Researches on essential mechanics issues for submerged floating tunnel

Since 2001, a research group in the Institute of Mechanics, Chinese Academy of Sciences, has been devoted to the research of essential mechanics issues for submerged floating tunnel (SFT). In addition to the structural design of the SFT prototype in Qiandao Lake, the relevant researches cover a number of topics. This paper briefly describes the research procedure and results, including dynamic response of SFT due to surface wave, vortex-induced vibration of anchoring system, structural analysis of curved SFT, temperature effects of curved SFT, structural dynamic response due to accidental load, and effects of structural parameters (buoyancy-weight ratio, tunnel length，tether stiffness，etc.) on dynamic response.

Structure-, stereochemistry-, and metal-regulated DNA binding/cleaving molecules

In the cell, the binding of proteins to specific sequences of double helical DNA is essential for controlling the processes of protein synthesis (at the level of DNA transcription) and cell proliferation (at the level of DNA replication). In the laboratory, the sequence-specific DNA binding/cleaving properties of restriction endonuclease enzymes (secreted by microorganisms to protect them from foreign DNA molecules) have helped to fuel a revolution in molecular biology. The strength and specificity of a protein:DNA interaction depend upon structural features inherent to the protein and DNA sequences, but it is now appreciated that these features (and therefore protein:DNA complexation) may be altered (regulated) by other protein:DNA complexes, or by environmental factors such as temperature or the presence of specific organic molecules or inorganic ions. It is also now appreciated that molecules much smaller than proteins (including antibiotics of molecular weight less than 2000 and oligonucleotides) can bind to double-helical DNA in sequence-specific fashion. Elucidation of structural motifs and microscopic interactions responsible for the specific molecular recognition of DNA leads to greater understanding of natural processes and provides a basis for the design of novel sequence-specific DNA binding molecules. This thesis describes the synthesis and DNA binding/cleaving characteristics of molecules designed to probe structural, stereochemical, and environmental factors that regulate sequence-specific DNA recognition.

Chapter One introduces the DNA minor groove binding antibiotics Netropsin and Distamycin A, which are di- and tri(N-methylpyrrolecarboxamide) peptides, respectively. The method of DNA affinity cleaving, which has been employed to determine DNA binding properties of designed synthetic molecules is described. The design and synthesis of a series of Netropsin dimers linked in tail-to-tail fashion (by oxalic, malonic, succinic, or fumaric acid), or in head-to-tail fashion (by glycine, β-alanine, and γ-aminobutanoic acid (Gaba)) are presented. These Bis(Netropsin)s were appended with the iron-chelating functionality EDTA in order to make use of the technique of DNA affinity cleaving. Bis(Netropsin)-EDTA compounds are analogs of penta(N-methylpyrrolecarboxamide)-EDTA (P5E), which may be considered a head-to-tail Netropsin dimer linked by Nmethylpyrrolecarboxamide. Low- and high-resolution analysis of pBR322 DNA affinity cleaving by the iron complexes of these molecules indicated that small changes in the length and nature of the linker had significant effects on DNA binding/cleaving efficiency (a measure of DNA binding affinity). DNA binding/cleaving efficiency was found to decrease with changes in the linker in the order β-alanine > succinamide > fumaramide > N-methylpyrrolecarboxamide > malonamide >glycine, γ-aminobutanamide > oxalamide. In general, the Bis(Netropsin)-EDTA:Fe compounds retained the specificity for seven contiguous A:T base pairs characteristic of P5E:Fe binding. However, Bis(Netropsin)Oxalamide- EDTA:Fe exhibited decreased specificity for A:T base pairs, and Bis(Netropsin)-Gaba-EDT A:Fe exhibited some DNA binding sites of less than seven base pairs. Bis(Netropsin)s linked with diacids have C₂-symmmetrical DNA binding subunits and exhibited little DNA binding orientation preference. Bis(Netropsin)s linked with amino acids lack C₂-symmetrical DNA binding subunits and exhibited higher orientation preferences. A model for the high DNA binding orientation preferences observed with head-to-tail DNA minor groove binding molecules is presented.

