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| 1 | Dynamic Bending of Bionic Flexible Body Driven by Pneumatic Artificial Muscles(PAMs) for Spinning Gait of Quadruped Robot显示文摘The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures' kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18°. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot. | LEI Jingtao YU Huangying WANG Tianmiao | 2016 | Chinese Journal of Mechanical Engineering2016，29，1： | 21 |
| 2 | Energy Efficiency Analysis of Quadruped Robot with Trot Gait and Combined Cycloid Foot Trajectory显示文摘Quadruped robots consume a lot of energy,which is one of the factors restricting their application.Energy efficiency is one of the key evaluating indicators for walking robots.The relationship between energy and elastic elements of walking robots have been studied,but different walking gait patterns and contact status have important influences on locomotion energy efficiency,and the energy efficiency considering the foot-end trajectory has not been reported.Therefore,the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied.The forward and inverse kinematics of quadruped robot is derived.The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively,which can ensure the acceleration curve of the foot-end smoother and more successive,and reduce the contact force between feet and environment.Because of the variable topology mechanism characteristic of quadruped robot,the leg state is divided into three different phases which are swing phase,transition phase and stance phase during one trot gait cycle.The non-continuous variable constraint between feet and environment of quadruped robot is studied.The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic,the periodic contact and elastic elements of the robot.The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model.The specific resistance is used to evaluate energy efficiency of quadruped robot.The calculation results show the relationships between specific resistance and gait parameters,which can be used to determine the reasonable gait parameters. | LEI Jingtao WANG Feng YU Huangying WANG Tianmiao YUAN Peijiang | 2014 | Chinese Journal of Mechanical Engineering2014，27，1： | 12 |
| 3 | Dual roles of PKM2 in cancer metabolism显示文摘癌症房间有高度取决于 glycolysis 而不是 mitochondrial 的不同新陈代谢氧化 phosphorylation 独自一个的、已知的同样氧气的 glycolysis。Pyruvate kinase (PK ) 催化 glycolysis 的最后的步,作为这新陈代谢的显型的一个潜在的管理者出现了。PK 类型 M2 (PKM2 ) 的表示被增加并且便于喂奶在癌症房间的生产,它决定葡萄糖碳是否被降级到 pyruvate 并且喂奶或是进合成进程的 channeled。PKM2 催化活动的调整也调整为房间增长被要求的 DNA 和类脂化合物的合成。然而, PKM2 与高 anabolism 的活动由协调高精力的要求支持癌症房间增长的机制不完全是静止的理解。这评论总结 PKM2 的生物特征并且在癌症新陈代谢以及潜在的治疗学的应用讨论双角色。在癌症生物学上给它的多种的效果, PKM2 为癌症代表一个吸引人的目标治疗。 | Songfang Wu | 2013 | Acta Biochimica et Biophysica Sinica2013，45，1： | 8 |
| 4 | Effects of Shengjiangxiexin decoction on irinotecan-induced toxicity in patients with UGT1A1*28 and UGT1A1*6 polymorphisms显示文摘OBJECTIVE: To evaluate the efficacy of Shengjiangxiexin decoction(SXD), prepared with a formula from Traditional Chinese Medicine(TCM), in reducing irinotecan-induced hematological and gastrointestinal toxicities in patients with UDP-glucuronosyltransferase(UGT)1A1*28 and UGT1A1*6 polymorphisms.METHODS: This clinical trial included 115 patients receiving irinotecan combined with 5-fluorouracil plus l-leucovorin(FOLFIRI) treatment. All patients consented to UGT1A1*28 and *6 gene polymorphism detection prior to chemotherapy. SXD were administered from 1 day prior to chemotherapy to6 day post chemotherapy. Chemotherapy induced adverse reactions(neutropenia, diarrhea, nausea,vomiting, anorexia and infection) were recorded,and short-term effect of chemotherapy was evaluated regularly.RESULTS: A total of 50 patients had *1/*1 wild genotype, 58 patients had single allele variants with genotype *1/*6 or *1/*28, and 7 patients had twoalleles variants with genotype *6/*6, *28/*28 or *6/*28. In *1/*6 or *1/*28 patients(high risk group), 9patients(15.5%) developed Ⅰ-Ⅱ grade diarrhea and no patient developed severe diarrhea; neutropenia occurred in 19 patients(32.8%) and only 3 patients(8.6%) developed sever neutropenia. There were no significant differences in any toxic effects(neutropenia, diarrhea, nausea, vomiting, anorexia or infection) between *6 or *28 variant patients(high risk group) and wild type patients. No sever toxicity was found in high risk two alleles variants patients(*6/*6, *6/*28 or *28/*28). No significant differences were observed between UGT1A1*6/*28polymorphisms and clinical response of chemotherapy.CONCLUSION: SXD could significantly reduce irinotecan-induced hematological and gastrointestinal toxicities in UGT1A1*28 or *6 variant patients(high risk group), while this treatment didn't affect clinical response of chemotherapy. | Deng Bo Jia Liqun Tan Huangying Lou Yanni Li Xue Li Yuan Yu Lili | 2017 | Journal of Traditional Chinese Medicine2017，37，1： | 5 |
