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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 | 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 |
| 3 | 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 |
| 4 | 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 |
| 5 | 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 |
| 6 | 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 |
| 7 | lncRNA-AC130710 targeting by miR-129-5p is upregulated in gastric cancer and associates with poor prognosis显示文摘 | Chunjing Xu Yongfu Shao Tian Xia Yunben Yang Jiawei Dai Lin Luo Xinjun Zhang Weiliang Sun Haojun Song Bingxiu Xiao Junming Guo | 2014 | Tumor Biology2014，，10： | 1 |
| 8 | Waterborne polyurethane/O-MMT nanocomposites for flame retardant leather finishing 显示文摘 | Zhang Xiuli Chen Yi Fan Haojun | 2010 | Journal of the Society of Leather Technologists and Chemists2010，94，2： | 1 |
| 9 | Autonomously clearing obstacles using the biological flexor reflex in a quadrupedal robot显示文摘 | Zhang Xiuli Zheng Haojun | 2008 | Robotica2008，26，1： | 1 |
| 10 | Walking up and down hill with a biologically inspired postural reflex in a quadrupedal robot显示文摘 | Zhang Xiuli Zheng Haojun | 2008 | Autonomous Robots2008，25，1： | 1 |
| 11 | Toughe-ning of nylon with epoxidized ethylene propylene diene rubber显示文摘 | Wang Xuehui Zhang Huixuan Liang Haojun | 1998 | Polymer1998，39，12： | 1 |
| 12 | Tough-ened blend of polycarbonate and epoxidized ethylene propylenediene rubber显示文摘 | Wang Xuehui Zhang Huixuan Liang Haojun | 1997 | Polymer1997，38，25： | 1 |
| 13 | Waterborne polyurethane/O-MMT nanocomposites for flame retardant leather finishing显示文摘 | Zhang Xiuli Chen Yi Fan Haojun Shi Bi | | 0，，02： | 1 |
| 14 | Numerical Simulation of High Speed Rotating Waterjet Flow Field in a Semi Enclosed Vacuum Chamber显示文摘In this paper,a three dimension model is built according to real surface cleaner in airport runway rubber mark cleaning vehicle and numerical simulation of this model is carried out using Ansys Fluent software.After comparison and analysis of the flow fields between high speed rotating waterjet and static waterjet formerly studied by other researchers,the influences of different standoff distances from nozzle outlet to runway surface and rotation speeds on rubber mark cleaning effect are simulated and analyzed.Results show the optimal operation parameters for the simulated model and quantitative advices are given for design,manufacture and operation of the airport runway rubber mark cleaning vehicle. | Haojun Peng Ping Zhang | 2018 | Computer Modeling in Engineering & Sciences2018，，1： | 1 |
| 15 | FRPreinforcement technology research progress显示文摘 | Lu Yiyan Huang Yinqu Zhang Haojun | 2006 | Chi-na Railway Science2006，27，3： | 1 |
| 16 | Modification of collagen for high Cr (Ⅲ) adsorption 显示文摘 | Luo Zhaoyang Zhang Xiuli Fan Haojun | 2009 | Journal of the A- merican Leather Chemists Association2009，104，4： | 1 |
| 17 | Gait transition for a quadrupedal robot by replacing the gait matrix of a central pattern generator model显示文摘 | ZHANG Xiuli ZHENG Haojun CHEN Lianfeng | 2006 | Advanced Robotics2006，20，7： | 1 |
| 18 | Hardware/softwarepartitioning method based on improved artificial fishswarm algorithm 显示文摘 | Quan Haojun Zhang Tao Guo Jichang | 2013 | Journal of Tianjin University (Scienceand Technology)2013，46，10： | 1 |
| 19 | The atomic parameter model for the fifth and sixth transition metal quasicrystal alloys(Mc=0.5)显示文摘The forming ability of quasicrystal phase has a relationship with the atomic bond factors based on differences in atom size and electron factors.Usually,those factors or their combination are used to describe the forming ability,stability of alloys,etc.In this paper,the quasicrystal alloy forming abilities for the fifth and sixth transition metals(Y,Zr,Nb,Mo,Ru,Rh,Pd and La,Hf,Ta,W,Re,Os,Ir,Pt) based alloys have been studied by the size factor and the atomic parametric function.It has been found that an ellipse curve can be used to separate the quasicrystal formed area from the informed area in the size factor and atomic parameters functional graph.The ellipse curve can be defined by an equation(x-m)2/c2+(y?n)2/d2=1.The overall reliabilities for the model are up to 97.4% and 95.5% for the fifth and the sixth transition metals based quasicrystal alloys,respectively.Also,the ellipse parameters m,n,c and d can be paraphrased by some appropriate parameters for each host metal. | LIAO ShuZhi GUI XuChun ZHANG Chun PENG HaoJun XIE HaoWen OUYANG YiFang ZHANG BangWei | 2009 | Science China(Physics,Mechanics & Astronomy)2009，52，10： | 1 |
| 20 | MOFs-Based Nitric Oxide Therapy for Tendon Regeneration显示文摘Tendon regeneration is still a great challenge due to its avascular structure and low self-renewal capability.The nitric oxide(NO)therapy emerges as a promising treatment for inducing the regeneration of injured tendon by angiogenesis.Here,in this study,a system that NO-loaded metal–organic frameworks(MOFs)encapsulated in polycaprolactone(PCL)/gelatin(Gel)aligned coaxial scaffolds(NMPGA)is designed and prepared for tendon repair.In this system,NO is able to be released in vitro at a slow and stable average speed of 1.67 nM h^−1 as long as 15 d without a burst release stage in the initial 48 h.Furthermore,NMPGA can not only improve the tubular formation capability of endothelial cells in vitro but also obviously increase the blood perfusion near the injured tendon in vivo,leading to accelerating the maturity of collagen and recovery of biomechanical strength of the regenerated tendon tissue.As a NO-loaded MOFs therapeutic system,NMPGA can promote tendon regeneration in a shorter healing period with better biomechanical properties in comparison with control group by angiogenesis.Therefore,this study not only provides a promising scaffold for tendon regeneration,but also paves a new way to develop a NO-based therapy for biomedical application in the future. | Jun Chen Dandan Sheng Ting Ying Haojun Zhao Jian Zhang Yunxia Li He Xu Shiyi Chen | 2021 | Nano-Micro Letters2021，13，2： | 1 |
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