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| 1 | Adaptive Walking of a Quadrupedal Robot Based on Layered Biological Reflexes显示文摘A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals' neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller(RMC) comprising a central pattern generator(CPG) for hip joints and a rhythmic coupler(RC) for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances. | ZHANG Xiuli E Mingcheng ZENG Xiangyu ZHENG Haojun | 2012 | Chinese Journal of Mechanical Engineering2012，25，4： | 10 |
| 2 | Estimation of the inter-frequency clock bias for the satellites of PRN25 and PRN01显示文摘We present two efficient approaches,namely the epoch-differenced(ED) and satellite-and epoch-differenced(SDED) approaches,for the estimation of IFCBs of the two Block IIF satellites.For the analysis,data from 18 stations from the IGS network spanning 96 d is processed.Results show that the IFCBs of PRN25 and PRN01 exhibit periodical signal of one orbit revolution with a magnitude up to 18 cm.The periodical variation of the IFCBs is modeled by a sinusoidal function of the included angle between the sun,earth and the satellite.The presented model enables a consistent use of L1/L2 clock products in L1/L5-based positioning.The algorithm is incorporated into the MGPSS software at SHAO(Shanghai Astronomical Observatory,Chinese Academy of Sciences) and is used to monitor the IFCB variation in near real-time. | LI HaoJun ZHOU XuHua WU Bin WANG JieXian | 2012 | Science China(Physics,Mechanics & Astronomy)2012，55，11： | 9 |
| 3 | Airworthiness Compliance Verification Method Based on Simulation of Complex System显示文摘A study is conducted on a new airworthiness compliance verification method based on pilot-aircraft-environment complex system simulation. Verification scenarios are established by 'block diagram' method based on airworthiness criteria. A pilotaircraft-environment complex model is set up and a virtual flight testing method based on connection of MATLAB/Simulink and Flightgear is proposed. Special researches are conducted on the modeling of pilot manipulation stochastic parameters and manipulation in critical situation. Unfavorable flight factors of certain scenario are analyzed, and reliability modeling of important system is researched. A distribution function of small probability event and the theory on risk probability measurement are studied. Nonlinear function is used to depict the relationship between the cumulative probability and the extremum of the critical parameter. A synthetic evaluation model is set up, modified genetic algorithm (MGA) is applied to ascertaining the distribution parameter in the model, and a more reasonable result is obtained. A clause about vehicle control functions (VCFs) verification in MIL-HDBK-516B is selected as an example to validate the practicability of the method. | XU Haojun LIU Dongliang XUE Yuan ZHOU Li MIN Guilong | 2012 | Chinese Journal of Aeronautics2012，25，5： | 9 |
| 4 | Safety modeling and simulation of multi-factor coupling heavy-equipment airdrop显示文摘Heavy-equipment airdrop is a highly risky procedure that has a complicated system due to the secluded and complex nature of factors' coupling. As a result, it is difficult to study the modeling and safety simulation of this system. The dynamic model of the heavy-equipment airdrop is based on the Lagrange analytical mechanics, which has all the degrees of freedom and can accurately pinpoint the real-time coordinates and attitude of the carrier with its cargo. Unfavorable conditions accounted in the factors' models, including aircraft malfunctions and adverse environments, are established from a man-machine-environment perspective. Subsequently, a virtual simulation system for the safety research of the multi-factor coupling heavy-equipment airdrop is developed through MATLAB/Simulink, C language and Flightgear software. To verify the veracity of the theory, the verification model is built based on dynamic software ADAMS. Finally, the emulation is put to the test with the input of realistic accident variables to ascertain its feasibility and validity of this method. | Zhang Jiuxing Xu Haojun Zhang Dengcheng Liu Dongliang | 2014 | Chinese Journal of Aeronautics2014，27，5： | 8 |
