A Self-calibration Bundle Adjustment Algorithm Based on Block Matrix Cholesky Decomposition Technology

In this study,the problem of bundle adjustment was revisited,and a novel algorithm based on block matrix Cholesky decomposition was proposed to solve the thorny problem of self-calibration bundle adjustment.The innovation points are reflected in the following aspects:①The proposed algorithm is not dependent on the Schur complement,and the calculation process is simple and clear;②The complexities of time and space tend to O(n)in the context of world point number is far greater than that of images and cameras,so the calculation magnitude and memory consumption can be reduced significantly;③The proposed algorithm can carry out self-calibration bundle adjustment in single-camera,multi-camera,and variable-camera modes;④Some measures are employed to improve the optimization effects.Experimental tests showed that the proposed algorithm has the ability to achieve state-of-the-art performance in accuracy and robustness,and it has a strong adaptability as well,because the optimized results are accurate and robust even if the initial values have large deviations from the truth.This study could provide theoretical guidance and technical support for the image-based positioning and 3D reconstruction in the fields of photogrammetry,computer vision and robotics.

A novel rapid cooling assembly design in a high-pressure cubic press apparatus

In traditional high-pressure–temperature assembly design, priority has been given to temperature insulation and retention at high pressures.This limits the efficiency of cooling of samples at the end of experiments, with a negative impact on many studies in high-pressure Earth andplanetary science. Inefficient cooling of experiments containing molten phases at high temperature leads to the formation of quench textures,which makes it impossible to quantify key compositional parameters of the original molten phase, such as their volatile contents. Here,we present a new low-cost experimental assembly for rapid cooling in a six-anvil cubic press. This assembly not only retains high heatingefficiency and thermal insulation, but also enables a very high cooling rate (∼600 ℃/s from 1900 ℃ to the glass transition temperature).Without using expensive materials or external modification of the press, the cooling rate in an assembly (∼600 ℃/s) with cube lengths of38.5 mm is about ten times faster than that in the traditional assembly (∼60 ℃/s). Experiments yielding inhomogeneous quenched melttextures when the traditional assembly is used are shown to yield homogeneous silicate glass without quench textures when the rapid coolingassembly is used.

Analysis of strength characteristics of loess before and after freezing using a hollow cylinder torsional shear apparatus

This paper aims to comprehensively analyze the influence of the principal stress angle rotation and intermediate principal stress on loess's strength and deformation characteristics.A hollow cylinder torsional shear apparatus was utilized to conduct tests on remolded samples under both normal and frozen conditions to investigate the mechanical properties and deformation behavior of loess under complex stress conditions.The results indicate significant differences in the internal changes of soil particles,unfrozen water,and relative positions in soil samples under normal and frozen conditions,leading to noticeable variations in strength and strain development.In frozen state,loess experiences primarily compressive failure with a slow growth of cracks,while at normal temperature,it predominantly exhibits shear failure.With the increase in the principal stress angle,the deformation patterns of the soil samples under different conditions become essentially consistent,gradually transitioning from compression to extension,accompanied by a reduction in axial strength.The gradual increase in the principal stress axis angle(α)reduces the strength of the generalized shear stress and shear strain curves.Under an increasingα,frozen soil exhibits strain-hardening characteristics,with the maximum shear strength occurring atα¼45.The intermediate principal stress coefficient(b)also significantly impacts the strength of frozen soil,with an increasing b resulting in a gradual decrease in generalized shear stress strength.This study provides a reference for comprehensively exploring the mechanical properties of soil under traffic load and a reliable theoretical basis for the design and maintenance of roadbeds.

Self-calibration and Compensation of Setting Errors for Surface Profile Measurement of a Microstructured Roll Workpiece

Microstructured roll workpieces have been widely used as functional components in the precision industries. Current researches on quality control have focused on surface profile measurement of microstructured roll workpieces, and types of measurement systems and measurement methods have been developed. However, low measurement efficiency and low measurement accuracy caused by setting errors are the common disadvantages for surface profile measurement of microstructured roll workpieces. In order to shorten the measurement time and enhance the measurement accuracy, a method for self-calibration and compensation of setting errors is proposed for surface profile measurement of microstructured roll workpieces. A measurement system is constructed for the measurement, in which a precision spindle is employed to rotate the roll workpiece and an air-bearing displacement sensor with a micro-stylus probe is employed to scan the microstructured surface of the roll workpiece. The resolution of the displacement sensor is 0.14 nm and that of the rotary encoder of the spindle was 0.15r~. Geometrical and mathematical models are established for analyzing the influences of the setting errors of the roll workpiece and the displacement sensor with respect to the axis of the spindle, including the eccentric error of the roll workpiece, the offset error of the sensor axis and the zero point error of the sensor output. Measurement experiments are carded out on a roll workpiece on which periodic microstructures are a period of 133 i^m along the circumferential direction. Experimental results demonstrate the feasibility of the self-compensation method. The proposed method can be used to detect and compensate the setting errors without using any additional accurate artifact.

