Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
【目的】对绵羊痘病毒甘肃古浪株RING finger蛋白的基因进行克隆,表达以及序列分析,初步探究绵羊痘病毒RING finger蛋白是否具有E3泛素连接酶活性,为阐明其在绵羊痘病毒感染过程中对泛素蛋白酶体系统的调控作用奠定基础.【方法】以绵羊...【目的】对绵羊痘病毒甘肃古浪株RING finger蛋白的基因进行克隆,表达以及序列分析,初步探究绵羊痘病毒RING finger蛋白是否具有E3泛素连接酶活性,为阐明其在绵羊痘病毒感染过程中对泛素蛋白酶体系统的调控作用奠定基础.【方法】以绵羊痘病毒甘肃古浪株DNA为模板,通过PCR扩增 RING finger 基因.利用Pfam数据库、DNAstar等软件进行序列及遗传进化分析;将 RING finger 基因片段插入原核表达载体pGEX-4T-1中,构建pGEX-SPPVRFP重组表达载体,在大肠杆菌BL21(DE3)中诱导表达,并进行SDS-PAGA和Western-blot分析.【结果】绵羊痘病毒 RING finger 基因由723个核苷酸组成,编码的240个氨基酸的分子量约为28.5 ku,具有RING finger结构域.不同羊痘病毒株间 RING finger 基因核苷酸序列同源性高达99.2%,氨基酸序列同源性高达98.3%.不同的RING finger蛋白都含有8个保守的半胱氨酸和组氨酸.SDS-PAGA分析显示,重组SPPVRFP大小约为55 ku,Western-blot分析显示,重组SPPVRFP不能与绵羊痘病毒阳性血清反应.【结论】成功克隆、表达并纯化了绵羊痘病毒 RING finger 基因,对SPPV GS-GL株RING-finger蛋白进行序列分析,推测其可能具有E3泛素连接酶活性.展开更多
Background： RING H2 finger E3 ligase （RH2FE3） genes encode cysteine rich proteins that mediate E3 ubiquitin ligase activity and degrade target substrates. The roles of these genes in plant responses to phytohormone...Background： RING H2 finger E3 ligase （RH2FE3） genes encode cysteine rich proteins that mediate E3 ubiquitin ligase activity and degrade target substrates. The roles of these genes in plant responses to phytohormones and abiotic stresses are well documented in various species, but their roles in cotton fiber development are poorly understood. To date, genome wide identification and expression analyses of Gossypium hirsutum RH2FE3 genes have not been reported. Methods： We performed computational identification, structural and phylogenetic analyses, chromosomal distribution analysis and estimated KJKs values of G hirsutum RH2FE3 genes. Orthologous and paralogous gene pairs were identified by all versus all BLASTP searches. We predicted cis regulatory elements and analyzed microarray data sets to generate heatmaps at different development stages. Tissue specific expression in cotton fiber, and hormonal and abiotic stress responses were determined by quantitative real time polymerase chain reaction （qRT PCR） analysis. Results： We investigated 140 G hirsutum, 80 G. orboreum, and evolutionary mechanisms and compared them with orthologs 89 G. roimondii putative RH2FB genes and their in Arobidopsis and rice. A domain based analysis of the G hirsutum RH2FE3 genes predicted conserved signature motifs and gene structures. Chromosomal localization showed the genes were distributed across all G hirsutum chromosomes, and 60 duplication events （4 tandem and 56 segmental duplications） and 98 orthologs were detected, cis elements were detected in the promoter regions of G hirsutum RH2FE3 genes. Microarray data and qRT PCR analyses showed that G hirsutum RH2FE3 genes were strongly correlated with cotton fiber development. Additionally, almost all the （brassinolide, gibberellic acid （GA）, indole 3-acetic acid drought, and salt）. dentified genes were up regulated in response to phytohormones （IAA）, and salicylic acid （SA）） and abiotic stresses （cold, heat, Conclusions： The genome wide identification, comprehensive analysis, and characterization of conserved domains and gene structures, as well as phylogenetic analysis, cis element prediction, and expression profile analysis of G hirsutum RH2FE3 genes and their roles in cotton fiber development and responses to plant hormones and abiotic stresses are reported here for the first time. Our findings will contribute to the genome wide analysis of putative RH2FE3 genes in other species and lay a foundation for future physiological and functional research on G hirsutum RH2FE3 genes.展开更多
