The primary function of terminators is to terminate transcription in gene expression.Although some studies have suggested that terminators also contribute positively to upstream gene expression,the extent and underlyi...The primary function of terminators is to terminate transcription in gene expression.Although some studies have suggested that terminators also contribute positively to upstream gene expression,the extent and underlying mechanism of this effect remain largely unexplored.Here,the correlation between terminating strength and upstream mRNA stability was investigated by constructing a terminator mutation library through randomizing 5 nucleotides,assisted by FlowSeq technology,terminator variants were categorized based on the downstream fluorescence intensity,followed by high-throughput sequencing.To examine the impact of terminators on mRNA stability,the abundance of downstream gene transcripts for each terminator variant was quantified through cDNA sequencing.The results revealed that the transcript abundance controlled by strong terminators was,on average 2.2 times greater than those controlled by weak terminators on average.Moreover,several distinct features could be ascribed to high relative abundance of upstream gene transcript,including a high GC content at the base region of hairpin,and a high AT content in downstream of the U-tract.Additionally,these terminators showed a free energy between28 and22 kcal/mol,and a stem length of 14 nt.Finally,these features ascribed the upstream beneficial terminator were validated across various expression systems.By incorporating the optimal terminator downstream of RSF,GSH and HIS in three different strains,the fermentation productions-NMN SAM and VD13 exhibited a remarkable enhancement of 30%-70%.The findings presented here uncov-ered the terminator characteristics contributed to the upstream mRNA stability,providing guiding principles for gene circuit design.展开更多
DNA sequencing using reversible terminators, as one sequencing by synthesis strategy, has garnered a great deal of interest due to its popular application in the second-generation high-throughput DNA sequencing techno...DNA sequencing using reversible terminators, as one sequencing by synthesis strategy, has garnered a great deal of interest due to its popular application in the second-generation high-throughput DNA sequencing technology. In this review, we provided its history of develop- ment, classification, and working mechanism of this technology. We also outlined the screening strategies for DNA polymerases to accommodate the reversible terminators as substrates during polymerization; particularly, we introduced the ＂REAP＂ method developed by us. At the end of this review, we discussed current limitations of this approach and provided potential solutions to extend its application.展开更多
The intrinsic terminator in prokaryotic forms secondary RNA structure and terminates the transcription.However,leaking transcription is common due to varied terminator strength.Besides of the representative hairpin an...The intrinsic terminator in prokaryotic forms secondary RNA structure and terminates the transcription.However,leaking transcription is common due to varied terminator strength.Besides of the representative hairpin and U-tract structure,detailed sequence and thermodynamic features of terminators were not completely clear,and the effect of terminator on the upstream gene expression was unclearly.Thus,it is still challenging to use terminator to control expression with higher precision.Here,in E.Coli,we firstly determined the effect of the 3′-end sequences including spacer sequences and terminator sequences on the expression of upstream and downstream genes.Secondly,terminator mutation library was constructed,and the thermodynamic and sequence features differing in the termination efficiency were analyzed using the FlowSeq technique.The result showed that under the regulation of terminators,a negative correlation was presented between the expression of upstream and downstream genes(r=0.60),and the terminators with lower free energy corelated with higher upstream gene expression.Meanwhile,the terminator with longer stem length,more compact loop and perfect U-tract structure was benefit to the transcription termination.Finally,a terminator strength classification model was established,and the verification experiment based on 20 synthetic terminators indicated that the model can distinguish strong and weak terminators to certain extent.The results help to elucidate the role of terminators in gene expression,and the key factors identified are crucial for rational design of terminators,and the model provided a method for terminator strength prediction.展开更多
