In situ circular dichroic electrochemical study of bilirubin and bovine serum albumin complex

The electrooxidation of bilirubin (BR) and bovine serum albumin (BSA) complexes was studied by in situ circular dichroism (CD) spectroelectrochemistry. The result showed that the mechanism of the whole electrooxidation process of this complex corresponded to electrochemical processes (EE mechanism) in aqueous solution. Some parameters of the process were obtained by double logarithm method, differential method and nonlinear regression method. In visible region, CD spectra of the two enantiomeric components of the complex and their fraction distribution against applied potentials were obtained by singular value decomposition least-square (SVDLS) method. Meanwhile, the distribution of the five components of secondary structure was also obtained by the same method in far-UV region. The peak potential gotten from EE mechanism corresponds to a turning point for the component transition, beyond which the whole reaction reaches a new equilibrium. Under applied positive potentials, the enantiomeric equilibrium between M and P form is broken and M form transfers to its enantiomer of P, while the fraction of alpha-helix increases and that improves the transition to P form.

Conformational transition of DNA in electroreduction studied by in situ UV and CD thin layer spectroelectrochemistry

Electrochemically induced three conformational transitions of calf thymus DNA from B-10.4 to Z(10.2)-DNA and from B-10.2 to B-10.4 and to C-DNA in 10 mM phosphate buffer solution (pH 7.21) at glassy carbon electrode are found and studied by in situ circular dichroism (CD) thin layer spectroelectrochemistry with singular value decomposition least square (SVDLS) analysis. It indicates that the so-called B-10.2 form and the C-form of DNA may be composed of B-10.4 and left-A DNA and of B-10.4 and right-A DNA, respectively. The irreversible electrochemical reduction of adenine and cytosine groups in the DNA molecule is studied by UV-Vis spectroelectrochemistry. Some electrochemical parameters alphan = 0.17, E-0' = -0.70 V (vs. Ag/AgCl), and the standard heterogeneous electron transfer rate constant, k(0) = 1.8 x 10(-5) cm s(-1) are obtained by double logarithmic analysis and non-linear regression. (C) 2000 Elsevier Science B.V. All rights reserved.

Circular dichroism spectro electrochemical and voltammetric studies of vitamin B-2

Electroreduction of vitamin B-2 (VB2) was studied by in situ circular dichroism (CD) spectroelectrochemistry (SEC) with a long optical path length thin layer cell (LOPLTLC). The results showed that the electroreduction of VB2 in phosphate buffer solution (PBS) (PH 6.8) was a two-electron electrochemical process with weak adsorption of the reactant at the glassy carbon (GC) electrode surface. The CD spectra change of VB2 in the reduction process was explained with the theory of electronic states. We also treated the CD spectra with a singular value decomposition least square (SVDLS) method, and have found not only the number of components and their spectra, but also the fraction distribution of each component in the electroreduction process of VB2.

The electrochemically induced conformational transition of disulfides in bovine serum albumin studied by thin layer circular dichroism spectroelectrochemistry

The conformational transition of disulfides in bovine serum albumin (BSA) induced by electrochemical redox reaction of disulfides were monitored by in-situ circular dichroism (CD) spectroelectrochemistry, with a long optical path thin layer cell and analyzed by a singular value decomposition least square (SVDLS) method. Electrochemical reduction of disulfides drives the left-handed conformation of disulfides changed into the right-handed. At open circuit, eight of the 17 disulfides were of left-handed conformation. Four of the 17 disulfides took part in the electrochemical reduction with an EC mechanism. Only one-fourth of the reduced disulfides returned to left-handed conformation in the re-oxidation process. Some parameters of the electrochemical reduction process, i.e. the number of electrons transferred and electron transfer coefficient, n=8, alphan=0.15, apparent formal potential, E-1(0') = -0.65(+/-0.01) V, standard heterogeneous electron transfer rate constant, k(1)(0) = (2.84 +/- 0.14)x 10(-5) cm s(-1) and chemical reaction equilibrium constant, K-c=(5.13 +/- 0.12) x 10(-2), were also obtained by double logarithmic analysis based on the near-UV absorption spectra with applied potentials. (C) 2001 Elsevier Science B.V. All rights reserved.

Charge transport of indigo-carmine doped polypyrrole

Charge transport in polypyrrole doped with indigo-carmine was investigated by the method of electrochemical alternating current impedance. By the nonlinear least square fitting, the equivalent circuit and parameter of each component are obtained. The apparent diffusion coefficients and heterogeneous electron transfer constants are given. It is found that, along with the increasing of film thickness, D-app and k(0) increase also.

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。

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.

移动机器人基于激光测距和单目视觉的室内同时定位和地图构建

该文研究了部分结构化室内环境中自主移动机器人同时定位和地图构建问题.基于激光和视觉传感器模型的不同,加权最小二乘拟合方法和非局部最大抑制算法被分别用于提取二维水平环境特征和垂直物体边缘.为完成移动机器人在缺少先验地图支持的室内环境中的自主导航任务,该文提出了同时进行扩展卡尔曼滤波定位和构建具有不确定性描述的二维几何地图的具体方法.通过对应用于SmartROB-2移动机器人平台所获得的实验结果和数据的分析讨论,论证了所提出方法的有效性和实用性.

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

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。

估计从UUV航行参数的混合坐标系下的EKF算法

在主从式UUV 协作系统中，由于定位和导航的需要，要求尽快估计出从UUV 的航行参数，但通常所用的递推最小二乘（RLS）算法，其初始方位测量对滤波结果影响大且存在收敛速度慢、计算精度低的缺点，难以满足应用需求，而推广卡尔曼滤波（EKF）算法能较好地克服上述问题。在直角坐标系下（CEKF），方位信息与距离信息相互耦合导致初始振荡剧烈，改为混合坐标系（MEKF）后问题得到了极大的改善。最后，通过仿真及现场试验验证了此改进方法的有效性。

一类载人潜水器的改进LQG控制研究

针对一类载人潜水器(MSV,MannedSubmersibleVehicle)在动力定位中多自由度之间存在的强耦合、非线性,以及系统参数的时变特性,文章采用带遗忘因子的递推最小二乘法和平方根法对系统参数进行辨识,然后在状态空间进行多输入多输出(MIMO)线性系统的最优控制研究。仿真结果表明,该两种改进LQG控制方法对于外界扰动以及系统的参数时变具有良好的控制效果,控制精度得到提高,为实际载人潜水器控制系统的多自由度动力定位控制提供了坚实的依据。

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.