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Motion Error Compensation of Multi-legged Walking Robots

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Chinese Journal of Mechanical Engineering 2012年第4期25卷 639-646页

作者： WANG Liangwen CHEN Xuedong WANG Xinjie TANG Weigang SUN Yi pan chunmei State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan 430074 China Mechanical and Electrical Engineering Institute Zhengzhou University of Light Industry Zhengzhou 450002 China

Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in *** the existing error compensation is usually used for control compensation of manipulator arm,the error compensation of multi-legged robots has seldom been *** order to reduce the kinematic error of robots,a motion error compensation method based on the feedforward for multi-legged mobile robots is proposed to improve motion precision of a mobile *** locus error of a robot body is measured,when robot moves along a given *** of driven joint variables is obtained by error calculation model in terms of the locus error of robot *** value is used to compensate driven joint variables and modify control model of robot,which can drive the robots following control model *** model of the relation between robot＇s locus errors and kinematic variables errors is set up to achieve the kinematic error *** the basis of the inverse kinematics of a multi-legged walking robot,the relation between error of the motion trajectory and driven joint variables of robots is ***,the equation set is obtained,which expresses relation among error of driven joint variables,structure parameters and error of robot＇s *** MiniQuad as an example,when the robot MiniQuad moves following beeline tread,motion error compensation is *** actual locus errors of the robot body are measured before and after compensation in the *** to the test,variations of the actual coordinate value of the robot centroid in x-direction and z-direction are reduced more than one *** kinematic errors of robot body are reduced effectively by the use of the motion error compensation method based on the feedforward.

关键词： multi-legged walking robot error model motion error compensation kinematic analysis motion precision

刺葡萄酒用种质筛选及其发酵过程中活性物质变化研究

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食品与发酵工业 2024年第11期50卷 69-75页

作者：陈黄曌常永瑶赵佳慧程安琪孙硕硕李阳王姝李洋洋潘春梅河南牧业经济学院食品与生物工程学院河南郑州450046

为了挖掘适于黄河故道产区种植的刺葡萄酒用种质,该试验于2020年对郑州果树所7种刺葡萄果实品质指标(理化成分、酚类物质含量、抗氧化活性和颜色指标)进行检测和主成分分析,2021年对筛选品种刺葡萄酒和参照果酒(巨峰和马瑟兰葡萄酒、石... 详细信息

为了挖掘适于黄河故道产区种植的刺葡萄酒用种质,该试验于2020年对郑州果树所7种刺葡萄果实品质指标(理化成分、酚类物质含量、抗氧化活性和颜色指标)进行检测和主成分分析,2021年对筛选品种刺葡萄酒和参照果酒(巨峰和马瑟兰葡萄酒、石榴酒)质量指标(基础指标、活性物质含量和抗氧化能力)进行检测分析并探究刺葡萄酒发酵过程中活性物质含量变化规律。结果表明,湘珍珠红叶刺葡萄果实体积小、偏红色色调且饱和度更高,皮果比、可溶性固形物和酚类物质含量以及抗氧化活性均处于最高水平;湘珍珠红叶刺葡萄酒酒精度、活性物质含量和抗氧化能力均高于本土鲜食水果酿制的巨峰葡萄酒和石榴酒,其总酚、总黄烷醇和总花色苷含量以及DPPH清除力显著高于欧亚种马瑟兰葡萄酒;发酵结束时,刺葡萄酒花色苷和黄烷醇含量仍处上升趋势,后续可对浸渍条件持续优化。综上所述,湘珍珠红叶刺葡萄作为酒用品种适于在黄河故道产区推广种植。

关键词：刺葡萄酚类物质抗氧化活性颜色指标发酵过程

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呕吐毒素的脱毒方法研究进展

食品安全导刊 2024年第5期 158-160页

作者：赵相艳任泉朴黄海赵文巧潘春梅河南牧业经济学院食品与生物工程学院河南郑州450046 中农颖泰林州生物科园有限公司河南安阳456550

脱氧雪腐镰刀菌烯醇(Deoxynivalenol,DON)又名呕吐毒素,是一种广泛存在于小麦、玉米、大麦等食品加工原材料中,可对人类和家畜健康造成威胁的真菌毒素。为了寻找高效且经济的DON脱毒方法,提高农产品的产量和质量,降低食品安全的潜在风险... 详细信息

