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排序方式: 共有397条查询结果,搜索用时 15 毫秒
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This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively. 相似文献
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Zhuwen Xu Heyong Liu Yani Meng Jinfei Yin Haiyan Ren Mai-He Li Shan Yang Shiming Tang Yong Jiang Lin Jiang 《中国科学:生命科学英文版》2023,(7):1682-1692
Nitrogen enrichment and land use are known to influence various ecosystems, but how these anthropogenic changes influence community and ecosystem responses to disturbance remains poorly understood. Here we investigated the effects of increased nitrogen input and mowing on the resistance and recovery of temperate semiarid grassland experiencing a three-year drought.Nitrogen addition increased grassland biomass recovery but decreased structural recovery after drought, whereas annual mowing increas... 相似文献
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Trace metal elements, such as iron, copper, manganese, and zinc, are essential nutrients for biological processes. Although their intake demand is low, they play a crucial role in cell homeostasis as the cofactors of various enzymes. Symbiotic intestinal microorganisms compete with their host for the use of trace metal elements. Moreover, the metabolic processes of trace metal elements in the host and microorganisms affect the organism’s health. Supplementation or the lack of trace metal element... 相似文献
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Characterization of YS-27, an axenic Entamoeba strain, was performed by three different laboratory methods. Zymodeme analysis using starch gel electrophoresis and PCR with species-specific primers showed that YS-27 is a pathogenic Entamoeba which belongs to the group II zymodeme. Pathogenicity of YS-27 was further confirmed by observing the formation of liver abscess in Mongolian gerbils. These results showed that YS-27 is E. hisolytica. 相似文献
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Kim SH Lee DG Yoo JH Choi SM Choi JH Shin WS Lee K Yong D Lee WG Youn BS Kang MW 《Journal of microbiology (Seoul, Korea)》2004,42(2):143-146
Vancomycin-resistant Enterococcus faecium (VREFM) is becoming a threatening pathogen. We identified a gene called DD1.5K by differential display-PCR, which was preferentially expressed in the bloodstream isolates of VREFM. Due to its amino acid similarity to transfer complex protein, trsE, and tissue-specific expression, this gene may be involved in virulence of VREFM. 相似文献
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Bioreduction and biocrystallization of palladium by Desulfovibrio desulfuricans NCIMB 8307 总被引:2,自引:0,他引:2
The reduction of Pd(II) to Pd(0) was accelerated by using the sulfate-reducing bacterium Desulfovibrio desulfuricans NCIMB 8307 at the expense of formate or H(2) as electron donors at pH 2-7. With formate no reduction occurred at pH 2, but with H(2) 50% of the activity was retained at pH 2, with the maximum rate (1.3-1.4 micromol min(-1) mg dry cells(-1)) seen at pH 3-7, which was similar to the rate with formate at neutral pH. Excess nitrate was inhibitory to Pd(II) reduction using formate, but not H(2). Chloride ion was inhibitory as low as 100 mM using formate but with H(2) only ca. 25% inhibition was observed at 500 mM Cl(-) and H(2) was concluded to be the electron donor of choice for the potential remediation of industrial wastes. Deposited Pd was visible on the cells using transmission and scanning electron microscopy and analysis by energy dispersive X-ray microanalysis (EDAX) identified the deposit as Pd, confirmed as Pd(0) by X-ray powder diffraction analysis (XRD). The crystal size of the biodeposited Pd(0) was determined to be only 50% of the size of Pd(0) crystals manufactured chemically from Pd(II) at the expense of H(2) and, unlike the chemically manufactured material, the biocrystal size was independent of the pH. The "biological" Pd(0) functioned as a superior chemical catalyst in a test reaction which liberated hydrogen from hypophosphite. Pd, and also Pt and Rh, could be recovered by resting cell suspensions under H(2) from an industrial processing wastewater, suggesting a possible future application of bioprocessing technology for precious metals. 相似文献
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Bae JS Lee SH Kim JE Choi JY Park RW Yong Park J Park HS Sohn YS Lee DS Bae Lee E Kim IS 《Biochemical and biophysical research communications》2002,294(5):940-948
betaig-h3 is an extracellular matrix protein and its expression is highly induced by TGF-beta and it has also been suggested to play important roles in skin wound healing. In this paper, we demonstrate that betaig-h3 is present in the papillary layer of dermis and synthesized in the basal keratinocytes in vivo and its expression is induced by TGF-beta in normal human keratinocytes (NHEK) and HaCaT cells. betaig-h3 mediates not only adhesion and spreading of keratinocytes but also supports migration and proliferation. These activities are mediated through interacting with alpha3beta1 integrin. Previously identified two alpha3beta1 integrin-interacting motifs of betaig-h3, EPDIM, and NKDIL, are responsible for these activities. The results suggest that betaig-h3 may regulate keratinocyte functions in normal skin and potentially during wound-healing process. 相似文献