| 5 | Effect of partial remelting time on the initial carbide in semisolid structure of hypereutectic high Cr cast iron显示文摘1 .Introduction High chromium white cast iron is one of the wear-resistant materials widely used at present. With an increase of carbon content, the volume fractions of carbides increase. As a result, its wear resistance is enhanced and impact toughness declines co}espondingly If the | ~*Zhifu HUANGI~(1,2), Jiandong XING~(1,2), Wei HE~1, Ding LI~1 (1. School of Materials Science and Engineering, Xi’an Jiaotong University, Xi’an 710049, Shanxi, P. R. China 2 State Key Laboratory of Solidification Processing, Northwestern Polytechnical University, Xi’an 710072, Shanxi P. R. China) | 2004 | China Foundry2004，1，2： | 3 |
| 6 | Anthropogenic Impacts on the Sediment Flux in the Dry-hot Valleys of Southwest China—an Example of the Longchuan River显示文摘The sediment flux data, measured from a dry-hot valley of the Longchuan River, a tributary of the lower Jinsha River, were analyzed with Mann-Kendall test, Seasonal Mann-Kendall test and Sen’s test. In both the upper reaches (Xiaohekou) and the lower reaches (Xiaohuangguayuan), the sediment fluxes showed a significant increase from 1970 to 2001, despite the fact that the water discharge did not change significantly during the period and numerous reservoir constructions which contribute to the trap of sediment. This can be attributed to the intensification of human activities, especially the activities related to land surface disturbances such as deforestation and afforestation, expansion of agriculture land, and road constructions. This increase is more significant in the lower reaches of the river observed at the place of Xiaohuangguayuan due to the dry-hot climate. The profound increase in sediment flux has significant implications for effective management of the sedimentation problems of the on-going Three Gorges Reservoir. | ZHOUYue LUXixi HUANGYing ZHUYunmei | 2004 | Journal of Mountain Science2004，1，3： | 3 |
| 7 | Study on the musculoskeletal body for quadruped robots with spinning gait显示文摘The walking creatures' athletic ability is related to their body' s musculoskeletal system.A kind of musculoskeletal body for quadruped robots is developed,which will be used to assist the leg mechanism to achieve spinning gait in order to improve the robot mobility in unstructured environment.A bionic-flexible-spine model driven by pneumatic artificial muscles(PAMs) is proposed.Because the body has the flexible property,the robot can achieve spinning gait quickly,which is similar to walking creatures by coordinated movement between body bending and legs side-swing.The kinematics of the bending of the musculoskeletal body and side-swing of leg mechanism of quadruped robot for spinning gait are studied.According to the stability analysis of spinning gait,the relationship between body bending angle and leg swing angle can be determined.The PID controller is designed to conduct the bending experiment,and the bending characteristic of the musculoskeletal body is studied.Experimental results show that the biggest bending angle of the musculoskeletal body can reach 30°. | 雷静桃 Yu Huangying | 2015 | High Technology Letters2015，21，3： | 2 |
| 8 | StructuralbasisofcaspaseinhibitionbyXIAP:differentialrolesofthelinkerversustheBIRdomain显示文摘 | HuangY ParkYC RichRL etal | 2001 | Cell2001，104，5： | 1 |
| 9 | Loquatleaftriterpenoidacidinratpulmonaryfibrosispreventionandresistanceoflipidperoxideeffect[J]显示文摘 | LIUJ HUANGY ZHANGL | | 中国药学杂志0，，： | 1 |
| 10 | Cationic amphiphil- ic alpha-helical peptides for the treatment of carbapenem-resistant Acinetobacter baumannii infection 显示文摘 | HUANGY WIRADHARMA N XU K | 2012 | Biomaterials2012，33，34： | 1 |
| 11 | Image analysis for cotton fibers,part Ⅱ:cross-sectional measurements显示文摘 | XU B HUANGY | | 0，，74： | 1 |
| 12 | Novel pearl-necklace porous CdS nanofiber templated by organogel显示文摘 | Xue P C Lu R HuangY et a1 | 2004 | Langmuir2004，20，15： | 1 |
| 13 | Inhibition of the expression of inducible nitric oxide synthase and cyclooxygenase-2 in macrophages by 7HQ derivatives:involvement of lkappaB-alpha stabilization显示文摘 | HuangY C Gun J H ChengZ J | | 0，，1： | 1 |
| 14 | IL - 1β and TNF -α induce neurotoxicity through glutamate production: a potential role for neu- renal glutaminase 显示文摘 | YeL HuangY Zhao L | 2013 | J Neurechem2013，125，： | 1 |
| 15 | Florida bladder cancer trends 1981 to 2004: minimal progress in decreasing advanced disease显示文摘 | Nieder AM Mackinnon JA HuangY | 2008 | J Urol2008，179，2： | 1 |
| 16 | A comparativebiomechanicalstudyofproximalfemoralnail(InterTAN) andproximalfemoralnailantirotationforintertrochantericfractures显示文摘 | HuangY ZhangC LuoY | 2013 | IntOrthop2013，37，12： | 1 |
| 17 | Photo luminescence and photostim u la ted lum inescence of Tb^3+ and Eu^3+ in zeo-lite-Y 显示文摘 | Chen W Samm yna iken R HuangY N | 2000 | J Appl Phys2000，88，3： | 1 |
| 18 | Selectivecellularuptakeandinductionofapoptosisofcancer-targetedselenium nanoparticles显示文摘 | HUANGY HEL LIU W etal | 2013 | Biomaterials2013，34，： | 1 |
| 19 | Cardioprotective effect of salvi - anolic acid A on isoproterenol - induced myocardial infarction in- rats显示文摘 | SaiM K Lin Y L HuangY T | 2009 | EurJ Pharmacol2009，615，13： | 1 |
| 20 | Effect of the MDR1 C3435T varient and P-glycoprotein induction on dicloxacillin pharmacokinetics显示文摘 | Putnam WS Woo JM HuangY | 2005 | J Clin Pharmacol2005，45，4： | 1 |
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