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Hand-eye calibration with a new linear decomposition algorithm

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2008年第10期9卷 1363-1368页

作者： rong-hua liang Jian-fei MAO College of Information Engineering Zhejiang University of Technology Hangzhou 310032 China

To solve the homogeneous transformation equation of the form AX=XB in hand-eye calibration, where X represents an unknown transformation from the camera to the robot hand, and A and B denote the known movement transformations associated with the robot hand and the camera, respectively, this paper introduces a new linear decomposition algorithm which consists of singular value decomposition followed by the estimation of the optimal rotation matrix and the least squares equation to solve the rotation matrix of X. Without the requirements of traditional methods that A and B be rigid transformations with the same rotation angle, it enables the extension to non-rigid transformations for A and B. The details of our method are given, together with a short discussion of experimental results, showing that more precision and robustness can be achieved.

关键词： Homogeneous transformation equation Singular value decomposition (SVD) Optimal rotation matrix Rigid transformations

A New Subspace Correction Method for Nonlinear Unconstrained Convex Optimization Problems

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Acta Mathematicae Applicatae Sinica 2012年第4期28卷 745-756页

作者： rong-liang CHEN Jin-ping ZENG College of Mathematics and Econometrics Hunan University College of Computer Dongguan University of Technology

This paper gives a new subspace correction algorithm for nonlinear unconstrained convex optimization problems based on the multigrid approach proposed by S. Nash in 2000 and the subspace correction algorithm proposed by X. Tai and J. Xu in 2001. Under some reasonable assumptions, we obtain the convergence as well as a convergence rate estimate for the algorithm. Numerical results show that the algorithm is effective.

关键词： nonlinear optimization convergence subspace correction method

POLYMER NETWORKS BY MOLECULAR DYNAMICS SIMULATION: FORMATION, THERMAL, STRUCTURAL AND MECHANICAL PROPERTIES

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Chinese Journal of Polymer Science 2013年第1期31卷 21-38页

作者： rong-liang Wu Ting Li Erik Nies Division of Polymer Chemistry and Materials Department of ChemistryThe Leuven Mathematical Modeling and Computational Science Centre (LMCC) and The Leuven Materials Research Centre (LMRC)Katholieke Universiteit Leuven

A molecular dynamics simulation method is presented and used in the study of the formation of polymer networks. We study the formation of networks representing the methylene repeating units as united atoms. The network formation is accomplished by cross-linking polymer chains with dedicated functional end groups. The simulations reveal that during the cross-linking process, initially branched molecules are formed before the gel point; approaching the gel point, larger branched entities are formed through integration of smaller branched molecules, and at the gel point a network spanning the simulation box is obtained; beyond the gel point the network continues to grow through the addition of the remaining molecules of the sol phase onto the gel （the network）; the final completion of the reaction occurs by intra-network connection of dangling ends onto unsaturated cross-linkers. The conformational properties of the strands in the undeformed network are found to be very similar with the conformational properties of the chains before cross-linking. The uniaxial deformation of the formed networks is investigated and the modulus determined from the stress-strain curves shows reciprocal scaling with the precursor chain length for networks formed from sufficiently large precursor chains （N≥ 20）.

关键词： Crosslinking Polymer network Network topology Molecular dynamics Mechanical properties.

Intermittent Fault Diagnosability of Interconnection Networks

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Journal of Computer Science & Technology 2017年第6期32卷 1279-1287页

作者： Jia-rong liang Hao Feng Xiaojiang Du School of Computer and Electronic Information Guangxi University Nanning 530004 China Department of Computer and Information Sciences Temple University Philadelphia PA 19122 U.S.A.

An interconnection network＇s diagnosability is an important metric for measuring its self-diagnostic capability. Permanent fault and intermittent fault are two different fault models that exist in an interconnection network. In this paper, we focus on the problem pertaining to the diagnosability of interconnection networks in an intermittent fault situation. First, we study a class of interconnection networks called crisp three-cycle networks, in which the Chin-number （the number of common vertices each pair of vertices share） is no more than one. Necessary and sufficient conditions are derived for the diagnosability of crisp three-cycle networks under the PMC （Preparata, Metze, and Chien） model. A simple check can show that many well-known intereonnection networks are crisp three-cycle networks. Second, we prove that an intereonnection network S is a ti-fault diagnosable system without repair if and only if its minimum in-degree is greater than ti under the BGM （Barsi, Grandoni, and Masetrini） model. Finally, we extend the necessary and sufficient conditions to determine whether an interconnection network S is ti-fault diagnosable without repair under the MM （Maeng and Malek） model from the permanent fault situation to the intermittent fault situation.

