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| 1 | Control theorem of a universal uniform-rotating magnetic vector for capsule robot in curved environment显示文摘For realizing non-contact steering swimming of a capsule robot in curved environment filled with viscous liquid,based on spatial orthogonal superposition theorem of alternating magnetic vectors,an innovative physical method is proposed,which employs three-axis orthogonal square Helmholtz coils fed with three phase sine currents to create a universal uniform magnetic spin vector as energy source.According to the antiphase sine current superposition theorem generalized in this paper,an effective control method for successively adjusting the orientation and the rotating direction of the universal magnetic spin vector is proposed.For validating its feasibility and controllability,three-axis Helmholtz coils,power source and an innovative capsule robot prototype were manufactured,experiments were conducted in both spiral pipe and animal intestine.It was demonstrated that the orientation and the rotational direction of the universal uniform-magnetic spin vector can be adjusted successively through digital control and steering swimming of the capsule robot in spiral intestine can be achieved successfully.The breakthrough of the universal rotating uniform-magnetic vector will push forward the development of modern physics and biomedical | ZHANG YongShun WANG Na DU ChunYu SUN Ying WANG DianLong | 2013 | Science China(Technological Sciences)2013，56，2： | 16 |
| 2 | Dynamic characteristics of an intestine capsule robot with variable diameter显示文摘This paper proposes an intestine capsule robot with variable diameter. It is driven by external rotating magnetic field and has the function of automatic radial clearance compensation. An external magnetic field generating device and a capsule robot with variable diameter are developed. Radial dynamic balance equation and kinematics equation of the capsule robot traveling inside flexible elasto-wall environment are established, and dynamic characteristics of the capsule robot inside flexible elasto-wall pipe and rigid wall pipe environments are analyzed and compared. Simulations and experiment results show that its dynamic characteristics in both pipes are almost the same. Under the action of radial clearance compensation, fluid dynamic pressure around outer surface of the capsule robot and its propulsion, as well as its adaptability to diameter change range, are significantly improved. Its propulsion and moving speed are controlled by adjusting rotating angular speed of the rotating magnetic field. This innovative capsule robot with radial clearance compensation has a promising prospect for inside intricate gastrointestinal (GI) tract in non-invasive therapy applications. | ZHANG YongShun JIANG ShengYuan ZHANG XueWen YU HongHai WANG DianLong GUO DongMing | 2010 | Chinese Science Bulletin2010，55，17： | 11 |
| 3 | Orthogonal transformation operation theorem of a spatial universal uniform rotating magnetic field and its application in capsule endoscopy显示文摘According to the anti-phase sine current superposition theorem, the orientation, the magnetic flux density, the angular speed and the rotational direction of the spatial universal rotating magnetic field (SURMF) can be controlled within the tri-axial orthogonal square Helmholtz coils (TOSHC). Nevertheless, three coupling direction angles of the normal vector of the SURMF in the Descartes coordinate system cannot be separately controlled, thus the adjustment of the orientation of the SURMF is difficult and the flexibility of the robotic posture control is restricted. For the dimension reduction and the decoupling of control variables, the orthogonal transformation operation theorem of the SURMF is proposed based on two independent rotation angular variables, which employs azimuth and altitude angles as two variables of the three-phase sine current superposition formula derived by the orthogonal rotation inverse transformation. Then the unique control rules of the orientation and the rotational direction of the SURMF are generalized in each spatial quadrant, thus the scanning of the normal vector of the SURMF along the horizontal or vertical direction can be achieved through changing only one variable, which simplifies the control process of the orientation of the SURMF greatly. To validate its feasibility and maneuverability, experiments were conducted in the animal intestine utilizing the innovative dual hemisphere capsule robot (DHCR) with active and passive modes. It was demonstrated that the posture adjustment and the steering rolling locomotion of the DHCR can be realized through single variable control, thus the orthogonal transformation operation theorem makes the control of the orientation of the SURMF convenient and flexible significantly. This breakthrough will lay a foundation for the human-machine interaction control of the SURMF. | ZHANG YongShun YU ZiChun YANG HuiYuan HUANG YunKui CHEN Jun | 2017 | Science China(Technological Sciences)2017，60，6： | 9 |
