Improved experimental tracking techniques for validating discrete element method simulations of tumbling mills

We report on further developments in the three-dimensional tracking of a particle deep within the tumbling ball charge of an experimental mill. The experimental X-ray program employing the use of bi-planar X-ray angiography now includes the tracking of a typical 6 mm bulk charge particle in three dimensions with a spatial resolution that is accurate to within 0.15 mm. The improved experimental tracking techniques presented were developed for the purpose of generating accurate three-dimensional particle trajectory data against which to validate a numerical method for the simulation of discrete media, namely the discrete element method (DEM). These improvements are complimented with techniques for comparing charge profiles between numerical DEM simulations and three-dimensional experimental trajectory data.     

立体视觉测量中的图像匹配策略研究

立体视觉测量广泛应用于机器人导向和各种柔性制造系统中 ,其中图像特征的准确匹配始终是一个难题。推导了共极性线方程 ,采取相关匹配和特征匹配相结合的方法来提高图像匹配的速度和精度 ,利用建模估计得到匹配像点的精确坐标 ,使三维测量精度达到目标距离的 1/10 0 0 0左右     

靶场光测多站图像多目标判读技术

靶场光测图像处理的一个突出难题是如何分辨图像上出现的大量小目标。利用单站序列图像上目标的运动关联、目标在多站图像上像点之间的对极几何约束关系,提出了靶场多站图像多目标判读的新技术,采用单站序列图像目标卡尔曼运动轨迹预测及跟踪识别技术,以及多站图像对极几何约束同名目标匹配技术,突破了传统方法仅进行单站图像判读的局限。仿真结果证明其能有效解决多站、多目标的判读问题,已成功应用于我们研制的多套靶场图像判读系统中。     

Robust Output Tracking Control of an Uncertain Linear System via a Modified Optimal Linear-Quadratic Method

This study investigates the robust output tracking problem for a class of uncertain linear systems. The uncertainties are assumed to be time invariant and to satisfy the matching conditions. According to the selected nominal parameters, an optimal solution with a prescribed degree of stability is determined. Then, an auxiliary input via the use of an adapting factor, connected to the nominal optimal control, is introduced to guarantee the robustness and prescribed degree of stability for the output tracking control of the uncertain linear systems. This method is very simple and effective and can reject bounded uncertainties imposed on the states. A maglev vehicle model example is given to show its effectiveness.     

聚合物分散液晶光栅的衍射特性的研究

报道了一种由聚合物分散液晶膜与具有周期性条状电极结构板结合的新型光栅器件，借助于聚合物分散液晶膜的电光特性，这种栅对入射光的散射或衍射取决于对其施加的电压，即它是电场可调的，实验结果显示出当驱动电压超过器件器件阈值电压时，衍射光的强度和衍射斑的可见级次被电场调制，而且它能入射光的线性偏振态变为椭圆偏振态。     

一种非刚性医学图像点匹配方法

提出了一种非刚性点匹配的算法并把其运用于医学图像配准．该算法采用信号滤波的方法来获得点集间的匹配信息，并运用松弛标记法将各点邻域关系对模糊的匹配信息进行迭代获得明确的匹配关系．在此基础上，利用高斯径向基函数来描述点模式间的弹性形变，在基本的迭代框架下实现问题的求解．实验结果显示在形变程度为5％、出格点比率50％和噪声标准差为5％的情况下该算法的匹配误差能控制在0．13以下，表明了该算法的鲁棒性和有效性，较好地解决了医学非刚性形变的点匹配问题．     

Carbon nanotube assisted synthesis of CeO2 nanotubes

CeO₂ nanotubes have been synthesized facilely using carbon nanotubes (CNTs) as templates by a liquid phase deposition method. The properties of the CeO₂ nanotubes were characterized by scanning electron microscopy (SEM), transmission electron microscopy (TEM), X-ray diffraction (XRD), X-ray photoelectron spectrum (XPS) as well as thermogravimetry and differential thermal analysis (TG-DTA). The obtained CeO₂ nanotubes with a polycrystalline face-centered cubic phase have a uniform diameter ranging from 40 to 50 nm. The CeO₂ nanotubes are composed of many tiny interconnected nanocrystallites of about 10 nm in size. The pretreatment of CNTs and calcination temperature were confirmed to be the crucial factors determining the formation of CeO₂ nanotubes. A possible formation mechanism has been suggested to explain the formation of CeO₂ nanotubes.     