Chapter Two describes the design, synthesis, and DNA binding properties of a series of chiral molecules: Bis(Netropsin)-EDTA compounds with linkers derived from (R,R)-, (S,S)-, and (RS,SR)-tartaric acids, (R,R)-, (S,S)-, and (RS,SR)-tartaric acid acetonides, (R)- and (S)-malic acids, N ,N-dimethylaminoaspartic acid, and (R)- and (S)-alanine, as well as three constitutional isomers in which an N-methylpyrrolecarboxamide (P1) subunit and a tri(N-methylpyrrolecarboxamide)-EDTA (P3-EDTA) subunit were linked by succinic acid, (R ,R)-, and (S ,S)-tartaric acids. DNA binding/cleaving efficiencies among this series of molecules and the Bis(Netropsin)s described in Chapter One were found to decrease with changes in the linker in the order β-alanine > succinamide > P1-succinamide-P3 > fumaramide > (S)-malicamide > N-methylpyrrolecarboxamide > (R)-malicamide > malonamide > N ,N-dimethylaminoaspanamide > glycine = Gaba = (S,S)-tartaramide = P1-(S,S)-tanaramide-P3 > oxalamide > (RS,SR)-tartaramide = P1- (R,R)-tanaramide-P3 > (R,R)-tartaramide (no sequence-specific DNA binding was detected for Bis(Netropsin)s linked by (R)- or (S)-alanine or by tartaric acid acetonides). The chiral molecules retained DNA binding specificity for seven contiguous A:T base pairs. From the DNA affinity cleaving data it could be determined that: 1) Addition of one or two substituents to the linker of Bis(Netropsin)-Succinamide resulted in stepwise decreases in DNA binding affinity; 2) molecules with single hydroxyl substituents bound DNA more strongly than molecules with single dimethylamino substituents; 3) hydroxyl-substituted molecules of (S) configuration bound more strongly to DNA than molecules of (R) configuration. This stereochemical regulation of DNA binding is proposed to arise from the inherent right-handed twist of (S)-enantiomeric Bis(Netropsin)s versus the inherent lefthanded twist of (R)-enantiomeric Bis(Netropsin)s, which makes the (S)-enantiomers more complementary to the right-handed twist of B form DNA.

Chapter Three describes the design and synthesis of molecules for the study of metalloregulated DNA binding phenomena. Among a series of Bis(Netropsin)-EDTA compounds linked by homologous tethers bearing four, five, or six oxygen atoms, the Bis(Netropsin) linked by a pentaether tether exhibited strongly enhanced DNA binding/cleaving in the presence of strontium or barium cations. The observed metallospecificity was consistent with the known affinities of metal cations for the cyclic hexaether 18-crown-6 in water. High-resolution DNA affinity cleaving analysis indicated that DNA binding by this molecule in the presence of strontium or barium was not only stronger but of different sequence-specificity than the (weak) binding observed in the absence of metal cations. The metalloregulated binding sites were consistent with A:T binding by the Netropsin subunits and G:C binding by a strontium or barium:pentaether complex. A model for the observed positive metalloregulation and novel sequence-specificity is presented. The effects of 44 different cations on DNA affinity cleaving by P5E:Fe were examined. A series of Bis(Netropsin)-EDTA compounds linked by tethers bearing two, three, four, or five amino groups was also synthesized. These molecules exhibited strong and specific binding to A:T rich regions of DNA. It was found that the iron complexes of these molecules bound and cleaved DNA most efficiently at pH 6.0-6.5, while P5E:Fe bound and cleaved most efficiently at pH 7.5-8.0. Incubating the Bis(Netropsin) Polyamine-EDTA:Fe molecules with K₂PdCl₄ abolished their DNA binding/cleaving activity. It is proposed that the observed negative metalloregulation arises from kinetically inert Bis(Netropsin) Polyamine:Pd(II) complexes or aggregates, which are sterically unsuitable for DNA complexation. Finally, attempts to produce a synthetic metalloregulated DNA binding protein are described. For this study, five derivatives of a synthetic 52 amino acid residue DNA binding/cleaving protein were produced. The synthetic mutant proteins carried a novel pentaether ionophoric amino acid residue at different positions within the primary sequence. The proteins did not exhibit significant DNA binding/cleaving activity, but they served to illustrate the potential for introducing novel amino acid residues within DNA binding protein sequences, and for the development of the tricyclohexyl ester of EDTA as a superior reagent for the introduction of EDT A into synthetic proteins.

