基于输入有界机器人鲁棒自适应控制策略研究

本文针对常规机器人的鲁棒控制器设计的保守性和实际中执行机构输出的有界性产生矛盾，设计出一种新型输入有界的机器人鲁棒自适应控制器，解决了力矩受限情况下机器人控制器的设计问题，为机器人向小型化、节能型等特殊要求领域发展，提供了一条新的途径。     

电场中颗粒流量突变行为的理论判据

关于颗粒流在电场中的行为，中科院物理所作了许多实验工作，并得到一些有意义的结果，但对电场中颗粒流量突变条件未作定量研究，而该条件对实验结果分析及预测至关重要，作者用动力学方法导出颗粒流量突变的理论判据，并用该判据对的实验结果作了比较，结果基本吻合。     

多步时滞随机系统的适应跟踪

研究了多步时滞随机系统基于ＥＬＳ算法的适应控制问题，建立了多步时滞系统的ＥＬＳ算法，并推得用该算法辨识系统参数的收敛速率。证明了闭环系统是全局稳定的，且对参考信号的跟踪达到最优。     

Triplet state sublevel spectroscopy applied to proteins

Triplet state sublevel spectroscopy using optical detection of magnetic resonance (ODMR) in zero magnetic field can be successfully employed to study (i) the environment of tryptophan (Trp) residues in a protein by observing the position and structure of phosphorescence spectra, zero field ODMR transitions and triplet state sublevel kinetics, (ii) the energy transfer among Trp residues, and (iii) whether any cysteine (Cys) residue is within van der Waals distance of any Trp residue by studying the complex of the protein with methylmercury(II) iodide (CH₃HgI) which binds to Cys residues. These studies are particularly important where crystal structure study is not possible. Study of the S₁ state often gives ambiguous results since fluorescence is always broad and shows multi-exponential decay. Our results on bacteriophage lysozyme T4 which contains three Trp residues at positions 126, 138 and 158 are presented. Measurements were facilitated by the use of a mutated enzyme containing one or two Trp-Tyr substitutions. The results indicate that (i) Trp 126 and 158 are solvent exposed, whereas Trp 138 is buried in a hydrophobic environment, (ii)S ↔S non-radiative energy transfer takes place predominantly from Trp 126 to Trp 158, and (iii) only Trp-158 undergoes a heavy atom perturbation, which affects selectively the z-sublevel (z is an out-of-plane axis of the indole plane) as a result of CH₃HgI binding to nearby Cys 97. We suggest that the Hg atom is located on the z-axis of Trp 158 in the complex. This interpretation is based on our investigations on the effect of orientation of heavy atom perturbers in some naphthalene-crown ether metal ion complexes.     

Adaptive Control Model and Algorithms for the Dynamic Flowshop Scheduling Problem

1.IntroductionProductionschedulingcanbedefinedgenerallyastheallocationoftheresourcesinaproductionsystemovertimetoperformtheoperationsneededtotransformrawmaterialsilltoproducts.Aneffectiveandefficientschedulingsystemisnecessarytowellachievethepotentialsofaproductionfacility.Productionschedulingproblemsareextremelycomplex.Thecomplexityismainlyduetothefollowingtwofeaturesoftheproblem(Liu,1995).InterconnectedDecisions:Thecomponentsofaproductionsystem,e.g.,machines,ma-tenalhandlingdevicesandstora…     

MGB probe assay for rapid detection of mtDNAl1778 mutation in the Chinese LHON patients by real-time PCR

Objective： Leber＇s hereditary optic neuropathy （LHON） is a maternally inherited degeneration of the optic nerve caused by point mutations of mitochondrial DNA （mtDNA）. Many unsolved questions regarding the penetrance and pathophysiological mechanism of LHON demand efficient and reliable mutation testing. This study aims to develop a minor groove binder （MGB） probe assay for rapid detection of mtDNA11778 mutation and heteroplasmy in Chinese LHON patients by real-time polymerase chain reaction （PCR）. Methods： Forty-eight patients suspected of having LHON and their maternal relatives underwent a molecular genetic evaluation, with 20 normal individuals as a control group at the same time. A real-time PCR involving two MGB probes was used to detect the mtDNA 1 1778 mutation and heteroplasmy. A linear standard curve was obtained by pUCmLHONG and pUCmLHONA clones. Results： All 48 LHON patients and their maternal relatives were positive for rntDNA11778 mutation in our assay, 27 heteroplasmic and 21 homoplasmic. Eighteen cases did not show an occurrence of the disease, while 9 developed the disease among the 27 heteroplasmic mutation cases. Eleven did not show an occurrence of the disease, while 10 cases developed the disease among 21 homoplasmic mutation cases. There was a significant difference in the incidence between the heteroplasmic and the homoplasmic mutation types. The time needed for running a real-time PCR assay was only 80 min. Conclusion： This real-time PCR assay is a rapid, reliable method for mtDNA mutation detection as well as heteroplasmy quantification. Detecting this ratio is very important for predicting phenotypic expression of unaffected carriers.     

力前馈控制的并联机器人自适应系统的研究

针对６—ＤＯＦ并联机器人的液压主关节．设计了一种力前馈控制．结构简单．容易实现的模型参考自适应系统ＭＲＡＣＳ．仿真表明：此系统稳定可靠．有效地抑制了干扰作用．提高了系统的跟踪精度．本文的研究为系统的实际应用奠定了基础．     

电液伺服系统的参数自适应控制

本文针对电液伺服系统的特点,在极——零点配置的基础上提出一种形式简单、运算量小并适用于非最小相位系统的自适应控制算法,克服了一般极——零点配置自校正调节器实用上的困难。仿真与实验证明,用这种算法控制的电液伺服系统具有良好的动态及自适应性能。     

昆虫病毒对脊椎动物性细胞的致突变性研究

应用显性致死试验方法来检测3种昆虫病毒(EpNPV、DtGV、DpCPV)对哺乳动物性细胞的致灾变性,以期全面评价3种昆虫病毒的“潜在性危害”.研究结果表明,EpNPV、DtGV、DpCPV对雄性小白鼠的生殖细胞无致突变作用,故不产生遗传性危害。     

Choice of optimal search strategy

The problem of searching the extremum of a scalar function of a vector argument is considered. It is assumed that a finite set of algorithms, each of which is capable of finding the extremum, is specified. Every algorithm is characterized by a given number of operators each of which is identified with the state of the system. Each algorithm is defined by a transition probability matrix over the possible states (operators) and a corresponding matrix of the respective changes in the value of the function toward the extremal point.A procedure is given for selecting an optimal sequence of algorithms which maximizes the total expected change in the value of the function toward the optimum.