This work presents a systematic analysis of proton-induced total ionizing dose(TID)effects in 1.2 k V silicon carbide(SiC)power devices with various edge termination structures.Three edge terminations including ring-a...This work presents a systematic analysis of proton-induced total ionizing dose(TID)effects in 1.2 k V silicon carbide(SiC)power devices with various edge termination structures.Three edge terminations including ring-assisted junction termination extension(RA-JTE),multiple floating zone JTE(MFZ-JTE),and field limiting rings(FLR)were fabricated and irradiated with45 Me V protons at fluences ranging from 1×10^(12) to 1×10^(14) cm^(-2).Experimental results,supported by TCAD simulations,show that the RA-JTE structure maintained stable breakdown performance with less than 1%variation due to its effective electric field redistribution by multiple P+rings.In contrast,MFZ-JTE and FLR exhibit breakdown voltage shifts of 6.1%and 15.2%,respectively,under the highest fluence.These results demonstrate the superior radiation tolerance of the RA-JTE structure under TID conditions and provide practical design guidance for radiation-hardened Si C power devices in space and other highradiation environments.展开更多
The Western Sichuan Foreland Basin(WSFB)in South China,a prolific hydrocarbon province,exhibits complex structural deformation influenced by Triassic salt tectonics.This paper integrates seismic data and well data to ...The Western Sichuan Foreland Basin(WSFB)in South China,a prolific hydrocarbon province,exhibits complex structural deformation influenced by Triassic salt tectonics.This paper integrates seismic data and well data to elucidate the role of Middle-Lower Triassic evaporite layers in shaping basin structures,focusing on Xinchang Tectonic Zone(XTZ).Salt layers facilitated decoupled deformation between supra-and sub-salt sequences,forming salt pillows and fault-related folds.Three distinct structural trends were identified in XTZ.Key findings reveal that salt thickness variations correlate with deformation styles:thicker salt promoted detachment folding,while thinner salt led to hard-linked fault systems.Sub-salt E-NE trending reverse faults formed horsetail terminations associated with the Pengzhou faults(PzF),deviating from the primary Longmenshan thrust belt(LmsTB)orientation.Structural evolution occurred in three stages:(1)Indosinian salt deposition and foreland basin initiation;(2)Yanshanian eastward propagation of thrust systems with salt-driven detachment folding;(3)Himalayan reactivation overprinting earlier structures with sub-NS trending folds.This work establishes a direct link between salt layers and structural traps,demonstrating how salt acted as a critical detachment layer during multi-stage compression.Results provide insights into the gas exploration of the Late Triassic Xujiahe Formation,emphasizing the importance of salt-influenced deformation in foreland basin systems.展开更多
The carboxylation of alkynes with CO_(2) has attracted considerable interest due to the valorization of C1resources and atomic economy.Much effort focused on active metals(e.g.,Au,Ag,Cu),while the mechanistic role of ...The carboxylation of alkynes with CO_(2) has attracted considerable interest due to the valorization of C1resources and atomic economy.Much effort focused on active metals(e.g.,Au,Ag,Cu),while the mechanistic role of active supports,particularly the oxygen vacancy(O_(v)),in modulating C-H bond carboxylation remains unknown.Herein,ultra-small silver clusters and morphologically engineered CeO_(2) support(nanorods,nanocubes,and nano particles)were employed to construct Ag cluster/O_(v) synergistic catalyst,which exhibits variations in Oy concentration by an in situ auto-reduction method.The 0.197%Ag/CeO_(2)-NR catalyst exhibited a high reaction rate for the phenylacetylene carboxylation reaction and the maximal silver utilization efficiency.The characterization and DFT calculations demonstrated that vacancies enhanced CO_(2) adsorption via polarization-induced molecular bending and C-O bond elongation.Positively charged Ag clusters induced by metal-support interactions serve as deprotonation activation centers for alkynes.This synergistic interplay between dual active sites efficiently facilitates the C(sp)-H carboxylation with CO_(2).These findings offer critical insights for the rational selection of active supports in designing efficient C-H carboxylation catalysts.展开更多