Integration of Tracer Test Data to Refine Geostatistical Hydraulic Conductivity Fields Using Sequential Self-Calibration Method

On the basis of local measurements of hydraulic conductivity, geostatistical methods have been found to be useful in heterogeneity characterization of a hydraulic conductivity field on a regional scale. However, the methods are not suited to directly integrate dynamic production data, such as, hydraulic head and solute concentration, into the study of conductivity distribution. These data, which record the flow and transport processes in the medium, are closely related to the spatial distribution of hydraulic conductivity. In this study, a three-dimensional gradient-based inverse method--the sequential self-calibration （SSC） method--is developed to calibrate a hydraulic conductivity field, initially generated by a geostatistical simulation method, conditioned on tracer test results. The SSC method can honor both local hydraulic conductivity measurements and tracer test data. The mismatch between the simulated hydraulic conductivity field and the reference true one, measured by its mean square error （MSE）, is reduced through the SSC conditional study. In comparison with the unconditional results, the SSC conditional study creates the mean breakthrough curve much closer to the reference true curve, and significantly reduces the prediction uncertainty of the solute transport in the observed locations. Further, the reduction of uncertainty is spatially dependent, which indicates that good locations, geological structure, and boundary conditions will affect the efficiency of the SSC study results.

Camera Self-Calibration in Computer Vision with Precise Estimation of Initial Parameters

A key problem that plagues camera self-calibration, namely that the classical self-calibration algorithms are very sensitive to the initial values of the camera intrinsic parameters, is analyzed and a practical solution is provided. The effect of the camera intrinsic parameters, mainly the principal point and the skew factor is first discussed. Then a practical method via a controlled motion of the camera is introduced so as to obtain an accurate estimation of these parameters. Feasibility of this approach is illustrated by carrying out comprehensive experiments using synthetic data as well as real image sequences. Unreasonable initial values can often make self-calibration impossible, yet a precise initialization guarantees a better and successful reconstruction. Trying to obtain a more reasonable initialization is worthwhile the effort in camera self-calibration.

An improved self-calibration approach based on adaptive genetic algorithm for position-based visual servo

An improved self-calibrating algorithm for visual servo based on adaptive genetic algorithm is proposed in this paper. Our approach introduces an extension of Mendonca-Cipolla and G. Chesi＇s self-calibration for the positionbased visual servo technique which exploits the singular value property of the essential matrix. Specifically, a suitable dynamic online cost function is generated according to the property of the three singular values. The visual servo process is carried out simultaneous to the dynamic self-calibration, and then the cost function is minimized using the adaptive genetic algorithm instead of the gradient descent method in G. Chesi＇s approach. Moreover, this method overcomes the limitation that the initial parameters must be selected close to the true value, which is not constant in many cases. It is not necessary to know exactly the camera intrinsic parameters when using our approach, instead, coarse coding bounds of the five parameters are enough for the algorithm, which can be done once and for all off-line. Besides, this algorithm does not require knowledge of the 3D model of the object. Simulation experiments are carried out and the results demonstrate that the proposed approach provides a fast convergence speed and robustness against unpredictable perturbations of camera parameters, and it is an effective and efficient visual servo algorithm.

NOVEL METHOD FOR ERROR ANALYSIS AND SELF-CALIBRATION OF LASER TRACKING MIRROR MECHANISM

Laser tracking system （LTS） is an advanced device for large size 3D coordinates measuring with the advantages of broad range, high speed and high accuracy. However, its measuring accuracy is highly dominated by the geometric errors of the tracking mirror mechanism. Proper calibration of LTS is essential prior to the use of it for metrology. A kinematics model that describes not only the motion but also the geometric variations of LTS is developed. Through error analysis of the proposed model, it is claimed that gimbals axis misalignments and tracking mirror center off-set are the key contributors to measuring errors of LTS. A self-calibration method is presented of calibrating LTS with planar constraints. Various calibration strategies utilizing single-plane and multiple-plane constraints are proposed for different situations. For each calibration strategy, issues about the error parameter estimation of LTS are exploded to find out in which conditions these parameters can be uniquely estimated. Moreover, these conditions reveal the applicability of the planar constraints to LTS self-calibration. Intensive studies have been made to check validity of the theoretical results. The results show that the measuring accuracy of LTS has increased by 5 times since this technique for calibration is used.

