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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 | 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 |
| 3 | 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 |
| 4 | 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 |
| 5 | 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 |
| 6 | Layered manganese 4-phosphonoisophthalates (4-piH_4) embedding Mn-O chains with metamagnetism in Mn_3(4-piH)_2(H_2O)_3·H_2O显示文摘Two manganese phosphonates Mn3(4-piH)2(H2O)3·H2O (1) and Mn5(4-piH)2(4-piH2)2(phen)2(H2O)4 (2) (4-piH4 = 4-phosphonoisophthalic acid, phen = 1,10-phenanthroline) have been synthesized under hydrothermal conditions in the presence of organic co-ligand. Both compounds exhibit layer structures but with different topologies. In compound 1, a complicated 'ladder-like' chain of {Mn3O3}O2 which contains three- and six-member rings made up of triangular shaped {Mn3O3} trimers is found. The chains are linked by the PO3C groups to form an inorganic layer. The phenyl and protonated carboxylate groups are pendent between the layers with extensive hydrogen bonds. In compound 2, tetramers of {Mn4O6} are connected by the {MnO6} octahedra through corner-sharing to form an infinite chain, which is further bridged by 4-piH3- ligands into a thick hybrid layer. Magnetic measurements reveal that antiferromagnetic interactions are dominant in both compounds. Metamag- netism is observed in compound 1 at low temperature, while no long range ordering is found in compound 2 down to 1.8 K. | JIN HaoJun WANG PengFei BAO SongSong ZHENG LiMin YAO Cheng | 2012 | Science China Chemistry2012，55，6： | 1 |
| 7 | Resource allocation schemes in multi-vehicle cooperation systems显示文摘With the rapid development of smart driving and communications technologies,an increasing number of vehicles are cooperating with each other to improve traffc effciency and travel safety.This paper conducts a comprehensive survey of multi-vehicle cooperation from the aspects of control and communication.Firstly,three typical multi-vehicle cooperation scenarios are summarized.Communication issues relating to multi-vehicle cooperation are then introduced,including communication types,requirements,and potential solutions.To address the control requirements,a general resource allocation solution for multi-vehicle cooperation is formulated;speci cally,two types of resource allocation scheme for intersection management are proposed.Finally,performance of the proposed schemes is evaluated and compared. | Hang Liu Haojun Yang Kan Zheng Lei Lei | 2017 | Journal of Communications and Information Networks2017，2，2： | 1 |
| 8 | Optimum design of the 5R symmetrical parallel manipulator with a surrounded and good condition workspace显示文摘 | LIU Xinjun WANG Jinsong ZHENG Haojun | 2006 | Robotics and AutonomousSystems2006，54，： | 1 |
| 9 | 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 |
| 10 | Study on dynamics of central pattern generator for a quadrupedal robot显示文摘 | 张秀丽 Zheng Haojun | 2007 | High Technology Letters2007，13，4： | 1 |
| 11 | Gait transition for quadruped robot by replacing the gait matrix of a central pattern generator model 显示文摘 | ZHANG Xiuli ZHENG Haojun CHEN Liangfeng | 2006 | Advanced Robotics2006，20，7： | 1 |
| 12 | Heterogeneous Vehicular Networks for Social Networks: Requirements and Challenges显示文摘Heterogeneous vehicular networks(HetVNETs) are regarded as a promising technique ior meeting various requirements of intelligent transportation system(ITS) services.With the rapid development of mobile Internet in the past decade,social networks(SNS)have become an indispensable part of human life.Based on this indivisible relationship between vehicles and users,social characteristics and human behaviors can significantly affect vehicular network performance.Hence,we firstly present two architectures for SNs by introducing social characteristics into the HetVNETs.Then,several user cases are also given in this paper,in which service requirements are analyzed simultaneously.At last,we briefly discuss potential challenges raised by the HetVNETs for SNs. | YANG Haojun ZHENG Kan LEI Lei XIANG Wei | 2016 | ZTE Communications2016，14，3： | 0 |
| 13 | Cascaded DNA circuits-programmed self-assembly of spherical nucleic acids for high signal amplification显示文摘Signal amplification is an important issue in DNA nanotechnology and molecular diagnostics.In this work,we report a strategy for the catalytic self-assembly of spherical nucleic acids(SNAs)programmed by two-layer cascaded DNA circuits through integrating an entropy-driven catalytic network,a catalytic hairpin assembly circuit,and a facile SNA assembly-based reporter system.This integrated system could implement^100,000-fold signal amplification in the presence of 1 pM of input target.Possessing powerful amplification ability of nucleic acid signal,our strategy should be of great potential in fabricating more robust dynamic networks to be applied for signal transduction,DNA computing,and nucleic acid-based diagnostics. | Xiang Li Dongbao Yao Junxiang Zhou Xiang Zhou Xianbao Sun Bing Wei Chengxu Li Bin Zheng Haojun Liang | 2020 | Science China Chemistry2020，63，1： | 0 |
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