Parallel machining robot is a new type of robotized equipment for high-efficiency machining structural com-ponents with complex geometries.Terminal rigidity is of great importance index for such type of equipment,whic...Parallel machining robot is a new type of robotized equipment for high-efficiency machining structural com-ponents with complex geometries.Terminal rigidity is of great importance index for such type of equipment,which affects their load capacity and working accuracy.Before a parallel machining robot can be used for heavy-load and high-efficiency machining,its terminal rigidity should be evaluated systematically.The present study is to quantitatively reveal the stiffness properties of a previously invented Z4 redundantly actuated parallel ma-chining robot(RAPMR).For this purpose,two critical issues,i.e.,stiffness modelling and index construction,are clarified to carry out stiffness evaluation of the Z4 RAPMR.Firstly,drawing on the screw theory,a semi-analytic stiffness model of the proposed RAPMR is established at a component level.Secondly,a set of virtual work-based stiffness indices is constructed to evaluate the terminal rigidity of parallel robots.Those indices have a consistent physical unit in describing linear and angular terminal rigidity.With these indices,the local and the global stiffness performance of the Z4 RAPMR are predicted.Thirdly,a laboratory prototype of the proposed RAPMR is fabricated.And the experimental test is performed to verify the correctness of the established stiffness model.The present work is expected to provide fundamental information for further light-weight design and rigidity enhancement.展开更多
To explore the best preparation process for terminal blend(TB)composite-modified asphalt and to filter its formulation with excellent performance,this study evaluates the performance of TB composite modified asphalt b...To explore the best preparation process for terminal blend(TB)composite-modified asphalt and to filter its formulation with excellent performance,this study evaluates the performance of TB composite modified asphalt by physical property index,microscopic morphology,rheological testing,and infrared spectroscopy on multiple scales.The results show that the best preparation process for TB-modified asphalt is stirring at 260℃ for 4 h at 400 rpm,which significantly reduces the modification time of the asphalt.From a physical property viewpoint,the TB composite-modified asphalt sample with 5% styrene-butadiene-styrene(SBS)+1% aromatics+0.1% sulfur exhibits high-comprehensive,high-and low-temperature properties.More-over,its crosslinked mesh structure comprises black rubber particles uniformly interwoven in the middle,which further enhances the performance of the asphalt and results in an excellent performance formulation.In addition,the sample with 5%SBS content has a higher G*value and smaller δ value than that with 3%SBS content,indicating that its high-temperature resistance is improved.The effect of adding 3%SBS content on the viscoelastic ratio is,to some extent,less than that caused by 20% rubber powder.展开更多
In this paper,a unified terminal sliding mode(UTSM)control method is proposed for second-order nonlinear systems with uncertainties and disturbances.It is seen that the newly defined terminal sliding surface is integr...In this paper,a unified terminal sliding mode(UTSM)control method is proposed for second-order nonlinear systems with uncertainties and disturbances.It is seen that the newly defined terminal sliding surface is integrated with both conventional and fast terminal sliding mode and exhibits design advantages such as a variable exponent,adjustable sliding mode parameters,and chattering-alleviation effect.The inherent dynamic properties of the closed-loop systems with the UTSM control are discussed in detail via the phase plane and Lyapunov stability theory.Both numerical simulations and experimental results show the flexible sliding manifold design,strong robustness against uncertain dynamics,and effective attenuation of chattering phenomenon.展开更多
According to the requirements of the bus terminal regulator,a linear regulator with 3-A source-sink current ability is presented.The use of the NMOS pass transistor and load current feedback technique enhances the sys...According to the requirements of the bus terminal regulator,a linear regulator with 3-A source-sink current ability is presented.The use of the NMOS pass transistor and load current feedback technique enhances the system current ability and response speed.The method of adaptive zero compensation realizes loop stability over the whole load range for either source or sink loop.Furthermore,the transconductance matching technique reduces the shoot-through current through the output stage to less than 3μA.The regulator has been fabricated with a 0.6-μm 30 V BCD process successfully,and the area size is about 1 mm;.With a 20μF output capacitor, the maximum transient output-voltage variation is within 3.5%of the output voltage with load step changes of±2 A/lμs.At the load range of±3 A,the variation of output voltage is less than±15 mV.展开更多
