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| 1 | DEVELOPMENT OF A SHAPE-SHIFTING MOBILE ROBOT FOR URBAN SEARCH AND RESCUE显示文摘A portable shape-shifting mobile robot system named as Amoeba II (A-II) is developed for the urban search and rescue application.It is designed with three degrees of freedom and two tracked drive systems.This robot consists of two modular mobile units and a joint unit.The mobile unit is a tracked mechanism to enforce the propulsion of robot.And the joint unit can transform the robot shape to get high environment adaptation.A-If robot can not only adapt to the environment but also change its body shape according to the locus space.It behaves two work states including the linear state (named as I state) and the parallel state (named as II state).With the linear state the robot can climb upstairs and go through narrow space such as the pipe,cave,etc.The parallel state enables the robot with high mobility on rough ground.Also,the joint unit can propel the robot to roll in sidewise direction.Two modular A-II robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot,which Can transform the body into four wheels-driven vehicle.The experimental results validate the adaptation and mobility of A-II robot. | YE Changlong MA Shugen LI Bin | 2008 | Chinese Journal of Mechanical Engineering2008，21，2： | 12 |
| 2 | Hydrothermal Dolomite in the Upper Sinian (Upper Proterozoic) Dengying Formation, East Sichuan Basin, China显示文摘Hydrothermal Dolomite(HTD) is present in the Upper Sinian(Upper Proterozoic) Dengying Formation, east Sichuan Basin, China. The strata are comprised by primary dolomite. The HTD has various textures, including zebra dolomite, subhorizontal sheet-like cavities filled by saddle dolomite and breccias cemented by saddle dolomites as well occur as a fill of veins and fractures. Also co-occur MVT type lead-zinc ores in the study area. The δ13C and δ18O isotopes of HTD in the Upper Sinian Dengying Formation are lighter than those of the host rocks, while 87Sr/86 Sr is higher. The apparent difference in carbon, oxygen and strontium isotopes, especially the large difference in 87Sr/86 Sr isotopes ratio indicate crystallization from hot basinal and/or hydrothermal fluids. Saddle dolomite was precipitated at temperatures of 270-320°C. The diagenetic parasequences of mineral assemblage deposited in the Dengying Formation are:(1) dolomite host rock →sphalerite-galena-barite-fluorite;(2) dolomite host rock →saddle dolomite →quartz;(3) dolomite host rock → saddle dolomite→bitumen;(4) dolomite host rock → saddle dolomite → barite. The mean chemical composition of the host dolomite matrix and HTD didn't change much during hydrothermal process. The fluids forming the HTDs in the Dengying Formation were mixtures of freshwater from the unconformity at the top of Sinian, fluids from diagenetic compaction and hydrocarbon generation & expulsion from the Lower Cambrian Niutitang Formation mudstones or the Doushantuo Formation silty mudstones, and hydrothermal fluids from the basement. The hydrocarbon reservoirs associated with the HTD were mostly controlled by the basement faults and fractures and karsting processes at the unconformity separating Sinian and Cambrian strata. The hydrocarbon storage spaces of HTD included dissolved cavities and intercrystalline pores. Dissolution cavities are extensive at the top of Dengying Formation, up to about 46 m below the unconformity between Sinian and Cambrian and were generated mainly during karstification. Hydrothermal alteration enhanced the reservoir property of the Dengying Formation dolomites with 3%-5% increase in porosity. No agreement has been reached why zebra dolomite occurs only in the Upper Sinian strata, which would indicate that HTD mineralization occurred during two different periods, each of them related to major extensional tectonic event. The early one related to the Xingkai taphrogenesis(Z2-?1)and the later one to the Emei taphrogenesis(D2-T2). But, all the data from saddle dolomite suggest that the predominant crystallization occurred during the latter event. | LIU Shugen HUANG Wenming JANSA Luba F. WANG Guozhi SONG Guangyong ZHANG Changjun SUN Wei MA Wenxin | 2014 | Acta Geologica Sinica(English Edition)2014，88，5： | 11 |
| 3 | ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT显示文摘一个新奇三模块的机器人被介绍了。适应不平的地面并且在稳定性上改进它的尖端能改变它的配置。这个 three-moduletracked 机器人有三种对称配置。他们是线类型,三角类型,和排类型。在因素和活动机器人在问题上的尖端的反措施被分析以后,在稳定性索引上的稳定性金字塔和尖端被建议到全球性确定的 mobilerobot 的静态的稳定性和动态稳定性。转移机器人的形状被这种技术在模拟在沥青的联合骚乱下面测试,滚动并且偏航。模拟结果证明这种技术为活动机器人在稳定性上的尖端的分析是有效的,特别为可计算的交换子或转移模块化的机器人的形状。三种对称配置的实验在未组织的环境下面被做。环境实验显示出象三角类型配置有的模拟的一样的结果最好的稳定性。模拟和实验为交换子提供有效引用可计算的机器人的潜在的应用程序。 | LIU Jinguo WANG Yuechao MA Shugen LI Bin | 2006 | Chinese Journal of Mechanical Engineering2006，19，2： | 8 |
| 4 | Analysis of the constraint relation between ground and self-adaptive mobile mechanism of a transformable wheel-track robot显示文摘To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to 'MGCR model' is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot. | LI ZhiQing MA ShuGen LI Bin WANG MingHui WANG YueChao | 2011 | Science China(Technological Sciences)2011，54，3： | 7 |