脱氧雪腐镰刀菌烯醇(Deoxynivalenol,DON)又名呕吐毒素,是一种广泛存在于小麦、玉米、大麦等食品加工原材料中,可对人类和家畜健康造成威胁的真菌毒素。为了寻找高效且经济的DON脱毒方法,提高农产品的产量和质量,降低食品安全的潜在风险,本文对常见的物理、化学、生物DON脱毒方法进行综述,比较不同方法的优势与劣势,并提供未来的研究方向。

关键词：呕吐毒素脱氧雪腐镰刀菌烯醇脱毒方法

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不同品种小麦中温大曲真菌群落多样性及其品质分析

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中国酿造 2024年第7期43卷 162-170页

作者：侯小歌惠明王文琪韩朝阳郭福利胡新孙西玉李瑞芳潘春梅河南牧业经济学院食品与生物工程学院(酒业学院) 河南郑州450046 河南工业大学生物工程学院河南郑州450001 河南牧业经济学院河南省酿酒专用粮工程研究中心河南郑州450046 河南张弓老酒酒业有限公司河南商丘476700 商丘市农林科学院小麦研究所河南商丘476000

该研究采用相关国标法测定5个品种小麦的主要品质指标,采用高通量测序技术分析5种小麦中温大曲的真菌菌群多样性,并对其感官品质和理化特性进行测定比较,进一步考察小麦主要品质指标、大曲理化特性与主要真菌属间的相关性。结果表明,中... 详细信息

该研究采用相关国标法测定5个品种小麦的主要品质指标,采用高通量测序技术分析5种小麦中温大曲的真菌菌群多样性,并对其感官品质和理化特性进行测定比较,进一步考察小麦主要品质指标、大曲理化特性与主要真菌属间的相关性。结果表明,中筋小麦中温大曲具有较高的感官综合评分、优良的理化特性和最高的真菌菌群丰富度。从5种小麦中温大曲中共注释到3个优势真菌门和12个优势真菌属,共有的主要优势真菌属为嗜热真菌属(Thermomyces)、曲霉属(Aspergillus)、伊萨酵母属(Issatchenkia)、Cutaneotrichosporon和假丝酵母属(Candida)。中筋小麦大曲含有丰度较为均衡的4种共有优势真菌属,而粉质率高的强筋小麦大曲含有最低丰度的曲霉属。8个优势真菌属与大曲理化特性存在一定相关性;小麦粗蛋白和湿面筋含量显著正相关于枝孢属(Cladosporium)(P<0.05),而显著负相关于Apiotrichum、节担菌属(Wallemia)、未分类的小囊菌科(unclassified_f_Microascaceae)及子囊菌门(unclassified_p_Ascomycota)(P<0.05),淀粉含量与优势真菌属的相关性则与上述相反,粉质率也影响部分真菌属。

关键词：小麦中温大曲理化特性品质指标真菌群落高通量测序相关性分析

基于SMAD4/PI3K/AKT/GSK-3β通路研究叶酸预防砷诱导胎鼠先天性心脏病的分子机制

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中国优生与遗传杂志 2024年第1期32卷 66-73页

作者：谢岚婷林元杨芳陈欧郭瑜卿潘春梅林娜福建省妇幼保健院福建福州350001 厦门市弘爱医院福建厦门361016 福建省福清市医院福建福州350399

目的探索SMAD4/PI3K/AKT/GSK-3β通路在叶酸预防砷诱导胎鼠先天性心脏病中的可能作用机制。方法选取30只Sprague-Dawley大鼠随机分为:对照组、砷暴露组和叶酸+砷干预组。收集胎鼠心脏,H-E染色观察胎鼠心脏病理改变。TUNEL试剂和ki67免... 详细信息