Peripheral nerve injuries result in the rapid degeneration of distal nerve segments and immediate loss of motor and sensory functions;behavioral recovery is typically poor.We used a plasmalemmal fusogen,polyethylene g...Peripheral nerve injuries result in the rapid degeneration of distal nerve segments and immediate loss of motor and sensory functions;behavioral recovery is typically poor.We used a plasmalemmal fusogen,polyethylene glycol(PEG),to immediately fuse closely apposed open ends of severed proximal and distal axons in rat sciatic nerves.We have previously reported that sciatic nerve axons repaired by PEG-fusion do not undergo Wallerian degeneration,and PEG-fused animals exhibit rapid(within 2–6 weeks)and extensive locomotor recovery.Furthermore,our previous report showed that PEG-fusion of severed sciatic motor axons was non-specific,i.e.,spinal motoneurons in PEG-fused animals were found to project to appropriate as well as inappropriate target muscles.In this study,we examined the consequences of PEG-fusion for sensory axons of the sciatic nerve.Young adult male and female rats(Sprague–Dawley)received either a unilateral single cut or ablation injury to the sciatic nerve and subsequent repair with or without(Negative Control)the application of PEG.Compound action potentials recorded immediately after PEG-fusion repair confirmed conduction across the injury site.The success of PEG-fusion was confirmed through Sciatic Functional Index testing with PEG-fused animals showing improvement in locomotor function beginning at 35 days postoperatively.At 2–42 days postoperatively,we anterogradely labeled sensory afferents from the dorsal aspect of the hindpaw following bilateral intradermal injection of wheat germ agglutinin conjugated horseradish peroxidase.PEG-fusion repair reestablished axonal continuity.Compared to unoperated animals,labeled sensory afferents ipsilateral to the injury in PEG-fused animals were found in the appropriate area of the dorsal horn,as well as inappropriate mediolateral and rostrocaudal areas.Unexpectedly,despite having intact peripheral nerves,similar reorganizations of labeled sensory afferents were also observed contralateral to the injury and repair.This central reorganization may contribute to the improved behavioral recovery seen after PEG-fusion repair,supporting the use of this novel repair methodology over currently available treatments.展开更多
This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanis...This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.展开更多
This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of vi...This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of visual servoing for OMMs with mismatched disturbances is explicitly presented to solve the whole-body inverse kinematic problem.Second,a sliding mode observer augmented with an integral terminal sliding mode controller is proposed to handle these uncertainties and ensure that the system converges to a small region around the equilibrium point.The boundary layer technique is employed to mitigate the chattering phenomenon.Furthermore,a strict finite-time Lyapunov stability analysis is conducted.An experimental comparison between the proposed algorithm and a traditional position-based visual servo controller is carried out,and the results demonstrate the superiority of the proposed control algorithm.展开更多
[Objective] Taqman Quantitative PCR technique was adopted to detect the copies of exogenous nos terminator in transgenic hybrid soybean.[Method] With soybean Lectin as the endogenous reference gene,and gene complex DN...[Objective] Taqman Quantitative PCR technique was adopted to detect the copies of exogenous nos terminator in transgenic hybrid soybean.[Method] With soybean Lectin as the endogenous reference gene,and gene complex DNA in non-GMO soybeans as the endogenous reference standard,the method of gradient dilution was used for separately calculate Ct value of endogenous reference gene and plasmid DNA and correlation standard curve equation of logarithm of copies,and then to calculate the copies of samples through substituting thus-obtained Ct into the standard curve equation.[Result] The standard curve equation of endogenous reference gene is y=-3.422x＋35.201,R2=0.998;and the standard curve equation of exogenous gene is y=-3.348x＋34.890,R2=0.999.Nos terminator and its lower boundary sequences in transgenic soybean is of single copy.[Conclusion] The study has provided a theoretical basis for determining exogenous gene copies in transgenic soybean.展开更多
Construction of LNG receiving terminals The scale of receiving terminals is expanding rapidly At the end of 1999,the state approved the Guangdong LNG Pilot Project,which opened the prelude to the construction of LNG r...Construction of LNG receiving terminals The scale of receiving terminals is expanding rapidly At the end of 1999,the state approved the Guangdong LNG Pilot Project,which opened the prelude to the construction of LNG receiving terminals.In 2006,China's first LNG receiving terminal,namely Dapeng LNG Receiving Terminal in Shenzhen,Guangdong Province,was put into operation,marking the beginning of the use of overseas natural gas in China.展开更多
基金supported by National Natural Science Foundation of China[32171421].
