神经网络-光度法同时测定食品中防腐剂和甜味剂

根据食品中常用防腐剂本甲酸和山梨酸及甜味剂糖精钠在紫外区均有吸收的特点，建立了一种以紫外分光光度法为基础对该三组分同时测定的方法，光谱数据采用作者自编的径向人工神经网络MATLAB程序进行处理，苯甲酸、山梨酸和糖精钠的平均标准偏差分别为1.60%、5.23%和1.21%，回收率大为95.0-102.0%之间，将该法应用于食品中二组分的测定，获得较为满意的结果。     

一种融合多帧ICP和图优化的算法研究

当前基于迭代最近点拼接的同时定位与建图算法,存在误差积累、无法满足大范围定位精度的缺陷。为此,提出一种融合多帧迭代最近点和图优化的算法。在时域上处理点云拼接问题,将单帧迭代最近点算法推广到多帧进行最近点迭代,提取同一地点在不同时刻的数据特征,形成多个封闭循环,再运用基于最小二乘的图优化方法对点云拼接后的全网数据进行全局优化,消除累计误差,提升整体的定位精度。采用鲁巷和密歇根的数据进行测试,结果表明,该方法在一定程度上减少了匹配误差,平均误差为1.0m,最小误差为0.2m,可以满足大范围同步定位与建图的精度需求。     

Deformation behaviour during cold drawing of nanocomposites based on single wall carbon nanotubes and poly(ether ester) copolymers

Relationships between the macroscopic deformation behaviour and microstructure of a pure (PBT-b-PTMO) block copolymer and a polymer nanocomposite (PBT-b-PTMO + 0.2 wt% SWCNT) were investigated by simultaneous small- and wide-angle X-ray scattering (SAXS and WAXS) during tensile deformation using synchrotron radiation. The Young's modulus was found to be 15% higher for the nanocomposite than for the pure block copolymer as well as the yield strength, while the elongation-to-break was less than a half. This different behaviour can be explained by taking into account the different structural features revealed by SAXS and WAXS and thus considering that SWCNT act as anchors in the nanocomposite, sharing the applied stress with the PBT crystals and partially preventing the flexible, non-crystallisable PTMO chains to elongate.     

New liquid membrane technology for simultaneous extraction and stripping of copper(II) from wastewater

In this paper, a new liquid membrane technique, hollow fiber renewal liquid membrane (HFRLM), is presented, which is based on the surface renewal theory, and integrates the advantages of fiber membrane extraction, liquid film permeation and other liquid membrane processes. The results from the system of CuSO₄+D2EHPA in kerosene+HCl show that the HFRLM process is very stable. The liquid membrane is renewed constantly during the process, the direct contact of organic droplets and aqueous phase provides large mass transfer area. These effects can significantly reduce the mass transfer resistance in the lumen side. Then the mixture of feed phase and organic phase flowing through the lumen side gives a higher mass transfer rate than that of stripping phase and organic phase, because the aqueous layer diffusion of feed phase is the rate-controlling step. The overall mass transfer coefficient increases with increasing flow rates and D2EHPA concentration in the organic phase, and with decreasing initial copper concentration in the feed phase. The overall mass transfer coefficient also increases with increasing pH in the feed phase, and reaches a maximum value at pH of 4.44, then decreases. Also, there is a favorable w/o volume ratio of 20:1 to 30:1 for this process. Compared with hollow fiber supported liquid membrane and hollow fiber membrane extraction processes, HFRLM process has a high mass transfer rate. Mathematical model for the HFRLM process based on the surface renewal theory is developed. The calculated results are in good agreement with experimental results under the conditions studied.     