Iminophosphines: synthesis, formation of 2,3-dihydro-1H-benzo[1,3]azaphosphol-3-ium salts and N-(pyridin-2-yl)-2-diphenylphosphinoylaniline, coordination chemistry and applications in platinum group catalyzed Suzuki coupling reactions and hydrosilylations

The aprotic and protic bi- and multidentate iminophosphines 2-Ph₂PC₆H₄N=CR¹R² (R¹=H, R²=Ph=2a; R¹=Me R²=Ph=2b; R¹=H, R²=2-thienyl=2c; R¹=H, R²=C₆H₄-2-PPh₂=2d; R¹=H, R²=C₆H₄-2-OH=2e, R¹=H, R²=C₆H₄-2-OH-3-Bu^t=2f; R¹=H, R²=CH₂C(O)Me=2g) have been prepared by the acid catalyzed condensation of 2-(diphenylphosphino)aniline with the corresponding aldehyde–ketone. Iminophosphine 2d can be reduced with sodium cyanoborohydride to give the corresponding amino-diphosphine 2-Ph₂PC₆H₄N(H)CH₂C₆H₄-2-PPh₂ (2h). In the presence of a stoichiometric quantity of acid, 2-(diphenylphosphino)aniline reacts in an unexpected manner with benzaldehyde, salicylaldehyde, or acetophenone to give the corresponding 2,3-dihydro-1H-benzo[1,3]azaphosphol-3-ium salts and with pyridine-2-carboxaldehyde to give N-(pyridin-2-ylmethyl)-2-diphenylphosphinoylaniline, the latter of which has been characterized by single-crystal X-ray crystallography, as its palladium dichloride derivative. The attempted condensation of 2-(diphenylphosphino)aniline with pyridine-2-carboxaldehyde to give the corresponding pyridine-functionalized iminophosphine resulted in an unusual transformation involving the diastereoselective addition of two equivalents of aldehyde to give 1,2-dipyridin-2-yl-2-(o-diphenylphosphinoyl)phenylamino-ethanol, which has been characterized by a single-crystal X-ray structure determination. The bidentate iminophosphine 2-Ph₂PC₆H₄N=C(H)Ph reacts with [(cycloocta-1,5-diene)PdClX] X=Cl, Me) to give [Pd{2-Ph₂PC₆H₄N=C(H)Ph}ClX] and the imino-diphosphine 2-Ph₂PC₆H₄N=C(H)C₆H₄-PPh₂ reacts with [(cycloocta-1,5-diene)PdClMe] to give [Pd{2-Ph₂PC₆H₄N=C(H)C₆H₄---PPh₂}ClMe] and each has been characterized by single-crystal X-ray crystallography. The monobasic iminophosphine 2-Ph₂PC₆H₄N=C(Me)CH₂C(O)Me reacts with [Ni(PPh₃)₂Cl₂] in the presence of NaH to give the phosphino–ketoiminate complex [Ni{2-Ph₂PC₆H₄N=C(Me)CHC(O)Me}Cl], which has been structurally characterized. Mixtures of iminophosphines 2a–h and a palladium source catalyze the Suzuki cross coupling of 4-bromoacetophenone with phenyl boronic acid. The efficiency of these catalysts show a marked dependence on the palladium source, catalysts formed from [Pd₂(OAc)₆] giving consistently higher conversions than those formed from [Pd₂(dba)₃] and [PdCl₂(MeCN)₂]. Catalysts formed from neutral bi- and terdentate iminophosphines 2a–d gave significantly higher conversions than those formed from their monobasic counterparts 2e–f. Notably, under our conditions the conversions obtained with 2a–c compare favorably with those of the standards; catalysts formed from tris(2-tolyl)phosphine and tris(2,4-di-tert-butylphenyl)phosphite and a source of palladium. In addition, mixtures of [Ir(COD)Cl]₂ and 2a–h are active for the hydrosilylation of acetophenone; in this case catalysts formed from monobasic iminophosphines 2e–f giving the highest conversions.     

The evolution of morphology of ordered porous TiO2 films fabricated from sol-gel method assisted ZnO nanorod template

Ordered porous TiO₂ films, including TiO₂ nanotube arrays, are fabricated by a sol-gel dip-coating approach via ZnO nanorod templates obtained from aqueous solution approach. The results indicate that the morphologies of ordered porous TiO₂ films have been great affected by the sol-gel dip-coating cycle number. Open-ended TiO₂ nanotube arrays can be obtained in optimum dip-coating cycle numbers. The TiO₂ nanotubes with the inner diameter matching well with the diameters of ZnO nanorods, are well assembled and separate each other. When the cycle number is less than this optimum value, no intact porous TiO₂ film can be obtained. As the cycle number is larger than this optimum value, an ordered porous TiO₂ film with many throughout holes is formed. The evolutive mechanism of ordered porous TiO₂ films is proposed.