目的探索SMAD4/PI3K/AKT/GSK-3β通路在叶酸预防砷诱导胎鼠先天性心脏病中的可能作用机制。方法选取30只Sprague-Dawley大鼠随机分为:对照组、砷暴露组和叶酸+砷干预组。收集胎鼠心脏,H-E染色观察胎鼠心脏病理改变。TUNEL试剂和ki67免疫组织化学染色检测胎鼠心肌细胞凋亡/增殖状态。RT-PCR及WB测定胎鼠心脏组织中Smad4、Gata4、Nkx2.5及PI3K/AKT/GSK-3β通路的表达水平。CO-IP探索SMAD4和NKX2.5的相互作用关系。结果砷暴露组胎鼠先天性心脏病的发病率为13.3%,对照组和叶酸+砷干预组均为0%。砷暴露组的凋亡心肌细胞较对照组和叶酸+砷干预组显著增加,而增殖心肌细胞明显减少(P0.05),但p-PI3K、p-AKT、p-GSK-3β的蛋白表达水平比对照组和叶酸+砷干预组均显著性下调(P<0.05)。结论围孕期补充叶酸可缓解母鼠砷暴露引起的胎鼠心肌细胞增殖减少,凋亡增加,逆转砷暴露引起的Smad4的表达下调,修复砷导致的PI3K/AKT/GSK-3β通路损伤,减少砷诱导先天性心脏病的发生。

关键词：叶酸砷 Smad4 PI3K/AKT/GSK-3β通路先天性心脏病

Effects of Organic Selenium on Growth Properties, Selenium Absorption and Utilization, Antioxidant Activity and Immunity in Weaning Piglets

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Food and Nutrition Sciences 2020年第5期11卷 385-395页

作者： Weixian Zhang Yong Li Hongyu Deng Zheng Li Ruiping Xiang Jianlai Guo chunmei pan College of Animal Science and Technology Henan University of Animal Husbandry and Economy Zhengzhou China College of Agricultural and Animal Husbandry Engineering Zhoukou Vocational and Technological College Zhoukou China College of Animal Science and Technology Gansu Agricultural University Lanzhou China College of Veterinary Medicine Henan University of Animal Husbandry and Economy Zhengzhou China.

This experiment was conducted to determine the influences of adding organic selenium (Se) on growth properties, Se absorption and utilization, immunity and antioxidant activity in diets of Duroc weaning piglets. This study was performed on 36 (average weight 7.6 kg) weaning piglets. The weaning piglets were randomly allocated to 1 of 4 homogeneous treatments (A, control treatment, no added Se;B, Sodium selenite, 0.3 mg Se/kg feed;C, yeast Se, 0.3 mg Se/kg;D, DL-methionine Se 0.3 mg Se/kg). Every treatment had 3 replicates, every replicate had 3 piglets. The experiment lasted for 35 d, with the first 7 d for adaptation. Feed intake, residual and contaminated feed were recorded every day. Every piglet weight was weighted respectively at beginning and end of experiment. Daily intake, gain weight and feed conversion rates of every replicate were calculated finally. Se concentrations of serum, blood antioxidant and immunity index were analyzed in the 36th d of experiment. The results showed average daily gain of treatment C was significant higher (P 0.05) and D had higher trend than that of treatment A and B (P = 0.06) respectively. And feed and gain ratio of C and D had trends to lower than them of A and B (P = 0.14). However, all the intake of every week and whole period had no significant differences among treatments (P > 0.05). At same time, except for the Immunoglobulin M of treatment D and C was higher than that of treatment A and B significantly (P 0.05). But they took on some obvious trends. For example, the Se contents and glutathione peroxidase activities increased successively in order of treatment A, B, C and D;the blood urea nitrogen and total bilirubin of treatment A had higher trend than that of other treatments (P = 0.06). All in all, adding to organic Se in basal diets could improve the animal’

关键词： Se Absorption and Utilization Growth Properties Antioxidant Activity and Immunity Weaning Piglets

Investigation of Fluid Flow in a Dual Rushton Impeller Stirred Tank Using Particle Image Velocimetry

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Chinese Journal of Chemical Engineering 2008年第5期16卷 693-699页

作者：潘春妹闵健刘心洪高正明 College of Chemical Engineering Beijing University of Chemical Technology Beijing 100029 China

