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| 1 | Motion Error Compensation of Multi-legged Walking Robots显示文摘Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation is usually used for control compensation of manipulator arm,the error compensation of multi-legged robots has seldom been explored.In order to reduce the kinematic error of robots,a motion error compensation method based on the feedforward for multi-legged mobile robots is proposed to improve motion precision of a mobile robot.The locus error of a robot body is measured,when robot moves along a given track.Error of driven joint variables is obtained by error calculation model in terms of the locus error of robot body.Error value is used to compensate driven joint variables and modify control model of robot,which can drive the robots following control model modified.The model of the relation between robot's locus errors and kinematic variables errors is set up to achieve the kinematic error compensation.On the basis of the inverse kinematics of a multi-legged walking robot,the relation between error of the motion trajectory and driven joint variables of robots is discussed.Moreover,the equation set is obtained,which expresses relation among error of driven joint variables,structure parameters and error of robot's locus.Take MiniQuad as an example,when the robot MiniQuad moves following beeline tread,motion error compensation is studied.The actual locus errors of the robot body are measured before and after compensation in the test.According to the test,variations of the actual coordinate value of the robot centroid in x-direction and z-direction are reduced more than one time.The kinematic errors of robot body are reduced effectively by the use of the motion error compensation method based on the feedforward. | WANG Liangwen CHEN Xuedong WANG Xinjie TANG Weigang SUN Yi PAN Chunmei | 2012 | Chinese Journal of Mechanical Engineering2012，25，4： | 6 |
| 2 | Enhanced osteogenesis and therapy of osteoporosis using simvastatin loaded hybrid system显示文摘Postmenopausal osteoporosis is a common chronic dynamic bone disorder,caused by estrogen deficiency.To address this issue,we constructed a controlled drug-release system composed of poly(N-isopropylacrylamide)brush modified mesoporous hydroxyapatite(MHA-SIM-P)loaded with simvastatin(SIM)using an ovariectomised(OVX)rat model.Quantitative alkaline phosphatase activity assay,alizarin red staining and RT-PCR were tested to evaluate the osteogenic ability in vitro.The results showed that the MHA-SIM-P nanoparticles significantly improved the osteogenic differentiation of OVX bone marrow stromal cells(BMSCs)in vitro.In osteoporotic animal model,the therapeutic efficiency for bone defect was evaluated byμCT analysis,tartrateresistant acid phosphatase,haematoxylin and eosin staining,which showed improved bone formation and less osteoclastic response in OVX rats after surgery for 3 and 6 weeks.This polymer brush modified MHA system provided a sustained release system of hydrophobic SIM to inhibit osteoporosis together with MHA nanoparticle promoting the osteogenesis.Thus,this novel strategy exhibited great potential for promoting osteogenic ability and treating local osteoporotic defects. | Tao Wu Jing Sun Lei Tan Qi Yan Lei Li Liangwen Chen Xiangmei Liu Shi Bin | 2020 | Bioactive Materials2020，5，2： | 5 |
| 3 | Wave-current bottom shear stresses and sediment re-suspension in the mouth bar of the Modaomen Estuary during the dry season显示文摘On the basis of the measurement data pertaining to waves, current, and sediment in February 2012 in the mouth bar of the Modaomen Estuary, the Soulsby formulae with an iterative method are applied to calculating bottom shear stresses(BSS) and their effect on a sediment re-suspension. Swell- induced BSS have been found to be the most important part of the BSS. In this study, the correlation coefficient between a wavecurrent shear stress and SSC is 0.86, and that between current shear stresses and SSC is only 0.40. The peaks of the SSC are consistent with the height and the BSS of the swell. The swell is the main mechanism for the sediment re-suspension, and the tidal current effect on sediment re-suspension is small. The peaks of the SSC are centered on the high tidal level, and the flood tide enhances the wave shear stresses and the SSC near the bottom. The critical shear stress for sediment re-suspension at the observation station is between 0.20 and 0.30 N/m2. Tidal currents are too weak to stir up the bottom sediment into the flow, but a WCI(wave-current interaction) is strong enough to re-suspend the coarse sediment. | JIA Liangwen REN Jie NIE Dan CHEN Benzhong LV Xiaoying | 2014 | Acta Oceanologica Sinica2014，33，7： | 5 |
| 4 | Characterization and in vitro antioxidant activities of polysaccharides from Pleurotus ostreatus显示文摘 | Yunxia Zhang Ling Dai Xiaowei Kong Liangwen Chen | 2012 | International Journal of Biological Macromolecules2012，，3： | 1 |
