Planning and Control for Passive Dynamics Based Walking of 3D Biped Robots

Efficient walking is one of the main goals of research on biped robots.Passive Dynamics Based Walking (PDBW) has been proven to be an efficient pattern in numerous previous approaches to 2D biped walking.The goal of this study is to develop a feasible method for the application of PDBW to 3D robots.First a hybrid control method is presented,where a previously proposed two-point-foot walking pattern is employed to generate a PDBW gait in the sagittal plane and,in the frontal plane,a systematic balance control algorithm is applied including online planning of the landing point of the swing leg and feedback control of the stance foot.Then a multi-space planning structure is proposed to implement the proposed method on a 13-link 3D robot.Related kinematics and planning details of the robot are presented.Furthermore,a simulation of the 13-link biped robot verifies that stable and highly efficient walking can be achieved by the proposed control method.In addition,a number of features of the biped walking,including the transient powers and torques of the joints are explored.     

Intracolonial differences in gut bacterial community between worker and soldier castes of Coptotermes formosanus

Abstract The establishment of symbiotic relationships with intestinal microorganisms enables termites to thrive on recalcitrant substrates such as cellulose and wood. A termite colony is composed of several different castes which have distinct feeding habits. The soldiers, for example, cannot feed by themselves and depend on workers, who feed them with digested or semi‐digested foods. To investigate the influence of feeding habits on the bacterial symbionts, a comparative study of gut bacteria between worker and soldier castes of the termite Coptotermes formosanus was conducted. The bacterial communities of both castes were investigated using denaturing gradient gel electrophoresis (DGGE) and clonal analysis of 16S ribosomal DNA (rDNA). Both methods indicated Bacteroidetes was the common predominant group; the common dominant phylotype was affiliated with a reported uncultured Bacteroidetes phylotype (BCf1–03). There were significant differences in Bacteroidetes and Spirochaetes between two castes. Compared to the gut bacteria of workers, those of soldiers were lower in abundance and diversity of Bacteroidetes and slightly higher in Spirochaetes. Two phylotypes (W8, W11) affiliated to Bacteroidetes and two (W26, W29) affiliated to Spirochaetes were exclusively found in the DGGE profile of the worker caste. Bacteroidetes are assumed to be involved in fermentation of sugars and nitrogenous compounds as well as degradation of uric acid. Spirochaetes are supposed to aid in the functions of acetogenesis and N₂‐fixation. The different feeding habits between workers and soldiers of C. formosanus may explain the observed differences in the gut bacterial community.     

Synthesis, biological evaluation, and molecular docking studies of 2,6-dinitro-4-(trifluoromethyl)phenoxysalicylaldoxime derivatives as novel antitubulin agents

A series of 2,6-dinitro-4-(trifluoromethyl)phenoxysalicylaldoxime derivatives (1h-20h) have been designed and synthesized, and their biological activities were also evaluated as potential antiproliferation and tubulin polymerization inhibitors. Among all the compounds, 2h showed the most potent activity in vitro, which inhibited the growth of MCF-7, Hep-G2 and A549 cell lines with IC(50) values of 0.70 ± 0.05, 0.68 ± 0.02 and 0.86 ± 0.05 μM, respectively. Compound 2h also exhibited significant tubulin polymerization inhibitory activity (IC(50)=3.06 ± 0.05 μM). The result of flow cytometry (FCM) demonstrated that compound 2h induced cell apoptosis. Docking simulation was performed to insert compound 2h into the crystal structure of tubulin at colchicine binding site to determine the probable binding model. Based on the preliminary results, compound 2h with potent inhibitory activity in tumor growth may be a potential anticancer agent.     

Synthesis, biological evaluation, and molecular docking studies of cinnamic acyl 1,3,4-thiadiazole amide derivatives as novel antitubulin agents

A series of cinnamic acyl 1,3,4-thiadiazole amide derivatives (6a-10e) have been designed and synthesized, and their biological activities were also evaluated as potential antiproliferation and tubulin polymerization inhibitors. Among all the compounds, 10e showed the most potent activity in vitro, which inhibited the growth of MCF-7 and A549 cell lines with IC(50) values of 0.28 and 0.52μg/mL, respectively. Compound 10e also exhibited significant tubulin polymerization inhibitory activity (IC(50)=1.16μg/mL). Docking simulation was performed to insert compound 10e into the crystal structure of tubulin at colchicine binding site to determine the probable binding model. Based on the preliminary results, compound 10e with potent inhibitory activity in tumor growth may be a potential anticancer agent.     