Chapter Four describes the discovery and characterization of a new DNA binding/cleaving agent, [SalenMn(III)]OAc. This metal complex produces single- and double-strand cleavage of DNA, with specificity for A:T rich regions, in the presence of oxygen atom donors such as iodosyl benzene, hydrogen peroxide, or peracids. Maximal cleavage by [SalenMn(III)]OAc was produced at pH 6-7. A comparison of DNA singleand double-strand cleavage by [SalenMn(III)]⁺ and other small molecules (Methidiumpropyl-EDTA:Fe, Distamycin-EDTA:Fe, Neocarzinostatin, Bleomycin:Fe) is presented. It was found that DNA cleavage by [SalenMn(III)]⁺ did not require the presence of dioxygen, and that base treatment of DNA subsequent to cleavage by [SalenMn(III)]⁺ afforded greater cleavage and alterations in the cleavage patterns. Analysis of DNA products formed upon DNA cleavage by [SalenMn(III)] indicated that cleavage was due to oxidation of the sugar-phosphate backbone of DNA. Several mechanisms consistent with the observed products and reaction requirements are discussed.

Chapter Five describes progress on some additional studies. In one study, the DNA binding/cleaving specificities of Distamycin-EDTA derivatives bearing pyrrole N-isopropyl substituents were found to be the same as those of derivatives bearing pyrrole N-methyl substituents. In a second study, the design of and synthetic progress towards a series of nucleopeptide activators of transcription are presented. Five synthetic plasmids designed to test for activation of in vitro run-off transcription by DNA triple helix-forming oligonucleotides or nucleopeptides are described.

Chapter Six contains the experimental documentation of the thesis work.

DNA-mediated oxidation of transcription factor p53

Transcription factor p53 is the most commonly altered gene in human cancer. As a redox-active protein in direct contact with DNA, p53 can directly sense oxidative stress through DNA-mediated charge transport. Electron hole transport occurs with a shallow distance dependence over long distances through the π-stacked DNA bases, leading to the oxidation and dissociation of DNA-bound p53. The extent of p53 dissociation depends upon the redox potential of the response element DNA in direct contact with each p53 monomer. The DNA sequence dependence of p53 oxidative dissociation was examined by electrophoretic mobility shift assays using radiolabeled oligonucleotides containing both synthetic and human p53 response elements with an appended anthraquinone photooxidant. Greater p53 dissociation is observed from DNA sequences containing low redox potential purine regions, particularly guanine triplets, within the p53 response element. Using denaturing polyacrylamide gel electrophoresis of irradiated anthraquinone-modified DNA, the DNA damage sites, which correspond to locations of preferred electron hole localization, were determined. The resulting DNA damage preferentially localizes to guanine doublets and triplets within the response element. Oxidative DNA damage is inhibited in the presence of p53, however, only at DNA sites within the response element, and therefore in direct contact with p53. From these data, predictions about the sensitivity of human p53-binding sites to oxidative stress, as well as possible biological implications, have been made. On the basis of our data, the guanine pattern within the purine region of each p53-binding site determines the response of p53 to DNA-mediated oxidation, yielding for some sequences the oxidative dissociation of p53 from a distance and thereby providing another potential role for DNA charge transport chemistry within the cell.

To determine whether the change in p53 response element occupancy observed in vitro also correlates in cellulo, chromatin immunoprecipition (ChIP) and quantitative PCR (qPCR) were used to directly quantify p53 binding to certain response elements in HCT116N cells. The HCT116N cells containing a wild type p53 were treated with the photooxidant [Rh(phi)2bpy]³⁺, Nutlin-3 to upregulate p53, and subsequently irradiated to induce oxidative genomic stress. To covalently tether p53 interacting with DNA, the cells were fixed with disuccinimidyl glutarate and formaldehyde. The nuclei of the harvested cells were isolated, sonicated, and immunoprecipitated using magnetic beads conjugated with a monoclonal p53 antibody. The purified immounoprecipiated DNA was then quantified via qPCR and genomic sequencing. Overall, the ChIP results were significantly varied over ten experimental trials, but one trend is observed overall: greater variation of p53 occupancy is observed in response elements from which oxidative dissociation would be expected, while significantly less change in p53 occupancy occurs for response elements from which oxidative dissociation would not be anticipated.

