Artificial neural networks for coordination and control: The portability of experiential representations

It is time to locate connectionist representation theory in the new wave of robotics research. The utility of representations developed in artificial neural networks (ANNs) during learning has been demonstrated in cognitive science research since the 1980s. The research reported here puts learned representations to work in a decentered control task, the disembodied arm problem, in which a mobile robot operates an arm fixed to a table to pick up objects. There is no physical linkage between the arm and the robot and so the robot's point of view must be decentered. This is done by developing a modular Artificial Neural Net system in three stages: (i) a classifier net is trained with laser scan data to output transformationally invariant position classes; (ii) an arm net is trained for picking up objects; (iii) an inter net is trained to communicate and coordinate the sensing and acting. The completed system is shown to create new nonsymbolic transformationally invariant representations in order to perform the effective generalization of decentered viewpoints.     

可持续发展的历史街区保护

在历史街区保护中一般存在的问题有:保护观念不正确、保护方式不当、原居住生活网络被破坏等。文章提出,运用可持续发展理论进行历史街区保护应遵循4个原则:协调性原则、延续性原则、公平性原则、以人为本原则。     

Advances in Microporous and Mesoporous Solids—Highlights of Recent Progress

This report highlights developments in the fields of microporous and mesoporous materials that were published mostly during the year 2002. Selected examples are provided to illustrate new zeolite structures, porous coordination materials, mesoporous solids with new compositions, controlled morphologies, and increased hydrothermal and thermal stabilities, as well as porous solids with tunable pore openings or other structural features that can be dynamically modified. A number of applications are discussed, including stabilization of reactive guests, separations, electronic materials, and sensors.     

Synthesis, structure and fluorescence properties of a highly stable indium(III)-2,5-pyridinedicarboxylate coordination polymer

The hydrothermal reaction of 2,5-pyridinedicarboxylic acid (H₂PDC), diethylene triamine and In(NO₃)₃·4.5H₂O gave rise to a two-dimensional (2D) coordination polymer In(OH)(2,5-PDC). This compound crystallizes in the orthorhombic space group Iba2, with cell parameters, a = 12.656(3) Å, b = 20.114(4) Å, c = 6.2216(1) Å, V = 1583.9(5) Å³ and Z = 8. Its structure contains one-dimensional In–O–In–O– chains, which are further linked by 2,5-PDC ligands into a 2D supramolecular neutral framework. The adjacent 2D layers are parallel with each other and construct a three-dimensional framework via hydrogen bands. At room temperature, the compound exhibits intense photoluminescence. On the basis of the results of TG/DTA analyses, the structure is thermally stable up to 390 °C.     

Concomitant Crystallization of Copper(II) Sachharinato Complexes with 2-methylpyrazine as a Monomer and an One-dimensional Polymer: Syntheses,Crystal Structures,Spectroscopic and Thermal Properties

The reaction of [Cu(sac)₂(H₂O)₄] · 2H₂O with 2-methylpyrazine (mpyz) leads two complexes, concomitant crystallization of a mononuclear complex [Cu(sac)₂(mpyz)(H₂O)₂] (1) and a polymeric complex [Cu(sac)₂(μ-mpyz)]_n (2). Both complexes have been characterized by elemental analyses, magnetic measurements, FT-IR and ESR, TG-DTA and single-crystal X-ray diffraction analyses. Single-crystal X-ray analyses show that complex 1 consists of discrete molecules in which the copper(II) ions exhibits a square-pyramidal coordination geometry. The individual molecules of 1 are connected into a hydrogen-bonded chain structure, which is further assembled to form a three-dimensional network by π–π stacking interactions. Complex 2 is an 1D coordination polymer in which copper(II) centers are bridged by the mpyz ligand. The chains are further assembled to form two-dimensional frameworks by π–π and C–H···π stacking interactions.     

基于专家系统的机器人高层规划

本文介绍一个基于专家系统的机器人高层规划系统,阐述几个潜在应用子系统,并应用专家系统方法进行多机器人协调避碰运动规划。本系统具有良好的规划性能。     

聚乙烯转光棚膜的加工及应用研究

本文对聚乙烯转光棚膜的加工和光转换剂的作用、配比关系及物理性能进行了讨论。     

Ionic liquid as reaction medium for the synthesis and crystallization of a metal-organic framework: (BMIM)2[Cd3(BDC)3Br2] (BMIM = 1-butyl-3-methylimidazolium, BDC = 1,4-benzenedicarboxylate)

An ionic liquid, 1-butyl-3-methylimidazolium bromide, is used as reaction medium for the synthesis and crystallization of a coordination polymer, (BMIM)₂[Cd₃(BDC)₃Br ₂] (1) (BMIM = 1-butyl-3-methylimidazolium, BDC =  1,4-benzenedicarboxylate), which forms an anionic two-dimensional framework with the imidazolium cations located between the layers. This compound is thermally stable up to ca. 340 °C and exhibits blue emission in solid state at room temperature. Other characterizations by IR and UV–visible spectra are also described.     

焦炉集气管压力专家协调控制

针对压力对象相互耦合的实际特点，提出了基于专家系统的集成管压力协调控制方法，使系统在PID控制的基础上，按实际运行状况智能选择控制策略。     

[Zn(BDC)(H2O)2]n: a novel blue luminescent coordination polymer constructed from BDC-bridged 1-D chains via interchain hydrogen bonds (BDC = 1,4-benzenedicarboxylate)

A novel coordination polymer [Zn(BDC)(H₂O)₂]_n 1 (where BDC = 1,4-benzenedicarboxylate), has been synthesized and characterized by X-ray diffraction. 1 crystallizes in the monoclinic space group C2/c, a=15.09(2) Å, b=5.058(7) Å, c=12.196(16) Å, β=103.62(2)°, , Z=4. The most striking feature of 1 is that it consists of a high-dimensional network structure constructed from BDC-bridged 1-D chains via interchain hydrogen bonds. The coordination sphere of the zinc(II) ion is a distorted tetrahedron completed by four oxygen atoms from two water molecules and two BDC ligands. BDC adopts the bis-monodentated (syn–anti) coordination mode linking two adjacent zinc(II) ions. 1 shows strong blue photoluminescence as the result of the fluorescence from the intraligand emission excited state.