| 5 | Needle Steering for Robot-Assisted Insertion into Soft Tissue:A Survey显示文摘Needle insertion is a common surgical procedure used in diagnosis and treatment.The needle steering technologies make continuous developments in theoretical and practical aspects along with the in-depth research on needle insertion.It is necessary to summarize and analyze the existing results to promote the future development of theories and applications of needle insertion.Thus,a survey of the state of the art of research is presented on algorithms of needle steering techniques,the surgical robots and devices.Based on the analysis of the needle insertion procedure,the concept of needle steering is defined as a kinematics problem,which is to place the needle at the target and avoid the obstacles.The needle steering techniques,including the artificial potential field method and the nonholonomic model,are introduced to control the needles for improving the accuracy.Based on the quasi-static thinking,the virtual spring model and the cantilever-beam model are developed to calculate the amount of needle deflection and generate the needle path.The phantoms instead of the real tissue are used to verify the models mentioned in most of the experimentations.For the desired needle trajectories,the image-guided robotic devices and some novel needles are presented to achieve the needle steering.Finally,the challenges are provided involving the controllability of the long flexible needle and the properties of soft tissue.The results and investigations can be used for further study on the precision and accuracy of needle insertion. | GAO Dedong LEI Yong ZHENG Haojun | 2012 | Chinese Journal of Mechanical Engineering2012，25，4： | 7 |
| 6 | MicroRNA-195 and microRNA-378 mediate tumor growth suppression by epigenetical regulation in gastric cancer显示文摘 | Hongxia Deng Yanan Guo Haojun Song Bingxiu Xiao Weiliang Sun Zhong Liu Xiuchong Yu Tian Xia Long Cui Junming Guo | 2013 | Gene2013，，： | 5 |
| 7 | Quantitative assessment and visualization of flight risk induced by coupled multi-factor under icing conditions显示文摘Aircraft icing has been proven to be one of the most serious threats to flight safety. During the analysis of flight risk under icing conditions, quantitative assessment and visualization of flight risk are quite essential as they provide safe manipulation strategies in intricate conditions.However, they are rarely studied. Since the icing flight accidents are the result of the coupling of multiple unfavorable factors, in present study, we have proposed a method to quantitatively assess flight risk induced by multi-factor coupling under icing conditions by Monte-Carlo simulation and multivariate extreme value theory. The results demonstrate that the flight risk probability increases with the rise of unfavorable factors. Besides, a flight risk visualization method named flight safety window has been presented to build the flight risk distribution cloud maps in different complex conditions. The cloud maps show that the icing would give rise to atrophy of the safety scope, and the consequence would be even more severe when coupled with other more unfavorable factors. The proposed methods in this study would be useful in flight risk analysis under icing conditions and can enhance the pilot's situational awareness in selecting correct strategies within the safety zone to avoid unsafe manipulation. | Yang WEI Haojun XU Yuan XUE Xiaocong Duan | 2020 | Chinese Journal of Aeronautics2020，33，8： | 4 |
| 8 | Sustainable and invisible anti-counterfeiting inks based on waterborne polyurethane and upconversion nanoparticles for leather products显示文摘Counterfeit leather products infringe the intellectual property rights of the business,cause enormous economic loss,and negatively influence the business enthusiasm for innovation.However,traditional anti-counterfeiting materials for leather products suffer from complicated fabrication procedures,photobleaching,and high volatile organic com-pound(VOC)emissions.Here,a sustainable and invisible anti-counterfeiting ink composed of waterborne polyure-thane and water-dispersible lanthanide-doped upconversion nanoparticles(UCNPs)featuring ease of preparation,high photostability,non-toxicity,low VOC emissions,and strong adhesion strength for leather products is designed and synthesized.After decorating on the surface of leather products,the obtained patterns are invisible under normal light conditions.Upon irradiation at 808 nm,the invisible patterns can be observed by naked eyes due to the visible light emitted by 808 nm excited UCNPs.Our approach described here opens a new pathway to realize the long-term,stable anti-counterfeiting function of leather products. | Jun Xiang Jianxun Lin Zhonghui Wang Shenglin Zhou Zhenya Wang Qiang Yan Yidong Liu Haojun Fan | 2021 | Journal of Leather Science and Engineering2021，3，1： | 4 |