文摘The primary function of terminators is to terminate transcription in gene expression.Although some studies have suggested that terminators also contribute positively to upstream gene expression,the extent and underlying mechanism of this effect remain largely unexplored.Here,the correlation between terminating strength and upstream mRNA stability was investigated by constructing a terminator mutation library through randomizing 5 nucleotides,assisted by FlowSeq technology,terminator variants were categorized based on the downstream fluorescence intensity,followed by high-throughput sequencing.To examine the impact of terminators on mRNA stability,the abundance of downstream gene transcripts for each terminator variant was quantified through cDNA sequencing.The results revealed that the transcript abundance controlled by strong terminators was,on average 2.2 times greater than those controlled by weak terminators on average.Moreover,several distinct features could be ascribed to high relative abundance of upstream gene transcript,including a high GC content at the base region of hairpin,and a high AT content in downstream of the U-tract.Additionally,these terminators showed a free energy between28 and22 kcal/mol,and a stem length of 14 nt.Finally,these features ascribed the upstream beneficial terminator were validated across various expression systems.By incorporating the optimal terminator downstream of RSF,GSH and HIS in three different strains,the fermentation productions-NMN SAM and VD13 exhibited a remarkable enhancement of 30%-70%.The findings presented here uncov-ered the terminator characteristics contributed to the upstream mRNA stability,providing guiding principles for gene circuit design.
基金the National Natural Science Foundation of China (Grant No. 31270846)the Chinese Academy of Sciences "100-Talent Program" for the support of this work
文摘DNA sequencing using reversible terminators, as one sequencing by synthesis strategy, has garnered a great deal of interest due to its popular application in the second-generation high-throughput DNA sequencing technology. In this review, we provided its history of develop- ment, classification, and working mechanism of this technology. We also outlined the screening strategies for DNA polymerases to accommodate the reversible terminators as substrates during polymerization; particularly, we introduced the ＂REAP＂ method developed by us. At the end of this review, we discussed current limitations of this approach and provided potential solutions to extend its application.
基金This study was supported by the National Key Research and Development Program of China[2018YFA0900300]National Natural Science Foundation of China[32171421].
文摘The intrinsic terminator in prokaryotic forms secondary RNA structure and terminates the transcription.However,leaking transcription is common due to varied terminator strength.Besides of the representative hairpin and U-tract structure,detailed sequence and thermodynamic features of terminators were not completely clear,and the effect of terminator on the upstream gene expression was unclearly.Thus,it is still challenging to use terminator to control expression with higher precision.Here,in E.Coli,we firstly determined the effect of the 3′-end sequences including spacer sequences and terminator sequences on the expression of upstream and downstream genes.Secondly,terminator mutation library was constructed,and the thermodynamic and sequence features differing in the termination efficiency were analyzed using the FlowSeq technique.The result showed that under the regulation of terminators,a negative correlation was presented between the expression of upstream and downstream genes(r=0.60),and the terminators with lower free energy corelated with higher upstream gene expression.Meanwhile,the terminator with longer stem length,more compact loop and perfect U-tract structure was benefit to the transcription termination.Finally,a terminator strength classification model was established,and the verification experiment based on 20 synthetic terminators indicated that the model can distinguish strong and weak terminators to certain extent.The results help to elucidate the role of terminators in gene expression,and the key factors identified are crucial for rational design of terminators,and the model provided a method for terminator strength prediction.
基金supported by the IITP(Institute for Information&Communications Technology Planning&Evaluation)under the ITRC(Information Technology Research Center)support program(IITP-2025-RS-2024-00438288)grant funded by the Korea government(MSIT)+1 种基金National Research Council of Science&Technology(NST)grant by the MSIT(Aerospace Semiconductor Strategy Research Project No.GTL25051-000)supported by the IC Design Education Center(IDEC),Korea。
文摘This work presents a systematic analysis of proton-induced total ionizing dose(TID)effects in 1.2 k V silicon carbide(SiC)power devices with various edge termination structures.Three edge terminations including ring-assisted junction termination extension(RA-JTE),multiple floating zone JTE(MFZ-JTE),and field limiting rings(FLR)were fabricated and irradiated with45 Me V protons at fluences ranging from 1×10^(12) to 1×10^(14) cm^(-2).Experimental results,supported by TCAD simulations,show that the RA-JTE structure maintained stable breakdown performance with less than 1%variation due to its effective electric field redistribution by multiple P+rings.In contrast,MFZ-JTE and FLR exhibit breakdown voltage shifts of 6.1%and 15.2%,respectively,under the highest fluence.These results demonstrate the superior radiation tolerance of the RA-JTE structure under TID conditions and provide practical design guidance for radiation-hardened Si C power devices in space and other highradiation environments.