| 4 | Polyphase coded signal design for MIMO radar using MO-MicPSO显示文摘A novel modified optimization technique known as the multi-objective micro particle swarm optimization(MO-MicPSO) is proposed for polyphase coded signal design.The proposed MO-MicPSO requires only a small population size compared with the standard particle swarm optimization that uses a larger population size.This new method is guided by an elite archive to finish the multi-objective optimization.The orthogonal polyphase coded signal(OPCS) can fundamentally improve the multiple input multiple output(MIMO) radar system performance,with which the radar system has high resolution and abundant signal channels.Simulation results on the polyphase coded signal design show that the MO-MicPSO can perform quite well for this high-dimensional multi-objective optimized problem.Compared with particle swarm optimization or genetic algorithm,the proposed MO-MicPSO has a better optimized efficiency and less time consumption. | Xiangneng Zeng Yongshun Zhang Yiduo Guo | 2011 | Journal of Systems Engineering and Electronics2011，22，3： | 8 |
| 5 | Characterization of Carotenoid Accumulation and Carotenogenic Gene Expression During Fruit Development in Yellow and White Loquat Fruit显示文摘Accumulation of carotenoids in peel and pulp of the yellow-fleshe loquat ‘Zaozhong 6'(ZZ6) and the white-fleshe loquat ‘Baiyu'(BY) were tracked during different fruit development stages, and the expression of 15 carotenogenic genes were analyzed. During loquat fruit ripening the fresh weight content of β-carotene in peel and pulp of ZZ6 increased gradually and peaked at the fully ripe stage, reaching 68.53 μg·g^(-1)FW in the peel and 11.92 μg·g^(-1)FW in the pulp. In BY, the content of β-carotene in the peel increased and peaked at the fully ripe stage, reaching38.89 μg·g^(-1)FW, while it decreased in the pulp from the original 0.47 μg·g~(^(-1))FW and reduced to 0.29 μg·g~(^(-1))FW. The content of β-cryptoxanthin in the peel and pulp of ZZ6 and BY both increased steadily, and peaked at the fully ripe stage; however, the content of lutein decreased in the peel of ZZ6 and increased in the pulp, but in BY, it dropped and then rose in the peel. There was no significan change of β-cryptoxanthin in the pulp of BY. After the breaker stage, the m RNA levels of phytoene synthase(PSY) and chromoplast-specifi lycopene β-cyclase(CYCB) were higher in the peel, while CYCB and β-carotene hydroxylase(BCH) m RNAs were higher in the fles of ZZ6, compared with BY. The results showed that the expression level of PSY, CYCB, and BCH appeared to cooperatively regulate the accumulation of carotenoids. | ZHANG Ling ZHANG Zhike ZHENG Tingting WEI Weilin ZHU Yunmei GAO Yongshun YANG Xianghui LIN Shunquan | 2016 | Horticultural Plant Journal2016，2，1： | 6 |
| 6 | Improvements on radiation-hardened performance of static induction transistor显示文摘The radiation-hardened performances of static induction transistor (SIT) have been studied in depth in this paper. The effects of radiation of electron beam on the I-V characteristics, carrier distribution and potential distribution in the channel of SIT have been represented. A large number of electron-hole pairs are generated in the depletion region of reversely biased gate-channel PN junction. The radiation-generated electrons drift towards the drain region at high positive potential, while generated holes flow into gate region biased to the lowest potential. With the accumulation of holes in gate region, the gate potential is boosted, resulting in a decrease in the height of potential barrier in channel, and an increase in drain current. I-V characteristics of SIT in the presence of radiation have been theoretically derived, and compared with experimental results. With the increase in thickness of epitaxial layer, the radiation-hardened capability of SIT is continuously improved until the optimum thickness of 26 μm is reached. The optimum matching relationship among geometric, material and technological parameters has been represented to acquire excellent radiation-hardened performances of SIT. | WANG YongShun LUO XianLiang LI HaiRong WANG ZiTing WU Rong ZHANG CaiZhen LI SiYuan | 2010 | Science China(Information Sciences)2010，53，5： | 6 |
| 7 | Control strategy for multiple capsule robots in intestine显示文摘Based on the critical gap phenomenon of the intestinal capsule robot,a variable-diameter capsule robot with radial gap self-compensation is developed in this paper.With the functional variation principle,a fluid dynamic pressure model satisfying the boundary conditions of the outer surface of capsule robot with screw blades is derived.The critical gap phenomenon is studied theoretically and experimentally based on the end effect and the dynamic balance characteristics of the fluid on the surface of capsule robot.The concept of start-up rotation speed is defined,the relationship between the start-up rotation speed and the spiral parameters of capsule robot is investigated.The strategy for implementing drive and control on several capsule robots under the same rotational magnetic field is proposed,and by defining the start-up curves of several capsule robots with the similar motion regulation as the objective functions,genetic algorithm is employed to optimize the spiral parameters of several capsule robots.Experiments have shown that the proposed drive and control strategy for several capsule robots can be implemented effectively.It has a good prospect of application inside intestine to realize the drive and control on several capsule robots for different medical purposes. | ZHANG YongShun WANG DianLong RUAN XiaoYan JIANG ShenYuan LU Jie | 2011 | Science China(Technological Sciences)2011，54，11： | 5 |
