7000米载人潜水器推进器故障容错控制分配研究

介绍了7000米载人潜水器推进系统的组成和推进器布置,描述了潜水器控制分配问题,对推进器推力和期望控制量进行了归一化处理.根据载人潜水器的推进器布置,建立了系统的控制分配模型,设计了推进器故障容错处理策略,研究了基于推力最小二范数的载人潜水器控制分配求解方法.采用基于伪逆矩阵与定点分配的混合控制分配求解算法,在半物理仿真平台上实验验证了控制分配求解算法的正确性和有效性.

CFX与USAERO的水下机器人操纵性仿真计算研究

研究了借助计算流体力学软件CFX与USAERO对水下机器人的操纵性进行仿真计算的方法,并将仿真计算结果与模型试验结果对比,验证仿真计算的可行性,指出仿真计算的适用范围.该方法可以对某些现实中难以进行的操纵性试验进行仿真计算,对于研究水下机器人的操纵性尤其是在方案设计阶段的操纵性设计和降低试验成本有一定的现实意义.

小襟翼对自治式水下机器人潜浮运动的影响

无动力大纵倾角的下潜和上浮方式对自治式水下机器人具有很大的意义．但是这种潜浮方式却无法满足自治式水下机器人潜浮位置范围及航向控制的要求．采用在稳定翼上加装小襟翼的方法，即可以解决这一难题．本文介绍了小襟翼对自治式水下机器人无动力潜浮运动轨迹的影响，并通过自治式水下机器人的运动方程，结合“ＣＲ－０１”６０００ｍ自治式水下机器人的深海试验结果，对这一影响作了定性地分析．为通过试验找出最佳小襟翼提供了理论基础

高可靠性红外车辆分离器设计与应用

本文给出了一种针对公路自动收费系统的车辆分离检测而设计的,利用红外线发射和接收所形成的光幕,完全消除跟车现象,并能将半挂车、全挂车、单车可靠分离的红外车辆分离器。高可靠性红外车辆分离器的设计很好克服了传统红外车辆分离器环境适应性差、故障率高等缺点。本文还介绍了光幕形成的基本原理,并阐述了硬件关键点及实现方法,给出了系统硬件原理图、软件基本设计思想。

