Closed form solution for the sensor registration problem using only position information

Sensors, mounted on the dexterous end of a robot, can be used for feedback control or calibration. When you mount a sensor on a robot it becomes necessary to find the pose (orientation and position) of the sensor relative to the robot. This is the sensor registration problem. Many researchers have provided closed-form solutions to the sensor registration problem; however, the published solutions apply only to sensors that can measure a complete pose (three positions and three orientations). Many sensors, however, can provide only position information; they cannot measure the orientation of an object. This article provides a closed-form solution to the sensor registration problem applicable when: (1) the sensor can provide only position information and (2) the robot can move along and rotate about straight lines. © 1994 John Wiley & Sons, Inc.     

浅谈国企改革中的内部财务集中控制问题

一个完善的公司治理结构 ,应该是在明晰产权的基础上的三权 (决策权、监督权、经营权 )分立 ,各司其职 ,相互制衡的运行机制。财务总监委派制是近年来大型集团公司所实行的一种较有效的管理方式 ,是在企业财产所有权与经营权相分离情况下 ,集团公司通过委派财务总监参与企业重大经营决策 ,组织和监控企业日常财务活动 ,实现企业内部财务集中控制。使所有者及时获悉企业经营情况 ,确保了会计资料的真实性 ,提高了企业的竞争力     

我国车用无铅汽油的质量状况及分析

对1998－2001年间生产领域和流通领域的近500批次汽油产品检验数据进行了总结和分析，表明我国汽油的实物质量正在不断提高，但从环保要求出发还需不断向国际水平靠扰，尤其应进一步降低烯烃含量，硫含量。     

Feature Reduction via Generalized Uncorrelated Linear Discriminant Analysis

High-dimensional data appear in many applications of data mining, machine learning, and bioinformatics. Feature reduction is commonly applied as a preprocessing step to overcome the curse of dimensionality. Uncorrelated Linear Discriminant Analysis (ULDA) was recently proposed for feature reduction. The extracted features via ULDA were shown to be statistically uncorrelated, which is desirable for many applications. In this paper, an algorithm called ULDA/QR is proposed to simplify the previous implementation of ULDA. Then, the ULDA/GSVD algorithm is proposed, based on a novel optimization criterion, to address the singularity problem which occurs in undersampled problems, where the data dimension is larger than the sample size. The criterion used is the regularized version of the one in ULDA/QR. Surprisingly, our theoretical result shows that the solution to ULDA/GSVD is independent of the value of the regularization parameter. Experimental results on various types of data sets are reported to show the effectiveness of the proposed algorithm and to compare it with other commonly used feature reduction algorithms.     

Enhanced Oil Recovery: The Synthesis of Anthraquinone [1, 2-C] Alkylisoxazole

Anthraquinone [1, 2-C] methylisoxazole is synthesized from 2-ethylanthraquinone through nitration and treating with oleum. The different methods of 2-ethylanthraquinone nitrated were discussed. The optimum conditions were determined. The structure of the product was confirmed by MS and ¹H NMR.     

基于ANSYS的闩体刚强度有限元分析

闩体的刚度和强度必须满足设计要求。用有限元法对复杂结构件进行力学性能分析是非常有效的方法。采用ANSYS软件对闩体进行了刚度和强度分析,得出了有用的结论,可供相关设计借鉴。     

Specifying transformer winter and summer peak-load limits

This paper presents a methodology for specifying the winter and summer peak-load limits for substation transformers that carry a temperature-sensitive load, taking into account the random nature of load and ambient temperature as well as their correlation. With this methodology, we can easily and accurately specify the peak-load limits for each substation transformer once the historical ambient temperature and load data are available. Also, we can collectively specify the peak-load limits for the transformer of each cooling type (OA, OA/FA, or OA/FA/FA) in a geographic region based on the mean and standard deviation of ambient temperatures in that region. Such peak-load limits are useful for power system planning.