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| 1 | A review of heavy-duty legged robots显示文摘Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed. | ZHUANG HongChao GAO HaiBo DENG ZongQuan DING Liang LIU Zhen | 2014 | Science China(Technological Sciences)2014，57，2： | 15 |
| 2 | Prostate cancer in Asia:A collaborative report显示文摘The incidence of prostate cancer(PCa)within Asian population used to be much lower than in the Western population;however,in recent years the incidence and mortality rate of PCa in some Asian countries have grown rapidly.This collaborative report summarized the latest epidemiology information,risk factors,and racial differences in PCa diagnosis,current status and new trends in surgery management and novel agents for castration-resistant prostate cancer.We believe such information would be helpful in clinical decision making for urologists and oncologists,health-care ministries and medical researchers. | Rui Chen Shancheng Ren 无 Ming Kwong Yiu Ng Chi Fai Wai Sam Cheng Lap Hong Ian Seiji Naito Tadashi Matsuda Elijah Kehinde Ali Kural Jason Yichun Chiu Rainy Umbas Qiang Wei Xiaolei Shi Liqun Zhou Jian Huang Yiran Huang Liping Xie Lulin Ma Changjun Yin Danfeng Xu Kexin Xu Zhangqun Ye Chunxiao Liu Dingwei Ye Xin Gao Qiang Fu Jianquan Hou Jianlin Yuan Dalin He Tiejun Pan Qiang Ding Fengshuo Jin Benkang Shi Gongxian Wang Xiuheng Liu Dongwen Wang Zhoujun Shen Xiangbo Kong Wanhai Xu Yaoliang Deng Haibo Xia Alexa NCohen Xu Gao Chuanliang Xu Yinghao Sun | 2014 | Asian Journal of Urology2014，1，1： | 13 |
| 3 | A new complex Duffing oscillator used in complex signal detection显示文摘In view of the fact that complex signals are often used in the digital processing of certain systems such as digital communication and radar systems,a new complex Duffing equation is proposed.In addition,the dynamical behaviors are analyzed.By calculating the maximal Lyapunov exponent and power spectrum,we prove that the proposed complex differential equation has a chaotic solution or a large-scale periodic one depending on different parameters.Based on the proposed equation,we present a complex chaotic oscillator detection system of the Duffing type.Such a dynamic system is sensitive to the initial conditions and highly immune to complex white Gaussian noise,so it can be used to detect a weak complex signal against a background of strong noise.Results of the Monte-Carlo simulation show that the proposed detection system can effectively detect complex single frequency signals and linear frequency modulation signals with a guaranteed low false alarm rate. | DENG XlaoYing LIU HaiBo LONG Teng | 2012 | Chinese Science Bulletin2012，57，17： | 11 |
| 4 | Economic optimization for configuration and sizing of micro integrated energy systems显示文摘Based on analysis of construction and operation of micro integrated energy systems(MIES), this paper presents economic optimization for their configuration and sizing. After presenting typical models for MIES, a residential community MIES is developed by analyzing residential direct energy consumption within a general design procedure. Integrating with available current technologies and local resources, the systematic design considers a prime mover, fed by natural gas, with wind power, photovoltaic generation, and two storage devices serving thermal energy and power to satisfy cooling, heating and electricity demands. Control strategies for MIES also arepresented in this study. Multi-objective formulas are obtained by analyzing annual cost and dumped renewable energy to achieve optimal coordination of energy supply and demand. According to historical load data and the probability distribution of distributed generation output,clustering methods based on K-means and discretization methods are employed to obtain typical scenarios representative of uncertainties. The modified non-dominated sorting genetic algorithm is applied to find the Pareto frontier of the constructed multi-objective formulas. In addition, aiming to explore the Pareto frontier, the dumped energy cost ratio is defined to check the energy balance in different MIES designs and provide decision support for the investors. Finally, simulations and comparision show the appropriateness of the developed model and the applicability of the adopted optimization algorithm. | Haibo YU Chao ZHANG Zuqiang DENG Haifeng BIAN Chenjun SUN Chen JIA | 2018 | Journal of Modern Power Systems and Clean Energy2018，6，2： | 10 |