To define the function of Zbtb20 in vivo,we generated knockout mice by homologous recombination.Zbtb20 null mice displayed a stark phenotype characterized by postnatal growth retardation,
The zinc finger proteins belong to the largest family of transcription factors.But there is little research of Cys2/His2 type zinc finger proteins in cotton,and there is no submission of correlating
Synergic movement of finger's joints provides human hand tremendous dexterities,and the detection of kinematics parameters is critical to describe and evaluate the kinesiology functions of the fingers.The present ...Synergic movement of finger's joints provides human hand tremendous dexterities,and the detection of kinematics parameters is critical to describe and evaluate the kinesiology functions of the fingers.The present work is the attempt to investigate how the angular velocity and angular acceleration of the joints of index finger vary with respect to time during conducting a motor task.A high-speed video camera has been employed to visually record the movement of index finger,and miniaturized(5-mm diameter) reflective markers have affixed to the subject's index finger on the side close to thumb and dorsum of thumb at different joint landmarks.Captured images have been reviewed frame by frame to get the coordinate values of each joint,and the angular displacements,angular velocities and angular acceleration can be obtained with triangle function.The experiment results show that the methods here can detect the kinematics parameters of index finger joints during moving,and can be a valid route to study the motor function of index finger.展开更多
A new type of three-finger micro-tweezer driven by electro-static force was developed for stable manipulation and assembly of micro devices. The whole system consists of micro-tweezers and a specially designed high fr...A new type of three-finger micro-tweezer driven by electro-static force was developed for stable manipulation and assembly of micro devices. The whole system consists of micro-tweezers and a specially designed high frequency AC power supply. The free end of the fingers closes and opens with the increase and decrease of the voltage. The tweezers can grasp and manipulate micro objects at size from 30～100 μm. A quantitative simulation method based on boundarx element method(BEM) and equation of energy conservation is introduced to analyze the non-linear behaviors of the tweezer closure. The simulation results agree well with the experimental data.展开更多
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
文摘【目的】对绵羊痘病毒甘肃古浪株RING finger蛋白的基因进行克隆,表达以及序列分析,初步探究绵羊痘病毒RING finger蛋白是否具有E3泛素连接酶活性,为阐明其在绵羊痘病毒感染过程中对泛素蛋白酶体系统的调控作用奠定基础.【方法】以绵羊痘病毒甘肃古浪株DNA为模板,通过PCR扩增 RING finger 基因.利用Pfam数据库、DNAstar等软件进行序列及遗传进化分析;将 RING finger 基因片段插入原核表达载体pGEX-4T-1中,构建pGEX-SPPVRFP重组表达载体,在大肠杆菌BL21(DE3)中诱导表达,并进行SDS-PAGA和Western-blot分析.【结果】绵羊痘病毒 RING finger 基因由723个核苷酸组成,编码的240个氨基酸的分子量约为28.5 ku,具有RING finger结构域.不同羊痘病毒株间 RING finger 基因核苷酸序列同源性高达99.2%,氨基酸序列同源性高达98.3%.不同的RING finger蛋白都含有8个保守的半胱氨酸和组氨酸.SDS-PAGA分析显示,重组SPPVRFP大小约为55 ku,Western-blot分析显示,重组SPPVRFP不能与绵羊痘病毒阳性血清反应.【结论】成功克隆、表达并纯化了绵羊痘病毒 RING finger 基因,对SPPV GS-GL株RING-finger蛋白进行序列分析,推测其可能具有E3泛素连接酶活性.
