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| 1 | Human-Tracking Strategies for a Six-legged Rescue Robot Based on Distance and View显示文摘Human tracking is an important issue for intelligent robotic control and can be used in many scenarios, such as robotic services and human-robot cooperation. Most of current human-tracking methods are targeted for mobile/tracked robots, but few of them can be used for legged robots. Two novel human-tracking strategies, view priority strategy and distance priority strategy, are proposed specially for legged robots, which enable them to track humans in various complex terrains. View priority strategy focuses on keeping humans in its view angle arrange with priority, while its counterpart, distance priority strategy, focuses on keeping human at a reasonable distance with priority. To evaluate these strategies, two indexes(average and minimum tracking capability) are defined. With the help of these indexes, the view priority strategy shows advantages compared with distance priority strategy. The optimization is done in terms of these indexes, which let the robot has maximum tracking capability. The simulation results show that the robot can track humans with different curves like square, circular, sine and screw paths. Two novel control strategies are proposed which specially concerning legged robot characteristics to solve human tracking problems more efficiently in rescue circumstances. | PAN Yang GAO Feng QI Chenkun CHAI Xun | 2016 | Chinese Journal of Mechanical Engineering2016，29，2： | 17 |
| 2 | Method for Six-Legged Robot Stepping on Obstacles by Indirect Force Estimation显示文摘Adaptive gaits for legged robots often requires force sensors installed on foot-tips,however impact,temperature or humidity can affect or even damage those sensors.Efforts have been made to realize indirect force estimation on the legged robots using leg structures based on planar mechanisms.Robot Octopus III is a six-legged robot using spatial parallel mechanism(UP-2UPS) legs.This paper proposed a novel method to realize indirect force estimation on walking robot based on a spatial parallel mechanism.The direct kinematics model and the inverse kinematics model are established.The force Jacobian matrix is derived based on the kinematics model.Thus,the indirect force estimation model is established.Then,the relation between the output torques of the three motors installed on one leg to the external force exerted on the foot tip is described.Furthermore,an adaptive tripod static gait is designed.The robot alters its leg trajectory to step on obstacles by using the proposed adaptive gait.Both the indirect force estimation model and the adaptive gait are implemented and optimized in a real time control system.An experiment is carried out to validate the indirect force estimation model.The adaptive gait is tested in another experiment.Experiment results show that the robot can successfully step on a 0.2 m-high obstacle.This paper proposes a novel method to overcome obstacles for the six-legged robot using spatial parallel mechanism legs and to avoid installing the electric force sensors in harsh environment of the robot's foot tips. | XU Yilin GAO Feng PAN Yang CHAI Xun | 2016 | Chinese Journal of Mechanical Engineering2016，29，4： | 16 |
| 3 | Obstacle avoidance for a hexapod robot in unknown environment显示文摘Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment. | CHAI Xun GAO Feng QI ChenKun PAN Yang XU YiLin ZHAO Yue | 2017 | Science China(Technological Sciences)2017，60，6： | 7 |
| 4 | Isolation and characterization of mesenchymal stem-like cells from human nucleus pulposus tissue显示文摘Dear Editor,Large numbers of individuals experience low back pain(LBP)during their lifetime[1,2].LBP excruciates approximately 80%aging population and causes significant socio-economic problem[3,4].LBP often originates from the intervertebral disc degeneration(IVDD).The intervertebral disc(IVD)is a specialized biomechanical complex composed of a hyper-hydrated and oligocellular central structure, | SHEN Quan ZHANG Li CHAI BaoFeng MA Xun | 2015 | Science China(Life Sciences)2015，58，5： | 5 |
| 5 | 500-mm-aperture wavelength-tuning phase-shifting interferometer 显示文摘 | Chai Liqun Xun Qiao Deng Yan | 2006 | Proc of SPIE2006，6150，： | 1 |
| 6 | Occurrence and evolu- tion of the Xiaotangshan hot spring in Beijing, China 显示文摘 | Zhou Haiyan Zhou Xun Chai Rui | 2008 | Envi- ronmental Geology2008，53，7： | 1 |
| 7 | Os-Os Dating Of Copper And Molybdenum Deposits Along The Middle And Lower Reaches of The Yangtze River,China显示文摘 | Sun Weidong Xie Zhi Chen Jiangfeng Zhang Xun Chai Zifang Du Andao Zhao Junshen Zhang henghuo Zhou Taofa | 2003 | Economic Geology2003，98，： | 1 |
| 8 | Traditional Chinese Medicine in Malaysia:A Brief Historical Overview of Education and Research显示文摘The education and research of traditional Chinese medicine(TCM)in Malaysia started coincidentally circa Malaysia’s independence movement.Before the independence,much of the development focused on establishing treatment centers and Chinese medical halls to provide TCM treatment.Periodicals and journals advocating TCM and its advancement were published between the 1940s and 1960s,but many did not survive after a few issues.The challenge posed by the Immigration Ordinance 1952 further united TCM practitioners and TCM associations to establish the Chinese Medical Institute of Malaya.The trend gained momentum,and many educational institutes were set up in each of Malaysia.From the 1970s,Malaysia started hosting regional and international TCM conferences.In 2000,TCM education in Malaysia had finally gained recognition from the government.ATCM program standard was thus released by the Malaysian Qualifications Agency(MQA).To date,there are seven private higher education institutions which offer TCM programs based on the MQA standards and have established international collaborations with other universities.It is projected that Malaysia’s TCM education and research will grow further as a result of China’s Belt and Road initiative. | Hon Foong Wong Shih Chau Ng Wen Tien Tan Jun Liu Xun Lin Si Woei Goh Bao Ling Hoo Chyong En Chai Huiying Wang | 2019 | Chinese Medicine and Culture2019，2，3： | 1 |
