A Newton method for pose refinement of 3D models

Different optimization methods can be employed to optimize a numerical estimate for the match between an instantiated object model and an image. In order to take advantage of gradient-based optimization methods, perspective inversion must be used in this context. We show that convergence can be very fast by extrapolating to maximum goodness-of-fit with Newton's method. This approach is related to methods which either maximize a similar goodness-of-fit measure without use of gradient information, or else minimize distances between projected model lines and image features. Newton's method combines the accuracy of the former approach with the speed of convergence of the latter.

Approximate Gauss-Newton methods for nonlinear least squares problems

The Gauss–Newton algorithm is an iterative method regularly used for solving nonlinear least squares problems. It is particularly well suited to the treatment of very large scale variational data assimilation problems that arise in atmosphere and ocean forecasting. The procedure consists of a sequence of linear least squares approximations to the nonlinear problem, each of which is solved by an “inner” direct or iterative process. In comparison with Newton’s method and its variants, the algorithm is attractive because it does not require the evaluation of second-order derivatives in the Hessian of the objective function. In practice the exact Gauss–Newton method is too expensive to apply operationally in meteorological forecasting, and various approximations are made in order to reduce computational costs and to solve the problems in real time. Here we investigate the effects on the convergence of the Gauss–Newton method of two types of approximation used commonly in data assimilation. First, we examine “truncated” Gauss–Newton methods where the inner linear least squares problem is not solved exactly, and second, we examine “perturbed” Gauss–Newton methods where the true linearized inner problem is approximated by a simplified, or perturbed, linear least squares problem. We give conditions ensuring that the truncated and perturbed Gauss–Newton methods converge and also derive rates of convergence for the iterations. The results are illustrated by a simple numerical example. A practical application to the problem of data assimilation in a typical meteorological system is presented.

Enhanced Templating in the Crystallisation of Poly(E-caprolactone) Using 1,3:2,4-di(4-Chlorobenzylidene) Sorbitol

We show that small quantities of 1,3:2,4-di(4-chlorobenzylidene) sorbitol dispersed in poly(epsilon-caprolactone) provide a very effective self-assembling nanoscale framework which, with a flow field, yields extremely high levels of polymer crystal orientation. During modest shear flow of the polymer melt, the additive forms highly extended nano-particles which adopt a preferred alignment with respect to the flow field. On cooling, polymer crystallisation is directed by these particles. This chloro substituted dibenzylidene sorbitol is considerably more effective at directing the crystal growth of poly(epsilon-caprolactone) than the unsubstituted compound.

Some transition metal complexes derived from mono- and di-ethynyl perfluorobenzenes

Transition metal alkynyl complexes containing perfluoroaryl groups have been prepared directly from trimethylsilyl-protected mono- and di-ethynyl perfluoroarenes by simple desilylation/metallation reaction sequences. Reactions between Me3SiC CC6F5 and RuCl(dppe)Cp'[Cp' = Cp, Cp*] in the presence of KF in MeOH give the monoruthenium complexes Ru(C CC6F5)(dppe)Cp'[Cp' = Cp (2); Cp* (3)], which are related to the known compound Ru(C CC6F5)(PPh3)(2)Cp (1). Treatment of Me3SiC CC6F5 with Pt-2(mu-dppm)(2)Cl-2 in the presence of NaOMe in MeOH gave the bis(alkynyl) complex Pt-2(mu-dppm)(2)(C CC6F5)(2) (4). The Pd(0)/Cu(I)-catalysed reactions between Au(C CC6F5)(PPh3) and Mo( CBr)(CO)(2) Tp* [Tp* = hydridotris(3.5-dimethylpyrazoyl)borate], Co-3(mu(3)-CBr)(mu-dppm)(CO)(7) or IC CFc [Fc = (eta(5)-C5H4)FeCp] afford Mo( CC CC6F5)(CO)(2)Tp* (5), Co-3(mu 3-CC CC6F5)(mu-dppm)(CO)(7) (6) and FcC CC CC6F5 (7), respectively. The diruthenium complexes 1,4-{Cp'(PP)RuC C}(2)C6F4 [(PP)Cp'=(PPh3)(2)Cp (8); (dppe)Cp (9); (dppe)Cp* (10)] are prepared from 1,4-(Me3SiC C)(2)C6F4 in a manner similar to that described for the monoruthenium complexes 1-3. The non-fluorinated complexes 1,4-{Cp'(PP)RuC C}(2)C6H4 [(PP)Cp' = (PPh3)(2)Cp (11); ( dppe) Cp (12); ( dppe) Cp* (13)], prepared for comparison, are obtained from 1,4-(Me3SiC C)(2)C6H4. Spectro-electrochemical studies of the ruthenium aryl and arylene alkynyl complexes 2-3 and 8-13, together with DFT-based computational studies on suitable model systems, indicate that perfluorination of the aromatic ring has little effect on the electronic structures of these compounds, and that the frontier orbitals have appreciable diethynylphenylene character. Molecular structure determinations are reported for the fluoroaromatic complexes 1, 2, 3, 6 and 10.