The flow fields in a dual Rushton impeller stirred tank with diameter of 0.48 m （T） were measured by using Particle Image Velocimetry （PIV）. Three different size impellers were used in the experiments with diameters of D = 0.33T, 0.40T and 0.50T, respectively. The multi-block and 360° ensemble-averaged approaches were used to measure the radial and axial angle-resolved velocity distributions. Three typical flow patterns, named, merging flow, parallel flow and diverging flow, were obtained by changing the clearance of the bottom impeller above the tank base （C1） and the spacing between the two impellers （C2）. The results show that while C1 is equal to D, the parallel flow occurs as C2≥0.40T, C2≥0.38T and C2≥0.32T and the merging flow occurs as C2≤0.38T, C2≤0.36T and C2≤0.27T for the impellers with diameter of D=0.33T, 0.40T and 0.50T, respectively. When C2 is equal to D, the diverging flow occurs in the value of C1≤0.15T for all three impellers. The flow numbers of these impellers were calculated for the parallel flow. Trailing vortices generated by the lower impeller for the diverging flow were shown by the 10° angle-resolved velocity measurements. The peak value of turbulence kinetic energy （ k/V^2tip = 0.12-0.15 or above） appears along the center of the impeller discharging stream.

关键词： particle image velocimetry dual Rushton flow field flow pattern

仪式嬗变与妇女角色——元阳县箐口村哈尼族“苦扎扎”仪式的人类学考察

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民族研究 2007年第5期 38-45页

作者：马翀炜潘春梅云南大学文化产业研究院教授昆明市650091

在连续三年对箐口村哈尼族的"苦扎扎"(六月节)仪式的观察基础上,描述了该项仪式的基本内容及其变迁,认为"苦扎扎"仪式在表达祈福消灾意愿时,特别强调社区中个人的生活目的及生存意义必须与有意义的神圣秩序系统相联系。日常生产生活方... 详细信息

在连续三年对箐口村哈尼族的"苦扎扎"(六月节)仪式的观察基础上,描述了该项仪式的基本内容及其变迁,认为"苦扎扎"仪式在表达祈福消灾意愿时,特别强调社区中个人的生活目的及生存意义必须与有意义的神圣秩序系统相联系。日常生产生活方式的变迁,尤其是妇女在现实社会活动中的角色变化,已在改变着仪式的某些内容和意义。文章认为,神圣与世俗及社会性别等方面的界限确定及变化都是制度文化建构的结果。制度文化在规约社会行为的同时也为人们在其间能动地进行创造提供了条件。

关键词：箐口哈尼族 “苦扎扎”仪式妇女角色

利用广谱性和特异性组合诱变技术选育辅酶Q_(10)高产菌

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应用与环境生物学报 2005年第3期11卷 363-367页

作者：潘春梅李寅堵国成陈坚江南大学工业生物技术教育部重点实验室江南大学生物工程学院江苏无锡214036

为提高辅酶Q10产量,采用了对细胞进行全面的非特异性诱变和针对特定途径的特异性诱变相结合的育种策略.以放射型根瘤菌(Rhizobium radiobacter)WSH2601为出发菌株,选择UV射线和亚硝基胍作为诱变剂,在筛选获得放线菌素D抗性突变株的基础... 详细信息

为提高辅酶Q10产量,采用了对细胞进行全面的非特异性诱变和针对特定途径的特异性诱变相结合的育种策略.以放射型根瘤菌(Rhizobium radiobacter)WSH2601为出发菌株,选择UV射线和亚硝基胍作为诱变剂,在筛选获得放线菌素D抗性突变株的基础上,通过进一步的诱变处理,分别获得了放线菌素D和L-乙基硫氨酸双抗性突变株、放线菌素D和维生素K3双抗性突变株,以及抗放线菌素D和X-gal利用能力提高的突变株.与出发菌株相比,突变株辅酶Q10的产量提高幅度达25%～37%.其中一株放线菌素D和L-乙基硫氨酸双抗性突变株WSH-E25,胞内辅酶Q10含量和辅酶Q10总产量分别达到2.86 mg g DCW-1和40.0 mg L-1,均比出发菌株提高了37%,且遗传稳定性良好.

关键词：辅酶Q10 亚硝基胍 UV射线诱变育种产酶菌非特异性诱变特异性诱变生化药物