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    Manipulation of branching graphic structures using inverse kinematics
    1.
    发明授权
    Manipulation of branching graphic structures using inverse kinematics 失效
    使用逆运动学处理分支图形结构

    公开(公告)号：US5889528A

    公开(公告)日：1999-03-30

    申请号：US690115

    申请日：1996-07-31

    申请人： Jianmin Zhao

    发明人： Jianmin Zhao

    IPC分类号： G06T13/40 ,  G06T3/00

    CPC分类号： G06T13/40

    摘要： A graphic structure having a root block with a root, and at least two branch blocks each with an end effector, is manipulated from an initial configuration towards a goal configuration. The manipulation derives, in a succession of iterations, an update configuration positioning the end effectors closer to corresponding goal positions than in a prior configuration, and in one iteration, derives an update configuration by reducing the effect of a root block on an end effector of a branch block.

    摘要翻译： 具有根的根块和具有末端执行器的至少两个分支块的图形结构从初始配置被操纵到目标配置。 该操作在一系列迭代中导出更新配置，使得末端效应器定位于比先前配置更靠近相应目标位置，并且在一次迭代中，通过减少根块对最终执行器的影响来导出更新配置 一个分支块。

    Manipulation of graphic structures
    7.
    发明授权
    Manipulation of graphic structures 失效
    操纵图形结构

    公开(公告)号：US6025852A

    公开(公告)日：2000-02-15

    申请号：US653671

    申请日：1996-05-24

    申请人： Jianmin Zhao

    发明人： Jianmin Zhao

    IPC分类号： G06T13/20 ,  G06F17/50

    CPC分类号： G06T13/20

    摘要： Manipulation of a graphic structure having a root, a joint and an end effector to a configuration positioning the structure's end effector at a goal position is aided by determining characteristic configurations for the structure having different distances between the root and the end effector. The characteristic configurations form the basis of a transition function mapping goal distances between the root and goal positions to intermediate configurations, with the intermediate configurations having end effector distances (between the root and end effector) equal to the corresponding goal distances. The intermediate configuration may be reoriented to a final configuration positioning the end effector at the goal position.

    摘要翻译： 通过确定具有根和端部执行器之间的不同距离的结构的特征构造来帮助具有根，接头和端部执行器的图形结构的操纵，以将结构的末端执行器定位在目标位置。 特征配置形成了将根和目标位置之间的目标距离映射到中间配置的过渡函数的基础，中间配置具有等于相应目标距离的末端执行器距离（在根和末端执行器之间）。 中间构造可以被重新定向到将末端执行器定位在目标位置处的最终构造。

    Binary ferrihydrite catalysts
    8.
    发明授权
    Binary ferrihydrite catalysts 失效
    二元铁水合物催化剂

    公开(公告)号：US5580839A

    公开(公告)日：1996-12-03

    申请号：US315456

    申请日：1994-09-30

    申请人： Gerald P. Huffman ,  Jianmin Zhao ,  Zhen Feng

    发明人： Gerald P. Huffman ,  Jianmin Zhao ,  Zhen Feng

    IPC分类号： B01J23/745 ,  B01J37/03 ,  C10G1/08

    CPC分类号： B01J23/745 ,  B01J37/03 ,  C10G1/086

    摘要： A method of preparing a catalyst precursor comprises dissolving an iron salt and a salt of an oxoanion forming agent, in water so that a solution of the iron salt and oxoanion forming agent salt has a ratio of oxoanion/Fe of between 0.0001:1 to 0.5:1. Next is increasing the pH of the solution to 10 by adding a strong base followed by collecting of precipitate having a binary ferrihydrite structure. A binary ferrihydrite catalyst precursor is also prepared by dissolving an iron salt in water. The solution is brought to a pH of substantially 10 to obtain ferrihydrite precipitate. The precipitate is then filtered and washed with distilled water and subsequently admixed with a hydroxy carboxylic acid solution. The admixture is mixed/agitated and the binary ferrihydrite precipitate is then filtered and recovered.

    摘要翻译： 制备催化剂前体的方法包括将铁盐和含氧阴离子形成剂的盐溶解在水中，使得铁盐和氧代阴离子形成剂盐的溶液具有0.0001:1至0.5的氧阴离子/ Fe的比例 ：1。 接下来通过加入强碱，然后收集具有二元铁水晶结构的沉淀物将溶液的pH值提高到10。 还可以通过将铁盐溶解在水中制备二元铁水合物催化剂前体。 使溶液达到基本上为10的pH以获得铁水晶沉淀。 然后将沉淀物过滤并用蒸馏水洗涤，随后与羟基羧酸溶液混合。 将混合物混合/搅拌，然后过滤并回收二元铁水晶沉淀物。