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This paper focused on the dynamic Jcobian identification for robot visual feedback control in unstructured environments, there is the robotic manipulator without kinematics model, and the camera without calibration. First, a visual servoing scheme based on Kalman filtering (KF) to model-independent robotic manipulation is proposed. The Jacobian identification were solved by formatted as state estimation problems, the desired Jacobian is optimal estimated under minimum-variance condition to achieves robotic precise converge to the desired pose. Our method, without requiring modeling parameters, thus this avoids the corrupted performances cause by calibration errors. To demonstrate the performance of proposed scheme, the experimental results have been presented using eye-in-hand configurations.

The earthquake emergency ability of counties is directly related to the successful or not for the whole earthquake emergency response (abbr. EER) of China. Based on the field survey of EER ability of counties after Wen Chuan earthquake, this paper firstly analyzes the definition of EER ability from the two layers of the absolute and relative EER ability of counties. Then deconstructs the evaluation index system of the absolute EER ability of counties and the comprehensive assessment method of the two EER abilities. Finally, taking Sichuan province for example assesses EER ability of Sichuans counties. This method will help to quantificationally assess the EER ability of counties, which will not only strengthen their abilities, but also help the high-level government to give more scientific decision-making for the configuration of its limited EER resources.

KDP crystals were rapidly grown from point seeds by temperature reduction method. White-beam synchrotron radiation X-ray topography was used to study the growth imperfections in KDP crystals. Strong dislocation bunches originate on the prismatic faces of the seed were found. The producing reason of these dislocation bunches was discussed. Sector boundary between the prismatic sector and pyramid sector caused by the unbalance distribution of trivalent metal ions were also observed and analyzed.