| 5 | Center-configuration selection technique for the reconfigurable modular robot显示文摘The reconfigurable modular robot has an enormous amount of configurations to adapt to various environments and tasks. It greatly increases the complexity of configuration research in that the possible configuration number of the recon-figurable modular robot grows exponentially with the increase of module number. Being the initial configuration or the basic configuration of the reconfigurable robot, the center-configuration plays a crucial role in system’s actual applications. In this paper, a novel center-configuration selection technique has been proposed for re-configurable modular robots. Based on the similarities between configurations’ transformation and graph theory, configuration network has been applied in the modeling and analyzing of these configurations. Configuration adjacency matrix, reconfirmation cost matrix, and center-configuration coefficient have been defined for the configuration network correspondingly. Being similar to the center-location problem, the center configuration has been selected according to the largest cen-ter-configuration coefficient. As an example of the reconfigurable robotic system, AMOEBA-I, a three-module reconfigurable robot with nine configurations which was developed in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), has been introduced briefly. According to the numerical simulation result, the center-configuration coefficients for these nine configurations have been calculated and compared to validate this technique. Lastly, a center- configu-ration selection example is provided with consideration of the adjacent configura-tions. The center-configuration selection technique proposed in this paper is also available to other reconfigurable modular robots. | LIU JinGuo WANG YueChao LI Bin MA ShuGen TAN DaLong | 2007 | Science in China(Series F)2007，50，5： | 7 |
| 6 | Analysis of the Oldest Carbonate Gas Reservoir in China——New Geological Significance of the Dengying Gas Reservoir in the Weiyuan Structure, Sichuan Basin显示文摘The Weiyuan Structure is the largest surface structure in the Sichuan Basin. However, the abundance of the Dengying Formation gas reservoir in the Weiyuan Structure is low. The height of the gas column is 244 m, but the integrated abundance is only 26.4%. After nearly 40 years of exploration, the Gaoshi1 Well and Moxi8 Well yielded gas flows that marked an important exploration success after the discovery of the Sinian Dengying Formation gas reservoir in the Weiyuan Structure, Sichuan Basin, Lower-Paleozoic in 1964. Combined with research examples of oil and gas migration and gas chimneys around the world, the authors used comprehensive geological-geophysical-geochemical research methods to provide a reasonable explanation of the low abundance of the gas reservoir in the Weiyuan Structure based on the surface and subsurface data. The latest research results show that(1) currently, the Weiyuan Structure is the apex of the Dengying Formation in the Mid-Sichuan Basin. The Guang'an, Longnüsi, Gaoshiti-Moxi, and Weiyuan structures are a series of traps in the Dengying Formation with gradual uplifting spill and closure points during the regional uplift of the Himalayan period. The natural gas of the Dengying Formation accumulated in different ways over a wide range and long distance in the Sichuan Basin.(2) At approximately 40 Ma, the Weiyuan area started to uplift and form the present structure, and it is the only outcropped area with the Triassic Jialingjiang Formation and Leikoupo Formation in the surface of the Sichuan Basin(except the steep structural belt in East Sichuan). Caused by the uplift and denudation, the core of the Weiyuan Structure has formed an escaping 'skylight' for natural gas. The evidence of a gas chimney includes(1) the component percentage of non-hydrocarbon gas, which decreased from the bottom to the top,(2) the pressure coefficient is normal because the gas reservoir from the Upper Sinian to the Lower Permian commonly have a normal pressure coefficient(an average of 1.0), and(3) the isotope geochemistry of the argon mostly represents abiogenic characteristics of a deep source, and the 40 Ar/36 Ar ratio is as high as 2 855–5 222 in the Upper Permian. All of these characteristics provide sufficient evidence for a gas chimney effect. The characteristics of low abundance in the Weiyuan Structure can be a reference example for studying the late reconstruction of deep oil and gas reservoirs in the superimposed basins of western China. | Xiao Liang Shugen Liu Shubei Wang Bin Deng Siyu Zhou Wenxin Ma | 2019 | Journal of Earth Science2019，30，2： | 7 |