Dicopper(II) complexes of a new di-para-xylyldioxatetraazamacrocycle and cascade species with dicarboxylate anions: thermodynamics and structural properties

The new dioxatetraazamacrocycle (L-1) was synthesized by a 2 + 2 condensation and characterized. Stability constants of its copper(II) complexes were determined by spectrophotometry in DMSO at 298.2 K in 0. 10 mol dm(-3) KClO4. Mainly dinuclear complexes are formed and the presence of mononuclear species is dependent on the counterion (Cl- or ClO4-). The association constants of the dinuclear copper(II) complexes with dicarboxylate anions [oxalate (oxa(2-)), malonate (mal(2-)), succinate (suc(2-)), and glutarate (glu(2-))] were also determined by spectrophotometry at 298.2 K in DMSO, and it was found that values decrease with an increase of the alkyl chain between the carboxylate groups. X-Band EPR spectra of the dicopper(II) complexes and of their cascade species in frozen DMSO exhibit dipole-dipole coupling, and their simulation, together with their UV-vis spectra, showed that the copper centres of the complexes in solution had square pyramidal geometries though with different distortions. From the experimental data, it was also possible to predict the Cu...Cu distances, the minimum being found at 6.4 angstrom for the (Cu2LCl4)-Cl-1 complex and then successively this distance slightly increases when the chloride anions are replaced by dicarboxylate anions, from 6.6 angstrom for oxa(2-) to 7.8 for glu(2-). The crystal structures of the dinuclear copper cascade species with oxa(2-) and suc(2-) were determined and showed one anion bridging both copper centres and Cu...Cu distances of 5.485(7) angstrom and 6.442(8) angstrom, respectively.

Anion directed templated synthesis of mono- and di-Schiff base complexes of Ni(II)

Two sets of Schiff base ligands, set-1 and set-2 have been prepared by mixing the respective diamine (1,2-propanediamine or 1,3-propanediamine) and carbonyl compounds (2-acetylpyridine or pyridine-2-carboxaldehyde) in 1:1 and 1:2 ratios, respectively and employed for the synthesis of complexes with Ni(II) perchlorate and Ni(II) thiocyanate. Ni(II) perchlorate yields the complexes having general formula [NiL2](ClO4)(2) (L = L-1 [N-1-(1-pyridin-2-yl-ethylidine)-propane-1,3-diamine] for complex 1, L-2 [N-1-pyridine-2-ylmethylene-propane1,3-diamine] for complex 2 or L-3 [N-1-(1-pyridine-2-yl-ethylidine)-propane-1,2-diamine] for complex 3) in which the Schiff bases are mono-condensed terdentate whereas Ni(II) thiocyanate results in the formation of tetradentate Schiff base complexes, [NiL](SCN)(2) (L=L-4 [N,N'-bis-(1-pyridine-2-yl-ethylidine)-propane-1,3-diamine] for complex 4, L-5 [NN'-bis(pyridine-2-ylmethyline)-propane-1, 3-diamine] for complex 5 or L-6 [NN'-bis-(1-pyridine-2-yl-ethylidine)-propane- 1, 2-diamine] for complex 6) irrespective of the sets of ligands used. Formation of the complexes has been explained by anion modulation of cation templating effect. All the complexes have been characterized by elemental analyses, spectral and electrochemical results. Single crystal X-ray diffraction studies confirm the structures of four representative members, 1, 3, 4 and 5; all of them have distorted octahedral geometry around Ni(II). The bis-complexes of terdentate ligands, I and 3 are the mer isomers and the complexes of tetradentate ligands, 4 and 5 possess trans geometry. (c) 2007 Elsevier Ltd. All rights reserved.