为满足越来越多的脑卒中患者辅助行走和康复训练的需要,设计了一款下肢外骨骼机器人模型,采用D-H参数法建立踝关节、膝关节、髋关节坐标系,推演出步态周期内的坐标方程。为了安全起见,要求脑卒中患者步行速度慢且步长短,利用CoG(Center ...为满足越来越多的脑卒中患者辅助行走和康复训练的需要,设计了一款下肢外骨骼机器人模型,采用D-H参数法建立踝关节、膝关节、髋关节坐标系,推演出步态周期内的坐标方程。为了安全起见,要求脑卒中患者步行速度慢且步长短,利用CoG(Center of Gravity,重心地面投影点)作为步态规划中的稳定性判断依据,并用Robotics Toolbox for Matlab仿真,结果表明:下肢外骨骼康复机器人在康复训练过程中各关节具有连续且稳定的步态轨迹,为后续脑卒中患者使用的下肢外骨骼康复机器人样机研制提供了必要的理论依据。展开更多
In this study, the 454 pyrosequencing technology was used to analyze the DNA of the Microcystis aeruginosa symbiosis system from cyanobacterial algal blooms in Taihu Lake, China. We generated 183 228 reads with an ave...In this study, the 454 pyrosequencing technology was used to analyze the DNA of the Microcystis aeruginosa symbiosis system from cyanobacterial algal blooms in Taihu Lake, China. We generated 183 228 reads with an average length of 248 bp. Running the 454 assembly algorithm over our sequences yielded 22 239 significant contigs. After excluding the M. aeruginosa sequences, we obtained 1 322 assembled contigs longer than 1 000 bp. Taxonomic analysis indicated that four kingdoms were represented in the community: Archaea (n = 9; 0.01%), Bacteria (n = 98 921; 99.6%), Eukaryota (n = 373; 3.7%), and Viruses (n = 18; 0.02%). The bacterial sequences were predominantly Alphaproteobacteria (n = 41 805; 83.3%), Betaproteobacteria (n = 5 254; 10.5%) and Gammaproteobacteria (n = 1 180; 2.4%). Gene annotations and assignment of COG (clusters of orthologous groups) functional categories indicate that a large number of the predicted genes are involved in metabolic, genetic, and environmental information processes. Our results demonstrate the extraordinary diversity of a microbial community in an ectosymbiotic system and further establish the tremendous utility of pyrosequencing.展开更多
文摘为满足越来越多的脑卒中患者辅助行走和康复训练的需要,设计了一款下肢外骨骼机器人模型,采用D-H参数法建立踝关节、膝关节、髋关节坐标系,推演出步态周期内的坐标方程。为了安全起见,要求脑卒中患者步行速度慢且步长短,利用CoG(Center of Gravity,重心地面投影点)作为步态规划中的稳定性判断依据,并用Robotics Toolbox for Matlab仿真,结果表明:下肢外骨骼康复机器人在康复训练过程中各关节具有连续且稳定的步态轨迹,为后续脑卒中患者使用的下肢外骨骼康复机器人样机研制提供了必要的理论依据。
基金Supported by the Knowledge Innovation Program of Chinese Academy of Sciences (No. KSCX2-YW-G-073)
文摘In this study, the 454 pyrosequencing technology was used to analyze the DNA of the Microcystis aeruginosa symbiosis system from cyanobacterial algal blooms in Taihu Lake, China. We generated 183 228 reads with an average length of 248 bp. Running the 454 assembly algorithm over our sequences yielded 22 239 significant contigs. After excluding the M. aeruginosa sequences, we obtained 1 322 assembled contigs longer than 1 000 bp. Taxonomic analysis indicated that four kingdoms were represented in the community: Archaea (n = 9; 0.01%), Bacteria (n = 98 921; 99.6%), Eukaryota (n = 373; 3.7%), and Viruses (n = 18; 0.02%). The bacterial sequences were predominantly Alphaproteobacteria (n = 41 805; 83.3%), Betaproteobacteria (n = 5 254; 10.5%) and Gammaproteobacteria (n = 1 180; 2.4%). Gene annotations and assignment of COG (clusters of orthologous groups) functional categories indicate that a large number of the predicted genes are involved in metabolic, genetic, and environmental information processes. Our results demonstrate the extraordinary diversity of a microbial community in an ectosymbiotic system and further establish the tremendous utility of pyrosequencing.
