Systematic investigation of alkali metal ion transfer across the micro- and nano-water/1,2-dichloroethane interfaces facilitated by dibenzo-18-crown-6

Facilitated alkali metal ion (M+= Li+, Na+, K+, Rb+, and Cs+) transfers across the micro- and nano-water/1,2-dichloroethane (W/DCE) interfaces supported at the tips of micro- and nanopipets by dibenzo-18-crown-6 (DB18C6) have been investigated systematically using cyclic voltammetry. The theory developed by Matsuda et al. was applied to estimate the association constants of DB18C6 and M+ in the DCE phase based on the experimental voltammetric results. The kinetic measurements for alkali metal ion transfer across the W/DCE interface facilitated by DB18C6 were conducted using nanopipets or-submicropipets, and the standard rate constants (k(0)) were evaluated by analysis of the experimental voltammetric data. They increase in the following order: k(Cs+)(0) < k(Li+)(0) < k(Rb+)(0) < k(Na+)(0) < k(K+)(0), which is in accordance with their association constants except Cs+ and Li+.

Self-assembly of star block copolymers by dynamic density functional theory

The dynamic mean-field density functional method, driven from the generalized time-dependent Ginzburg-Landau equation, was applied to the mesoscopic dynamics of the multi-arms star block copolymer melts in two-dimensional lattice model. The implicit Gaussian density functional expression of a multi-arms star block copolymer chain for the intrinsic chemical potentials was constructed for the first time. Extension of this calculation strategy to more complex systems, such as hyperbranched copolymer or dendrimer, should be straightforward. The original application of this method to 3-arms block copolymer melts in our present works led to some novel ordered microphase patterns, such as hexagonal (HEX) honeycomb lattice, core-shell HEX lattice, knitting pattern, etc. The observed core-shell HEX lattice ordered structure is qualitatively in agreement with the experiment of Thomas [Macromolecules 31, 5272 (1998)].

Structure of [C8H7](+) and intramolecular proton transfer reactions in 3-phenyl-1-butyn-3-ol by MS/MS technique

The electron impact mass spectrum (EIMS) of 3-phenyl-1-butyn-3-ol was reported in this paper. Collision-induced dissociation (CID) was used to study the gas phase ion structure of [C8H7](+) formed by the fragmentation of ionized 3-phenyl-1-butyn-3-ol, and that it has the same structure as m/z 103 ions generated by cinnamic acid and alpha-methylstyrene. Deuterium labelling, metastable ion (MI) and CID experimental results indicate the formation of m/z 103 ion resulting from molecular ion of 3-phenyl-1-butyn-3-ol, which is a stepwise procedure via twice proton transfers, rather than concerted process during the successive elimination of methyl radical and neutral carbon monoxide accompanying hydrogen transfer. Moreover, in order to rationalized these fragmentation processes, the bimolecular proton bound complex between benzyne and acetylene intermediate has been proposed.

Fragmentations of some bifunctional phenylether compounds by intermediate ion/neutral complexes

The fragmentations of three bifunctional phenylether compounds including 2-(2, 6-dichloro)phenoxyl propionitrile, N-hydroxyl-4-butoxyl phenylacetyl amine(bufexamc) and 2-(1-methylethoxyl) phenol methylcarbamate (Propoxur) under electron impact ionization were reported, Metastable ion(MI) and collision-induced dissociation(CID) at a low energy have been used to study the fragmentation pathways from molecular ions. Apart from the simple bond cleavages, and the unimolecular dissociations via ion/neutral complex intermediate as a competitive mechanism were demonstrated, Moreover, the intramolecular hydrogen transfer and double hydrogen transfers in the fragmentations of these compounds were discussed in detail.

CHEMICAL-IONIZATION MASS-SPECTROMETRY OF SOME NITRO-CONTAINING BIFUNCTIONAL AROMATIC-COMPOUNDS - LOCATION OF PROTONATION SITE

It is found that the nitro substituent of some aromatic bifunctional compounds shows unusual reactivity towards protonation. In the chemical ionization mass spectra of nitrobenzoic acids and their esters and amides, and of nitrophenols and their ethers, protonations on the carboxyl, ester, amide, hydroxyl or alkoxyl groups are highly suppressed by that on the nitro group. As a result, fragmentations based on protonation on these groups unexpectedly become negligible. Ortho effects were observed for all the ortho isomers where the initial protonation on the nitro group is followed by an intramolecular proton transfer reaction, which leads to the expected 'normal' fragmentations. Protonation on the nitro substituent is much more favourable in energy than on any of the other substituents. The interaction of the two substituents through the conjugating benzene ring is found to be responsible for this 'unfair' competitive protonation. The electron-attracting nitro group strongly destabilizes the MH+ ions formed through protonation on the other substituent; although the COR (R = OH, OMe, OEt, NH2) groups are also electron-withdrawing, their effects are weaker than that of NO2; thus protonation on the latter group produces more-stable MH+ ions. On the other hand, an electron-releasing group OR (R = H, Me, Et) stabilizes the nitro-protonated species; the stronger the electron-donating effect of this group the more stable the nitro-protonated ions.

