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| 1 | Two optimization algorithms for solving robotics inverse kinematics with redundancy显示文摘The kinematic redundancy in a robot leads to an infinite number of solutions for inverse kinematics, which implies the possibility to select a 'best' solution according to an optimization criterion. In this paper, two optimization objective functions are proposed, aiming at either minimizing extra degrees of freedom (DOFs) or minimizing the total potential energy of a multilink redundant robot. Physical constraints of either equality or inequality types are taken into consideration in the objective functions. Since the closed-form solutions do not exist in general for highly nonlinear and constrained optimization problems, we adopt and develop two numerical methods, which are verified to be effective and precise in solving the two optimization problems associated with the redundant inverse kinematics. We first verify that the well established trajectory following method can precisely solve the two optimization problems, but is computation intensive. To reduce the computation time, a sequential approach that combines the sequential quadratic programming and iterative Newton-Raphson algorithm is developed. A 4-DOF Fujitsu Hoap-1 humanoid robot arm is used as a prototype to validate the effectiveness of the proposed optimization solutions. | Jianxin XU, Wei WANG, Yuanguang SUN (Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576) | 2010 | 控制理论与应用(英文版)2010，8，2： | 5 |
| 2 | Absence of a prominent Th2 cytokine response in human tuberculosis显示文摘 | Yuanguang L Ming ZH Florence MH | 1996 | Infect Immun1996，64，4： | 1 |
| 3 | Species composition and correlation of understory woody plants in Chinese fir plantation in the lower subtropical area显示文摘There are 71 species in the shrub layer of the Cunninghamia lanceolata plantation after natural succession.The species richness and diversity have increased with slight anthropogenic disturbance.The status and function of understory woody species were judged by the analysis of the important value(IV).χ2 statistics and r test were used for testing the significance of interspecific association and correlation among 25 main understory woody plants selected from the woody population.The results clearly showed their interspecific relationships and their differences in resource utilization.Species-pairs of positive association were in the majority.Most species were accommodated in the shady habitat.There was a positive correlation between the IV of the species and the interspecific association.The higher the IV of the species,the closer and more significant was the interspecific association.Based on analytical results of interspecific association and correlation,25 woody plants in the shrub layer could be divided into four ecological species groups:I.Ficus hispida+Antidesma bunius+Mallotus barbatus+Ficus cunia+Saurauia tristyla+Mallotus philippinensis+Maesa japonica+Ficus hirta+Alchornea rugosa+Ficus fulva+Mallotus apelta;II.Cudrania tricuspidata+Schefflera octophylla;III.Cunninghamia lanceolata+Clerodendron cytophyllum+Millettia semicastrata+Randia spinosa+Litsea cubeba+Litsea pungens;IV.Ardisia japonica+Psychotria rubra+Vitex quinata+Cephalanthus occidentalis+Pithecellobium lucidum+Mycetia sinensis.If species group III or II is the advantaged species in the shrub layer,the community would change from a coniferous forest to a sparse evergreen broad-leaved forest.For group IV,the community would be relatively stable.For group I,the coniferous forest would be mixed with coniferous-broad leaved forest.The classification of ecological species groups would provide a theoretical basis on judging its ecological function,adjusting the stand structure of the plantation and directing the suitable natural vegetation type through the close-natural restoration process. | KANG Bing LIU Shirong CAI Daoxiong WEN Yuanguang | 2006 | Frontiers in Biology2006，1，4： | 1 |
| 4 | Effects of milling and surfactants on suspensibility and spore viability in Paenibacillus polymyxa powder formulations 显示文摘 | LIU Zhenhua WEI Honggang LI Yuanguang | 2011 | Biocontrol Sci Technol2011，21，9： | 1 |