基金supported by the National Science Foundation of China(Grant No.41602161,92255302)the National Science and Technology Major Project of China(Project No.2016ZX05033)Sinopec Science and Technology Development Project(Project No.P18089-1,P22085).
文摘The Western Sichuan Foreland Basin(WSFB)in South China,a prolific hydrocarbon province,exhibits complex structural deformation influenced by Triassic salt tectonics.This paper integrates seismic data and well data to elucidate the role of Middle-Lower Triassic evaporite layers in shaping basin structures,focusing on Xinchang Tectonic Zone(XTZ).Salt layers facilitated decoupled deformation between supra-and sub-salt sequences,forming salt pillows and fault-related folds.Three distinct structural trends were identified in XTZ.Key findings reveal that salt thickness variations correlate with deformation styles:thicker salt promoted detachment folding,while thinner salt led to hard-linked fault systems.Sub-salt E-NE trending reverse faults formed horsetail terminations associated with the Pengzhou faults(PzF),deviating from the primary Longmenshan thrust belt(LmsTB)orientation.Structural evolution occurred in three stages:(1)Indosinian salt deposition and foreland basin initiation;(2)Yanshanian eastward propagation of thrust systems with salt-driven detachment folding;(3)Himalayan reactivation overprinting earlier structures with sub-NS trending folds.This work establishes a direct link between salt layers and structural traps,demonstrating how salt acted as a critical detachment layer during multi-stage compression.Results provide insights into the gas exploration of the Late Triassic Xujiahe Formation,emphasizing the importance of salt-influenced deformation in foreland basin systems.
基金financially supported by the National Natural Science Foundation of China(22102194)the Science and Technology Plan of Gansu Province(24JRRA067,23ZDFA016)the Youth Innovation Promotion Association of CAS(2022427)。
文摘The carboxylation of alkynes with CO_(2) has attracted considerable interest due to the valorization of C1resources and atomic economy.Much effort focused on active metals(e.g.,Au,Ag,Cu),while the mechanistic role of active supports,particularly the oxygen vacancy(O_(v)),in modulating C-H bond carboxylation remains unknown.Herein,ultra-small silver clusters and morphologically engineered CeO_(2) support(nanorods,nanocubes,and nano particles)were employed to construct Ag cluster/O_(v) synergistic catalyst,which exhibits variations in Oy concentration by an in situ auto-reduction method.The 0.197%Ag/CeO_(2)-NR catalyst exhibited a high reaction rate for the phenylacetylene carboxylation reaction and the maximal silver utilization efficiency.The characterization and DFT calculations demonstrated that vacancies enhanced CO_(2) adsorption via polarization-induced molecular bending and C-O bond elongation.Positively charged Ag clusters induced by metal-support interactions serve as deprotonation activation centers for alkynes.This synergistic interplay between dual active sites efficiently facilitates the C(sp)-H carboxylation with CO_(2).These findings offer critical insights for the rational selection of active supports in designing efficient C-H carboxylation catalysts.
基金Supported by National Natural Science Foundation of China(Grant No.52375009)Fujian Provincial Young and Middle-Aged Teacher Education Research Project of China(Grant No.JAT220029).