青藏高原壳幔形变与层圈耦合数值模拟

Based on multi-principle (such as structures, tectonics and kinematics) exploratory data and related results of continental dynamics in the Tibetan plateau, the author reconstructed the geological-geophysical model of lithospherical structure and tectonic deformation, and the kinetics boundary conditions for the model. Then, the author used the numerical scheme of Fast Lagrangian Analysis of Continua (FLAC), to stimulate the possible process of the stress field and deformational field in the Tibetan plateau and its adjacent area, since the convergence-collision between the Indian continent and Eurasia continent about 50Ma ago. With the above-mentioned results, the author discussed the relationship between crustal movement in shallow layer and the deformational process in interior layers, and its possible dynamic constraints in deep. At the end of the paper, an integrative model has been put forward to explain the outline images of crust-mantle deformation and coupling in the Tibetan Plateau. (1) The characteristics of crust-mantle structure of the Tibetan plateau have been shown to be very complex, and vertical and horizontal difference is significant. The general characteristics of crust-mantle of the Tibetan plateau may be that it's layering in depth direction, and shows blocking from south to north and belting from east to west, mainly according to the results of about 20 seismic sections, such as wide-angle seismic profiles, CMP, seismic tomography and so on. (2) The crust had shortened about 2200km, while the shortening is different for different block from south to north in the Tibetan plateau. It is about 11.5mm/a in Himalayan block, about 9.0mm/a in Lhas-Gangdese block, about 7.0mm/a in Qiangtang block and Songpan-Ganzi-Kekexili block, about 8.0mm/a in Kunlun-Qaidam, and about ll.Omm/a in Qilian block, since the convergence-collision between the Indian continent and Eurasia continent about 50Ma ago. Which - in demonstrates the shortening rate decreases from south to north, but this rate increases near the north edge of the Tibetan plateau. The crust thickening rate is about 0.4mm/a in the whole Tibetan plateau; and this rate is about 0.5mm/a in Himalayan block, about 0.4mm/a in Lhas-Gangdese block, about 0.3mm/a in Qiangtang block, about 0.2mm/a in Songpan-Ganzi-Kekexili block and about O.lmm/a in Kunlun-Qaidam-Qilian block, since the convergence-collision between the Indian continent and Eurasia continent about 50Ma ago. This implies that the thickening rate decreases in the blocks of the Tibetan plateau. From south to north, the displacement of eastern boundary in the Tibetan plateau is about 37mm/a in Himalayan block, about 45mm/a in Lhas-Gangdese block, about 47mm/a in Qiangtang block, about 43mm/a in Songpan-Ganzi-Kekexili block, and about 35mm/a in Kunlun-Qaidam-Qilian block, since the collision-matching between the Indian continent and Eurasia continent had happened about 50Ma ago. This implies that the rate of eastward displacement is biggest in the middle of plateau, and decreases to both sides. The transition of S-N compression stress field in Tibetan Plateau, since about 28Ma+ ago, may be caused by two reasons: On one hand, the movement direction of Eurasia continent changed from northward to southward about 28Ma± ago in the northern plateau. On the other hand, the front belt that is located between India continent's and Eurasia continent's convergence-collision, had moved southward to high Himalayan from Indus-Brahmaputra suture almost at the same time in southern plateau. Affected by the stress field, the earlier tectonics rotated clockwise, NE and NW conjugate strike-slip faults developed, and the SN rift formed. This indicated that the EW movement started. The ratio between upper crust and lower crust of different blocks from south to north in the Tibetan plateau during the process of deformation are as following: about 3.5~5:1 in Himalayan block, about 1~5: 3-4 (which is about 1:3o--4 in south and about 4~5:3 in north) in Lhas-Gangdese block, about 1:3~447mm/a in these blocks: Which is located to the north of Banggong-nujiang suture.

西北太平洋某海域40ka来的地磁场相对强度研究

Paleointensity changes of geomagnetic field help us to understand the evolutionprocess of earth completely and provide further constraints for earth interior process and geodynamo model. Marine sediments are good carriers for relative paleointensity of geomagnetic field. But in most cases, deep sea sediments that conform with magnetic "uniformity" usually have low sedimentation rate about l-2cm/ka and lie under the Carbonate Compensate Depth with little carbonate content. Therefore, the number of relative paleointensity records with detailed oxygen stratigraphy is still rare. This thesis focus on four cores from east of Ryukyu Trench which have foraminiferal content of 5-30% and sedimentation rate of lOcm/ka and wish to get centennial -millennial changes of relative paleointensity.The sediments from east of Ryukyu Trench conform with magnetic "uniformity" and remanences of four cores all show single component with stable direction and faithfully record the magnetic field. The NRM301T1T/ARM and NRMsomT/ x are still affected by grain size and concentration changes although the sediments are "uniform" , indicating the uniformity might not enough for relative paleointensity. After renomalized by grain size parameter MDF, the intensities remove the effect of grain size changes to different degrees and show coherency in 1-1 Oka scale with results from ODP983/984. The characteristics of paleointensity of geomagnetic field arefrom 32-24kaBP, paleointensity of geomagnetic field is low;24-12kaBP, paleointensity of geomagnetic field is high and shows two peaks boundary with 19kaBP.3) 12-5.3ka, paleointensity is low. Then increase from 5,3kaBP until a small trough at 2.7kaBP, then increase till now.

