SYNTHESIS AND CRYSTAL-STRUCTURE OF K4H2[PMO9V3O40].10H2O

The crystal structure of the title compound was determined from single crystal X-ray diffraction at -90-degrees-C. The complex crystallizes in the tetragonal P4/mnc, Z = 2, a = 12.515(3), c = 17.636(7) angstrom. The structure was solved by Patterson and Fourier techniques and refined by least-squares to R = 0.061 for 788 reflections. The central PO4 is disordered, P-O = 1.54 angstrom, M(M = Mo or V) is 6-coordinate, M-O = 1.62-2.48 angstrom, K is 7-coordinate, K-O = 2.84-3.10 angstrom.

SYNTHESIS AND CRYSTAL-STRUCTURE OF HETEROPOLY MOLYBDOSILICIC LANTHANIDE K10H3[PR(SIMO11O39)2].18H2O

The intensity data of the title complex were collected at a low temperature of -90-degrees-C. The compound crystallizes in the monoclinic space group P2(1)/n, a = 17.504(2), b = 27.323 (5), c = 21.616(4) angstrom, beta = 104.49 (2)degrees, Z = 4. The structure was solved by Patterson and Fourier techniques and refined by least-squares to an R = 0.088 for 8320 independent reflections. The central Pr ion is bonded to eight oxygen atoms from two molybdosilicic heteropoly ligands to form a square antiprism. The Pr-O average distance is 2.44 (2) angstrom. Both molybdosilicic heteropoly ligands are of a defective alpha-Keggin structure.

SYNTHESES AND CRYSTAL-STRUCTURES OF TRIINDENYLLANTHANIDE COMPLEXES (ETA-5-C9H7)3LN.OC4H8 (LN=ND,GD,ER)

The complexes named in the title (eta-5-C9H7)3Ln.OC4H8 (Ln = Nd, Gd, Er) were synthesized by the reaction of anhydrous lanthanide trichlorides with indenyl potassium and cyclooctadienyl potassium (1:2:1 molar ratio) in THF. The complexes were characterized by elemental analysis, infrared and H-1-NMR spectroscopy, and mass spectrometry. In addition, the crystal structures of (eta-5-C9H7)3Nd.OC4H8 (1) and (eta-5-C9H7)3Gd.OC4H8 (2) were determined by an X-ray diffraction study. Complexes 1 and 2 belong to hexagonal space group P6(3) with unit cell parameters a = b = 11.843(3), c = 10.304(4) angstrom, V = 1251.7(9) angstrom-3, D(c) = 1.49 g.cm-3, Z = 2 for 1, and a = b = 11.805(2), c = 10.236(2) angstrom, V = 1235.4(6) angstrom-3 D(c) = 1.54 g.cm-3, Z = 2 for 2. The structures were solved by Patterson and Fourier techniques and refined by least-squares to final discrepancy indices of R = 0.049, R(w) = 0.053 using 925 independent reflections with I greater-than-or-equal-to 3-sigma(I) for 1, and R = 0.023, R(w) = 0.025 using 1327 independent reflections with I greater-than-or-equal-to 3-sigma(I) for 2. Coordination numbers for Nd3+ and Gd3+ are 10; the average bond lengths Nd-O and Gd-O are 2.557(21) and 2.459(13) angstrom, respectively. The structural studies showed the complexes to have 3-fold symmetry, but the THF molecule has no such symmetry; consequently the arrangement of carbon atoms in the THF molecule are disordered.

SYNTHESIS AND X-RAY CRYSTAL-STRUCTURE OF A MONOPENTAMETHYLCYCLOPENTADIENYL DERIVATIVE OF GADOLINIUM (NA(MU-2-THF)[(C5ME5)GD(THF)]2(MU-2-CL)3(MU-3-CL)2)2.6THF

The reaction of GdCl3 with 1 equiv of NaC5Me5 generates a neutral complex C5Me5GdCl2(THF)3 and a novel complex {Na(mu-2-THF)[(C5Me5)Gd(THF)]2(mu-2-Cl)3(mu-3-Cl)2}2.6THF whixh recrystallizes from THF in triclinic, the space group P1BAR with unit cell dimentions of a 12.183(4), b 13.638(6), c 17.883(7) angstrom, alpha-110.38(3), beta-94.04(3), gamma-99.44(3)-degrees, V 2721.20 angstrom-3 and D(calc) 1.43 g cm-3 for Z = 1. Least-squares refinement of 2170 observed reflections led to a final R value of 0.047. The title complex consists of two Na(mu-2-THF)[(C5Me5)Gd(THF)]2(mu-3-Cl)3(mu-3-Cl)2 units bridged together via two mu-2-THF to Na coordination. Each Gd ion is surrounded by one C5Me5 ligand, two mu-3-Cl, two mu-2-Cl and one THF in a distorted octahedral arrangement with average Gd-C(ring) 2.686(33), Gd-mu-2-Cl 2.724(7), Gd-mu-3-Cl 2.832(8) and Gd-O 2.407(11) angstrom. The sodium ion coordinates to two bridging THF, two mu-2-Cl and two mu-3-Cl to form a distorted octahedron with average Na-mu-2-O, Na-mu-2-Cl and Na-mu-3-Cl of 2.411(21), 2.807(15) and 2.845(12) angstrom, respectively.