Self-calibration and algorithm of sample set of piezoresistive pressure sensors

Aiming at piezoresistive pressure sensors, this paper studies simulation of standard pressure by using benchmark current source and self-calibration of the sampling data characteristics. A data fusion algorithm for sample set is presented which transforms a surface problem into a curve fitting and interpolation problem. The simulation result shows that benchmark current source simulating pressure is successful and data fusion algorithm is effective. The maximum measurement error is only 0.098 kPa and maximum relative error is 0.92% at 0-45 kPa and -10-45~C.

An extraordinary multielement apparatus of conodont Nicoraella from the Middle Triassic Luoping Biota,southwest China

Conodont animal is an extinct group of marine animals.The conodont elements and their hard skeletal remains are originally from the head region of this kind of animal,and they are considered to be functioned as“teeth”.The“multielement apparatus”can also be called the“(conodont)apparatus”,“multimembrate(skeletal)apparatus”.

A rigid true triaxial apparatus for analyses of deformation and failure features of deep weak rock under excavation stress paths

The squeezing scenario in deep weak rock tunnels can hinder underground construction.However,due to the limitations of test technologies at hand,the real excavation stress path cannot be mimicked in the laboratory.Thus,the large deformation mechanism of deep weak rocks still remains unclear.For this,a true triaxial apparatus(TTA)to investigate the mechanical responses of deep weak rock under excavation stress paths in field and reveal the squeezing mechanism of deep tunnels is assembled and developed at Northeastern University,China.The apparatus can perform instantaneous unloading in s3 direction based on electromagnetism technology.In addition,uniform loading and deformation measurements can be carried out based on the proposed linked interlocking clamp and antifriction device,even if the sample has a strong dilatation deformation performance.Next,a bore trepanning is designed to capture noiseless acoustic emission(AE)signals for deep weak rock at a low threshold.Finally,two tests were are conducted using this instrument to preliminarily understand the failure and deformation features of deep weak rock based on fractured marble.The results show that the complete stressestrain curves of fractured marble have the characteristics of low strengths and large deformations,and the larger deformation and the more serious failure occur when the fractured marble enters the post-peak state after excavation.The results show that the developed apparatus is likely to be applicable for deep weak rock engineering.

Small but big leaps towards neuroglycomics:exploring N-glycome in the brain to advance the understanding of brain development and function

Glycosylation is a process that involves the addition of sugar moieties or glycans to different types of molecules,including proteins,lipids,and nucleic acids.Among these,protein glycosylation is one of the most prevalent forms of post-translational modification,playing a crucial role in biological complexity.With more than ten monosaccharides identified within mammalian brain cells and more than 1×1012 possible combinations,the heterogeneity of glycosylation is extensive(Conroy et al.,2021).The diversity of glycans and the complexity of their structures allow for a wide range of protein functions.N-glycans are one of the most abundant forms of glycans and are involved in various cellular functions.N-glycans can be added to proteins at specific sequons,Asn-X-Ser/Thr,and are classified into three main types in mature glycoproteins:high mannose,complex,and hybrid.High mannose N-glycans consist of 5-9 mannose residues linked to a chitobiose core and undergo processing into complex or hybrid forms in the Golgi apparatus(Varki et al.,2017).Complex N-glycans are more diverse and contain various branched structures such as antennae with fucose,galactose,and sialic acid residues.Hybrid N-glycans contain one or more complex branches in conjunction with an oligomannose branch(Fisher and Ungar,2016).Understanding the specific functions of these different types of N-glycans in protein regulation,folding,and function is an active area of research in the life sciences,including glycobiology.