关键词： diagnosability intermittent fault PMC(Preparata,Metze,and Chien)model BGM(Barsi,Grandoni,and Masetrini)model MM(Maeng and Malek)model

Cultivable Microfungal Communities Inhabiting Biological Soil Crusts in the Tengger Desert, China

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Pedosphere 2015年第3期25卷 351-363页

作者： Isabella GRISHKAN JIA rong-liang Giora J.KIDRON LI Xin-rong Institute of Evolution University of Haifa Shapotou Desert Research and Experiment Station Cold and Arid Regions Environmental and Engineering Research InstituteChinese Academy of Sciences Institute of Earth Sciences The Hebrew University of JerusalemGivat Ram Campus

Biological soil crusts are essential components of arid ecosystems. We examined the variations in microfungal communities inhabiting different biological crust types in the vicinity of the Shapotou Research Station in the Tengger Desert, China. A total of 134 species from 66 genera were isolated using the soil dilution plate method. The mycobiota of the crusts from the Tengger Desert, similar to that of the Negev Desert in Israel, was dominated by melanin-containing species with large multicellular spores. Abundance of these xeric species increased spatially with increasing xeric conditions from moss-dominated to cyanobacterial crusts. Density of microfungal isolates displayed the opposite trend and was positively correlated with chlorophyll content, indicating the possible significant influence of organic matter content and wetness duration on fungal biomass. Within a chronosequence of the localities of different periods after sand stabilization with revegetation, little variations were revealed in species composition and isolate density of the crust microfungal communities, while a tendency towards a decrease in the community diversity level with the crust age was noted Microfungal communities from stabilized localities differed from those of the natural localities in abundance of the dominant and some frequent species, and in the fluctuations of diversity characteristics between the cyanobacterial and moss-dominated crusts. The variations in mycobiotie parameters in the soil crusts of the Tengger Desert were apparently associated with the topographically induced variations in abiotic conditions, while the differences in microfungal community of soil crusts between the Tengger and Negev deserts, such as the significantly higher abundance of thermotolerant species in the crusts of the Tengger Deserts, were caused by the principal differences in their precipitation regimes, associated with different rainy seasons, winter and summer in the Negev and Tengger deserts,

关键词： chlorophyll content community structure fungal diversity precipitation regimes revegetation sand stabilization wetness duration

Osmotic Adjustment of Soil Biocrust Mosses in Response to Desiccation Stress

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Pedosphere 2015年第3期25卷 459-467页

作者： ZHAO Xin SHI Yong LIU Yang JIA rong-liang LI Xin-rong Key Laboratory of Stress Physiology and Ecology Shapotou Desert Research and Experiment Station Cold and Arid Regions Environmental and Engineering Research InstituteChinese Academy of Sciences

Biological soil crusts(biocrusts) widely occur in semiarid and arid regions throughout the world and play important roles in many desert ecosystems: protecting soil from wind erosion and detaining nutrient-rich dust and organic carbon. An experiment was conducted in the Shapotou revegetated area of the Tengger Desert, Ningxia Hui Autonomous Region of China to investigate the physiological responses of the dominant biocrust mosses, Bryum argenteum and Didymodon vinealis, to desiccant stress using different osmotic adjustments. B. argenteum and D. vinealis accumulated K+, total soluble sugar, sucrose, trehalose, proline, and glycine betaine during desiccation. The proline content of B. argenteum was about two times higher than that of D. vinealis. The K+and glycine betaine contents in B. argenteum were slightly higher than those in D. vinealis. In contrast, the total soluble sugar, sucrose,and trehalose contents in D. vinealis were about 3 to 5 times higher than those in B. argenteum. With gradual desiccation stress,the Na+content of B. argenteum was low and did not significantly change. On the contrary, the Na+content of D. vinealis sharply increased and reached a very high level of about 10 to 18 times higher than that of B. argenteum, indicating that B. argenteum and D. vinealis gradually adapted to desiccation stress by osmotic substances accumulation to different degrees.

