摘要：The presentation and modeling of turbulence anisotropy are crucial for studying large-scale turbulence structures and constructing turbulence ***,accurately capturing anisotropic Reynolds stresses often relies on expensive direct numerical simulations(DNS).Recently,a hot topic in data-driven turbulence modeling is how to acquire accurate Reynolds stresses by the Reynolds-averaged Navier-Stokes(RANS)simulation and a limited amount of data from *** existing studies use mean flow characteristics as the input features of machine learning models to predict high-fidelity Reynolds stresses,but these approaches still lack robust generalization *** this paper,a deep neural network(DNN)is employed to build a model,mapping from tensor invariants of RANS mean flow features to the anisotropy invariants of high-fidelity Reynolds *** the aspects of tensor analysis and input-output feature design,we try to enhance the generalization of the model while preserving invariance.A functional framework of Reynolds stress anisotropy invariants is derived *** irreducible invariants are then constructed from a tensor group,serving as alternative input features for ***,we propose a feature selection method based on the Fourier transform of periodic *** results demonstrate that the data-driven model achieves a high level of accuracy in predicting turbulence anisotropy of flows over periodic hills and converging-diverging ***,the well-trained model exhibits strong generalization capabilities concerning various shapes and higher Reynolds *** approach can also provide valuable insights for feature selection and data generation for data-driven turbulence models.

摘要：为解决机器人在打磨、装配等复杂作业环境下,其末端力传感器获取到的机器人本体与作业环境间的接触力信号存在干扰噪声影响的问题,设计了基于卡尔曼滤波的机器人力控制模型。通过搭建力控制模块,对比经典阻抗控制与基于卡尔曼滤波的机器人力控制下的接触力跟踪效果,分别搭建平面轨迹跟踪与曲面轨迹跟踪机器人可视化平台。经仿真验证发现,两种工况下基于卡尔曼滤波的机器人力控制比经典阻抗控制的力控制效果更优。

摘要：提取湘东黑山羊基因组总DNA，用所设计的3对引物以聚合酶链式反应扩增山羊ADD1（Adipocyte Determination and Differentiation factor-1）基因，并进行克隆测序。序列分析表明所克隆的山羊ADD1基因包含exon 2～8、intron 2～7序列，将序列提交GenBank，获2个登录号：DQ480338、DQ487874；对编码序列（exon 2～8）与牛、人同区域进行Blast对比，同源性分别达到了96．14％和83．82％，所翻译氨基酸序列与牛属同源性更高达97．9％；此外，通过不同引物的测序结果比较，分别在exon6的第42处和intron6的第82处发现了一个碱基突变（C→T）和碱基插入／缺失（G／-），前者属于沉默突变，未引起氨基酸的变化。