A rotary-shear low to high-velocity friction apparatus in Beijing to study rock friction at plate to seismic slip rates

This paper reviews 19 apparatuses having highvelocity capabilities,describes a rotary-shear low to highvelocity friction apparatus installed at Institute of Geology,China Earthquake Administration,and reports results from velocity-jump tests on Pingxi fault gouge to illustrate technical problems in conducting velocity-stepping tests at high velocities.The apparatus is capable of producing plate to seismic velocities（44 mm/a to 2.1 m/s for specimens of 40 mm in diameter）,using a 22 kW servomotor with a gear/belt system having three velocity ranges.A speed range can be changed by 103 or 106by using five electromagnetic clutches without stopping the motor.Two cam clutches allow fivefold velocity steps,and the motor speed can be increased from zero to 1,500 rpm in 0.1-0.2 s by changing the controlling voltage.A unique feature of the apparatus is a large specimen chamber where different specimen assemblies can be installed easily.In addition to a standard specimen assembly for friction experiments,two pressure vessels were made for pore pressures to 70 MPa;one at room temperature and the other at temperatures to 500 °C.Velocity step tests are needed to see if the framework of rate-and-state friction is applicable or not at high velocities.We report results from velocity jump tests from 1.4 mm/s to 1.4 m/s on yellowish gouge from a Pingxi fault zone,located at the northeastern part of the Longmenshan fault system that caused the 2008 Wenchuan earthquake.An instantaneous increase in friction followed by dramatic slip weakening was observed for the yellowish gouge with smooth sliding surfaces of host rock,but no instantaneous response was recognized for the same gouge with roughened sliding surfaces.Instantaneous and transient frictional properties upon velocity steps cannot be separated easily at high velocities,and technical improvements for velocity step tests are suggested.

Recent advances of high-pressure generation in a multianvil apparatus using sintered diamond anvils

The tried and tested multianvil apparatus has been widely used for high-pressure and hightemperature experimental studies in Earth science. As a result, many important results have been obtained for a better understanding of the components, structure and evolution of the Earth. Due to the strength limi- tation of materials, the attainable multianvil pressure is generally limited to about 30 GPa （corresponding to about 900 km of the depth in the Earth） when tungsten carbide cubes are adopted as second-stage anvils. Compared with tungsten carbide, the sintered diamond is a much harder material. The sintered diamond cubes were introduced as second-stage anvils in a 6--8 type multianvil apparatus in the 1980s, which largely enhanced the capacity of pressure generation in a large volume press. With the development of material synthesis and processing techniques, a large sintered diamond cube （14 ram） is now available. Recently, maximum attainable pressures reaching higher than 90 GPa （corresponding to about 2700 km of the depth in the Earth） have been generated at room temperature by adopting 14-mm sintered diamond anvils. Using this technique, a few researches have been carried out by the quenched method or combined with synchrotron radiation in situ observation. In this paper we review the properties of sintered diamond and the evolu- tion of pressure generation using sintered diamond anvils. As-yet unsolved problems and perspectives for uses in Earth Science are also discussed.

Effects of Acetylsalicylic Acid and Calcium Chloride on Photosynthetic Apparatus and Reactive Oxygen-Scavenging Enzymes in Chrysanthemum Under Low Temperature Stress with Low Light

The effects of acetylsalicylic acid （ASA）, CaCl2, and ASA ＋ CaCl2 on the photosynthetic apparatus and antioxidant enzyme activities were investigated in chrysanthemum Jinba （a cut flower cultivar） under low temperature stress with low light （TL stress） （16/12℃, day/night, PFD 100 μmol m^-2 s-1）. The results showed that under TL stress, the net photosynthesis rate （Pn）, carboxylation efficiency （CE）, apparent quantum yield （AQY）, maximal photochemical efficiency （Fv/Fm） of PSII, quantum yield of PSII electron transport （ФPSII）, and photochemical quenching （qP） of the chrysanthemum leaves in all treatments were significantly decreased, but the decreases were alleviated by ASA, CaCl2, and ASA ＋ CaCl2 treatments compared with the controls. The alleviating effect of ASA ＋ CaCI2 was better than either ASA or CaCl2 single treatment. Moreover, the ASA ＋ CaCl2 treatment highly improved the chlorophyll content, relatively improved the number and size of chloroplast and starch grain in the leaves of chrysanthemum plants compared with ASA and CaCl2 treatments. It was indicated that ASA and/or CaCI2 could regulate the photosynthetic functions in the leaves of chrysanthemum plants to enhance the resistance against TL stress. On the other hand, reduction in relative conductance rate implied that ASA and/ or CaCl2 could protect from membrane injury in leaves of chrysanthemum plants. The activities of SOD, POD, and CAT in the treated leaves of chrysanthemum were increased as compared with the controls. It was suggested that ASA and/or CaCl2 had positive regulation effects on the defence enzyme activities in chrysanthemum leaves which could protect the photosynthetic apparatus to a certain degree under the TL stress. In brief, the treatment of ASA together with CaCl2 was better for chrysanthemum plants to adapt TL stress than single ASA or CaCl2 treatments.