关键词： biological soil crusts Bryum argenteum compatible solute Didymodon vinealis drought stress

Myocardial ischemic changes of electrocardiogram in intracerebral hemorrhage: A case report and review of literature

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World Journal of Clinical Cases 2019年第21期7卷 3603-3614页

作者： Xue-Qi Lin liang-rong Zheng Department of Cardiovascular The First Affiliated Hospital of Zhejiang University

BACKGROUND Cardiac injury may occur after acute pathology of central nervous system(CNS)without any evidence of primary cardiac *** resulting structural and/or functional changes are called cerebrocardiac syndrome(CCS).The great majority of studies have been performed in patients with subarachnoid hemorrhage(SAH),while CCS data after intracerebral hemorrhage(ICH)are *** may cause diagnostic and therapeutic pitfalls for the clinician due to a lack of specific clinical manifestations and diagnostic *** the underlying pathophysiological and molecular mechanism(s)following cerebrovascular incidents will help to implement prevention and treatment strategies to improve the *** SUMMARY A 37-year-old man with a history of hypertension presented to our department on an emergency basis because of a sudden dizziness and left limb *** computed tomography(CT)suggested ICH in the occipital and parietal lobes,and the chosen emergency treatment was hematoma *** ventricular(LV)dysfunction occurred after the next 48 h and the electrocardiogram(ECG)showed non-ST elevation myocardial *** was suspected first in the context of ICH due to the negative result of the coronary CT *** Misinterpretation of ischemic-like ECGs may lead to unnecessary or hazardous interventions and cause undue delay of rehabilitation after *** objective is to highlight the clinical implications of CCS and we hope the differential diagnoses will be considered in patients with acute CNS diseases.

关键词： Stroke Intracerebral hemorrhage Cerebrocardiac syndrome Cardiac insufficiency Non-ST elevation myocardial infraction Case report Neurogenic stunned myocardium

Potentiometric sensor for sensitive and selective detection of heparin

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Chinese Chemical Letters 2012年第2期23卷 233-236页

作者： Yan Chen rong Ning liang Wei Qin CAS and Shandong Provincial Key Laboratory of Coastal Zone Environmental Processes Yantai Institute of Coastal Zone Research Chinese Academy of Sciences Yantai 264003 China Graduate University of the Chinese Academy of Sciences Beijing 100049 China

A polymeric membrane ion-selective electrode for determination of heparin is described in this *** is incorporated into the organic membrane phase and functions as sensing element for selective recognition of *** proposed membrane electrode exhibits high selectivity for heparin over lipophilic anions such as thiocyanide and *** potentiometric response to the concentration of heparin is Unear in the range of 0.01-0.4 U/mL and a lower detection limit of 0.005 U/mL can be achieved.

关键词： Potentiometry Sensing element Heparin Protamine Polyion sensor

A theoretical study of the influence of dopants on the dehydrogenation properties of VH_2

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Science China Chemistry 2011年第9期54卷 1510-1517页

作者： LI rong LUO XiaoLing liang GuoMing FU WenSheng College of Chemistry Chongqing Normal University Chongqing 400047 China

Using the plane wave ultrasoft pseudopotential method based on the first-principles density functional theory(DFT),the influence on the electronic structure and dehydrogenation properties of VH2 doped with Zr,Cu and Zn has been *** results show that the negative heat of formation increases and the valence electron number at the Fermi level EF,N(EF) decreases in the Zr-doped model,indicating the higher stability of VH2 after Zr *** the other hand,the negative heat of formation of VH2 decreases and the N(EF) increases in Cu-or Zn-doped systems,suggesting the lower stability of VH2 after Cu or Zn *** calculated overlap populations and electron densities of the V-H bond demonstrate that the bonding is strengthened by Zr doping and weakened by Cu or Zn *** results predict that the maximum capacity to absorb and desorb hydrogen can be raised by the introduction of Zr and reduced by the introduction of Cu or Zn,while the dehydrogenation properties will be poorer in Zr-doped systems and enhanced in Cu-or Zn-doped *** predictions are consistent with the experimental *** populations were also calculated and it was found that the Mulliken population of the V 3d orbitals decreased as a result of Zr doping,and increased after Cu or Zn doping.

关键词： element-doped electronic structure dehydrogenation properties first principles calculation