阿片药物依赖的神经机制---内侧前额叶与药物的心理依赖

Mental dependence, characterized by craving and impulsive seeking behavior, is the matter of intensive study in the field of drug addiction. The mesolimbic dopamine system has been suggested to play an important role in rewarding of drugs and relapse. Although chronic drug use can induce neuroadaptations of the mesolimbic system and changes of drug reinforcement, these mechanisms cannot fully account for the craving and the compulsive drug-using behavior of addicts. Acknowledging the reinforcement effects of drugs, most previous studies have studied the impact of environmental cues and conditioned learning on addiction behavior, often using established classical or operant conditioning model. These studies, however, paid little attention to the role of cognitive control and emotion in addiction. These mental factors that are believed to have an important influence on conditioned learning. The medial prefrontal cortex (mPFC) has close anatomic and functional connections with the mesolimbic dopamine system. A number of the cognitive neurological studies demonstrate that mPFC is involved in motivation, emotional regulation, monitoring of responses and other executive functions. Thus we speculated that the function of abnormality in mPFC following chronic drug use would cause related to the abnormal behavior in addicts including impulse and emotional changes. In the present study of a series of experiments, we used functional magnetic resonance imaging to examine the hemodynamic response of the mPFC and related circuits to various cognitive and emotional stimuli in heroin addicts and to explore the underlying dopamine neuromechnism by microinjection of tool drugs into the mPFC in laboratory animals. In the first experiment, we found that heroin patients, relative to the normal controls, took a much shorter time and committed more errors in completing the more demanding of cognitive regulation in the reverse condition of the task, while the neural activity in anterior cingulate cortex (ACC) was attenuated. In the second experiment, the scores of the heroin patients in self-rating depression scale (SDS) and Self-rating anxiety scale (SAS) were significantly higher than the normal controls and they rated the negative pictures more aversive than the normal controls. Being congruent with the behavioral results, hemodynamic response to negative pictures showed significant difference between the two groups in bilateral ventral mPFC (VMPFC), amygdala, and right thalamus. The VMPFC of patients showed increased activation than normal controls, whereas activation in the amygdala of patients was weaker than that in normal subjects. Our third experiment showed that microinjection of D1 receptor agonist SKF38393 into the mPFC of rats decreased hyperactivity, which was induced by morphine injection, in contrast, D1 receptor antagonist SCH23390 increased the hyperactivity, These findings suggest: (1) The behavior and neural activity in ACC of addicts changed in chronic drug users. Their impulsive behavior might result from the abnormal neural activity in the mPFC especially the ACC. (2) Heroine patients were more depress and anxiety than normal controls. The dysfunction of the mPFC---amygdala circuit of heroine addicts might be related to the abnormal emotion response. (3) Dopamine in the mPFC has an inhibitory effect on morphine induced behavior. The hyperactivity induced by chronic morphine was reduced by dopamine increase with D1 receptor agonist, confirm the first experiment that the neuroadaption of mPFC system induced by chronic morphine administration appears to be the substrate the impulse behavior of drug users.

汉语发展性阅读障碍儿童的视觉大细胞通路特点

Developmental dyslexia (DD) is a common kind of learning disorder, which affects 5-18% of people. It seems important to explore the deficit in visual magnocellular pathway in Chinese developmental dyslexia, for many researches demonstrated that one of the core deficits of Chinese developmental dyslexia was orthographic deficit which was associated with the deficit in visual magnocellular pathway. Two studies were done to detect the differences among Chinese developmental dyslexics, average readers of the same chronological age (CA controls) and average readers of the same reading level (RL controls) in reaction time, accuracy and visual mismatch negativity (vMMN) elicited by the moving gratings responded by visual magnocellular pathway. There were two grating-conditions which were low contrast/low spatial frequency condition and high contrast/high spatial frequency condition respectively. In ERP study, a modified “cross-modal delayed response” paradigm was used to elicit the vMMN. The results showed that the developmental dyslexics responded slower than CA controls, had more errors than RL controls, and had smaller amplitudes of vMMNs than the two controls in visual magnocellular pathway condition, but not in control condition. That is to say, Chinese developmental dyslexics had deficits in visual magnocellular pathway.