Genetic analysis of meio- and mito-gynogenetic stocks of Paralichthys olivaceus with microsatellite markers

Twenty microsatellite markers (Po1, Po13, Po33, Po35, Po42, Po48, Po56, Po89, Po91, kop6, kop7, kop8, kop12, kop15, kop18, kop21, kop22, kop23, kop26, Po-strl) were used to assess the meiogynogenetic and mitogynogenetic stocks of the left-eyed flounder, Paralichthys olivaceus, which were derived from single pair crossing. Twelve of the 20 loci utilized showed heterozygosity in the female and were mapped in relation to their centromeres in the meiogynogenetic diploid flounder. Microsatellite-centromere map distance, calculated under the assumption of complete interference, ranged from 15.8 cM for kop22 to 50 cM for Po13, Po56 and Po89. Excluding the kop22, the heterozygosities of the rest of the loci were close to 100%, suggesting the occurrence of near complete interference on the chromosome arms that carried these loci. In the mitogynogenetic diploid flounder, each individual showed exact homozygousity and the segregation profiles did not deviate from the Mendelian 1: 1 pattern. The results indicated that there was no lethal gene linked with the loci analyzed. Such high interference accounted for the high recombination rates and large map distances. The Po13 and Po56 loci, Po91 and kop18 loci, kop15 and kop21 loci are tightly linked on the same chromosome arm in pairs.

Study on the fatty acid composition of jellyfish Rhopilema esculentum

The fatty acids composition in different parts of full-grown Rhopilema esculentum jellyfish from Yellow Sea was investigated. The lipids, extracted from the umbrella and oral arms and gonads of R. eculentum jellyfish, respectively were analysed by combined capillary gas chromatography/mass spectrometry. The results show that there are more than thirty kinds of fatty acids in jellyfish, and the fatty acid compositions of three parts of R. esculentum are almost the same. In the three parts, percentages of polyunsaturated fatty acids (PUFA) are high, and range from 36.23% to 38.74%. Docosahexaenoic acid (DHA), eicosatetraenoic acid (AA) and eicosapentaenoic acid (EPA) are three major PUFA.

Chromosomal mapping of 5S ribosomal RNA genes in the eastern oyster, Crassostrea virginica gmelin by fluorescence in situ hybridization

Chromosomal location of the 5S ribosomal RNA gene was studied in the eastern oyster, Crassostrea virginica Gmelin. using fluorescence in situ hybridization (FISH). Metaphase chromosomes were obtained from early embryos, and the FISH probe was made by PCR (polymerase chain reaction) amplification of the 5S rRNA gene and labeled by incorporation of digoxigenin-1 1-dUTP during PCR. Hybridization was detected with fluorescein-labeled antidigoxigenin antibodies. Two pairs of FISH signals were observed on metaphase chromosomes. Karyotypic analysis showed that the 5S rRNA gene cluster is interstitially located on short arms of chromosomes 5 and 6. On chromosome 5, the 5S rRNA genes were located immediately next to the centromere, whereas on chromosome 6, they were located approximately half way between the telomere and the centromere. Chromosomes of C. virginica are difficult to identify because of their similarities in size and arm ratio, and the chromosomal location of 5S rRNA genes provides unambiguous identification of chromosomes 5 and 6. Previous studies have mapped the major rRNA gene cluster (18S-5.8S-28S) to chromosome 2. and this study shows that the 5S rRNA gene cluster is not linked to the major rRNA genes and duplicated during evolution.

Chromosomal rearrangement in Pectinidae revealed by rRNA loci and implications for bivalve evolution

Karyotype and chromosomal localization of major (18-5.8-28S) and minor (5S) ribosomal RNA genes were studied in two species of Pectinidae, zhikong (Chlamys farreri) and bay (Argopecten irradians irradians) scallops. using fluorescence in situ hybridization (FISH). C. farreri had a haploid number of 19 with a karyotype of 3m + 4sm + 7sm-st + 4st + 1st-t, and A. i. irradians had a haploid number of 16 with a karyotype of 5st + 11t. In C. farreri, the major and minor rRNA genes had one locus each and were mapped to the same chromosome-Chromosome 5. In A. i. irradians, the major rRNA genes had two loci, located on Chromosomes 4 and 8, and the 5S rRNA gene was found at a third chromosome-Chromosome 10. Results of this and other studies indicate that karyotype of A. i. irradians (n = 16, 21 arms) is secondary and derived from an ancestral karyotype similar to that of C. farreri (n = 19, 38 arms) through considerable chromosomal loss and rearrangements. The ability to tolerate significant chromosomal loss suggests that the modal karyotype of Pectinidae and possibly other bivalves with a haploid number of 19 is likely tetraploid; i.e., at least one genome duplication has occurred during the evolution of Bivalvia.