| 9 | Bloodletting at Jing-well points decreases interstitial fluid flow in the thalamus of rats显示文摘OBJECTIVE: To investigate the changes in the neuronal microenvironment of the middle cerebral artery(MCA) territory induced by Jing-well points bloodletting acupuncture(WPBA) and to explore the neuroprotective mechanism of WPBA in stroke.METHODS: Adult male Sprague Dawley(n = 32)rats were randomly divided into four groups of eight animals each: WPBA-thalamus group(WT),WPBA-caudate nucleus group(WC), sham-control thalamus group(ST) and sham-control caudate nucleus group(SC). Animals in the WT and WC groups received 2 μL of the extracellular tracer gadolinium-diethylene triamine pentaacetic acid(Gd-DTPA)injected into the thalamus or caudate nucleus, respectively, and 12 Jing-well points in the distal ends of the rats' digits were used for WPBA. Although 2 μL of Gd-DTPA was injected into the thalamus or caudate nucleus, respectively, for animals in the two sham groups(ST and SC), no acupuncture or bloodletting was performed. Brain extracellular space and interstitial fluid flow parameters were measured using Gd-DTPA-enhanced magnetic resonance imaging.RESULTS: The brain interstitial fluid flow speed was decreased in the thalamus after WPBA, with a significantly lower Gd-DTPA clearance rate and longer half-life of Gd-DTPA in the thalamus of treated rats than those in sham-control rats [WPBA-treated rats' clearance rate,(7.47 ± 3.15) × 10^(-5)/s(P = 0.009);half-life,(1.52 ± 0.13) h, P = 0.000]. By contrast, no significant changes in brain extracellular space and interstitial fluid flow parameters were detected in the caudate nucleus after WPBA(P = 0.649). In addition, no differences in the morphology of the brain extracellular space or the final distribution of the traced brain interstitial fluid were demonstrated between the WT and WC groups(P = 0.631, P = 0.970,respectively).CONCLUSION: The WPBA decreased the speed of the local thalamic ISF flow in rats, which is assumed to be a beneficial protection by down-modulated the metabolic rate of the attacked neurons under stroke. | FuYu LiYuliang GuoJia Liu Bin Liu Huipo Zhang Weibo Sun Wanli GaoYajuan Ren Qiushi Han Haojun | 2016 | Journal of Traditional Chinese Medicine2016，36，1： | 3 |
| 10 | Conceptual design and preliminary experiment of icing risk management and protection system显示文摘Icing is one of the main external environmental factors that causes aircraft to lose control.The flight safety assurance system under icing condition is particularly important.However,most of the systems do not consider the coupling characteristics of aerodynamics and flight dynamics of icing aircraft.This will affect the accuracy of the calculation results.Besides,the icing risk management system helps the pilot to realize the possible dangers in advance and perform correct maneuvers,based on quantitative assessment and visualization methods of flight risk.The envelope protection system realizes flight safety guarantee based on the real-time boundary protection method of key flight parameters.Finally,based on distributed simulation technology,a flight simulator was used as a platform to integrate the icing risk management system and envelope protection system to realize man-in-the-loop simulation.Two fictional but historically motivated icing scenarios are designed to test the system,and the results demonstrate that the icing risk management and protection system would be useful for aviation safety and can also be used for pilot training and reproducing flight accidents to find the causes. | Qiang WU Haojun XU Binbin PEI Yang WEI | 2022 | Chinese Journal of Aeronautics2022，35，6： | 3 |
| 11 | MRI can reveal metabolic changes in lily bulbs in vivo during dormancy release显示文摘The factors influencing dormancy release in lily bulbs strongly affect commercialization success, but the mechanism of dormancy release is still unclear. Magnetic resonance imaging (MRI) can detect changes in morphology and water status in a living plant bulb and aid in investigating release factors. To evaluate whether MRI could be used to detect intra-bulb metabolic changes during the dormant period in Oriental Lilies (Lilium 'Sorbonne'), a series of MRI and sugar concentration measurements were performed weekly on bulbs stored for 11 weeks at 4°C. The image quality of intra-bulb structure obtained using T 1-weighted imaging was superior to that obtained using T 2 -weighted imaging and had a higher signal-to-noise ratio (0.97±0.01). Magnetization transfer ratio values for the bud and basal plate declined during the first eight weeks of cold storage (P>0.05), and were well correlated with concentration of soluble sugar in the bud (R 2 =0.95) and basal plate (R 2 =0.93). Thus, MRI can serve as a valuable tool for observation and analysis of dynamic morphological and metabolic changes in vivo during dormancy release. This information is potentially useful as a guide in the improvement of horticultural product quality. | HAN HaoJun YI MingFang | 2012 | Science China(Life Sciences)2012，55，11： | 3 |
