Objective To study mechanics characteristics of two cooperative reconfigurable planetary robots when they get across an obstacle, and to find out the relationship between the maximum height of a stair with the configuration of the two-robot, and to find some restrictions of kinematics for the cooperation. Methods Multirobot cooperation theory is used in the whole study process. Inverse kinematics of the robot is used to form a desired configuration in the cooperation process. Static equations are established to analyze the relations between the friction factor, the configuration of robots and the maximum height of a stair. Kinematics analysis is used to find the restrictions of the two collaborative robots in position, velocity and acceleration. Results 3D simulation shows that the two cooperative robots can climb up a stair under the condition of a certain height and a certain friction factor between robot wheel and the surface of the stair. Following the restrictions of kinematics, the climbing mission is fulfilled successfully and smoothly. Conclusion The maximum height of a stair, which the two cooperative robots can climb up, is involved in the configuration of robots, friction factor between the stair and the robots. The most strict restriction of the friction factor does not appear in the horizontal position. In any case, the maximum height is smaller than half of the distance between the centroid of robot1 with the centroid of robot2. However, the height can be higher than the radius of one robot wheel, which profit from the collaboration.

UNLABELLEDTo explore the condition of CA storage for fruit of Siraitia grosvenorii.

METHODThe CA storage of 5% CO2, 15% CO2, 30% O2 under normal temperature was applied in the experiments, and the results were compared.

RESULTThe results showed that CA storage condition could alleviate the reduction of weight loss and water content, the best CA storage condition were 5% CO2, which alleviates the reduction of firmness and increases of soluble solid content during the 45 day period.

Atmosphere ; analysis ; Cucurbitaceae ; chemistry ; Food Preservation ; methods ; Fruit ; chemistry ; Time Factors

Bacterial Typing Techniques ; China ; Genotype ; Humans ; Mycobacterium tuberculosis ; Tuberculosis

OBJECTIVEIn order to enhance the yield of artemisinin, makes out the Artemisia annua adaptive area regional assignment in Guangxi. To ensure the nicety in study, on the base of literature study and experience on the spot, the article inspect the division result.

METHODBy document analysis and colleted data of A. annua, make out sample collect proceed and inspect the result of artemisinin content rank distribution in Guangxi.

RESULT AND CONCLUSIONResult of A. annua regional assignment is checked out in the article, the result passes the check by AQL (32, 4). The conclusions insure subsequence study and the A. annua sample collect. The result of artemisinin content rank distribution in Guangxi can be used in artemisinin production.

Antimalarials ; analysis ; pharmacology ; Artemisia annua ; chemistry ; Artemisinins ; analysis ; pharmacology ; China ; Plant Extracts ; analysis ; pharmacology

OBJECTIVETo investigate the variable number tandem repeats (VNTR) genetic polymorphisms, genotyping and distribution pattern of clinical Mycobacterium (M.) tuberculosis isolates from Qinghai province.

METHODSThe clinical M. tuberculosis strains isolated from the patients with tuberculosis and related background data were collected from Qinghai Provincial Center for Disease Control and Prevention from 2009 to 2012. Genotyping was conducted by using multiple locus VNTR analysis (MLVA). Genomic DNA was extracted and 15 VNTR loci were amplified with PCR and the PCR products were detected with gel electrophoresis. The VNTR diversity and clusters of genotyping were analyzed with BioNumerics (Version 5.0).

RESULTSA total of 251 clinical M. tuberculosis isolates were analyzed with 15 VNTR loci showing that there were great genetic diversity in these isolates. Six of the 15 VNTR loci, showed that the Hunter-Gaston index (HGI) were higher than 0.6, in which the highest resolution was MIRU26. The clusters of genotyping showed that these isolates could be categorized into four gene clusters and 238 genotypes. The four gene clusters accounted for 4.9%, 91.9%, 1.6% and 1.6% of the clinical isolates, respectively.

CONCLUSIONThe results showed that there is great variety of VNTR genetic polymorphisms in clinical M. tuberculosis isolates in Qinghai province.

China ; DNA, Bacterial ; genetics ; Genetic Variation ; Genotype ; Humans ; Minisatellite Repeats ; Mycobacterium tuberculosis ; genetics ; Polymerase Chain Reaction ; Polymorphism, Genetic ; Sequence Analysis, DNA ; Tuberculosis ; microbiology