基于测量误差不确定性加权的快速相机位姿估计算法

在相机位姿估计任务中,参考点位置的测量容易受测量仪器或者所处环境影响,出现一定程度的测量误差,其中误差较大的点对最终求解精度的影响很大,被称为野值点。文章针对现有算法抗野值点能力较弱的问题,提出一种基于测量误差不确定性加权的快速相机位姿估计算法。该算法以经典的正交迭代算法为基础,引入M估计方法,对目标函数根据参考点的测量误差赋予相应大小的权值,最大程度地将野值点的影响排除,并引入Kronecker积对计算过程进行优化,减少了迭代过程中的冗余计算,提高运算速度。仿真实验结果表明,改进后的算法提升了原算法的抗野值点能力,且计算速度更快。     

双脉冲激光诱导铝等离子体的双波长干涉诊断

双脉冲激光诱导等离子体在激光加工、元素检测、材料去除等领域有广阔的应用前景和发展空间,对其进行诊断具有重要意义。针对延迟双脉冲激光诱导铝等离子体的作用效果和影响机理,采用双波长干涉法对其时间演化规律展开研究。基于马赫-曾德尔干涉仪搭建了双波长干涉诊断系统,得到了双脉冲激光诱导等离子体干涉图。通过对干涉图的处理和分析,得到了等离子体电子密度随双脉冲激光延迟时间的变化规律。结果表明,随着双脉冲激光延迟时间的增加,第二束脉冲激光对等离子体电子密度的增强效果先加强后减弱。其中,双脉冲激光延迟时间为10 ns时,对等离子体电子密度的增强效果最强,在30 ns时刻,其中心区域平均电子密度可达6.49×1019 cm?3,相较于同等能量单脉冲激光诱导等离子体提升了26%。同时研究了延迟时间对第二束脉冲激光作用机制的影响。研究结果为双脉冲激光诱导等离子体的优化方向提供了参考。     

基于信号检测的光无线轨道角动量复用系统研究

基于轨道角动量(OAM)的光无线复用通信技术在理想传输条件下能够大幅度提升通信系统性能,然而现实中大气湍流、孔径失配等因素会造成OAM模态间串扰导致误码率(BER)上升.为了降低光无线OAM复用系统在复杂环境中的误码率,该文首先建立了大气湍流、孔径失配场景下基于垂直分层空时码准则(VBLAST)的OAM复用通信系统(VBLAST-OAM),之后分析对比基于排序干扰连续消除检测算法(OSIC)、基于马尔科夫随机场置信度传播算法(MRF-BP)、基于OAM串扰特性的排序干扰连续消除算法(OAM-OSIC)应用于上述系统时的性能.结果表明:所提信号检测算法均能有效降低OAM复用系统在复杂环境中的误码率,其中,基于MRF-BP算法的系统性能最好;OAM-OSIC虽然属于次优算法,但在算法的运行开销方面具有较大优势.     

Novel one-dimensional tubelike and two-dimensional polycatenated metal-organic frameworks

Two novel metal-organic frameworks (MOFs) [Zn(TITMB)(OAc)](OH).8.5H(2)O (1) and [Ag(TITMB)N(3)].H(2)O (2) [TITMB = 1,3,5-tris(imidazol-1-ylmethyl)-2,4,6-trimethylbenzene, OAc = acetate anion] were synthesized and their structures were determined by X-ray crystallography. Complex 1 crystallizes in tetragonal space group P(-)4 with a = 23.2664(7) and c = 11.9890(3) A and Z = 8. 1 has a one-dimensional tubelike structure with large inner pore size of approximately 17 A. Complex 2 crystallizes in monoclinic space group C2 with a = 20.7193(10), b = 11.5677(8), and c = 12.2944(6) A, beta = 125.5770(10) degrees, and Z = 4. 2 consists of two-dimensional honeycomb networks that interpenetrate each other to generate a polycatenated structure. In these two complexes, both zinc(II) and silver(I) atoms are four-coordinated with the same tetrahedral coordination geometry. The topologies of 1 and 2 are predominated by the conformations of TITMB, which are cis, trans, trans in 1 and cis, cis, cis in 2, respectively.     

Synthesis of a novel 18β-glycyrrhetinic acid derivative

A novel compound, biotinylated 18β-glycyrrhetinic acid (BGA), was synthesized. It is a compound of 18β-glycyrrhetinic acid linked with biotin. Published in Khimiya Prirodnykh Soedinenii, No. 3, pp. 266–267, May–June, 2006. An erratum to this article is available at .     

Synthesis of substituted carbazoles by a vinylic to aryl palladium migration involving domino C-H activation processes

Substituted carbazoles are readily prepared in good yields by the palladium-catalyzed cross-coupling of alkynes and N-(3-iodophenyl)anilines. This process proceeds by carbopalladation of the alkyne, heteroatom-directed vinylic to aryl palladium migration, and ring closure involving two consecutive C-H activation processes. The process has also been expanded to the synthesis of an indole. [Structure: see text]     

Immunosuppressive ent‐Kaurene Diterpenoids from Isodon serra

Three new enmein‐type ent‐kaurenoids, i.e., the two pairs 1 and 2 of 20‐epimers and the (20R)‐isomer 3 , besides the seven known diterpenoids 4 – 10 , were isolated from the aerial parts of Isodon serra. Their structures were elucidated by spectroscopic techniques and X‐ray diffraction. The immunosuppressive effect for T‐lymphocytes proliferation induced by Con A in BALB/c mouse was evaluated for the isolates 1 – 10 . They all displayed a remarkable inhibitory effect, with multi‐glycosides of Tripterygium wilfordii as positive reference substance (Table 3).     

Studies of the g factors and zero-field splitting for the trigonal Ti(2+)(Ga)-S(p) defect center in GaP crystal

The EPR g factors g(parallel), g(perpendicular) and zero-field splitting D suggested to be caused by a donor-acceptor nearest-neighbour pair defect [Ti(Ga)(2+)-Sp] in GaP:Ti(2+) co-doped with sulphur are calculated from the high-order perturbation formulas based on a two spin-orbit coupling parameter model for the EPR parameters of 3d(2) ion in trigonal symmetry. The calculated results are close to the observed values. The suggestion of [Ti(Ga)(2+)-Sp] pair defect in GaP:Ti co-doped with sulphur is also confirmed from this calculation.