RESUMEN
A foot trajectory control method is proposed for biomimetic robot.Compared with traditional methods,the method uses a single CPG neuron to directly apply the foot trajectory generated by the oscillator to the hexapod robot.The joint angles is solved reversely for realizing the rhythmic foot swing,thereby achieving lateral walking.The step distance and step amplitude in foot trajectory,and the forward and backward swing trajectories during the swing phase can be adjusted by setting the load factor,period,amplitude and other parameters in the CPG oscillator.The feasibility of applying the improved Hopf model to foot trajectory is verified through the joint simulation using Matlab and Coppeliasim.Compared with traditional methods,the improved model has high flexibility in parameter adjustment and performs well in concurrency processing.
RESUMEN
Biological central pattern generator(CPG)is of great research significance to the gait control for hexapod robot.Therefore,a Kimura neural oscillator based CPG gait control strategy for hexapod robot is proposed.The mechanical structure of hexapod robot is designed with the spider as the bionic object,and its kinematics is solved.An oscillator model is established based on Kimura neural oscillator,and its parameters are adjusted.The CPG network model is designed according to the phase relation of the 6 legs of the robot.Gait experiments are conducted with computer simulation tools and prototypes.The results demonstrate that the output signal amplitude and phase difference of the CPG network model generated based on Kimura neural oscillator are stable,meeting the gait control requirements of hexapod robot.The study provides a feasible gait control strategy for hexapod robot.
RESUMEN
Objective: To clone Fd and light chain genes of monoclonal antibody HAb18 against human hepatoma and verify their accuracy and liability. Methods: Total RNA was extracted from hybridoma cell line secreting MAb HAb18, and Fd and light chain genes were amplified by RT-PCR. After PCR products were ligated into pMD18T vector, positive clones were screened and DNA sequences were tested and analysed by relative softwares. Then, light chain and Fd genes were sequential cloned into phage display vector pComb3. After recombinant vector was transformed into E.coli XL1-blue, recombinant vector was rescued by helper phage M13K07 and the specificity of phages to antigen was detected by indirect ELISA. Results: The size of amplified Fd and light chain genes was separately 665 bp and 668 bp. The results of sequence analysis showed that both VL and VH contained 2 characteristic cystines and CH1 was IgG1 classes and CL was ?. ELISA result identified that expressed Fab antibody could specially bind to corresponding antigen. Conclusion: Fd and light chain genes of MAb HAb18 were successfully cloned, which lay a good foundation for constructing a diversity of engineering antibody.
RESUMEN
Objective To evaluate the reliability of colony PCR in identifying the recombinant clones selected from phage antibody libraries. Methods The digested pComb3 vector and Lc fragments, Lc library plasmid, and Fd fragments were ligated successively. The ligation product was transformed into Escherichia Coli strain XL 1-blue bacilli by electroporation and thus murine Fab phage antibody library was constructed.The transformed recombinant clones selected randomly from libraries were identified simultaneously by colony PCR, plasmid PCR and restriction enzyme digestion. The identification consistency was analyzed. The interference was excluded by control PCR using the relevant constituents as template. Results The educed library content of Lc library was 1.175?10 6 CFU and the content of Fab antibody library was 1.02?10 6 CFU. Different recombinant percentages were obtained through three different identification methods (the Lc positive recombinant percentages by colony PCR, plasmid PCR and enzyme digestion were 100%, 78% and 78%, respectively; the Fd positive recombinant percentages by three methods were 90%, 66% and 66%, respectively; the dual positive recombinant (Fd and Lc insert simultaneously) percentages by three methods were 90%, 50% and 50%, respectively). A high frequency of false-positives appeared in colony PCR identification. Nonspecific amplification of control PCR was presumably induced by some intracellular components in XL 1-blue bacilli. Conclusion The identification of the recombinant clones selected from phage antibody libraries by colony PCR remains ambiguous. So it is our assertion that the traditional identification methods such as plasmid PCR or enzyme digestion are more accurate and will less false positive results.