| 12 | Effect of KBr on the micellar properties of CTAB显示文摘The effect of KBr on the size, shape and microviscosity of CTAB micelles has been investigated by means of laser light scattering (LLS), 1H NMR measurements and fluorescence probe. The data obtained from the various techniques are quantitatively in agreement. The Rh of micelles in 0.01 mol ·L-1 CTAB solution increases from 3.5 nm to 43 nm and Rg increases to 89 nm with addition of KBr salt. In this process, both the microviscosity and molecular weight of micelles Mw have noticeable increases, too. The rod-like micelles are formed at 0.1 mol ·L -1 KBr and the worm-like micelles are formed at above 0.2 mol ·L-1 KBr. | ZHANG Weican LI Ganzuo MU Jianhai SHEN Qiang ZHENG Liqiang LIANG Haojun WU Chi | 2000 | Chinese Science Bulletin2000，45，20： | 3 |
| 13 | Epoxidized methyl ricinoleate bio-plasticizer with a pendant acetate ester for PVC artificial material:circumventing existing limit on achievable migration resistance显示文摘Processing polyvinyl chloride(PVC)artificial material requires plasticizer that softens the PVC coating.Currently,utilizing unsaturated fatty acid methyl esters to obtain epoxidized fatty acid methyl ester(EFAME)bio-plasticizers constitutes an environmentally responsible solution to substitute conventional ortho-phthalates that are endocrine disruptors or probable carcinogens.However,commercial EFAMEs,even with the highest epoxy value(ca.5.5-5.8%)so far,still suffer from fast leaching from the PVC matrix,burdening the environment and shortening lifespan of the artificial material.Here,we report a proof-of-principle demonstration of a new strategy to obtain migration-resistant EFAME that harnesses the midchain hydroxyl of methyl ricinoleate and covalently attachment of a pendant acetate ester.Despite a low epoxy value(3.0%),the engineered bio-plasticizer displays significantly suppressed migration in multiple scenarios compared with one conventional EFAME with much higher epoxy value(5.8%).Circumventing the limit confronting previous strategy that highlights the sole contribution of epoxy value to achievable migration resistance,the rationale herein may provide guidance for designing new EFAMEs with comparable performance to ortho-phthalates,thus bringing the old and oft-maligned PVC artificial material industry one step closer to sustainability. | Siyu Pan Delong Hou Gaofu Yang Qiuping Xie Sunxian Yan Qi Zeng Zhonghui Wang Yi Chen Haojun Fan | 2019 | Journal of Leather Science and Engineering2019，1，1： | 3 |
| 14 | Quantitative assessment of flight safety under atmospheric icing conditions显示文摘 | Zhou Li Xu Haojun Su Chen Lin Min | 2012 | High Technology Letters2012，18，1： | 3 |
| 15 | Shallow Convolutional Neural Networks for Acoustic Scene Classification显示文摘最近,深神经的网络,它包括 convolutional 神经网络(CNN ) ,广泛地被用于声学的景色分类(ASC ) 。由一些简化 CNN 在深 CNN 上看了改进的事实激发了,例如视觉几何学组网(VGG 网) ,我们弄明白怎么与改进性能简化 VGG 网风格体系结构到浅 CNN。分享的马克斯和正规化也是的批申请了更好的精确性。与声学的场面和事件(DCASE ) 的察觉和分类上的一系列控制测试, 2016 数据设定,我们的浅 CNN 完成 6.7% 改进,并且把时间复杂性归结为 5% ,与 VGG 网风格 CNN 相比。 | LU Lu YANG Yuhong JIANG Yuzhi AI Haojun TU Weiping | 2018 | Wuhan University Journal of Natural Sciences2018，23，2： | 3 |
| 16 | Aircraft nonlinear stability analysis and multidimensional stability region estimation under icing conditions显示文摘Icing is one of the crucial factors that could pose great threat to flight safety,and thus research on stability and stability region of aircraft safety under icing conditions is significant for control and flight.Nonlinear dynamical equations and models of aerodynamic coefficients of an aircraft are set up in this paper to study the stability and stability region of the aircraft under an icing condition.Firstly,the equilibrium points of the iced aircraft system are calculated and analyzed based on the theory of differential equation stability.Secondly,according to the correlation theory about equilibrium points and the stability region,this paper estimates the multidimensional stability region of the aircraft,based on which the stability regions before and after icing are compared.Finally,the results are confirmed by the time history analysis.The results can give a reference for stability analysis and envelope protection of the nonlinear system of an iced aircraft. | Liang QU Yinghui LI Haojun XU Dengcheng ZHANG Guoqiang YUAN | 2017 | Chinese Journal of Aeronautics2017，30，3： | 2 |
| 17 | Detection of circulating tumor cells in peripheral blood from patients with gastric cancer using piRNAs as markers显示文摘 | Long Cui Yanru Lou Xinjun Zhang Hui Zhou Hongxia Deng Haojun Song Xiuchong Yu Bingxiu Xiao Weihua Wang Junming Guo | 2011 | Clinical Biochemistry2011，，13： | 2 |
| 18 | A probabilistic approach to modeling and estimating the QoS of Web-service-based workflows显示文摘 | Hwang San-Yi Wang Haojun Tang Jian | 2007 | Journal of Information Sciences2007，177，23： | 1 |
| 19 | Novel side-chain liquid- crystalline polyimide for film materials 显示文摘 | FAN Haojun GU Yi XIE Meili | 2003 | J Polym Sci Part A: PolymChem2003，41，4： | 1 |
| 20 | Retrospective, analytical study of field first aid following the Wenchuan earthquake in China 显示文摘 | Haojun F Jianqi S Shike I-I | 2011 | Prehosp Disaster Med2011，26，2： | 1 |
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