| 5 | Highly sensitive and noninvasive detection of epidermal growth factor receptor T790M mutation in non-small cell lung cancer显示文摘 | Chen He Lixia Zheng Yuzhong Xu Ming Liu Yuanguang Li Jun Xu | 2013 | Clinica Chimica Acta2013，，： | 1 |
| 6 | Formation of α-Mn2O3nanorods via a hydrothermal-assisted cleavage-decomposition mechanism显示文摘 | Chen Youcun Zhang Yuanguang Yao Qizhi | 2007 | Solid State Chemistry2007，180，： | 1 |
| 7 | Stability analysis of rib pillars in highwall mining under dynamic and static loads in open‑pit coal mine显示文摘The retained coal in the end slope of an open-pit mine can be mined by the highwall mining techniques.However,the instability mechanism of the reserved rib pillar under dynamic loads of mining haul trucks and static loads of the overlying strata is not clear,which restricts the safe and efcient application of highwall mining.In this study,the load-bearing model of the rib pillar in highwall mining was established,the cusp catastrophe theory and the safety coefcient of the rib pillar were considered,and the criterion equations of the rib pillar stability were proposed.Based on the limit equilibrium theory,the limit stress of the rib pillar was analyzed,and the calculation equations of plastic zone width of the rib pillar in highwall mining were obtained.Based on the Winkler foundation beam theory,the elastic foundation beam model composed of the rib pillar and roof under the highwall mining was established,and the calculation equations for the compression of the rib pillar under dynamic and static loads were developed.The results showed that with the increase of the rib pillar width,the total compression of the rib pillar under dynamic and static loads decreases nonlinearly,and the compression of the rib pillar caused by static loads of the overlying strata and trucks has a decisive role.Numerical simulation and theoretical calculation were also performed in this study.In the numerical simulation,the coal seam with a buried depth of 122 m and a thickness of 3 m is mined by highwall mining techniques.According to the established rib pillar instability model of the highwall mining system,it is found that when the mining opening width is 3 m,the reasonable width of the rib pillar is at least 1.3 m,and the safety factor of the rib pillar is 1.3.The numerical simulation results are in good agreement with the results of theoretical calculation,which verifes the feasibility of the theoretical analysis of the rib pillar stability.This research provides a reference for the stability analysis of rib pillars under highwall mining. | Haoshuai Wu Yanlong Chen Haoyan Lv Qihang Xie Yuanguang Chen Jun Gu | 2022 | International Journal of Coal Science & Technology2022，9，3： | 1 |
| 8 | Surface modification of M - Ba - ferrite powders by polyaniline: Towards improving microwave electromagnetic response 显示文摘 | Tang Xin Yang Yuanguang | 2009 | Applied Surface Science2009，255，23： | 1 |
| 9 | Experimental studies on corrosion of cement in CO 2 injection wells under supercritical conditions显示文摘 | Lin Yuanhua Zhu Dajiang Zeng Dezhi Yang Yuanguang Shi Taihe Deng Kuanhai Ren Chengqiang Zhang Deping Wang Feng | 2013 | Corrosion Science2013，，： | 1 |
| 10 | Effects of milling and surfactants on suspensibility and spore viability in Paenibacillus polymyxa powder formulations 显示文摘 | LIU Zhenghua WEI Honggang LI Yuanguang | 2011 | Biocontrol Sci Tech2011，21，9： | 1 |
| 11 | Enhanced chemical interaction between TiO 2 and graphene oxide for photocatalytic decolorization of methylene blue显示文摘 | YuLin Min Kan Zhang Wei Zhao FangCai Zheng YouCun Chen YuanGuang Zhang | 2012 | Chemical Engineering Journal2012，，： | 1 |
| 12 | Hypoxia-induced miR-210 in epithelial ovarian cancer enhances cancercell viability via promoting proliferation and inhibiting apoptosis显示文摘 | Li’an Li Ke Huang Yanqin You Xiaoyu Fu Lingyun Hu Lei Song Yuanguang Meng | 2014 | International Journal of Oncology2014，，6： | 1 |
| 13 | Intelli- gent function model discovery system based upon gene expres- sion programming 显示文摘 | Yuan Changan Tang Changjie Wen Yuanguang | 2006 | Journal of Computational Information Systems2006，2，4： | 1 |
