

In order to realize fast development of the national economy in a healthy way and coordinate progress with whole society, the country has implemented the strategy of development of the western region. An important action of finishing this strategic task is to accelerate the highway construction in the western region, join the western region and places along the coast, the river, the border with goods and materials, technology, and personnel interchanges, and then drive development of the local economy.The western region was influenced by the Himalaya Tectonization in Cenozoic, and the crust rose and became the plateau. In the course of rising, rivers cut down sharply to form a lot of high mountains and gorges.Because of topography and geomorphology, bridges in the traffic construction in the alpine gorge area are needed. Rivers have characteristics of large flow, fast velocity and high and steep river valley, so building a pier in the river is not only very difficult, but also making the cost increase. At the same time, the impact that the pier is corroded and the bridge base that is drawn to be empty by flow are apt to cause destruction of the pier. For those reasons, suspending bridge and cable-stay bridge are usually adopted with the single and large span. For the large span bridge, the pier foundation could receive ten thousand and more vertical strength, bending moment and near kiloton horizontal thrust.Because bank slope in the alpine gorge district is cut deeply and unsettled big, natural stability is worse under endogenic and exogenic force. When bank slope bears heavy vertical strength, bending moment and horizontal thrust facing the river, it will inevitably make the balance state of rock and soil mass change, bridge bank slope deform, and even destroyed. So the key problem at the time of the large span's bridge construction in the alpine gorge area is how to make it stable.So based on the spot investigation, the Engineering Geology Analysis Method is very important to grasp the bank slope stability. It can provide the bank slope stability macroscopic ally and qualitatively, and reference to the indoor calculation. The Engineering Geology Analysis Method is that by way of analyzing and investigating terms of bank slope instability, stability development trend, the ancient rock slide and devolution in the site, stability comprehensive evaluation primarily, current and future stability of bank slope is gotten, realizing the intention to serving the concrete engineering.After the Engineering Geology Analysis Method is applied to project instances of BeiPan River Bridge and BaLin River Bridge, results are accord with bank slope actual conditions, which proves sites are suited to building bridges from site stability.we often meet bank slope stability issues in the traffic construction in the alpine gorge areao Before the evaluation of the bank slope stability, the engineering geological condition is investigated first. After that, the next exploration target and geology measures are decided. So, the Engineering Geology Analysis Method that the investigation of the engineering geological condition is the main content is quite important in practice. The other evaluations of the bank slope stability are based on it. Because foundation receives very heavy load, for the big span's bridge in the alpine gorge area, a long pile of the large diameter (D^0.8m) is usually selected. In order to reflect rock mass's deformation properties under rock-socketed pile function, the author has used the FLAG30 software for rock and soil mass and done many numerical simulations. By them, the author launches the further investigation on deformation properties of bank slope under different slope angle, pile length, diameter, elastic modulus, load, bank slope's structure, etc. Some conclusion meaningful to the design and produce are obtained.