In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walki...In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walking-chair robot is deduced.Several gaits are realized with the kinematics solution,including walking straight on level floor,going up stair,squatting down and standing up.Zero Moment Point(ZMP)equation is analyzed considering the movement of the crew.The simulated biped walking-chair robot is used for mechanical design,gaits development and validation before they are tested on real robot.展开更多
Sparse bundle adjustment(SBA) is a key but time-and memory-consuming step in three-dimensional(3 D) reconstruction. In this paper, we propose a 3 D point-based distributed SBA algorithm(DSBA) to improve the speed and ...Sparse bundle adjustment(SBA) is a key but time-and memory-consuming step in three-dimensional(3 D) reconstruction. In this paper, we propose a 3 D point-based distributed SBA algorithm(DSBA) to improve the speed and scalability of SBA. The algorithm uses an asynchronously distributed sparse bundle adjustment(A-DSBA)to overlap data communication with equation computation. Compared with the synchronous DSBA mechanism(SDSBA), A-DSBA reduces the running time by 46%. The experimental results on several 3 D reconstruction datasets reveal that our distributed algorithm running on eight nodes is up to five times faster than that of the stand-alone parallel SBA. Furthermore, the speedup of the proposed algorithm(running on eight nodes with 48 cores) is up to41 times that of the serial SBA(running on a single node).展开更多
Nitroxoline is a wide spectrum antibacterial and is one of the most important urinary antiseptics.The interaction between nitroxoline and human serum albumin(HSA)has been investigated systematically by fluorescence sp...Nitroxoline is a wide spectrum antibacterial and is one of the most important urinary antiseptics.The interaction between nitroxoline and human serum albumin(HSA)has been investigated systematically by fluorescence spectroscopy,synchronous fluorescence,three-dimensional fluorescence,CD spectroscopy and UV-Vis absorption spectroscopy.The results indicated that the quenching of HSA by nitroxoline was static.The corresponding thermodynamic parameters △H,△S and △G calculated according to van’t Hoff equation revealed that the intermolecular forces acting between nitroxoline and HSA were mainly hydrogen bonding and van der Waals forces.The conformational changes in the interaction were studied by synchronous fluorescence,CD spectroscopy and three-dimensional fluorescence spectra which showed changes in the microenvironment and conformation of HSA.展开更多
基金The National Natural Science Foundation of China(No.60575049)
文摘In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walking-chair robot is deduced.Several gaits are realized with the kinematics solution,including walking straight on level floor,going up stair,squatting down and standing up.Zero Moment Point(ZMP)equation is analyzed considering the movement of the crew.The simulated biped walking-chair robot is used for mechanical design,gaits development and validation before they are tested on real robot.
基金Project supported by the National Natural Science Foundation of China(Nos.U1435219,U1435222,and 61572515)the National Key R&D Program of China(No.2016YFB0200401)the Major Research Plan of the National Key R&D Program of China(No.2016YFC0901600)
文摘Sparse bundle adjustment(SBA) is a key but time-and memory-consuming step in three-dimensional(3 D) reconstruction. In this paper, we propose a 3 D point-based distributed SBA algorithm(DSBA) to improve the speed and scalability of SBA. The algorithm uses an asynchronously distributed sparse bundle adjustment(A-DSBA)to overlap data communication with equation computation. Compared with the synchronous DSBA mechanism(SDSBA), A-DSBA reduces the running time by 46%. The experimental results on several 3 D reconstruction datasets reveal that our distributed algorithm running on eight nodes is up to five times faster than that of the stand-alone parallel SBA. Furthermore, the speedup of the proposed algorithm(running on eight nodes with 48 cores) is up to41 times that of the serial SBA(running on a single node).
基金financially supported by the National Science Fund for Distinguished Young Scholars of China(21225313)the National Natural Science Foundation of China(21303126)+2 种基金Program for Changjiang Scholars and Innovative Research Team in University(IRT1030)Foundation of Hubei Educational Committee(Q20132901)Youth Science Foundation of Huanggang Normal University(2013023903)
文摘Nitroxoline is a wide spectrum antibacterial and is one of the most important urinary antiseptics.The interaction between nitroxoline and human serum albumin(HSA)has been investigated systematically by fluorescence spectroscopy,synchronous fluorescence,three-dimensional fluorescence,CD spectroscopy and UV-Vis absorption spectroscopy.The results indicated that the quenching of HSA by nitroxoline was static.The corresponding thermodynamic parameters △H,△S and △G calculated according to van’t Hoff equation revealed that the intermolecular forces acting between nitroxoline and HSA were mainly hydrogen bonding and van der Waals forces.The conformational changes in the interaction were studied by synchronous fluorescence,CD spectroscopy and three-dimensional fluorescence spectra which showed changes in the microenvironment and conformation of HSA.