| 14 | Evaluation of cyclooxygenase-2 inhibition in an orthotopic murine model of lung cancer for dose-dependent effect显示文摘 | Eric MS Robert DB Leah MB Yuanguang L Ross MB | 2005 | J Thorac Cardiocasc Surg2005，129，： | 1 |
| 15 | Graph Znand some graphs related to Znare determined by their spectrum显示文摘 | Yaoping Hou Yuanguang Zhang | 2005 | Linear Algebra Appl2005，5868，： | 1 |
| 16 | Mental health training program for community mental health staff in Guangzhou, China: effects on knowledge of mental illness and stigma显示文摘 | Li Jie Li Juan Huang Yuanguang | 2014 | Int J Ment Health Syst2014，8，： | 1 |
| 17 | An uncooperative order model for items with trade credit, inventory-dependent demand and limited displayed-shelf space显示文摘 | Yong-Wu Zhou Yuanguang Zhong Jicai Li | 2012 | European Journal of Operational Research2012，，1： | 1 |
| 18 | Mixotrophic cultivation of Platymonas subcordiformas 显示文摘 | Xie Jingli Zhang Yuanxing Li yuanguang | 2001 | Journal of Phycology2001，13，： | 1 |
| 19 | 腹腔镜用于子宫内膜癌分期手术39例分析(英文)显示文摘Objective:The purpose of our study was to investigate the feasibility and short-term therapeutic effects of laparoscopic staging operation in women with endometrial carcinoma.Methods:We analyzed 86 patients with endometrial carcinoma in PLA general hospital between 2006 and 2009 retrospectively.Thirty-nine patients were performed laparoscopic modified radical hysterectomy plus systemic retroperitoneal lymphadenectomy.Forty-seven patients received traditional abdominal radical hysterectomy plus systemic retroperitoneal lymphadenectomy.We compared the operation time,blood loss,number of lymph nodes retrieved,time for restoration of gastrointestinal function,postoperative complications and morbidity,the incidence of wound infection,the length of hospital stay,and hospital charges.Results:There was no significant deviation between the two groups in age,clinical stage,and pathology.We found that there was no significant deviation between the two groups in the number of lymph nodes retrieved,postoperative complications,the rate of wound infection or hospital charge(P > 0.05).The laparoscopic group had an advantage in blood loss,time for restoration of gastrointestinal function,time for postoperative hospital stay(P < 0.05).Conclusion:Laparoscopic surgery,as a primary surgical intervention,seems to be a safe and feasible option especially in patients with early endometrial cancer. | Li'an Li Xiaofeng Wang Yan Zhang Wensheng Fan Yali Li Lei Song Yuanqing Yao Zheng Guan Yuanguang Meng | 2011 | The Chinese-German Journal of Clinical Oncology2011，10，2： | 0 |
| 20 | Improving the data retention of phase change memory by using a doping element in selected Ge_2Sb_2Te_5显示文摘The crystallization characteristics of a ubiquitous T-shaped phase change memory(PCM) cell, under SET current pulse and very small disturb current pulse, have been investigated by finite element modelling. As analyzed in this paper, the crystallization region under SET current pulse presents first on the corner of the bottom electron contact(BEC) and then promptly forms a filament shunting down the amorphous phase to achieve the low-resistance state, whereas the tiny disturb current pulse accelerates crystallization at the axis of symmetry in the phase change material. According to the different crystallization paths, a new structure of phase change material layer is proposed to improve the data retention for PCM without impeding SET operation.This structure only requires one or two additional process steps to dope nitrogen element in the center region of phase change material layer to increase the crystallization temperature in this confined region. The electrical-thermal characteristics of PCM cells with incremental doped radius have been analyzed and the best performance is presented when the doped radius is equal to the radius of the BEC. | Yaoyao Lu Daolin Cai Yifeng Chen Shuai Yan Lei Wu Yuanguang Liu Yang Li Zhitang Song | 2019 | Journal of Semiconductors2019，40，4： | 0 |
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