ADEPT: A Heuristic Program for Proving Theorems of Group Theory

A computer program, named ADEPT (A Distinctly Empirical Prover of Theorems), has been written which proves theorems taken from the abstract theory of groups. Its operation is basically heuristic, incorporating many of the techniques of the human mathematician in a "natural" way. This program has proved almost 100 theorems, as well as serving as a vehicle for testing and evaluating special-purpose heuristics. A detailed description of the program is supplemented by accounts of its performance on a number of theorems, thus providing many insights into the particular problems inherent in the design of a procedure capable of proving a variety of theorems from this domain. Suggestions have been formulated for further efforts along these lines, and comparisons with related work previously reported in the literature have been made.

Highly sensitive determination of the methylated p16 gene in cancer patients by microchip electrophoresis

The p16 tumor suppressor gene is inactivated by promoter region hypermethylation in many types of tumor. Recent studies showed that aberrant methylation of the p16 gene is an early event in many tumors, especially in lung cancer, and may constitute a new biomarker for early detection and monitoring of prevention trials. We detected tumor-associated aberrant hypermethylation of the p16 gene in plasma and tissue DNA from 153 specimens using a modified semi-nested methylation-specific PCR (MSP) combining plastic microchip electrophoresis or slab gel electrophoresis, respectively. Specimens were from 79 lung cancer patients, 15 abdominal tumor patients, 30 positive controls and 30 negative controls. The results showed that the positive rate obtained by microchip electrophoresis was more than 26.6% higher and the same speciticity was kept when compared with slab gel electrophoresis. The microchip electrophoresis can rapidly and accurately analyze the PCR products of methylated DNA and obviously improve the positive rate of diagnosis of cancer patients when compared with gel electrophoresis. This method with the high assay sensitivity might be used for detection of methylation of p16 gene and even to facilitate early diagnosis of cancer patients. (C) 2004 Elsevier B.V. All rights reserved.

High-current inductors for high-power automotive DC-DC converters

This thesis is focused on the investigation of magnetic materials for high-power dcdc converters in hybrid and fuel cell vehicles and the development of an optimized high-power inductor for a multi-phase converter. The thesis introduces the power system architectures for hybrid and fuel cell vehicles. The requirements for power electronic converters are established and the dc-dc converter topologies of interest are introduced. A compact and efficient inductor is critical to reduce the overall cost, weight and volume of the dc-dc converter and optimize vehicle driving range and traction power. Firstly, materials suitable for a gapped CC-core inductor are analyzed and investigated. A novel inductor-design algorithm is developed and automated in order to compare and contrast the various magnetic materials over a range of frequencies and ripple ratios. The algorithm is developed for foil-wound inductors with gapped CC-cores in the low (10 kHz) to medium (30 kHz) frequency range and investigates the materials in a natural-convection-cooled environment. The practical effects of frequency, ripple, air-gap fringing, and thermal configuration are investigated next for the iron-based amorphous metal and 6.5 % silicon steel materials. A 2.5 kW converter is built to verify the optimum material selection and thermal configuration over the frequency range and ripple ratios of interest. Inductor size can increase in both of these laminated materials due to increased airgap fringing losses. Distributing the airgap is demonstrated to reduce the inductor losses and size but has practical limitations for iron-based amorphous metal cores. The effects of the manufacturing process are shown to degrade the iron-based amorphous metal multi-cut core loss. The experimental results also suggest that gap loss is not a significant consideration in these experiments. The predicted losses by the equation developed by Reuben Lee and cited by Colonel McLyman are significantly higher than the experimental results suggest. Iron-based amorphous metal has better preformance than 6.5 % silicon steel when a single cut core and natural-convection-cooling are used. Conduction cooling, rather than natural convection, can result in the highest power density inductor. The cooling for these laminated materials is very dependent on the direction of the lamination and the component mounting. Experimental results are produced showing the effects of lamination direction on the cooling path. A significant temperature reduction is demonstrated for conduction cooling versus natural-convection cooling. Iron-based amorphous metal and 6.5% silicon steel are competitive materials when conduction cooled. A novel inductor design algorithm is developed for foil-wound inductors with gapped CC-cores for conduction cooling of core and copper. Again, conduction cooling, rather than natural convection, is shown to reduce the size and weight of the inductor. The weight of the 6.5 % silicon steel inductor is reduced by around a factor of ten compared to natural-convection cooling due to the high thermal conductivity of the material. The conduction cooling algorithm is used to develop high-power custom inductors for use in a high power multi-phase boost converter. Finally, a high power digitally-controlled multi-phase boost converter system is designed and constructed to test the high-power inductors. The performance of the inductors is compared to the predictions used in the design process and very good correlation is achieved. The thesis results have been documented at IEEE APEC, PESC and IAS conferences in 2007 and at the IEEE EPE conference in 2008.