| 8 | Method to reconnoiter pulse amplitude train for phased array radar based on Hausdorff distance显示文摘This paper presents a method to estimate beam pointing of phased array radar by the pulse amplitude train, which is significant in radar electronic reconnaissance and electronic support measure. Firstly, the antenna patterns modeling of the phased array system is exploited to build the radar sweeping model and the signal propagation model. Secondly, the relationship between the variation of the radiated power and the antenna beam pointing angles in the given airspace is analyzed. Based on the above two points, the sample with obvious amplitude characteristics of the pulse amplitude train can be screened out after detecting the train peaks. Finally, the sample is matched to the subsequent pulse amplitude train based on the Hausdorff distance. The proposed methods have less prior knowledge and higher efficiency and are easier to process. By cross correlating the sample of the pulse amplitude train with the sample data of the antenna follow-up radiation, the probability of detection of the beam pointing direction becomes larger in case that the subsequent antenna beam returns to the specific position. | Chuan Sheng Yongshun Zhang Wenlong Lu Junwei Xie | 2017 | Journal of Systems Engineering and Electronics2017，28，6： | 3 |
| 9 | Composite following control for wheeled inverted pendulum vehicles based on human-robot interaction显示文摘Dear editor,Over the past decade, wheeled mobile robots have been widely used in many fields, and for the human-following, they are required to respect the social zones when they follow humans for the purpose of company or carrying loads (1–4)To this end, an impedance control is proposed for a human-following robot Pioneer 3AT。 | Ming YUE Yigao NING Shuzhou YU Yongshun ZHANG | 2019 | Science China(Information Sciences)2019，62，5： | 2 |
| 10 | Characteristics of spatial magnetic torque of an intestine capsule micro robot with a variable diameter显示文摘A drive and control method is put forward for a variable diameter capsule micro robot to screw forward in intestine using magnetic coupling between an inner actuator inside the robot and the rotational magnetic field generated by a rotating outer actuator. The structures of the outer and inner actuators are magnet cylinders with multiple magnetic poles in tegular shape alternating with dissimilar radial magnetization. An universal mathematical model of magnetic torque at eccentric state is established based on the equivalent magnetic charge method, and the characteristics of magnetic torque with respect to structural parameters of actuators are theoretically studied. Experiments show that the driving method features advantages such as powerful magnetic torque, high safety, reliability, etc. The driving ability of the variable diameter capsule micro robot is greatly improved by its automatic radial clearance compensation. The magnetic drive system has a promising prospect of medical applications in intestine. | ZHANG YongShun YUE Ming GUO DongMing WANG DianLong YU HongHai JIANG ShengYuan ZHANG XueWen | 2009 | Science China(Technological Sciences)2009，52，7： | 2 |
| 11 | Molecular identification of Echinococcus species from eastern and southern Qinghai, China, based on the mitochondrial cox1 gene显示文摘 | Junying Ma Hu Wang Gonghua Lin Philip S. Craig Akira Ito Zhenyuan Cai Tongzuo Zhang Xiumin Han Xiao Ma Jingxiao Zhang Yufang Liu Yanmei Zhao Yongshun Wang | 2012 | Parasitology Research2012，，1： | 2 |
| 12 | Single-shot AAV-vectored vaccine against SARS-CoV-2 with fast and long-lasting immunity显示文摘Due to the insufficient long-term protection and significant efficacy reduction to new variants of current COVID-19 vaccines,the epidemic prevention and control are still challenging.Here,we employ a capsid and antigen structure engineering(CASE)strategy to manufacture an adenoassociated viral serotype 6-based vaccine(S663V-RBD),which expresses trimeric receptor binding domain(RBD)of spike protein fused with a biological adjuvant RS09.Impressively,the engineered S663V-RBD could rapidly induce a satisfactory RBD-specific IgG titer within 2 weeks and maintain the titer for more than 4 months.Compared to the licensed BBIBP-CorV(Sinopharm,China),a single-dose S663V-RBD induced more endurable and robust immune responses in mice and elicited superior neutralizing antibodies against three typical SARS-CoV-2 pseudoviruses including wild type,C.37(Lambda)and B.1.617.2(Delta).More interestingly,the intramuscular injection of S663V-RBD could overcome pre-existing immunity against the capsid.Given its effectiveness,the CASE-based S663VRBD may provide a new solution for the current and next pandemic. | Fuhua Wu Shuang Luo Yongshun Zhang Yangsen Ou Hairui Wang Zhaofei Guo Chunting He Shuting Bai Penghui He Min Jiang Xiaoyan Chen Guangsheng Du Xun Sun | 2023 | Acta Pharmaceutica Sinica B2023，13，5： | 2 |