文摘Parallel machining robot is a new type of robotized equipment for high-efficiency machining structural com-ponents with complex geometries.Terminal rigidity is of great importance index for such type of equipment,which affects their load capacity and working accuracy.Before a parallel machining robot can be used for heavy-load and high-efficiency machining,its terminal rigidity should be evaluated systematically.The present study is to quantitatively reveal the stiffness properties of a previously invented Z4 redundantly actuated parallel ma-chining robot(RAPMR).For this purpose,two critical issues,i.e.,stiffness modelling and index construction,are clarified to carry out stiffness evaluation of the Z4 RAPMR.Firstly,drawing on the screw theory,a semi-analytic stiffness model of the proposed RAPMR is established at a component level.Secondly,a set of virtual work-based stiffness indices is constructed to evaluate the terminal rigidity of parallel robots.Those indices have a consistent physical unit in describing linear and angular terminal rigidity.With these indices,the local and the global stiffness performance of the Z4 RAPMR are predicted.Thirdly,a laboratory prototype of the proposed RAPMR is fabricated.And the experimental test is performed to verify the correctness of the established stiffness model.The present work is expected to provide fundamental information for further light-weight design and rigidity enhancement.
基金Funded by the National Natural Science Foundation of China(No.52278446)。
文摘To explore the best preparation process for terminal blend(TB)composite-modified asphalt and to filter its formulation with excellent performance,this study evaluates the performance of TB composite modified asphalt by physical property index,microscopic morphology,rheological testing,and infrared spectroscopy on multiple scales.The results show that the best preparation process for TB-modified asphalt is stirring at 260℃ for 4 h at 400 rpm,which significantly reduces the modification time of the asphalt.From a physical property viewpoint,the TB composite-modified asphalt sample with 5% styrene-butadiene-styrene(SBS)+1% aromatics+0.1% sulfur exhibits high-comprehensive,high-and low-temperature properties.More-over,its crosslinked mesh structure comprises black rubber particles uniformly interwoven in the middle,which further enhances the performance of the asphalt and results in an excellent performance formulation.In addition,the sample with 5%SBS content has a higher G*value and smaller δ value than that with 3%SBS content,indicating that its high-temperature resistance is improved.The effect of adding 3%SBS content on the viscoelastic ratio is,to some extent,less than that caused by 20% rubber powder.
基金supported by the National Natural Science Foundation of China(62473337,62003305)the Key Research and Development Program of Zhejiang Province(2024C03040,2022C03029)the Leading Innovative and Entrepreneur Team Introduction Program of Zhejiang Province(2023R01006)。
文摘In this paper,a unified terminal sliding mode(UTSM)control method is proposed for second-order nonlinear systems with uncertainties and disturbances.It is seen that the newly defined terminal sliding surface is integrated with both conventional and fast terminal sliding mode and exhibits design advantages such as a variable exponent,adjustable sliding mode parameters,and chattering-alleviation effect.The inherent dynamic properties of the closed-loop systems with the UTSM control are discussed in detail via the phase plane and Lyapunov stability theory.Both numerical simulations and experimental results show the flexible sliding manifold design,strong robustness against uncertain dynamics,and effective attenuation of chattering phenomenon.
基金supported by the National Natural Science Foundation of China(Nos.60806043,60806009)the Special Fund for Basic Scientific Research of Central Colleges Chang'an University,China(No.CHD2010JC077)the Key Laboratory Foundation of Shaanxi Engineering and Technique Research Center for Road and Traffic Detection,China
文摘According to the requirements of the bus terminal regulator,a linear regulator with 3-A source-sink current ability is presented.The use of the NMOS pass transistor and load current feedback technique enhances the system current ability and response speed.The method of adaptive zero compensation realizes loop stability over the whole load range for either source or sink loop.Furthermore,the transconductance matching technique reduces the shoot-through current through the output stage to less than 3μA.The regulator has been fabricated with a 0.6-μm 30 V BCD process successfully,and the area size is about 1 mm;.With a 20μF output capacitor, the maximum transient output-voltage variation is within 3.5%of the output voltage with load step changes of±2 A/lμs.At the load range of±3 A,the variation of output voltage is less than±15 mV.