The chemical oxidation of transcription factor p53 via DNA CT was also investigated with respect to the protein at the amino acid level. Transcription factor p53 plays a critical role in the cellular response to stress stimuli, which may be modulated through the redox modulation of conserved cysteine residues within the DNA-binding domain. Residues within p53 that enable oxidative dissociation are herein investigated. Of the 8 mutants studied by electrophoretic mobility shift assay (EMSA), only the C275S mutation significantly decreased the protein affinity (KD) for the Gadd45 response element. EMSA assays of p53 oxidative dissociation promoted by photoexcitation of anthraquinone-tethered Gadd45 oligonucleotides were used to determine the influence of p53 mutations on oxidative dissociation; mutation to C275S severely attenuates oxidative dissociation while C277S substantially attenuates dissociation. Differential thiol labeling was used to determine the oxidation states of cysteine residues within p53 after DNA-mediated oxidation. Reduced cysteines were iodoacetamide labeled, while oxidized cysteines participating in disulfide bonds were ¹³C₂D₂-iodoacetamide labeled. Intensities of respective iodoacetamide-modified peptide fragments were analyzed using a QTRAP 6500 LC-MS/MS system, quantified with Skyline, and directly compared. A distinct shift in peptide labeling toward ¹³C₂D₂-iodoacetamide labeled cysteines is observed in oxidized samples as compared to the respective controls. All of the observable cysteine residues trend toward the heavy label under conditions of DNA CT, indicating the formation of multiple disulfide bonds potentially among the C124, C135, C141, C182, C275, and C277. Based on these data it is proposed that disulfide formation involving C275 is critical for inducing oxidative dissociation of p53 from DNA.

Aprendendo o uso das ervas: a trajetória de terapeutas populares

A utilização de ervas e plantas para finalidades terapêuticas é bastante antiga e registrada em várias sociedades. Esta pesquisa procura investigar como se dá o processo de construção e reprodução do conhecimento em medicina popular (particularmente o cuidado com ervas e plantas medicinais) através da história de vida de terapeutas populares pessoas que se tornaram referências em suas comunidades por adquirir, praticar e transmitir esse conhecimento. Tem como objetivos conhecer e compreender o processo de construção do conhecimento sobre plantas medicinais por terapeutas populares do município do Rio de Janeiro; compreender as formas de reprodução deste conhecimento; entender o contexto de relações destes terapeutas com o saber científico. Utilizou-se como opção metodológica a história oral com ênfase na história de vida. Foram entrevistados sete terapeutas populares de diferentes bairros do município. Observou-se que o conhecimento em relação às ervas medicinais não está restrito a um pequeno grupo e limitado a uma forma de transmissão oral. O conhecimento tem se reproduzido, mas também tem se modificado, mesclando-se com outras formas de conhecimento e entremeado por diversas fontes de informação que vão desde a transmissão oral até informações disponíveis na mídia. A principal forma de reprodução do conhecimento parece ser a perpetuação do negócio, que evoca o discurso do tradicional, a natureza das ervas e suas propriedades benéficas e se sustenta por uma rede de informação que se utiliza dos diversos meios de comunicação e uma rede de produção e comércio que garante o sustento econômico dos terapeutas populares. A transformação das práticas de utilização de ervas medicinais em patrimônio cultural ou negócio de família além de garantir a perpetuação do conhecimento, garante um espaço diferente dentro das práticas de cuidado em saúde. As relações dos terapeutas com a medicina oficial não são relações de tensões, embora haja criticas, mas de interposição de sistemas terapêuticos.

Avaliação teórica, numérica e probabilística de fundações tracionadas.

