SOLUBLE POLY-(O,M)-TOLUIDINE

The soluble poly-o-toluidine (POT) and poly-m-toluidine (PMT) have been success- fully prepared under controlled conditions of polymerization and post-treatment, and characterized by IR, VPO and elemental analysis. It is found that the soluble and insol- uble polymers obtained with two different methods (Ⅰ and Ⅱ) have the similar conduc- tivity and molecular chain structure. VPO measurement shows that the number average molecular weight (Mn) of soluble polymers is about 3000. The mole ratio o...

Estimates of genetic parameters for growth traits of the sea urchin, Strongylocentrotus intermedius

Heritabilities and genetic and phenotypic correlations were estimated for body weight, test diameter, and test height of the sea urchin from measurements on progeny resulting from 11 sires and 33 dams by artificial fertilization of 3 females by single males, and measurements at 8, 10, and 12 months after metamorphism. Point estimate for heritabilities based on the sire components of variance were moderate to high for body weight (0.21-0.49), test diameter (0.21-0.47), and test height (0.22-0.37). Genetic correlations were significant for body weight with test diameter (0.30similar to0.65) and test height (0.30similar to0.54) and test diameter with test height (0.31similar to0.65). Genetic correlation estimates, derived the nested design and half-sib correlation analysis used in this study, appear to provide reliable estimates. Significant phenotypic correlations were found for body weight with test diameter (0.82similar to0.86) and test height (0.49similar to0.83), and test diameter with test height (0.47similar to0.84). The phenotypic correlations for test height with body weight (0.491) and test diameter (0.467) at 12 months' of age were smaller than those earlier sampling periods.(C) 2004 Published by Elsevier B.V.

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。