Design and synthesis of 4,6-substituted-(diaphenylamino)quinazolines as potent EGFR inhibitors with antitumor activity

A type of novel 4,6-substituted-(diaphenylamino)quinazolines, which designed based on the 4-(phenylamino)quinazoline moiety, have been discovered as potential EGFR inhibitors. These compounds displayed good antiproliferative activity and EGFR-TK inhibitory activity. Especially, 4-((4-(3-bromophenylamino)quinazolin-6-ylamino)methyl)phenol (5b), showed the most potent inhibitory activity (IC(50)=0.28μM for Hep G2, IC(50)=0.59μM for A16-F10 and IC(50)=0.87μM for EGFR) and effectively induces apoptosis in a dose-dependent manner in the Hep G2 cell line. Molecular docking of 5b into EGFR TK active site was also performed. This inhibitor nicely fitting the active site might well explain its excellent inhibitory activity.     

大豆种质资源SRAP分子标记中的引物筛选

以113个大豆栽培品种和20个野生品种为材料,从288对引物组合中筛选出12对多态性丰富、条带清晰、可重复性好的SRAP引物组合。用筛选出的12对引物组合对大豆品种进行PCR扩增,获得了带型丰富和清晰可辨的DNA的PAGE指纹图谱;共扩增出251条谱带,其中多态性条带220条,多态性谱带比率为87.6%,平均每个引物扩增出18.3条谱带。结果显示,所筛选出的12对引物组合可以有效的应用于大豆种质资源的SRAP分析。     

UPLC-UV法测定不同产地青蒿中青蒿素的含量

目的:建立快速简便检测青蒿素的超高效液相-紫外(UPLC-UV)法,并对不同产地青蒿中青蒿素的含量进行检测。方法:色谱柱Agilent Eclipse Plus C18(2.1 mm×50 mm,1.8μm),流动相乙腈/水(45/55),流速1.0mL/min,柱温28℃,波长200 nm。结果:该方法对青蒿素的分离度较好,保留时间缩短为1.5 min。并且,整个分析过程可以在2 min内完成。线性范围0.101 17～10.117μg,进样量与峰面积线性相关,A=109.4C+6.7026,R2=0.9 993(n=9),加样回收率为99.3%(RSD=2.6%,n=6)。结论:UPLC-UV法分析时间短、样品前处理简单、精密度、稳定性、加样回收率等符合分析检测要求,对于青蒿中青蒿素的含量能进行快速准确的分析。     

牛蛙皮胶原蛋白酸提取条件优化及其对细胞生长和粘附性的影响

应用羟脯氨酸法测定了牛蛙皮胶原蛋白含量,通过正交实验对牛蛙皮胶原蛋白酸法提取条件进行了优化,并结合MTT法测定了胶原蛋白对细胞生长和粘附性的影响。结果显示,牛蛙皮胶原蛋白的含量约为45．1％;温度条件对提取率影响最大,其次依次为酸种、时间和浓度,最优组合为乙酸、1．5mol／L、37℃、24h;在低浓度时,牛蛙皮胶原蛋白对正常人类肝细胞的生长和粘附性无显著影响,当浓度升高到一定值时,对细胞生长和粘附性有显著促进作用。     

个性化后侧入路治疗胫骨平台后髁冠状面骨折

目的:探讨个性化后侧入路治疗单纯性胫骨平台后髁冠状面骨折手术方法。方法:12例单纯性胫骨平台后髁冠状面骨折的患者,采用后内侧或后外侧以及后内后外联合入路切开复位内固定治疗。结果:12例均获随访,随访时间8-24个月,平均13个月。患者膝关节功能评定按Hohl评分标准:优10例,良2例。复查X线片:骨折复位良好,关节面未见明显塌陷。结论:个性化后侧入路治疗单纯性胫骨平台后髁骨折冠状面可直视下暴露胫骨平台后髁,提供了更广阔的操作空间,有利于骨折的解剖复位内固定。