Effect of F- axial coordination on the electrochemistry of (TPP)Co

The axial coordination effect of F- on the redox behavior of (TPP)Co was investigated and spectroeletrochemistry in dichloroethane. It was verified that mono(F-) axial adduct (TPP)Co(II)(F-) could be reduced at 0.1 V(SCE). and bis(F-) axis adduct (TPP)Co(II)(F-)(2) formed with added F- molar ratio>1 could be reduced at the potential <-0.6 V(SCE). The equilibrium between (TPP)Co(II)(F-) and (TPP)Co(II)(F-)(2) was demonstrated.

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.

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.

Response of chlorophyll fluorescence to dynamic light in three alpine species differing in plant architecture

A study was carried out to examine the effect of dynamic photosynthetically active photon flux density (PPFD) on photoinhibition and energy use in three herbaceous species, prostrate Saussurea superba, erect-leaved S. katochaete, and half-erect-leaved Gentiana straminea, from the Qinghai-Tibet Plateau. Chlorophyll fluorescence response was measured under each of three sets of high-low PPFD combinations: 1700-0, 1400-300, and 1200-500 mu mol m(-2) s(-1), illuminating in four dynamic frequencies: 1, 5, 15, and 60 cycles per 2 h. The total light exposure time was 2h and the integrated PPFD was the same in all treatments. The highest frequency of PPFD fluctuation resulted in the lowest photochemical activity, the highest level of non-photochemical quenching, and the greatest decrease of F-v/F-m (maximal photochemical efficiency of PSII). The 5 and 15 cycles per 2h treatments resulted in higher photochemical activity than the 1 cycle per 2h treatment. The 1700-0 PPFD combination led to the lowest photochemical activity and more serious photoinhibition in all species. S. superba usually exhibited the highest photochemical activity and CO2 uptake rate, the lowest reduction of F-v/F-m,F- and the smallest fraction of energy in thermal dissipation. With similar fractions of thermal dissipation, S. katochaete had relatively less photoinhibition than G. straminea owing to effective F-o quenching. The results suggest that high frequency of fluctuating PPFD generally results in photoinhibition, which is more serious under periods of irradiation with high light intensity. (c) 2005 Elsevier B.V. All rights reserved.

Photosynthetic depression in relation to plant architecture in two alpine herbaceous species

The Qinghai-Tibet Plateau is characterized by extremely high radiation, which may induce down-regulation of photosynthesis in plants living in this alpine ecosystem. To clarify whether photoinhibition occurs in the alpine environment and to discern its underlying mechanisms, we examined photosynthetic gas exchange and fluorescence emission in response to the changes in photosynthetic photon flux density (PPFD) and leaf temperature under natural regimes for two herbaceous species: prostrate Saussurea superba and erect-leaved Saussurea katochaete from altitude 3250 m on the Qinghai-Tibet Plateau. S. superba intercepted a higher maximum PPFD and experienced much higher leaf temperature than the erect-leaved S. katochaete. S. superba exhibited a much higher light saturation point for photosynthesis than S. katochaete. Under controlled conditions, the former species had higher CO2 uptake rates and neither species showed obvious photosynthetic down-regulation at high PPFD. Under natural environmental conditions, however, apparent photoinhibition, indicated by reduced electron transport rate (ETR), was evident at high PPFD for both species. After a night frost, the photochemistry of S. katochaete was depressed markedly in the early morning and recovered by mid-day. After a frost-free night, it was high in the morning and low at noon due to high radiation. S. superba did not respond to the night frost in terms of daytime photochemical pattern. In both species, photochemical depression was aggravated by high leaf temperature and the erect species was more sensitive to high temperature. This study suggests that the high radiation on the Qinghai-Tibet Plateau is likely to induce rapidly reversible photoinhibition, which is related closely to plant architecture. Photochemistry in the prostrate species seems able to tolerate higher PPFD, without obvious suppression, than the erect species. (C) 2003 Elsevier Science B.V. All rights reserved.

星球探测系统的多机器人组内协作研究

建立了子机器人的控制模型,提出了分散式控制与集中式控制相结合的复合控制体系。采用动态分配ID号和由ID号确定机器人组中领导者的机制,建立了有领导者的机器人组的协作方法。其中,领导者与监控平台之间采用无线通讯,机器人组内采用CAN(control area network)总线传递控制信号。同时采用组内基于状态表匹配的控制方式。两个机器人组合利用以上机制,通过相互协调完成差速转弯的实验验证了该控制方法的可行性。

可重构星球探测机器人的OpenGL仿真实验平台研究

采用基于Visual C++和OpenGL的建模和运动仿真方法,对可重构星球探测机器人系统的三维运动仿真实验平台进行了研究,建立了一个多机器人系统的仿真实验平台。开发的实验平台可用于探索和验证机器人系统的工作原理、工作空间、多机器人协调算法、重构方法、系统集成技术等。在该平台上进行了机器人的运动学仿真和协调运动研究,验证了该仿真平台的有效性和机器人系统体系结构的合理性。

具有环境自适应能力的多机器人编队系统研究

对多机器人的体系结构进行了研究 .采用时空表和时间控制器相结合的方法 ,解决多机器人间的协调协作问题 .针对编队问题的具体特性 ,提出了基于环境的记忆学习方法 ,使多机器人编队系统具有较强的环境自适应能力 .最后 ,通过仿真实验实现了整个多机器人系统 ,进一步验证了各个算法的可行性和有效性 .

一个面向复杂任务的多机器人分布式协调系统

基于多智能体系统理论，研讨在非结构，不确定环境下面向复杂任务的多机器人分布式协调系统的实现原理，方法和技术。提出的递阶混合式协调结构，基于网络的通讯模式和基于有限状态机的规划与控制集成方法，充分考虑了复杂任务和真实自然环境的特点，通过构建一个全实物的多移动机器人实验平台，对规划，控制，传感，通讯，协调与合作的各关键技术进行了开发和集成，使多机器人分布式协调技术的研究直接面向实际应用，编队和物料搬运的演示实验结果展示了多机器人协调技术的广阔应用前景。

基于CORBA的多agent供应链管理系统的研究

本文从现代供应链管理概念及要求出发 ,指出协调与合作在供应链管理中的重要作用 ,应用分布式人工智能理论及分析方法 ,提出了基于多 agent的供应链管理结构 ,定义了各功能agent的作用和职能 ,研究了基于多 agent的供应链管理协作内容、特点及解决方法 ,介绍了基于CORBA的分布式系统开发方法 ,提出了基于 CORBA规范及 KQML协议的支持供应链管理协作研究及开发的软件结构 .

分布自主协作式的多机器人系统研究

本文作者在研究多机器人协调的基础上，将多机器人作为一个整体，从系统的角度研究多机器人系统的整体行为和组织结构．以人工智能的多自主体系统为理论基础，以网络通讯和分布数据库为技术基础，设计了多机器人分布自主协作系统的体系结构，提出了实现该系统需要研究的内容和解决的关键技术，介绍了我们在这方面的工作