STUDIES ON THE COORDINATION OF TB(III) AND CA(III) WITH AMINO-ACID UNDER THE PHYSIOLOGICAL CONDITION

Tb(Ca)-glycine, Tb(Ca)-alanine, Tb(Ca)-glycine-alanine systems were studied by potentiometry (37%, I = 0.15 mol/L NaCl). The stability constants of complexes and distribution of species in ternary system were obtained. The results show CaTb for the ternary complexes. The species convert each other with changing pH values.

CRYSTAL-STRUCTURE AND INFRARED-SPECTRA OF A LANTHANUM COORDINATION COMPOUND WITH GLYCINE, ([LA(GLY)S-CENTER-DOT-2H2O]CENTER-DOT(CLO4)3)N

A lanthanum coordination compound with glycine {[La(Gly)3.2H2O].(ClO4)3}n (Gly = NH+ 3-CH2-COO-) was synthesized and obtained in the form of single crystals. Its X-ray crystal structure has been determined and the IR spectrum has been studied. Crystallo

STRUCTURE OF AN ERBIUM COORDINATION COMPOUND WITH L-PROLINE, ([ER(PRO)2(H2O)5]CL3)(N)

catena-Poly[{pentaaqua(L-proline-O)-erbium-mu-(L-proline-O:O')} trichloride], {[Er(C5H9-NO2)2(H2O)5]Cl3}n, M(r) = 594.0, monoclinic, P2(1), a = 8.294 (1), b = 10.981 (3), c = 11.934 (3) angstrom, beta = 107.04 (2)degrees, V = 1039.2 (4) angstrom3, Z = 2, D(x) = 1.90 g cm-3, lambda(Mo Kalpha) = 0.71069 angstrom, mu = 45.2 cm-1, F(000) = 586, T = 298 K, R = 0.0244 for 1711 unique reflections [I > 3 sigma(I(o))]. The crystal consists of one-dimensional chains of infinite length in which one L-proline ligand bridges two neighboring Er ions, the other L-proline ligand being monodentate.

NMR-STUDIES ON THE COORDINATION OF RARE-EARTHS WITH GLYCYL-DL-VALINE AND THE CONFORMATION OF THEIR COMPLEX IN AQUEOUS-SOLUTION

In this paper lanthanide-induced shifts have been measured for C-13 and H-1 nuclei of glycyl-DL-valine in the presence of three lanthanide cations (La3+, Ho3+ and Yb3+) in aqueous solution. The stability constants of the coordination compounds of rare earths (Ho, Yb) with glycyl-DL-valine have been calculated. The coordination of rare earths with the ligand has been discussed. The simulation for conformation of lanthanide coordination compounds with glycyl-DL-valine shows that the ligand is coordinated to lanthanide ion through oxygen atoms of carboxyl group and the bond length of Ln-O is 0.226 nm. In the coordination compounds glycyl-DL-valine is in extended state with minimal steric hindrance.

COORDINATION CHEMISTRY AND SUPERCONDUCTIVITY

Analysing the coordination state of copper ions in cuprate superconductors, it is found that the larger the energy splitting between d(x2-y2) and d(z2) orbitals of Cu or the higher the energy of the d(x2-y2) orbital, the higher the Tc. Thus, appropriate coordination structures and strong-field ligands must be chosen for expanding the energy splitting and increasing the energy of the d(x2-y2) orbital when searching for new high-Tc superconductors. Summarizing the experimental results of ESR and XPS, it is considered that the [Cu2+ - O open-square-box 2- - Cu3+] resonance exists in cuprate superconductors and the electron field breathing mode is present. Analysing the mechanism and the relationship between the coordination state of Cu and Tc, we consider that the two dimensional Cu-O planes are responsible for the superconductivity of YBa2Cu3O7-y.