| 5 | Short-term variations and influencing factors of suspended sediment concentrations at the Heisha Beach,Guangdong,China显示文摘Knowledge of sediment variation processes is essential to understand the evolution mechanism of beach morphology changes.Thus,a field measurement was conducted at the Heisha Beach,located on the west coast of the Zhujiang River(Pearl River)Estuary,to investigate the short-term variation in suspended sediment concentrations(SSCs)and the relationship between the SSC and turbulent kinetic energy,bottom shear stress(BSS),and relative wave height.Based on extreme event analysis results,extreme events have a greater influence on turbulent kinetic energy than SSC.Although a portion of the turbulent kinetic energy dissipates directly into the water column,it plays an important role in suspended sediment motion.Most of the time,the wave-current interaction is strong enough to drive sediment incipience and resuspension.When combined,the wave-current interaction and wave-induced BSSs have a greater influence on suspended sediment transport and SSC variation than current-induced BSS alone.The relative wave height also has a strong correlation with SSC,indicating that the combined effect of water depth and wave height significantly impacts SSC variation.Water depth is mainly controlled by the tide on the beaches;thus,the effects of tides and waves should be conjunctively considered when analyzing the factors influencing SSC. | Jintang Ou Haoyan Dong Liangwen Jia Xiangxin Luo Zixiao He Kanglin Chen Jing Liu Yitong Lin Mingdong Yu Mingen Liang | 2022 | Acta Oceanologica Sinica2022，41，5： | 0 |
| 6 | Derivatives of meromorphic functions and exponential functions显示文摘我们收起一个新方法证明一条 Picard 类型定理。让 f 是在复杂飞机的 meromorphic 功能,谁的零是多重的,并且让 R 是 M ? bius 转变。如果\({ \overline { \lim }_{ r \to \infty }} \frac {{ T\left ({ r , f } \right )}}{{{ r ^ 2 }}}= \infty \)然后 fz )= R ( e z )无穷地在复杂飞机有许多答案。 | Pai YANG Liangwen LIAO Qiaoyu CHEN | 2018 | Frontiers of Mathematics in China2018，13，2： | 0 |
| 7 | Effects of the Point Detector Approximation in Sterile Neutrino Search at CMIF显示文摘Since been theoretically introduced by Pauli4l,neutrinos is deemed as one of the most enigmatic elementary particles in the universe.The Aavor oscillations of neutrinos have been discovered in solar and atmosphere neutrino experiments[2,3],and confirmed independently by accelerator and reactor neutrino experiments[4-6]. | Chen Liangwen Cai Hanjie Yang Lei | 2019 | IMP & HIRFL Annual Report2019，，1： | 0 |
| 8 | 基于氘铍反应寻找惰性中微子的新的同位素静止系衰变方案显示文摘Neutrino oscillations have been observed in solar and atmosphere neutrino experiments[1,2],and confirmed independently by accelerator and reactor neutrino experiments[3-5].However,some anomalies have been observed in neutrino experiments with different sources,detector principles and detection channels[6-13],which can not be accommodated within the standard three-flavour neutrino paradigm.These anomalous results may be a sign of further new physics beyond Standard Model and currently their most popular interpretation is the existence of sterile neutrino states with masses at the eV scale.Sterile neutrino states are a key issue in searches for new physics beyond the Standard Model,and their existence and properties would also have important implications in astrophysics and cosmology. | Chen Liangwen Cai Hanjie Emilio Ciuffoli Jarah Evslin Zhang Sheng Chen Xurong Yang Lei | 2017 | IMP & HIRFL Annual Report2017，，1： | 0 |
| 9 | Biomaterials-based anti-inflammatory treatment strategies for Alzheimer's disease显示文摘The current therapeutic drugs for Alzheimer's disease only improve symptoms,they do not delay disease progression.Therefo re,there is an urgent need for new effective drugs.The underlying pathogenic factors of Alzheimer's disease are not clear,but neuroinflammation can link various hypotheses of Alzheimer's disease;hence,targeting neuroinflammation may be a new hope for Alzheimer's disease treatment.Inhibiting inflammation can restore neuronal function,promote neuro regeneration,reduce the pathological burden of Alzheimer's disease,and improve or even reverse symptoms of Alzheimer's disease.This review focuses on the relationship between inflammation and various pathological hypotheses of Alzheimer's disease;reports the mechanisms and characteristics of small-molecule drugs(e.g.,nonsteroidal anti-inflammatory drugs,neurosteroids,and plant extracts);macromolecule drugs(e.g.,peptides,proteins,and gene therapeutics);and nanocarriers(e.g.,lipid-based nanoparticles,polymeric nanoparticles,nanoemulsions,and inorganic nanoparticles)in the treatment of Alzheimer's disease.The review also makes recommendations for the prospective development of anti-inflammatory strategies based on nanocarriers for the treatment of Alzheimer's disease. | Jianjian Chu Weicong Zhang Yan Liu Baofeng Gong Wenbo Ji Tong Yin Chao Gao Danqi Liangwen Mengqi Hao Cuimin Chen Jianhua Zhuang Jie Gao You Yin | 2024 | Neural Regeneration Research2024，19，1： | 0 |
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