An homogeneous space geometry for simultaneous localisation and mapping

Simultaneous Localisation and Mapping (SLAM) is the archetypal chicken and egg problem: Localisation of a robot with respect to a map requires an estimate of the map, while mapping an environment from data acquired by a robot requires an estimate of the robot localisation. The nonlinearity and co-dependence of the SLAM problem has made it an ongoing research problem for more than thirty years. The present paper details recent advances in understanding the SLAM problem, specifically the existence of an underlying geometry and symmetry structure that provides significant insight into the difficulties that have plagued many SLAM algorithms. To demonstrate the power of the geometric insight we derive a constant gain observer for the SLAM problem that; that does not depend on linearisation, has globally asymptotically stable error dynamics, is very robust, and operates in dynamic environments (estimating the landmark velocities as states in the observer).     

Probabilistic observation model correction using non-Gaussian belief fusion

This paper presents a framework for state estimation which tolerates uncertainty in observation model parameters by (1) incorporating this uncertainty in state observation, and (2) correcting model parameters to improve future state observations. The first objective is met by an uncertainty propagation approach, while the second is achieved by gradient-descent optimization. The novel framework allows state estimates to be represented by non-Gaussian probability distribution functions. By correcting observation model parameters, estimation performance is enhanced since the accuracy of observations is increased. Monte Carlo simulation experiments validate the efficacy of the proposed approach in comparison with conventional estimation techniques, showing that as model parameters converge to ground-truth over time, state estimation correspondingly improves when compared to a static model estimate. Because observation models cannot be known with perfect accuracy and existing approaches do not address parametric uncertainties in non-Gaussian estimation, this work has both novelty and usefulness in most state estimation contexts.     

DMTAM光度法同时测定钯和钴

以硫脲作为掩蔽剂,在pH3.75～5.0的HAc—NaAc缓冲介质中,Pd、Co(Ⅱ)和DMTAM均能形成稳定的1∶2型配合物,其表观摩尔吸光系数分别为ε_(Pd)=6.14×10~4,ε_(Co)=6.20×10~4,遵守比尔定律的线性范围分别为Pd0～35μg/25ml,Co0～15μg/25ml。研究了30余种共存离子的影响。可应用于分子筛和矿样中Pd、Co的同时测定。     

Simultaneous optimization of photostrictive actuator locations,numbers and light intensities for structural shape control using hierarchical genetic algorithm

The present paper introduces an investigation into simultaneous optimization of the PbLaZrTi-based actuator configuration and corresponding applied light intensity for morphing beam structural shapes. A finite element formulation for multiphysics analysis of coupled opto-electro-thermo-mechanical fields in PbLaZrTi ceramics is derived and verified with the theoretical solution and the commercial software ANSYS. This element is then used to simulate beam bending shape control using the orthotropic PbLaZrTi actuators and the simultaneous optimization. In this procedure, the controlling and geometrical variables are simultaneously optimized via a hierarchical genetic algorithm. A bi-coded chromosome is proposed in a hierarchical mode, which consists of some control genes (i.e. actuator location and number) and parametric genes (i.e. applied light intensity). Whether the parametric gene is activated or not is managed by the value of the first-grade control genes. The numerical results demonstrate that the achieved beam bending shapes correlate remarkably well with the expected ones and the simultaneous optimization of photostrictive actuator locations, numbers and light intensities can result in optimal actuator layout with less PbLaZrTi actuators and irradiated light energy. The simulation results also show that the hierarchical genetic algorithm has more superior performance over the conventional real-coded genetic algorithm.     

Simultaneous Perturbation Stochastic Approximation with Norm‐Limited Update Vector

This paper addresses the convergence of simultaneous perturbation stochastic approximation (SPSA) with a norm‐limited update vector. We first illustrate an unstable solution of the standard SPSA algorithm which motivates the consideration of a modified version, where the norm of the update vector is limited to a certain value. Next, a result on the almost‐sure convergence is presented by reducing the modified algorithm into the standard SPSA algorithm and restricting the probability distribution for the perturbation to a Bernoulli distribution. Finally, we apply the modified algorithm to a system identification problem to demonstrate its performance.