| 5 | Fuzzy dynamic characteristic modeling and adaptive control of nonlinear systems and its application to hypersonic vehicles显示文摘In this paper, a fuzzy dynamic characteristic modeling and adaptive control method is proposed for a class of nonlinear systems. By employing fuzzy dynamic characteristic model, the controlled plant is described as a slowly time-varying fuzzy system, wherein the parameters are estimated online by using recursive Least-Squares algorithm. Under this framework, a fuzzy adaptive controller is constructed, and the stability condition of the closed-loop system is also derived. The main advantage of the proposed method lies in no requirement for the prior knowledge of system model and less parameters to tune, which allows engineers to operate it in a simple, straightforward manner. The proposed method is applied to the control of hypersonic vehicle, and simulation results are given to demonstrate the effectiveness of the obtained results. | LI HongBo SUN ZengQi MIN HaiBo DENG JianQiu | 2011 | Science China(Information Sciences)2011，54，3： | 10 |
| 6 | Method for Analyzing Articulated Torques of Heavy-duty Six-legged Robot显示文摘The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots. | ZHUANG Hongchao GAO Haibo DING Liang LIU Zhen DENG Zongquan | 2013 | Chinese Journal of Mechanical Engineering2013，26，4： | 9 |
| 7 | Genomic insights into the fast growth of paulownias and the formation of Paulownia witches' broom显示文摘Paulownias are among the fastest growing trees in the world,but they often suffer tremendous loss of wood production due to infection by Paulownia witches'broom(PaWB)phytoplasmas.In this study,we have sequenced and assembled a high-quality nuclear genome of Paulownia fortunei,a commonly cultivated paulownia species.The assembled genome of P.fortunei is 511.6 Mb in size,with 93.2%of its sequences anchored to 20 pseudo-chromosomes,and it contains 31985 protein-coding genes.Phylogenomic analyses show that the family Paulowniaceae is sister to a clade composed of Phrymaceae and Orobanchaceae.Higher photosynthetic efficiency is achieved by integrating C3 photosynthesis and the crassulacean acid metabolism pathway,which may contribute to the extremely fast growth habit of paulownia trees.Comparative transcriptome analyses reveal modules related to cambial growth and development,photosynthesis,and defense responses.Additional genome sequencing of PaWB phytoplasma,combined with functional analyses,indicates that the effector PaWB-SAP54 interacts directly with Paulownia PfSPLa,which in turn causes the degradation of PfSPLa by the ubiquitin-mediated pathway and leads to the formation of witches'broom.Taken together,these results provide significant insights into the biology of paulownias and the regulatory mechanism for the formation of PaWB. | Yabing Cao Guiling Sun Xiaoqiao Zhai Pingluo Xu Liming Ma Minjie Deng Zhenli Zhao Haibo Yang Yanpeng Dong Zhonghai Shang Yujie Lv Lijun Yan Haifang Liu Xibing Cao Bingbing Li Zhe Wang Xiaogai Zhao Haiyan Yu Fan Wang Wen Ma Jinling Huang Guoqiang Fan | 2021 | Molecular Plant2021，14，10： | 7 |
| 8 | Simple β-lactones are potent irreversible antagonists for strigolactone receptors显示文摘 | Haibo Xian Ruifeng Yao Tianfei Quan Fei Wang Li Chen Xiaoxi DU Wenhao Zhang Haiteng Deng Daoxin Xie Tuoping Luo | 2017 | Cell Research2017，27，12： | 5 |
| 9 | The Protective Role of Procyanidins and Lycopene Against Mercuric Chloride Renal Damage in Rats显示文摘Objective This study aims to investigate the protection of procyanidins and lycopene from the renal damage induced by mercuric chloride.Methods Rats were treated with either procyanidins or lycopene 2h before HgCl 2 subcutaneously injection,once daily treatment for 2 successive days.Results In comparison with HgCl 2 group,markers of renal function such as blood urea nitrogen in serum and urinary protein were decreased to (18.45±11.63) mmol/L and (15.93±9.36) mmol/L,(4.54±0.78) g/(g Cr) and (4.40±1.12) g/(g Cr).N‐acetyl‐beta‐D‐glucosaminidase,lactate dehydrogenase,alkaline phosphatase in urine were depressed to (125.49±11.68) U/(g Cr),(103.73±21.79) U/(g Cr),(101.99±12.28) U/(g Cr),and (113.19±23.74) U/(g Cr),(71.14±21.80) U/(g Cr),(73.64±21.51) U/(g Cr) in procyanidins and lycopene groups.Indicators of oxidative stress,for example,Glutathion was reduced to (45.58±9.89) μmol/(g pro) and (45.33±5.90) μmol/(g pro),and antioxidant enzymes such as superoxide dismutase,glutathione‐peroxidase were enhanced to (43.07±10.97) U/(mg pro) and (39.94±6.04) U/(mg pro),(83.85±18.48) U/(mg pro),and (85.62±12.68) U/(mg pro).Malondialdehyde was lowered to (0.95±0.12) (μmol/g pro) and (1.03±0.12) μmol/(g pro) in procyanidins and lycopene groups.ROS generation was decreased by 27.63% and 16.40% and apoptosis was also decreased in procyanidins and lycopene groups respectively.Pathological changes were much better as well.Conclusion Procyanidins and Lycopene play some protective role against mercury kidney damage. | YANG HaiBo XU ZhaoFa LIU Wei DENG Yu XU Bin | 2011 | Biomedical and Environmental Sciences2011，24，5： | 5 |
