Modular Synthetic Approach to Carboranyl‒Biomolecules Conjugates

The development of novel, tumor-selective and boron-rich compounds as potential agents for use in boron neutron capture therapy (BNCT) represents a very important field in cancer treatment by radiation therapy. Here, we report the design and synthesis of two promising compounds that combine meta-carborane, a water-soluble monosaccharide and a linking unit, namely glycine or ethylenediamine, for facile coupling with various tumor-selective biomolecules bearing a free amino or carboxylic acid group. In this work, coupling experiments with two selected biomolecules, a coumarin derivative and folic acid, were included. The task of every component in this approach was carefully chosen: the carborane moiety supplies ten boron atoms, which is a tenfold increase in boron content compared to the l-boronophenylalanine (l-BPA) presently used in BNCT; the sugar moiety compensates for the hydrophobic character of the carborane; the linking unit, depending on the chosen biomolecule, acts as the connection between the tumor-selective component and the boron-rich moiety; and the respective tumor-selective biomolecule provides the necessary selectivity. This approach makes it possible to develop a modular and feasible strategy for the synthesis of readily obtainable boron-rich agents with optimized properties for potential applications in BNCT.     

组合夹具CAD技术的研究进展

组合夹具CAD(Computer-Aided Design)技术，是利用计算机辅助组装设计代替传统的人工组装设计的方法，可以有效地提高组合夹具组装设计的速度和质量。介绍了近年来国内外组合夹具CAD技术的发展概况，提出了今后组合夹具CAD技术的研究方法和发展方向。     

自主机器人人工进化方法研究

在介绍人工进化研究状况的基础上 ,着重阐述了进化机器人学的关键问题 :基本概念、进化技术、进化计算和实验研究方法等 ,探索了进化机器人学未来的研究趋势及所面临的挑战 .     

Research on a New-style Pipeline Inspection Robot System

IntroductionRecently pipe is used widely on the industry,agriculture and daily life. Natural gas and oil supplybecomes one of the fundamental public services and itsimpact on the urban infrastructure is getting larger. Theurban oil/gas pipelines, as they are buried under theground, are prone to external corrosion usually derived bymoisture and chemical agent in soil, which causes materiallosses of the pipe wall. Also, cracks in the welded regionand the da…     

教学机器人实验系统的开发

本文首先介绍了教学机器人实验系统的设计思想和系统构成，然后对其工作方式及与上位机的联机操作方法作了简要的说明，最后对该系统中模拟通用机器人语言所开发的模拟机器人语言的语句及应用这种机器人语言进行编程的特色作了专门的阐述．     

An Analogue of Distributivity for Ungraded Lattices

In this paper, we study lattices that posess both the properties of being extremal (in the sense of Markowsky) and of being left modular (in the sense of Blass and Sagan). We call such lattices trim and show that they posess some additional appealing properties, analogous to those of a distributive lattice. For example, trimness is preserved under taking intervals and suitable sublattices. Trim lattices satisfy a weakened form of modularity. The order complex of a trim lattice is contractible or homotopic to a sphere; the latter holds exactly if the maximum element of the lattice is a join of atoms. Any distributive lattice is trim, but trim lattices need not be graded. The main example of ungraded trim lattices are the Tamari lattices and generalizations of them. We show that the Cambrian lattices in types A and B defined by Reading are trim; we conjecture that all Cambrian lattices are trim.     

一类机器人系统的最优控制

本文通过把结构阻尼系数当作控制变量来讨论一类弹性机器人系统的最优控制问题 ,并利用Banach空间几何性质证明了最优控制元的存在唯一性     

Analogue of the degree conjecture over function fields

Under a certain assumption, similar to Manin's conjecture, we prove an upper bound on the degree of modular parametrizations of elliptic curves by Drinfeld modular curves, which is the function field analogue of the conjectured bound over the rational numbers.

     

On Modular Forms Arising from a Differential Equation of Hypergeometric Type

Modular and quasimodular solutions of a specific second order differential equation in the upper-half plane, which originates from a study of supersingular j-invariants in the first author's work with Don Zagier, are given explicitly. Positivity of Fourier coefficients of some of the solutions as well as a characterization of the differential equation are also discussed.     

柔性变截面滑移式机械手的控制

研究了柔性变截面滑移式机械手臂的控制。首先，基于有限元法导出系统的动力学方程，然后分别建立了两种控制方式的状态方程：１）以加速度和角加速度作为控制变量：２）以力和力矩作为控制变量。控制过程分为“粗控”和“精控”两步进行。“精控”过程采用线性二次型高斯控制。最后给出了数值模拟的结果。