| 9 | Traditional Chinese Medicine in Malaysia: A Brief Historical Overview of Laws and Regulations显示文摘Although traditional Chinese medicine(TCM)has been a part of the Malaya and the Malaysia people’s method of maintaining health and well-being for many centuries,it was never been enrolled in the public health-care system.However,the rising cost of Western drugs and the increasing number of people frequenting TCM has driven the government to search for cheaper options and to look into its safe practice.In 1992,the government mandated all TCM herbal products to be registered with the National Pharmaceutical Control Bureau.All TCM products sold in Malaysia are now Good Manufacturing Practice certified.The government has also established a Traditional and Complementary Medicine Division within the Ministry of Health.Between 2008 and 2014,a traditional and complementary medicine unit was set up in major hospitals in all states.TCM is one of the main services offered by the unit.In 2016,the government enacted the Traditional and Complementary Medicine Act to regulate the TCM practice.Subsequently,a 10-vear blueprint has been drawn to support the development of all traditional and complementary medicines in Malaysia.This article aims to provide a brief overview on the regulatory development of TCM in Malaysia. | Hon Foong Wong Shih Chau Ng Wen Tien Tan Huiying Wang Xun Lin Si Woei Goh Bao Ling Hoo Chyong En Chai Jun Liu | 2019 | Chinese Medicine and Culture2019，2，4： | 0 |
| 10 | Traditional Chinese Medicine in Malaysia:A Brief Historical Overview of the Interactions between China and Malay Peninsula显示文摘Chinese Medicine was introduced to the Malay Peninsula during the colonial era circa 18th to 19th century.The British imported Chinese immigrants mainly for tin mining.The early Chinese settlers had brought with them the knowledge of Traditional Chinese Medicine(TCM)to Malaya.As time goes by,TCM becomes one of the popular traditional medicines that are accepted by other ethnicities.TCM has thus contributed to the welfare of Malaysians.In 2016,a Traditional and Complementary Medicine(T and CM)Act was passed by the Malaysia Parliament.TCM is one of the T and CM practices that fall under the regulation.TCM services are now offered in Malaysia’s public hospitals in addition to private practices.This article aims to provide a brief overview on the development of TCM in the precolonial and postindependent Malaysia. | Wen Tien Tan Hon Foong Wong Shih Chau Ng Si Woei Goh Jun Liu Bao Ling Hoo Chyong En Chai Xun Lin | 2018 | Chinese Medicine and Culture2018，1，2： | 0 |
| 11 | Traditional Chinese Medicine in Malaysia: A Brief Historical Overview of the Institutions显示文摘Traditional Chinese Medicine(TCM)in British Malaya developed concurrently with the influx of Chinese immigrants.To cater for tins growing community,Chinese medical halls which sell Chinese herbs were established in major townships.Consultation and various TCM treatments were also offered by contract TCM practitioners in some of these medical halls.As the needs for TCM services continued to grow,dedicated TCM institutions were set up subsequently.The establishment of these institutions marked the beginning of professional TCM services in the history of Malaysia. | Shih Chau Ng Hon Foong Wong Wen Tien Tan Jun Liu Huiying Wang Xun Lin Si Woei Goh Bao Ling Hoo Chyong En Chai | 2019 | Chinese Medicine and Culture2019，2，1： | 0 |
| 12 | Study on the pharmacological mechanism of chaihu shugan powder in the treatment of hepatocellular carcinoma显示文摘Liver depression and qi stagnation type liver cancer accounts for a high proportion of primary liver cancer,western medicine has no special treatment for this type of liver cancer in addition to routine treatment,while patients with this type of liver cancer often show pain in the right flank,mass under the right side,chest depression and other clinical symptoms seriously affect the quality of life of patients with liver cancer and bring great trouble to patients and their families.Chaihu Shugan San,which originated from the General order of Medicine in the Ming Dynasty,has a serious impact on the quality of life of patients with liver cancer and brings great trouble to patients and their families.It is the representative prescription of soothing the liver and regulating qi in traditional Chinese medicine.in recent years,its clinical application and pharmacological action in liver cancer have been studied more and more deeply,but the anti-tumor pharmacological research and effective components of Chaihu Shugan Powder are still lack of systematic summary.Based on the relevant studies at home and abroad,this paper summarizes the anti-tumor mechanism and possible effective components of Chaihu Shugan Powder,so as to provide further pharmacodynamic material basis and mechanism reference for the further clinical application of primary liver cancer. | Xun Sun Jin-Wen Chai | 2021 | Clinical Research Communications2021，4，4： | 0 |
| 13 | Traditional Chinese Medicine in Malaysia:A Brief Historical Overview of the Associations显示文摘The increasing number of TCM practitioners and herbal suppliers,both of which accelerated by the formation of various TCM institutions,substantiated the creation of regional traditional Chinese medicine(TCM)associations in post-World War II Malaya.In response to the restrictions and levies imposed by the British colonial government,these regional associations united and formed a national organisation now known as the Federation of Chinese Physicians and Medicine Dealers Association of Malaya(FCPMDAM).The current designated TCM practitioner body,the Malaysian Chinese Medical Association(MCMA)were also originally established to nurture local talents in the face of import restrictions.Owing to difference with MCMA,a separate association named the Federation of Chinese Physicians and Acupuncturists Associations of Malaysia(FCPAAM)was setup in 2003 to absorb self-studied and patrimonial-educated TCM practitioners. | Hon Foong Wong Shih Chau Ng Wen Tien Tan Huiying Wang Xun Lin Si Woei Goh Bao Ling Hoo Chyong En Chai Jun Liu | 2019 | Chinese Medicine and Culture2019，2，2： | 0 |
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