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。

基于多种群遗传算法的波能装置的优化设计及分析

作为可再生能源,波浪能的吸收和利用一直是国内外热点研究内容之一。本文提出一种新的基于惯性摆结构的波浪能吸收转换方法,对这种结构在波浪力作用下的频域响应进行了分析,建立了其最优化能量获取模型,提出采用多种群遗传算法对其结构进行优化设计,并针对系统所受波浪力(矩)随载体半径改变而改变,且求取困难的问题,采用最小二乘法对波浪力(矩)与载体半径变化的关系进行了拟和。通过优化结果找出影响结构获取波浪能量的因素,仿真结果表明了方法的先进性,为进一步的应用研究和频域波能获取研究奠定了基础。

目标位姿测量中的三维视觉方法

要测量出一组特征点分别在两个空间坐标系下的坐标 ,就可以求解两个空间目标间的位姿关系 .实现上述目标位姿测量方法的前提条件是要保证该组特征点在不同坐标系下 ,其位置关系相同 ,但计算误差的存在却破坏了这种固定的位置关系 .为此 ,提出了两种基于模型的三维视觉方法——基于模型的单目视觉和基于模型的双目视觉 ,前者从视觉计算的物理意义入手 ,通过简单的约束迭代求解实现模型约束 ;后者则将简单的约束最小二乘法和基于模型的单目视觉方法融合在一起来实现模型约束 .引入模型约束后 ,单目视觉方法可以达到很高的测量精度 .而基于模型的双目视觉较传统的无模型立体视觉方法位移精度提高有限 ,但姿态精度提高很多

移动机器人激光全局定位系统的算法研究

介绍了一种新型的移动机器人激光全局定位系统。重点讨论了结构化环境中移动机器人的全局定位方法 ,提出了一种新的基于最小二乘法的迭代搜索定位算法。全方位移动机器人平台上进行的定位实验 ,证实了该算法的有效性。

基于改进角度直方图和最小二乘法的移动机器人地图构建

本文主要研究完全未知结构化环境下的移动机器人二维几何地图构建及其不确定性描述问题。在考虑测量噪声干扰的基础上，基于改进的角度直方图算法进行环境线段特征提取和参数初始估计，然后利用加权最小二乘法对线段特征参数及其方差进行精确估计，并同时给出了多位姿地图合并的处理方法.文章最后给出了在SmartROB2机器人平台上进行的实验结果，证明了算法的有效性和实用性。

水下滑翔机器人运动调节机构设计与运动性能分析

描述了水下滑翔机器人3个运动调节机构的设计,即浮力调节机构、俯仰调节机构和横滚调节机构,分析了运动调节机构与运动之间的关系.提出了采用CFX水动力计算软件分析水下滑翔机器人运动性能的方法.根据CFX计算结果,用最小二乘法参数辨识方法辨识出定常滑翔运动的水动力参数.简化了空间螺旋回转运动过程,通过CFX水动力计算方法进行回转特性分析,估算回转半径.

随机系统模型参数在线辨识的一种算法及负荷预报

本文提出了一种简化的多变量随机系统状态模型参数在线辨识方法。与最小二乘自适应递推算法比较,不仅需要辨识的参数减少,而且针对一类模型参数缓慢变化的系统,可以通过选择不同的遗忘因子序列来控制参数变化的幅度,解决了电力系统负荷预报中季节模型的老化问题。本方法基于带有随机噪声状态模型的典范型,大大节省了计算机的运算量和存贮容量,适于微处理机的在线应用。

基于最小二乘拟合的模糊隶属函数构建方法

针对当前模糊隶属函数构造方法中存在的问题,提出一种构造模糊隶属函数方法.采用最小二乘法拟合离散数据来获得隶属函数.为减小拟合误差,采用了3项措施以达到预期目标.所构建的隶属函数,对任意输入物理量可直接得到其对应模糊语言变量的隶属度,从而有效避免专家指定隶属度的主观臆断性及不一致性.该方法简单、求解精度高,具有广泛适用性和较强的应用价值.仿真结果证实了该方法的有效性.

