A rapid, ultrasensitive and convenient fluorescence measurement technology based on the enhancement of the fluorescence intensity resulting from the interaction of functionalized CdSe/CdS quantum dots （QDs） with bov...A rapid, ultrasensitive and convenient fluorescence measurement technology based on the enhancement of the fluorescence intensity resulting from the interaction of functionalized CdSe/CdS quantum dots （QDs） with bov/ne serum albumin （BSA） was proposed. The citrate-stabilized CdSe/CdS （QDs） were synthesized by using Se powder and Na2S as precursors instead of any pyrophoric organometallic precursors. The modified CdSe/CdS QDs are brighter and more stable against photobleaching in comparison with organic fluorophores. At pH 7.0, the fluorescence signal of CdSe/CdS is enhanced by increasing the concentration of BSA in the range of 0.1-10 μg/mL, and the low detection limit is 0.06 μg/mL. A linear relationship between the enhanced fluorescence peak intensity （△F） and BSA concentration （c） is established using equation △F=50.7c＋16.4 （R=0.996 36）. Results of determination for BSA in three synthetic samples are identical with the true values, and the recovery （98.9%-102.4%） and relative standard deviation （RSD, 1.8%-2.5%） are satisfactory.展开更多
Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the ...Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.展开更多
基金Project(50772133) supported by the National Natural Science Foundation of China
文摘A rapid, ultrasensitive and convenient fluorescence measurement technology based on the enhancement of the fluorescence intensity resulting from the interaction of functionalized CdSe/CdS quantum dots （QDs） with bov/ne serum albumin （BSA） was proposed. The citrate-stabilized CdSe/CdS （QDs） were synthesized by using Se powder and Na2S as precursors instead of any pyrophoric organometallic precursors. The modified CdSe/CdS QDs are brighter and more stable against photobleaching in comparison with organic fluorophores. At pH 7.0, the fluorescence signal of CdSe/CdS is enhanced by increasing the concentration of BSA in the range of 0.1-10 μg/mL, and the low detection limit is 0.06 μg/mL. A linear relationship between the enhanced fluorescence peak intensity （△F） and BSA concentration （c） is established using equation △F=50.7c＋16.4 （R=0.996 36）. Results of determination for BSA in three synthetic samples are identical with the true values, and the recovery （98.9%-102.4%） and relative standard deviation （RSD, 1.8%-2.5%） are satisfactory.
基金Projects(60775049,60805033) supported by National Natural Science Foundation of ChinaProject(2007AA704317) supported by the National High Technology Research and Development Program of China
文摘Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.