基金supported by the Department of Defense AFIRMⅢW81XWH-20-2-0029 grant subcontractLone Star Paralysis gift,UT POC19-1774-13 grant+1 种基金Neuraptive Therapeutics Inc.26-7724-56 grantNational Institutes of Health R01-NS128086(all to GDB)。
文摘Peripheral nerve injuries result in the rapid degeneration of distal nerve segments and immediate loss of motor and sensory functions;behavioral recovery is typically poor.We used a plasmalemmal fusogen,polyethylene glycol(PEG),to immediately fuse closely apposed open ends of severed proximal and distal axons in rat sciatic nerves.We have previously reported that sciatic nerve axons repaired by PEG-fusion do not undergo Wallerian degeneration,and PEG-fused animals exhibit rapid(within 2–6 weeks)and extensive locomotor recovery.Furthermore,our previous report showed that PEG-fusion of severed sciatic motor axons was non-specific,i.e.,spinal motoneurons in PEG-fused animals were found to project to appropriate as well as inappropriate target muscles.In this study,we examined the consequences of PEG-fusion for sensory axons of the sciatic nerve.Young adult male and female rats(Sprague–Dawley)received either a unilateral single cut or ablation injury to the sciatic nerve and subsequent repair with or without(Negative Control)the application of PEG.Compound action potentials recorded immediately after PEG-fusion repair confirmed conduction across the injury site.The success of PEG-fusion was confirmed through Sciatic Functional Index testing with PEG-fused animals showing improvement in locomotor function beginning at 35 days postoperatively.At 2–42 days postoperatively,we anterogradely labeled sensory afferents from the dorsal aspect of the hindpaw following bilateral intradermal injection of wheat germ agglutinin conjugated horseradish peroxidase.PEG-fusion repair reestablished axonal continuity.Compared to unoperated animals,labeled sensory afferents ipsilateral to the injury in PEG-fused animals were found in the appropriate area of the dorsal horn,as well as inappropriate mediolateral and rostrocaudal areas.Unexpectedly,despite having intact peripheral nerves,similar reorganizations of labeled sensory afferents were also observed contralateral to the injury and repair.This central reorganization may contribute to the improved behavioral recovery seen after PEG-fusion repair,supporting the use of this novel repair methodology over currently available treatments.
基金supported by the National Natural Science Foundation under Grant 62273189the Shandong Province Natural Science Foundation under Grant ZR2021MF005Systems Science Plus Joint Research Program of Qingdao University under Grant XT2024201 of China supporting this research work.
文摘This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.
基金supported by the Artificial Intelligence Innovation and Development Special Fund of Shanghai(No.2019RGZN01041)the National Natural Science Foundation of China(No.92048205).
文摘This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of visual servoing for OMMs with mismatched disturbances is explicitly presented to solve the whole-body inverse kinematic problem.Second,a sliding mode observer augmented with an integral terminal sliding mode controller is proposed to handle these uncertainties and ensure that the system converges to a small region around the equilibrium point.The boundary layer technique is employed to mitigate the chattering phenomenon.Furthermore,a strict finite-time Lyapunov stability analysis is conducted.An experimental comparison between the proposed algorithm and a traditional position-based visual servo controller is carried out,and the results demonstrate the superiority of the proposed control algorithm.
基金Funded by Program of Technology Bureau of Harbin(2010RFQXN101)Sub-project of Transgenic Significant Specific Project(2008ZX08012-001)~~
文摘[Objective] Taqman Quantitative PCR technique was adopted to detect the copies of exogenous nos terminator in transgenic hybrid soybean.[Method] With soybean Lectin as the endogenous reference gene,and gene complex DNA in non-GMO soybeans as the endogenous reference standard,the method of gradient dilution was used for separately calculate Ct value of endogenous reference gene and plasmid DNA and correlation standard curve equation of logarithm of copies,and then to calculate the copies of samples through substituting thus-obtained Ct into the standard curve equation.[Result] The standard curve equation of endogenous reference gene is y=-3.422x＋35.201,R2=0.998;and the standard curve equation of exogenous gene is y=-3.348x＋34.890,R2=0.999.Nos terminator and its lower boundary sequences in transgenic soybean is of single copy.[Conclusion] The study has provided a theoretical basis for determining exogenous gene copies in transgenic soybean.
文摘Construction of LNG receiving terminals The scale of receiving terminals is expanding rapidly At the end of 1999,the state approved the Guangdong LNG Pilot Project,which opened the prelude to the construction of LNG receiving terminals.In 2006,China's first LNG receiving terminal,namely Dapeng LNG Receiving Terminal in Shenzhen,Guangdong Province,was put into operation,marking the beginning of the use of overseas natural gas in China.