A geotecnia constitui uma disciplina relativamente recente na área da engenharia civil, e dessa disciplina faz parte um capítulo ainda menos estudado que trata de fundações submetidas a esforços de tração. O presente trabalho deriva do conjunto de provas de cargas realizado para um importante projeto de linhas de transmissão que permitiu a aferição da teoria de capacidade de carga à tração da Universidade de Grenobel, cujos estudos comparativos mostram bons resultados para fins de aplicações práticas. De posse da extensa documentação técnica produzida e documentada por esse estudo foi possível comparar os resultados obtidos pelas provas de cargas e os resultados teóricos com os resultados das modelagens 2D axisimetricas por elementos finitos. Além dessas análises, foi possível verificar a variação da resistência à tração através de análises paramétricas realizadas a partir da variação da coesão e do ângulo de atrito. Os estudos apresentados reafirmam a confiabilidade das teorias da Universidade de Grenoble, que contemplam a simplicidade desejada às aplicações de cunho prático, com resultados satisfatórios em relação àqueles obtidos nos ensaios de tração. Por outro lado, as análises paramétricas realizadas indicaram a tendência de comportamento que a resistência à tração deve apresentar para diferentes parâmetros do solo. O conhecimento dessas tendências permite ao projetista avaliar os fatores de segurança sob ponto de vista probabilístico, ou seja, permite o emprego de fatores de segurança com o conhecimento da probabilidade de ruína associada. As análises probabilísticas foram traçadas a partir do emprego de funções genéricas de várias variáveis no formato FOSM (First Order Second Moment) que fornecem soluções aproximadas para o cálculo de desvio padrão quando não existe uma amostragem representativa. Ao término das análises, obteve-se como resultado, o mapa comparativo da probabilidade de ruína para os mesmos fatores de segurança empregados com base em resistências estimadas através de diferentes métodos de cálculos (Universidade de Grenoble e modelagem computacional).

O ofício de escritor e as figurações do outro: engajamento e representações sociais em José Lins do Rego

A efervescência cultural e política dos anos 20 contribuiu para o surgimento do romance nordestino de 30. Nesse momento, o engajamento do intelectual era uma necessidade e as produções artísticas foram mediadas por influências políticas de esquerda ou de direita. Com isso, as obras literárias ganharam um tom de denúncia, expondo nossos problemas sociais. O intelectual brasileiro se viu entre dúvidas e tensões e destacamos, na primeira parte desse trabalho, as posturas dos seguintes escritores: José Américo de Almeida (1887-1980), Rachel de Queiroz (1910-2003), Jorge Amado (1912-2001), José Lins do Rego (1901-1957) e Graciliano Ramos (1892-1953). Na segunda parte, tomamos as obras do escritor paraibano, José Lins do Rego, para analisar o posicionamento desse intelectual frente as questões de sua época. Com base nas discussões que o escritor põe em relevo em seus romances, identificamos a abordagem da relação entre intelectual e operário, os limites da figuração do outro o negro e a mulher pobre , a continuidade e a ampliação da escravidão no século XX. Cotejando as respostas de José Lins com as dos demais romancistas nordestinos de 30, verificamos como se estabeleceu o diálogo entre esses escritores e quais são os limites de seus posicionamentos

Azul celeste em vermelho: o projeto carnavalesco de Martinho e Ruça na Unidos de Vila Isabel entre 1988 e 1990

Na madrugada do dia 16 de fevereiro de 1988 a Unidos de Vila Isabel conquistou o título inédito do carnaval carioca com o enredo Kizomba Festa da Raça. Esse título foi o auge da administração de Lícia Maria Maciel Caniné, a Ruça que à época era casada com Martinho José Ferreira, o Martinho da Vila. O casal era filiado ao Partido Comunista Brasileiro, e a administração em questão se opunha politicamente a Liga Independente das Escolas de Samba, comandada pelo presidente anterior da Unidos de Vila Isabel, Aílton Guimarães Jorge, o Capitão Guimarães. Azul Celeste em Vermelho analisa a trama política carnavalesca tensionada de fins da década de 1980, focalizando na gestão da presidente Ruça empreendida entre os carnavais de 1988 e 1990. Iluminado por fontes orais e periódicos da época, o presente trabalho está interessado em discutir as memórias tramadas sobre aquela administração e seus usos políticos, por vezes partidários.

Traduções da desigualdade: pensamento criminológico e campo policial no Rio de Janeiro da Primeira República