| 7 | Network-based reconfiguration routes for a self-reconfigurable robot显示文摘This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named 'AMOEBA-I' has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis,where reconfiguration route,reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfigu-ration route. Numerical analysis and experimental simulation results prove the va-lidity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots' configuration control and reconfiguration planning. | LIU JinGuo MA ShuGen WANG YueChao LI Bin | 2008 | Science in China(Series F)2008，51，10： | 5 |
| 8 | Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes显示文摘A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design(AD) theory is applied to evaluate and analyze the existing designs. Then an uncoupled concept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the proposed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the motion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots that have inclining-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping. | LI Te MA ShuGen LI Bin WANG MingHui WANG YueChao | 2016 | Science China(Technological Sciences)2016，59，2： | 5 |
| 9 | Adaptive controller design for underwater snake robot with unmatched uncertainties显示文摘Because of hydrodynamic model error of the present dynamic model, there is a challenge in controller design for the underwater snake-like robot. To tackle this challenge, this paper proposes an adaptive control schemes based on dynamic model for a planar, underwater snake-like robot with model error and time-varying noise. The adaptive control schemes aim to achieve the adaptive control of joint angles tracking and the direction of locomotion control. First, through approximation and reducibility using Taylor expansion method, a simplified dynamics model of a planar amphibious snake-like robot is derived. Then, the L1 adaptive controller based on piecewise constant adaptive law is applied on the simplified planar, underwater snake-like robot, which can deal with both matched and unmatched nonlinear uncertainties. Finally, to control the direction of locomotion, an auxiliary bias signal is used as the control input to regulate the locomotion direction. Simulation results show that this L1 adaptive controller is valid to deal with different uncertainties and achieve the joint angles tracking and fast adaptive at the same time. The modified L1 adaptive controller, in which the auxiliary bias item is added, has the ability to change the direction of locomotion, that is, the orientation angle is periodic with arbitrarily given constant on average. | Anfan ZHANG Shugen MA Bin LI Minghui WANG Xian GUO Yuechao WANG | 2016 | Science China(Information Sciences)2016，59，5： | 4 |
| 10 | Two-dimensional PSD based automatic docking of self-reconfiguration modular exploration robot system显示文摘Based on the design of a docking mechanism,this paper thoroughly investigates the space automatic doc- king of self-reconfiguration modular exploration robot system(RMERS).The method that leads robot to achieve space docking by using two-dimensional PSD is put forward innovatively for the median size robot system.At the same time,in order to enlarge the detecting extension and the precision of PSD and reduce its dependence on light- ing signal,the PSD was remade by increasing the optical device over its light-sensitive surface.The emission board and LED light scheduling were designed according to docking arithmetic,and the operating principle of docking process was analyzed based on these.The simulation experiments were carried out and their results are presented. | Zhang Liping Ma Shugen Li Bin Zhang Zheng Cao Binggang | 2007 | 仪器仪表学报2007，28，7： | 3 |
| 11 | Gaits-transferable CPG controller for a snake-like robot显示文摘With slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory (BCI) CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake. | LU ZhenLi MA ShuGen LI Bin WANG YueChao | 2008 | Science in China(Series F)2008，51，3： | 3 |
| 12 | Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment显示文摘Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes. | LI Te MA Shugen LI Bin WANG Minghui WANG Yuechao | 2015 | Chinese Journal of Mechanical Engineering2015，28，6： | 2 |
| 13 | Analysis of creeping locomotion of a snakerobot显示文摘 | MA Shugen | 2001 | Advanced Robotics2001，15，2： | 1 |
| 14 | Analysis of creeping locomotion of a snake-like robot显示文摘 | Shugen Ma | | 0，，02： | 1 |
| 15 | Minimum-time control of coupled tendon-driven manipulators显示文摘 | Shugen Ma | 2001 | Advanced Robotics2001，15，4： | 1 |
| 16 | Analysis of creeping locomotion of a snake-like robot显示文摘 | Shugen Ma | 2001 | Advanced Robotics2001，15，2： | 1 |
| 17 | Development of a modularcrawler for tracked robots 显示文摘 | Quan Qiquan Ma Shugen | 2011 | Advanced Robotics2011，25，1314： | 1 |
| 18 | Design and modeling of a snake robot in traveling wave locomotion显示文摘 | Li Chen Shugen Ma Yuechao Wang | 2007 | Mechanism and Machine Theory2007，42，12： | 1 |
| 19 | De-sign and Modelling of a Snake Robot in Traveling Wave Locomotion显示文摘 | Chen Li Ma Shugen Wang Yuechao | | 0，，12： | 1 |
| 20 | CPG - based control of serpentinelocomotion of a snake - like robot 显示文摘 | Ma Shugen | 2010 | Mechatronics2010，20，2： | 1 |
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