| 13 | Novel algorithm on DOA estimation for correlated sources under complex symmetric Toeplitz noise显示文摘To cope with the scenario where both uncorrelated sources and coherent sources coexist, a novel algorithm to direction of arrival (DOA) estimation for symmetric uniform linear array is presented. Under the condition of stationary colored noise field, the algorithm employs a spatial differencing method to eliminate the noise covariance matrix and uncorrelated sources, then a Toeplitz matrix is constructed for the remained coherent sources. After preprocessing, a propagator method (PM) is employed to find the DOAs without any eigendecomposition. The number of sources resolved by this approach can exceed the number of array elements at a lower computational complexity. Simulation results demonstrate the effectiveness and effciency of the proposed method. | Wang Kai Zhang Yongshun Shi Dan | 2008 | Journal of Systems Engineering and Electronics2008，19，5： | 2 |
| 14 | Beclin-1 Expression is a Predictor of Clinical Outcome in Patients with Esophageal Squamous Cell Carcinoma and Correlated to Hypoxia-Inducible Factor (HIF)-1α Expression显示文摘 | Yongshun Chen You Lu Changli Lu Lei Zhang | 2009 | Pathology & Oncology Research2009，，3： | 2 |
| 15 | Optimal Control of a Universal Rotating Magnetic Vector for Petal-shaped Capsule Robot in Curve Environment显示文摘Steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely.A petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented,and an optimization method with two processes for determining the orientation of a pre-applied universal magnetic spin vector is proposed.To realize quick and non-contact steering swimming,a fuzzy comprehensive evaluation method for optimizing the steering driving angle is presented based on two evaluation indexes including the average steering speed and the average steering trajectory deviation,achieving the initial optimal orientation of a universal magnetic spin vector.To further reduce robotic magnetic vibration,a main target method for optimizing its final orientation,which is used for fine adjustment,is employed under the constrains of the magnetic moments.Swimming experimental results in curve pipe verified the effectiveness of the optimization method,which can be effectively used to realize non-contact steering swimming of the petal-shaped robot and reduce its vibration. | ZHANG Yongshun BAI Jianwei CHI Minglu CHENG Cunxin WANG Dianlong | 2014 | Chinese Journal of Mechanical Engineering2014，27，5： | 2 |
| 16 | Improvements on voltage-resistant performance of bipolar static induction transistor (BSIT) with buried gate structure显示文摘The breakdown mechanism of power bipolar static induction transistor (BSIT) with buried gate structure is analyzed in depth.A power BSIT sample with high voltage-resistant capability has been designed and fabricated in this paper.The technological methods for improving high voltage performances are represented.The active region of BSIT is surrounded with a deep trench to avoid any probable influences of various defects on device performances.Two field-limiting ring-shape junctions and one channel termination ring-shape junction are arranged around the gate region to reduce the electric field intensity.The gate-source breakdown voltage BV GS of power BSIT has been increased to 110 V from previous value of 50-60 V,and its blocking voltage is increased to 1700 V.The optimal geometrical dimensions for achieving the maximum breakdown voltage BV GS and blocking voltage V block are also represented in the paper. | WANG YongShun FENG JingJing LIU ChunJuan WANG ZiTing WANG ZaiXing ZHANG CaiZhen | 2012 | Science China(Information Sciences)2012，55，4： | 2 |
| 17 | Geometric modeling of the linear motor driven electrical discharge machining (EDM) die-sinking process显示文摘 | ZHAO Yongshun ZHANG Xingquan LIU Xianbing | 2004 | Inter- national Journal of Machine Tools and Manufacture2004，44，1： | 1 |
| 18 | Spatial Difference smoothing for DOA estimation of coherent signals显示文摘 | Qi Chongying Wang Yongliang Zhang Yongshun | 2005 | IEEE Signal Processing Letters2005，12，11： | 1 |
| 19 | Spatial difference smooth for DOA estimation of coherent signal 显示文摘 | Qi Chongying Zhang Yongshun Wang Yongliang | 2005 | IEEE Signal Processing Letters2005，12，11： | 1 |
| 20 | Spatial Difference Smoothing for DOA Estimation of Coherent Signals显示文摘 | Chongying Qi Yongliang Wang Yongshun Zhang and Ying Han | 2005 | IEEE SIGNAL PROCESSING LETTERS2005，12，11： | 1 |
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