输电线巡检机器人越障机理与试验

分析超高压输电线路架空地线上的障碍物类型以及跨越这些障碍的过程。可以发现,巡检机器人采用双臂交替跨越障碍,越障过程简单。但是由于受巡检机器人自身重力偏矩的影响和手臂长度尺寸的限制,当单臂悬架在架空地线上时,导致巡检机器人本体倾斜,另一手臂完成脱线和上线任务变得十分困难,有时甚至造成越障失败。为了解决上述问题,提出质量调节的控制方法。该方法通过调节巡检机器人的质心,使巡检机器人的本体保持水平状态。为了验证质量调节控制方法的正确性,采用Lagrange方法建立巡检机器人动力学模型,通过仿真试验、实验室模拟实际架空地线试验以及超高压实际现场试验说明了提出方法的可行性。

仿人机器人腰部机构的动力学建模、控制与仿真

本文介绍的仿人机器人具有差动腰部机构,它除了受自身的动力学影响以外,还受到手臂和车体运动以及外力、外力矩等对腰部机构关节力矩的影响。笔者利用高效牛顿-欧拉算法完成了仿人机器人的整体建模;在不考虑各关节间耦合运动的情况下,对整体动力学模型进行适当简化,得到了腰部机构的动力学模型。简化后的动力学模型既反映了机器人车体、腰部及双臂的动力学关系,又大大地减小了计算量,易于实现基于动力学的控制算法。基于动力学模型,给出了腰部机构PD伺服轨迹跟踪控制算法,并结合计算力矩方法用于补偿腰部机构两关节受到的力矩扰动。仿真分析表明,该控制方法可以明显提高腰部机构的位置跟踪精度,并提高仿人机器人的整体作业精度。

轮式移动仿人机器人的动力学建模与分析

利用高效迭代牛顿-欧拉方法对一个21自由度的轮式移动仿人机器人进行了整体动力学建模,该模型虽然维数较高,但消除了分块建模中需要对模块之间相互作用力进行建模的难点问题,并且由于机器人双臂的对称结构,当合理规划双臂运动时,动力学模型将得到部分简化。本文还对某关节运动时在各个关节所产生的力或力矩进行了仿真分析。解析及仿真结果表明,合理规划上臂各关节的协调运动,将极大地削弱车体及腰部各关节所受的力或力矩扰动,为基于动力学的机器人运动控制以及稳定性分析提供理论依据。

避免误操作的遥协作模糊控制方法

现有的遥操作系统中普遍存在的问题是受环境、心理、生理等影响,操作者在遥操作机器人过程中可能由于误操作产生不可预料的后果.为了解决操作者误操作问题,提出对基于操作者通过选择操作手法得到的模糊操作量和对基于多传感器融合决策产生的模糊控制量采取加权和的遥协作模糊控制方法.以遥操作机械手臂为例,通过单纯由操作者、单纯由多传感器融合决策和遥协作模糊控制3种方法进行实验,验证所提出方法的合理性.

宜人化双臂操作型服务机器人建模、控制和协调

为宜人化双臂操作型服务机器人建立了动力学模型,该模型的特点是独立的机理建模技术结合黑箱技术共同描述出完整的模型;结合建立的模型,提出一种基于NN的自适应鲁棒控制器,并证明了其渐近稳定性.最后,在分析宜人化双臂操作型服务机器人运动特征的基础上,提出一种基于事件的在线协调的策略.

轮式移动宜人机器人技术研究

轮式移动宜人机器人项目研究的主要目的是开发自主式仿人机器人样机 ,探索先进的机器人理论和技术。轮式移动宜人机器人由正交轮式移动平台、腰部、躯干及头部和双臂组成 ,共 2 1个自由度。整体结构包括 :电源系统、机械系统、控制系统和传感系统。电源系统采用车载电池供电。机械系统包括变刚度结构 ,提高了机器人与人交互作业的安全性。控制系统分为中央协调层和执行层结构。传感系统主要实现关节位置检测、姿态检测、力检测和视觉。文章讨论了此机器人的研究进展。