| 10 | Virtual Simulation System with Path-following Control for Lunar Rovers Moving on Rough Terrain显示文摘Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase,as well as the design of locomotion systems,performance evaluation,and control strategy verification during the R&D phase.The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics,difficulty in simulating rough terrains,and high complexity making it difficult to realize mobility control in simulation systems.This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling,wheel-soil interaction mechanics,dynamics analysis,mobility control,and visualization for lunar rovers.Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0,0.03,0.05,0.1,0.2,0.3,0.4,and 0.6.The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module.In addition,the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics,and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS.The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS.Finally,a virtual simulation system for lunar rovers is developed.A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched.The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS.The designed virtual lunar rover could follow the planned path on a rough terrain.This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains. | GAO Haibo DENG Zongquan DING Liang WANG Mengyu | 2012 | Chinese Journal of Mechanical Engineering2012，25，1： | 5 |
| 11 | 120 mm Single-crystalline perovskite and wafers: towards viable applications显示文摘As the large single-crystalline silicon wafers have revolutionized many industries including electronics and solar cells, it is envisioned that the availability of large single-crystalline perovskite crystals and wafers will revolutionize its broad applications in photovoltaics, optoelectronics, lasers, photodetectors, light emitting diodes(LEDs), etc. Here we report a method to grow large single-crystalline perovskites including single-halide crystals: CH3NH3PbX3(X=I, Br, Cl), and dual-halide ones:CH3NH3Pb(ClxBr1.x)3 and CH3NH3Pb(BrxI1.x)3, with the largest crystal being 120 mm in length. Meanwhile, we have advanced a process to slice the large perovskite crystals into thin wafers. It is found that the wafers exhibit remarkable features:(1)its trap-state density is a million times smaller than that in the microcrystalline perovskite thin films(MPTF);(2) its carrier mobility is 410 times higher than its most popular organic counterpart P3HT;(3) its optical absorption is expanded to as high as910 nm comparing to 797 nm for the MPTF;(4) while MPTF decomposes at 150 °C, the wafer is stable at high temperature up to270 °C;(5) when exposed to high humidity(75% RH), MPTF decomposes in 5 h while the wafer shows no change for overnight;(6) its photocurrent response is 250 times higher than its MPTF counterpart. A few electronic devices have been fabricated using the crystalline wafers. Among them, the Hall test gives low carrier concentration with high mobility. The trap-state density is measured much lower than common semiconductors. Moreover, the large SC-wafer is found particularly useful for mass production of integrated circuits. By adjusting the halide composition, both the optical absorption and the light emission can be fine-tuned across the entire visible spectrum from 400 nm to 800 nm. It is envisioned that a range of visible lasers and LEDs may be developed using the dual-halide perovskites. With fewer trap states, high mobility, broader absorption, and humidity resistance, it is expected that solar cells with high stable efficiency maybe attainable using the crystalline wafers. | Yucheng Liu Xiaodong Ren Jing Zhang Zhou Yang Dong Yang Fengyang Yu Jiankun Sun Changming Zhao Zhun Yao Bo Wang Qingbo Wei Fengwei Xiao Haibo Fan Hao Deng Liangping Deng Shengzhong (Frank) Liu | 2017 | Science China Chemistry2017，60，10： | 5 |