青藏高原横波速度与各向异性结构及其壳幔形变印迹

As the most spectacular and youngest case of continental collision on the Earth, to investigate the crust and mantle of Tibetan plateau, and then to reveal its characters of structure and deformation, are most important to understand its deformation mechanism and deep process. A great number of surface wave data were initially collected from events occurred between 1980 and 2002, which were recorded by 13 broadband digital stations in Eurasia and India. Up to 1,525 source-station Rayleigh waveforms and 1,464 Love wave trains were analysed to obtain group velocity dispersions, accompanying with the detail and quantitative assessment of the fitness of the classic Ray Theory, errors from focal and measurements. Assuming the model region covered by a mesh of 2ox2o-sized grid-cells, we have used the damped least-squares approach and the SVD to carry out tomographic inversion, SV- and SH-wave velocity images of the crust and upper mantle beneath the Tibetan Plateau and surroundings are obtained, and then the radial anisotropy is computed from the Love-Rayleigh discrepancy. The main results demonstrate that follows, a) The Moho beneath the Tibetan Plateau presents an undulating shape that lies between 65 and 74 km, and a clear correlation between the elevations of the plateau and the Moho topography suggests that at least a great part of the highly raised plateau is isostatically compensated. b) The lithospheric root presents a depth that can be substantiated at ~140 km (Qiangtang Block) and exceptionally at ~180 km (Lhasa Block), and exhibits laterally varying fast velocity between 4.6 and 4.7 km/s, even ~4.8 km/s under northern Lhasa Block and Qiangtang Block, which may be correlated with the presence of a shield-like upper mantle beneath the Tibetan Plateau and therefore looked as one of the geophysical tests confirming the underthrusting of India, whose leading edge might have exceeded the Bangong-Nujiang Suture, even the Jinsha Suture. c) The asthenosphere is depicted by a low velocity channel at depths between 140 and 220 km with negative velocity gradient and velocities as low as 4.2 km/s; d) Areas in which transverse radial anisotropy is in excess of ~4% and 6% on the average anisotropy are found in the crust and upper mantle underlying most of the Plateau, and up to 8% in some places. The strength, spatial configuration and sign of radial anisotropy seem to indicate the existence of a regime of horizontal compressive forces in the frame of the convergent orogen at the same time that laterally varying lithospheric rheology and a differential movement as regards the compressive driving forces. e) Slow-velocity anomalies of 12% or more in southern Tibet and the eastern edge of the Plateau support the idea of a mechanically weak middle-to-lower crust and the existence of crustal flow in Tibet.

波前重建法射线追踪及走时表压缩

As a fast and effective method for approximate calculation of seismic numerical simulation, ray tracing method, which has important theory and practical application value, in terms of seismic theory and seismic simulation, inversion, migration, imaging, simplified from seismic theory according to geometric seismic, means that the main energy of seismic wave field propagates along ray paths in condition of high-frequency asymptotic approximation. Calculation of ray paths and traveltimes is one of key steps in seismic simulation, inversion, migration, and imaging. Integrated triangular grids layout on wavefront with wavefront reconstruction ray tracing method, the thesis puts forward wavefront reconstruction ray tracing method based on triangular grids layout on wavefront, achieves accurate and fast calculation of ray paths and traveltimes. This method has stable and reasonable ray distribution, and overcomes problems caused by shadows in conventional ray tracing methods. The application of triangular grids layout on wavefront, keeps all the triangular grids stable, and makes the division of grids and interpolation of a new ray convenient. This technology reduces grids and memory, and then improves calculation efficiency. It enhances calculation accuracy by accurate and effective description and division on wavefront. Ray tracing traveltime table, which shares the character of 2-D or 3-D scatter data, has great amount of data points in process of seismic simulation, inversion, migration, and imaging. Therefore the traveltime table file will be frequently read, and the calculation efficiency is very low. Due to these reasons, reasonable traveltime table compression will be very necessary. This thesis proposes surface fitting and scattered data compression with B-spline function method, applies to 2-D and 3-D traveltime table compression. In order to compress 2-D (3-D) traveltime table, first we need construct a smallest rectangular (cuboidal) region with regular grids to cover all the traveltime data points, through the coordinate range of them in 2-D surface (3-D space). Then the value of finite regular grids, which are stored in memory, can be calculated using least square method. The traveltime table can be decompressed when necessary, according to liner interpolation method of 2-D (3-D) B-spline function. In the above calculation, the coefficient matrix is stored using sparse method and the liner system equations are solved using LU decomposition based on the multi-frontal method according to the sparse character of the least square method matrix. This method is practiced successfully in several models, and the cubic B-spline function can be the best basal function for surface fitting. It make the construction surface smooth, has stable and effective compression with high approximate accuracy using regular grids. In this way, through constructing reasonable regular grids to insure the calculation efficiency and accuracy of compression and surface fitting, we achieved the aim of traveltime table compression. This greatly improves calculation efficiency in process of seismic simulation, inversion, migration, and imaging.