Preclinical atherosclerosis in rheumatoid arthritis

Introduction: There is accumulating evidence of an increased risk of cardiovascular morbidity and mortality in rheumatoid arthritis patients. A combination of both traditional cardiovascular risks and rheumatoid specific factors appear to be responsible for driving this phenomenon. Rheumatoid arthritis has been an orphan of cardiologists in the past and rheumatologists themselves are not good at CVD screening. Identifying the extent of preclinical atherosclerosis in RA patients will help us to appreciate the magnitude of this serious problem in an Irish population. Methods: We undertook a cross-sectional study of 63 RA patients and 48 OA controls and compared the 2 groups with respect to 1) traditional CV risks factors, 2) serum biomarkers of inflammation, including CRP, TNFα, IL6 and PAI-1, 3) carotid intima-media thickness (cIMT), carotid plaque and ankle-brachial index (ABI) as markers of pre-clinical atherosclerosis, 4) biochemical and ultrasonic measures of endothelial dysfunction and 5) serum and echocardiographic measures of diastolic dysfunction. Within the RA group, we also investigated for associations between markers of inflammation, subclinical atherosclerosis and diastolic dysfunction. Results: Prevalence of traditional CV risks was similar in the RA and OA groups. A number of biomarkers of inflammation were significantly higher in the RA group: CRP, fibrinogen, IL- 2, -4, -6, TNFα. PAI-1, a marker of thrombosis, correlated with disease activity and subclinical atherosclerosis in RA patients. With regard to subclinical atherosclerosis measures, RA patients had a significantly lower ABI than OA patients. Carotid plaque and cIMT readings were similar in RA and OA patients. Assessment of endothelial function revealed that RA patients had significantly higher concentrations of adhesion molecules, in particular sero-positive RA patients and RA smokers. Adhesion molecule concentrations were associated with markers of diastolic dysfunction in RA. Urine PCR, another marker of endothelial dysfunction also correlated with diastolic dysfunction in RA. Assessment of endothelial function with flow mediated dilatation (FMD) found no difference between the RA and OA groups. Disease activity scores in RA patients were associated with endothelial dysfunction, as assessed by FMD. Conclusions: We did not find significant differences in measures of subclinical atherosclerosis, flow mediated dilatation or diastolic function between RA and OA patients. This is most likely in part due to the fact that there is increasing evidence that OA has an inflammatory component to its pathogenesis and is associated with metabolic syndrome and increased CV risk. We reported a significant association between urinary PCR and measures of diastolic dysfunction. Urinary PCR may be a useful screening tool for diastolic dysfunction in RA. The association between RA disease activity and measures of vascular function supports the theory that the excess cardiovascular burden in RA is linked to uncontrolled inflammation.

Neural networks supporting autobiographical memory retrieval in posttraumatic stress disorder.

