基于自适应Kalman滤波的机器人运动目标跟踪算法

针对足球机器人比赛时的模型变化及其环境噪声先验估计不准确的问题,提出一种基于自适应卡尔曼滤波的足球机器人视觉跟踪算法。该算法将一种基于减背景的运动目标识别的方法与自适应卡尔曼滤波跟踪模型进行结合,对背景进行实时更新,并通过形态学滤波去除残留的小区域,从而准确的识别运动目标,通过自适应的在线调整运动模型参数来保证模型预测值的准确性,进而提高了目标跟踪时的匹配效率,实现了目标的精准、迅速跟踪。通过实验证明,该算法是很有效的,具有推广价值。     

尖晶石LiMn2O4纳米粉的合成 及其交流阻抗性能研究

以LiOH和电解二氧化锰(EMD)为原料,葡萄糖为还原剂,制备了粒径为200nm左右的球状尖晶石LiMn2O4纳米粒子,并用X射线衍射(XRD)和扫描电镜(SEM)对样品进行了结构和形貌的表征.在循环伏安测试(CV)峰电位下研究了该材料嵌脱锂相变过程中的交流阻抗(EIS)图谱,并提出一种新的等效电路对EIS图谱进行拟合...     

Synthesis of ktenasite,a double hydroxide of zinc and copper,and its intercalation reaction

Ktenasite was synthesized by the simple method of mixing ZnO powder with CuSO₄ solution at room temperature. The X-ray diffraction pattern of synthesized ktenasite was very similar to that of mineral ktenasite. The lattice parameters were determined as a=0.559, b=0.616, c=2.374 nm and β=95.63°, which agreed comparatively well with those for mineral ktenasite. The synthesized ktenasite consisted of thin rectangular particles ranging in size from 2 to 4 μm in length. TEM observation suggested the formation of a super lattice structure in the a-axis direction and significant crystal growth in the b-axis direction. The intercalation reaction of sodium dodecyl sulfate (NaDS) with ktenasite showed that the intercalation took place accompanied by the expansion of basal spacing from 1.17 to 2.70 nm. The reaction progressed by the SO₄²⁻/DS⁻ anion exchange mechanism with the dissolution of interlayer [Zn(H₂O)₆]SO₄ salt.     

An organic electrophosphorescent device driven by all-organic thin-film transistor using photoacryl as a gate insulator

Organic electrophosphorescent devices have been intensively investigated for using in full-color flat-panel display. Since the quantum efficiency of electrophosphorescent device decreases rapidly as the luminance increases, it is desirable to operate the electrophosphorescent display with active matrix rather than passive matrix. Here we report the study of driving electrophosphorescent diode with all-organic TFT. We obtained the maximum power luminance that was obtained about 90 cd/m². Turn-on voltage is approximately 10 V. Field effect mobility, threshold voltage, and on–off current ratio in 0.5-μm thick gate dielectric layer were 0.13 cm²/V s, −7 V, and 10⁶ A/A. The structure of electrophosphorescent diode is ITO/TPD/BCP:Ir(ppy)₃/BCP/Alq₃/Li:Al/Al. In organic TFT, photoacryl is used as an insulator and pentacene as an active layer.     

两类hcb网络构筑的三维柱层结构Ni(Ⅱ)基金属-有机框架化合物

在溶剂热合成体系中,5-羟基间苯二甲酸(H 2HIPA)和1,4-二(1氢-咪唑-1-基)苯(1,4-DIB)与Ni(Ⅱ)离子反应得到一个结构新颖的化合物Ni[(HIPA)(1,4-DIB)](1,CCDC:2034033)。单晶结构分析揭示化合物1结晶于单斜的P21/c空间群。HIPA 2-和1,4-DIB分别被Ni(Ⅱ)离子连接在一起形成了两种具有hcb网络的二维结构,也就是Ni-HIPA和Ni-1,4-DIB层。这两类二维的层状结构进一步形成(3,6)-连接网络特征的三维柱层式框架。此外,在紫外-可见吸收光谱上化合物1在200-450和520-750nm范围内有两个强的吸收峰,依据Kubelka-Munk(KM)方法其带隙宽度为2.1V,具有半导体特征。化合物1的相纯度和热稳定性也通过粉末衍射和热失重分析测试予以确认。     

双道原子荧光光谱法测定蔬菜中的砷和汞

采用湿法消解蔬菜样品,用AFS-230E型双道原子荧光光度计测定蔬菜中的As和Hg重金属含量。在最佳实验条件下,As和Hg元素的工作曲线相关系数(r)分别为0.999 2和0.999 6,检出限分别为0.011 9和0.013 9μg/L,加标回收率分别为:91.6%~101.5%和89.8%~97.3%,相对标准偏差(RSD,n=7)分别为1.4%和0.52%,方法可供各地测定各类蔬菜中As和Hg等重金属元素含量作参考。     

荧光法研究酚藏花红与牛血清白蛋白的相互作用

用荧光光谱、同步荧光光谱和紫外吸收光谱研究了牛血清白蛋白与酚藏花红的结合反应特征。在不同的pH条件下,酚藏花红与蛋白质的反应导致了蛋白质荧光猝灭及酚藏花红的荧光增强,其荧光猝灭值与酚藏花红的浓度成正比,可用于酚藏花红的分析测定;而酚藏花红荧光增强值与蛋白质浓度成正比,又可用于蛋白质的分析测定。用Stern-Volmer方程和Lineweaver-Burk双倒数函数处理实验数据,得到10℃和20℃时动态猝灭常数和静态猝灭结合常数、反应的热力学参数和结合位点数。根据F彲ster能量转移原理计算出20℃时酚藏花红与牛血清白蛋白的结合距离为r=2.22 nm。