| 12 | Reinforced polysulfide barrier by g-C_(3)N_(4)/CNT composite towards superior lithium-sulfur batteries显示文摘The notorious shuttle effect has long been obstructing lithium-sulfur(Li-S) batteries from yielding the expected high energy density and long lifespan.Herein,we develop a multifunctional polysulfide barrier reinforced by the graphitic carbon nitride/carbon nanotube(g-C_3 N_4/CNT) composite toward inhibited shuttling behavior and improved battery performance.The obtained g-C_3 N_4 delivers a unique spongelike architecture with massive ion transfer pathways and fully exposed active interfaces,while the abundant C-N heteroatomic structures impose strong chemical immobilization toward lithium polysulfides.Combined with the highly conductive agent,the g-C_3 N_4/CNT reinforced separator is endowed with great capability of confining and reutilizing the active sulfur within the cathode,thus contributing to an efficient and stable sulfur electrochemistry.Benefiting from these synergistic attributes,Li-S cells based on g-C_3 N_4/CNT separator exhibit an excellent cyclability with a minimum decay rate of 0.03% per cycle over 500 cycles and decent rate capability up to 2 C.Moreover,a high areal capacity of 7.69 mAh cm^(-2)can be achieved under a raised sulfur loading up to 10.1 mg cm^(-2).demonstrating a facile and efficient pathway toward superior Li-S batteries. | Xiangliang Wang Gaoran Li Minjie Li Ruiping Liu Haibo Li Tengyu Li Mingzhu Sun Yirui Deng Ming Feng Zhongwei Chen | 2021 | Journal of Energy Chemistry2021，30，2： | 4 |
| 13 | Three-layer intelligence of planetary exploration wheeled mobile robots:Robint,virtint,and humint显示文摘The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or rovers.Planetary WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) synergetically.This article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic systems.Double-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is introduced.The challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be key.Double-level virtual simulation architecture to realize virtint is proposed.Key technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction mechanics.This generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay. | DING Liang GAO HaiBo DENG ZongQuan LI YuanKai LIU GuangJun YANG HuaiGuang YU HaiTao | 2015 | Science China(Technological Sciences)2015，58，8： | 3 |
| 14 | The properties of dry-spun carbon nanotube fibers and their interfacial shear strength in an epoxy composite显示文摘 | Fei Deng Weibang Lu Haibo Zhao Yuntian Zhu Byung-Sun Kim Tsu-Wei Chou | 2011 | Carbon2011，，5： | 2 |
| 15 | Nitric oxide emissions from conventional vegetable fields in southeastern China显示文摘 | Baoling Mei Xunhua Zheng Baohua Xie Haibo Dong Zaixing Zhou Rui Wang Jia Deng Feng Cui Huajun Tong Jianguo Zhu | 2009 | Atmospheric Environment2009，，17： | 2 |
| 16 | Dynamic Finite Element Modeling and Simulation of Soft Robots显示文摘Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material level.An increasing number of researchers are interested in their designing,manufacturing,modeling,and control.However,the dynamic simulation of soft robots is difficult owing to their infinite degrees of freedom and nonlinear characteristics that are associated with soft materials and flexible geometric structures.In this study,a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft robots.Various actuators for soft robots are modeled in a virtual environment,including soft cable-driven,spring actuation,and pneumatic driving.A pneumatic driving simulation was demonstrated by the bending modules with different materials.A cable-driven soft robot arm prototype and a cylindrical soft module actuated by shape memory alley springs inspired by an octopus were manufactured and used to validate the simulation model,and the experimental results demonstrated adequate accuracy.The proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots,including hybrid actuated robots and rigid-flexible coupling robots.This study also provides a fundamental framework for simulating soft mobile robots and soft manipulators in contact with the environment. | Liang Ding Lizhou Niu Yang Su Huaiguang Yang Guangjun Liu Haibo Gao Zongquan Deng | 2022 | Chinese Journal of Mechanical Engineering2022，35，2： | 2 |
| 17 | Nitric oxide emissions from conventional vegetable fields in southeastern China显示文摘 | Baoling Mei Xunhua Zheng Baohua Xie Haibo Dong Zaixing Zhou Rui Wang Jia Deng Feng Cui Huajun Tong Jianguo Zhu | 2009 | Atmospheric Environment2009，，17： | 1 |
| 18 | Compact extreme learning machine for biological systems显示文摘 | Li Kang Deng Jing He Haibo Du Dajun | 2010 | International Journal of Computational Biology and Drug Design2010，3，2： | 1 |
| 19 | Effect of ammonium-based, non-sulfate fertilizers on CH 4 emissions from a paddy field with a typical Chinese water management regime显示文摘 | Haibo Dong Zhisheng Yao Xunhua Zheng Baoling Mei Baohua Xie Rui Wang Jia Deng Feng Cui Jianguo Zhu | 2010 | Atmospheric Environment2010，，5： | 1 |
| 20 | The properties of dry-spun carbon nanotube fibers and their interfacial shear strength in an epoxy composite显示文摘 | Fei Deng Weibang Lu Haibo Zhao Yuntian Zhu Byung-Sun Kim Tsu-Wei Chou | 2011 | Carbon2011，，5： | 1 |
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