Posttraumatic stress disorder (PTSD) affects the functional recruitment and connectivity between neural regions during autobiographical memory (AM) retrieval that overlap with default and control networks. Whether such univariate changes relate to potential differences in the contributions of the large-scale neural networks supporting cognition in PTSD is unknown. In the present functional MRI study, we employed independent-component analysis to examine the influence of the engagement of neural networks during the recall of personal memories in a PTSD group (15 participants) as compared to non-trauma-exposed healthy controls (14 participants). We found that the PTSD group recruited similar neural networks when compared to the controls during AM recall, including default-network subsystems and control networks, but group differences emerged in the spatial and temporal characteristics of these networks. First, we found spatial differences in the contributions of the anterior and posterior midline across the networks, and of the amygdala in particular, for the medial temporal subsystem of the default network. Second, we found temporal differences within the medial prefrontal subsystem of the default network, with less temporal coupling of this network during AM retrieval in PTSD relative to controls. These findings suggest that the spatial and temporal characteristics of the default and control networks potentially differ in a PTSD group versus healthy controls and contribute to altered recall of personal memory.

Characterization of B cells in muscle-specific kinase antibody myasthenia gravis.

OBJECTIVE: To characterize B-cell subsets in patients with muscle-specific tyrosine kinase (MuSK) myasthenia gravis (MG). METHODS: In accordance with Human Immunology Project Consortium guidelines, we performed polychromatic flow cytometry and ELISA assays in peripheral blood samples from 18 patients with MuSK MG and 9 healthy controls. To complement a B-cell phenotype assay that evaluated maturational subsets, we measured B10 cell percentages, plasma B cell-activating factor (BAFF) levels, and MuSK antibody titers. Immunologic variables were compared with healthy controls and clinical outcome measures. RESULTS: As expected, patients treated with rituximab had high percentages of transitional B cells and plasmablasts and thus were excluded from subsequent analysis. The remaining patients with MuSK MG and controls had similar percentages of total B cells and naïve, memory, isotype-switched, plasmablast, and transitional B-cell subsets. However, patients with MuSK MG had higher BAFF levels and lower percentages of B10 cells. In addition, we observed an increase in MuSK antibody levels with more severe disease. CONCLUSIONS: We found prominent B-cell pathology in the distinct form of MG with MuSK autoantibodies. Increased BAFF levels have been described in other autoimmune diseases, including acetylcholine receptor antibody-positive MG. This finding suggests a role for BAFF in the survival of B cells in MuSK MG, which has important therapeutic implications. B10 cells, a recently described rare regulatory B-cell subset that potently blocks Th1 and Th17 responses, were reduced, which suggests a potential mechanism for the breakdown in immune tolerance in patients with MuSK MG.

Plasma miRNAs as early biomarkers for detecting hepatocellular carcinoma.

The early detection of hepatocellular carcinoma (HCC) presents a challenge because of the lack of specific biomarkers. Serum/plasma microRNAs (miRNAs) can discriminate HCC patients from controls. We aimed to identify and evaluate HCC-associated plasma miRNAs originating from the liver as early biomarkers for detecting HCC. In this multicenter three-phase study, we first performed screening using both plasma (HCC before and after liver transplantation or liver hepatectomy) and tissue samples (HCC, para-carcinoma and cirrhotic tissues). Then, we evaluated the diagnostic potential of the miRNAs in two case-control studies (training and validation sets). Finally, we used two prospective cohorts to test the potential of the identified miRNAs for the early detection of HCC. During the screening phase, we identified ten miRNAs, eight of which (miR-20a-5p, miR-25-3p, miR-30a-5p, miR-92a-3p, miR-132-3p, miR-185-5p, miR-320a and miR-324-3p) were significantly overexpressed in the HBV-positive HCC patients compared with the HBV-positive cancer-free controls in both the training and validation sets, with a sensitivity of 0.866 and specificity of 0.646. Furthermore, we assessed the potential for early HCC detection of these eight newly identified miRNAs and three previously reported miRNAs (miR-192-5p, miR-21-5p and miR-375) in two prospective cohorts. Our meta-analysis revealed that four miRNAs (miR-20a-5p, miR-320a, miR-324-3p and miR-375) could be used as preclinical biomarkers (pmeta  < 0.05) for HCC. The expression profile of the eight-miRNA panel can be used to discriminate HCC patients from cancer-free controls, and the four-miRNA panel (alone or combined with AFP) could be a blood-based early detection biomarker for HCC screening.