Morphology of platelet Golgi apparatus and their significance after acute cerebral infarction

Blood samples were harvested from the antecubital vein of 20 fasting patients with acute cerebral infarction at 1, 7 and 15 days after onset to prepare blood platelet suspension. Fasting antecubital vein blood was collected from an additional 20 normal adults as controls. Under transmission elec- tron microscope, platelet Golgi tubules and vesicles became significantly thickened, enlarged, and irregular after acute cerebral infarction. Alpha granules in platelets significantly reduced in number, especially 1 day after cerebral infarction. Under immunoelectron microscopy, a few alpha granules aggregated around Golgi tubules and vesicles after infarction. These results suggested that platelet Golgi apparatus displayed significant morphological changes, which were possibly associated with enhanced synthetic and secretory functions of activated platelets after acute cerebral infarction. This study used Golgi apparatus blocking agent Brefeldin A to block Golgi apparatus in an aim to study the effects of Golgi apparatus on CD40L expression on the surface of activated platelets. Flow cytometry revealed that CD40L expression on activated platelet surfaces decreased significantly when Golgi apparatus was blocked, which indicated that Golgi apparatus participated in the syn- thesis and transport of CD40L to the platelet surface.

The sampling apparatus of volatile organic compounds for wood composites

Terpenes, aldehydes, ketones, benzene, and toluene are the important volatileorganic compounds (VOCs) emitted from wood composites. A sampling apparatus of VOCs for woodcomposites was designed and manufactured by Northeast Forestry University in China. Theconcentration of VOCs derived from wood based materials, such as flooring, panel wall, finishing,and furniture can be sampled in a small stainless steel chambers. A protocol is also developed inthis study to sample and measure the new and representative specimens. Preliminary research showedthat the properties of the equipment have good stability. The sort and the amount of differentcomponents can be detected from it. The apparatus is practicable.

SIMULATION TEST APPARATUS FOR MARINE CORROSION

This paper describes the setup and working mechanism of a simulation test apparatus for marine corrosion. Experimental results showed the apparatus can basically reflect the corrosion behavior of steel in various marine environments, and is simple, convenient, and reliable for testing steel used for marine engineering.

A data complementary method for thunderstorm point charge localization based on atmospheric electric field apparatus array group

Data loss or distortion causes adverse effects on the accuracy and stability of the thunderstorm point charge localization.To solve this problem,we propose a data complementary method based on the atmospheric electric field apparatus array group.The electric field component measurement model of the atmospheric electric field apparatus is established,and the orientation parameters of the thunderstorm point charge are defined.Based on the mirror method,the thunderstorm point charge coordinates are obtained by using the potential distribution formulas.To test the validity of the basic algorithm,the electric field component measurement error and the localization accuracy are studied.Besides the azimuth angle and the elevation angle,the localization parameters also include the distance from the apparatus to the thunderstorm cloud.Based on a primary electric field apparatus,we establish the array group of apparatuses.Based on this,the data measured by each apparatus is complementarily processed to regain the thunderstorm point charge position.The results show that,compared with the radar map data,this method can accurately reflect the location of the thunderstorm point charge,and has a better localization effect.Additionally,several observation results during thunderstorm weather have been presented.

A Breakthrough in Pressure Generation by a Kawai-Type Multi-Anvil Apparatus with Tungsten Carbide Anvils

Expansion of the pressure range of Kawai-type multi-anvil presses (KMAPs) with tungsten carbide (WC) anvils is called for, especially in the field of Earth science. However, no significant progress in pressure generation has been made for 40 years. Our recent studies have expanded the pressure generation of a KMAP with WC anvils to 65 GPa, which is the world record for high-pressure generation in this device and is more than 2.5 times higher than conventional pressure generation. We have also successfully generated pressures of about 50 GPa at high temperatures. This work reviews our recently developed technology for high-pressure generation. High-pressure generation at room temperature and at high temperature was attained by integration of the following techniques:① a precisely aligned guideblock system,② a high degree of hardness of the second-stage anvils,③ tapering of the second-stage anvil faces,④ a high-pressure cell consisting of materials with a high bulk modulus, and ⑤ high thermal insulation of the furnace. Our high-pressure technology will facilitate investigation of the phase stability and physical properties of materials under the conditions of the upper part of the lower mantle, and will permit the synthesis and characterization of novel materials.