A new beam propagation method based on least-squares expansion approximating

A new finite difference wide-angle beam propagation method is developed by introducing the least-squares expansion approximant in the propagator expansion. In this new method it is not necessary to select the reference index point because of the whole region approaching the lease-square expansion. This method avoids the problems induced by error selection of the reference index in the old methods based on Taylor or Pade expansion. Several typical structures are simulated by the new method and the results prove the validity of it.

Fatty-acids and their C-13 signatures in seep carbonates from hydrocarbon seeps on the upper (GC 185) and lower (AC 645) continental slope of the Gulf of Mexico

Here we reported the fatty-acids and their δ 13C values in seep carbonates collected from Green Canyon lease block 185 (GC 185; Sample GC-F) at upper continental slope (water depth: ∼540 m), and Alaminos Canyon lease block 645 (GC 645; Sample AC-E) at lower continental slope (water depth: ∼2200 m) of the Gulf of Mexico. More than thirty kinds of fatty acids were detected in both samples. These fatty acids are maximized at C16. There is a clear even-over-odd carbon number predominance in carbon number range. The fatty acids are mainly composed of n-fatty acids, iso-/anteiso-fatty acids and terminally branched odd-numbered fatty acids (iso/anteiso). The low δ 13C values (−39.99‰ to.32.36‰) of n-C12:0, n-C13:0, i-C14:0and n-C14:0 suggest that they may relate to the chemosynthetic communities at seep sites. The unsaturated fatty acids n-C18:2 and C18:1Δ9 have the same δ 13C values, they may originate from theBeggiatoa/Thioploca. Unlike other fatty acids, the terminally branched fatty acids (iso/anteiso) show lowerδ 13C values (as low as −63.95‰) suggesting a possible relationship to sulfate reducing bacteria, which is common during anaerobic oxidation of methane at seep sites.

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。