基金supported by the Major Research Plan of National Natural Science Foundation of China(NO.31690093)Young Elite Scientist Sponsorship Program by CAST(China Association for Science and Technology)
文摘Background： RING H2 finger E3 ligase （RH2FE3） genes encode cysteine rich proteins that mediate E3 ubiquitin ligase activity and degrade target substrates. The roles of these genes in plant responses to phytohormones and abiotic stresses are well documented in various species, but their roles in cotton fiber development are poorly understood. To date, genome wide identification and expression analyses of Gossypium hirsutum RH2FE3 genes have not been reported. Methods： We performed computational identification, structural and phylogenetic analyses, chromosomal distribution analysis and estimated KJKs values of G hirsutum RH2FE3 genes. Orthologous and paralogous gene pairs were identified by all versus all BLASTP searches. We predicted cis regulatory elements and analyzed microarray data sets to generate heatmaps at different development stages. Tissue specific expression in cotton fiber, and hormonal and abiotic stress responses were determined by quantitative real time polymerase chain reaction （qRT PCR） analysis. Results： We investigated 140 G hirsutum, 80 G. orboreum, and evolutionary mechanisms and compared them with orthologs 89 G. roimondii putative RH2FB genes and their in Arobidopsis and rice. A domain based analysis of the G hirsutum RH2FE3 genes predicted conserved signature motifs and gene structures. Chromosomal localization showed the genes were distributed across all G hirsutum chromosomes, and 60 duplication events （4 tandem and 56 segmental duplications） and 98 orthologs were detected, cis elements were detected in the promoter regions of G hirsutum RH2FE3 genes. Microarray data and qRT PCR analyses showed that G hirsutum RH2FE3 genes were strongly correlated with cotton fiber development. Additionally, almost all the （brassinolide, gibberellic acid （GA）, indole 3-acetic acid drought, and salt）. dentified genes were up regulated in response to phytohormones （IAA）, and salicylic acid （SA）） and abiotic stresses （cold, heat, Conclusions： The genome wide identification, comprehensive analysis, and characterization of conserved domains and gene structures, as well as phylogenetic analysis, cis element prediction, and expression profile analysis of G hirsutum RH2FE3 genes and their roles in cotton fiber development and responses to plant hormones and abiotic stresses are reported here for the first time. Our findings will contribute to the genome wide analysis of putative RH2FE3 genes in other species and lay a foundation for future physiological and functional research on G hirsutum RH2FE3 genes.
文摘To define the function of Zbtb20 in vivo,we generated knockout mice by homologous recombination.Zbtb20 null mice displayed a stark phenotype characterized by postnatal growth retardation,
文摘The zinc finger proteins belong to the largest family of transcription factors.But there is little research of Cys2/His2 type zinc finger proteins in cotton,and there is no submission of correlating
基金Supported by the National Natural Science Foundation of China (30770546 )Natural Science Foundation of Chongqing(2006BB2043,2007BB5148)
文摘Synergic movement of finger's joints provides human hand tremendous dexterities,and the detection of kinematics parameters is critical to describe and evaluate the kinesiology functions of the fingers.The present work is the attempt to investigate how the angular velocity and angular acceleration of the joints of index finger vary with respect to time during conducting a motor task.A high-speed video camera has been employed to visually record the movement of index finger,and miniaturized(5-mm diameter) reflective markers have affixed to the subject's index finger on the side close to thumb and dorsum of thumb at different joint landmarks.Captured images have been reviewed frame by frame to get the coordinate values of each joint,and the angular displacements,angular velocities and angular acceleration can be obtained with triangle function.The experiment results show that the methods here can detect the kinematics parameters of index finger joints during moving,and can be a valid route to study the motor function of index finger.
文摘A new type of three-finger micro-tweezer driven by electro-static force was developed for stable manipulation and assembly of micro devices. The whole system consists of micro-tweezers and a specially designed high frequency AC power supply. The free end of the fingers closes and opens with the increase and decrease of the voltage. The tweezers can grasp and manipulate micro objects at size from 30～100 μm. A quantitative simulation method based on boundarx element method(BEM) and equation of energy conservation is introduced to analyze the non-linear behaviors of the tweezer closure. The simulation results agree well with the experimental data.