O presente trabalho tem o objetivo geral de estudar a permanência do positivismo criminológico no Brasil e sua parcela de contribuição para a naturalização da desigualdade característica da seletividade de nosso sistema de controle social. Tendo como pano de fundo a hegemônica ideologia da democracia racial, a pesquisa pretende afastar ocultações de harmonia racial e demonstrar como, a despeito delas, a incorporação da criminologia positivista carregou a reificação da distinção racializada no olhar para a questão criminal, se enraizando no sistema penal. Partindo de um problema presente o componente racista da seleção preferencial do sistema penal brasileiro a pesquisa busca na recuperação histórica a leitura das traduções realizadas pelos intelectuais brasileiros que, problematizando a nacionalidade e a cidadania no momento de transição representado pela Primeira República, construíram ideias sobre o crime, o criminoso e a defesa social a partir de critérios de distinção ancorados em visões racializadas, gerais e individualizantes. Para tanto, coloca-se em questão a inserção do positivismo na polícia, dentro do contexto das reformas policiais do início do século XX. Chama-se a atenção para o papel de determinados tradutores traidores do positivismo chamados de intelectuais de polícia no campo policial, assim como para a forma de introdução dessa criminologia, usando-se a ideia de luta simbólica pela mudança da prática policial. Pretendendo, desse modo, contribuir com o estudo da questão criminal e com a compreensão do sistema penal brasileiro a partir do diálogo entre criminologia, história e sociologia, as conclusões do trabalho apontam para a oportunidade da abordagem da polícia como um campo social dotado de um habitus específico. Essa visão possibilita, por um lado, a interpretação das pretensões modernizantes dos intelectuais de polícia alinhadas com o pensamento positivista como pressões sobre as estruturas desse campo, passíveis de rejeição e de retradução no interior desse mundo social específico. De outro, admitindo-se a possibilidade de tensionamento e reestruturação do habitus policial como resultado dessas demandas externas, pode-se encontrar nessas disposições duráveis elementos da permanência do positivismo que imprimiram na prática policial as desigualdades ocultadas pelo mito da democracia racial.

The vibrations of bubbles and balloons

Bubbles and balloons are two examples of structures that feature a pressure difference across the skin, a thin, tensioned membrane, and a doubly curved interface surface. While mathematical models have been formulated for bubble vibrations, no such model exists for balloon vibrations. This paper reviews a model of bubble vibrations, and compares its predicted natural frequencies and modeshapes to those of a rubber balloon. It is shown that the bubble model consistently underpredicts the balloon's natural frequencies, and it is concluded that the nonlinear elasticity present in the balloon skin accounts for this result.

Europium complexes immobilization on titania via chemical modification of titanium alkoxide

We report a facile strategy to tether lanthanide complexes to organic-inorganic hybrid titania materials via sol-gel processing by employing chemically modified titanium alkoxide as the precursor where the organic ligand sensitizing the luminescence of lanthanide ions is bonded to titanium.

Effect of DNA flanking sequence on charge transport in short DNA duplexes

Several factors can influence charge transport (CT)-mediated DNA, such as sequence, distance, base stacking, base pair mismatch, conformation, tether length, etc. However, the DNA context effect or how flanking sequences influence redox active drugs in the DNA CT reaction and later in DNA enzymatic repair and synthesis is still not well understood. The set of seven DNA molecules in this study have been characterized well for the study of flanking sequence effects. These DNA duplexes are formed from self-complementary strands and contain the common central four-base sequence 5'-A-G-C-T-3', flanked on both sides by either (AT)(n) or (AA)(n) (n = 2, 3, or 4) or AA(AT)(2). UV-vis, fluorescence, UV melting, circular dichroism, and cyclic voltammetry experiments were used to study the flanking sequence effect on CT-mediated DNA by using daunomycin or adriamycin cross-linked with these seven DNA molecules. Our results showed that charge transport was related to the flanking sequence, DNA melting free energy, and ionic strength. For (AA)(n) or (AT)(n) species of the same length, (AA)(n) series were more stable and more efficient CT was observed through the (AA)(n) series. The same trend was observed for (AA)(n) and (AT)(n) series at different ionic strengths, further supporting the idea that flanking sequence can result in different base stacking and modulate charge transport through these seven DNA molecules.

有缆水下机器人主动升沉补偿控制研究

针对母船的升沉运动影响有缆水下机器人的释放与回收的工程实际需求,提出了利用液压绞车降低中继器的升沉速度来实现水下机器人主动升沉补偿控制的方法,来提高水下机器人释放与回收的安全性能。建立液压绞车的数学模型并设计主动升沉补偿前馈控制器。水下机器人主动升沉补偿实验表明液压系统的非线性降低了液压绞车主动升沉补偿前馈控制的升沉补偿效率。针对液压绞车的非线性特性,设计了液压绞车主动升沉补偿预测控制算法,仿真实验表明基于液压系统参数辨识的液压绞车主动升沉补偿预测控制可以得到较高的升沉补偿效率。