THE COMPOUND EYE AS AN INDICATOR OF AGE AND SHRINKAGE IN ANTARCTIC KRILL

Laboratory studies have shown that Antarctic krill (Euphausia superba) shrink if maintained in conditions of low food availability. Recent studies have also demonstrated that E. superba individuals may be shrinking in the field during winter. If krill shrink during the winter, conclusions reached by length-frequency analysis may be unreliable because smaller animals may not necessarily be younger animals. In this study, the correlation between the body-length and the crystalline cone number of the compound eye was examined. Samples collected in the late summer show an apparent linear relationship between crystalline cone number and body-length. From a laboratory population, it appears that when krill shrink the crystalline cone number remains relatively unchanged. If crystalline cone number is little affected by shrinking, then the crystalline cone number may be a more reliable indicator of age than body-length alone. The ratio of crystalline cone number to body-length offers a method for detecting the effect of shrinking in natural populations of krill. On the basis of the crystalline cone number count, it appears from a field collection in early spring that E. superba do shrink during winter.

Studies on two coordination polymers [M(mu(4)-pz25dc)](n) (M = Cd or Zn, pz25dc=pyrazine-2,5-dicarboxylato) with three-dimensional pillared-layer three-nodal framework: Synthesis, structural characterization, strong optical non-linearities and optical limiting properties

Two isomorphous new candidates [M(mu(4)-pz25dc)](n) (M = Cd, 1; Zn, 2; pz25dc = pyrazine-2,5-dicarboxylato)for nonlinear optical (NLO) materials have been synthesized hydrothermally and characterized crystallographically as pillared-layer three-nodal frameworks with one four-connected metal nodes and two crystallographically different four-connected ligand nodes. Their optical non-linearities are measured by the Z-Scan technique with an 8 ns pulsed laser at 532 nm. These two coordination polymers both exhibit strong NLO absorptive abilities [alpha(2) = (63 +/- 6) x 10 (12) mW (1) 1, ( 46 +/- 6) x 10 (11) mW (1) 2] and effective self-focusing performance [n(2) = (67 +/- 5) x 10 (18) 1, (13 +/- 3) x 10 (18) m(2) W (1) 2] in 1.02 x 10 (4) 1 and 1.05 x 10 (4) mol dm (3) 2 DMF solution separately. The values of the limiting threshold are also measured from the optical limiting experimental data. The heavy atom effect plays important role in the enhancement of optical non-linearities and optical limiting properties. (C) 2009 Elsevier B. V. All rights reserved.

基于眼固定安装方式的机器人定位系统

研发了基于眼固定安装方式的机器人定位系统,提出了一种方便有效的手眼标定方法。通过最小二乘法求解手眼坐标的变换关系,再根据工作台平面与摄像机成像模型的约束关系,求解出目标物体的三维位姿,并最终实现了机械手的精确定位。

应用于自动化生产线的视觉机器人系统

应用于融动化生产线基于眼固定安装方式的机器人定位系统,提出了一种方便有效的手眼标方法。通过最小二乘法求解手眼坐标的变换关系,再根据工作台平面与摄像机成像模型的约束关系,求解出目标物体的三维位姿,并最终实现丁机械手的精确定位。

一种基于投影矩阵M的机器人手眼标定线性化方法

提出了一种基于投影矩阵M的机器人手眼标定方法,即将AX=XB转换为MY=M′YB求解形式,避免了矩阵分解.同时,采用矩阵直积运算和矩阵特征向量运算相结合的方法,将传统的非线性问题转换成线性问题,构成了可利用最小二乘法求解运算的解析形式,提高了机器人手眼标定的精度和稳定性.通过实验验证了该方法的可行性.

一种基于线性模型的机器人手眼标定新方法

针对基于传统手眼标定模型AX=XB的标定问题,引入了由摄像机投影矩阵M构成的数学模型MY=M'YB,并针对该模型提出了一种新解法。该方法运用矩阵直积和特征向量理论,将关于机器人手眼关系矩阵X的问题描述转换成关于关联矩阵Y的线性方程,运用最小二乘法求得线性闭解。该方法消除了传统方法多次分解摄像机传感器系统的内外参数而引入的摄像机传感器系统的固有误差和随机误差的影响。实验表明该方法可以提高手眼系统标定精度。