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| 1 | Computational and experimental study on dynamic behavior of underwater robots propelled by bionic undulating fins显示文摘Bionic undulating fins, inspired by undulations of the median and/or paired fin (MPF) fish, have a bright prospective for un-derwater missions with higher maneuverability, lower noisy, and higher efficiency. In the present study, a coupled computa-tional fluid dynamics (CFD) model was proposed and implemented to facilitate numerical simulations on hydrodynamic ef-fects of the bionic undulating robots. Hydrodynamic behaviors of underwater robots propelled by two bionic undulating fins were computationally and experimentally studied within the three typical desired movement patterns, i.e., marching, yawing and yawing-while-marching. Moreover, several specific phenomena in the bionic undulation mode were unveiled and dis-cussed by comparison between the CFD and experimental results under the same kinematics parameter sets. The contributed work on the dynamic behavior of the undulating robots is of importance for study on the propulsion mechanism and control algorithms. | ZHOU Han, HU TianJiang*, XIE HaiBin, ZHANG DaiBing & SHEN LinCheng College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China | 2010 | Science China(Technological Sciences)2010，53，11： | 12 |
| 2 | Bio-inspired Flow Sensing and Prediction for Fish-like Undulating Locomotion: A CFD-aided Approach显示文摘 | Han Zhou Tianjiang Hu Kin Huat Low Lincheng Shen Zhaowei Ma Guangming Wang Haijun Xu | 2015 | Journal of Bionic Engineering2015，12，3： | 7 |
| 3 | Bionic asymmetry:from amiiform fish to undulating robotic fins显示文摘Similar to bionic non-smooth which has been successfully applied in anti-resistance and anti-adhesion, bionic asymmetry is also an inherent property of biological systems and is worth exploring for con-ceivable pragmatic applications. Therefore, bionic asymmetry for undulations is of main interest in this paper. We initially investigate bionic asymmetry with a case study of the undulating robotic fin, RoboGnilos, which evolved from the long dorsal fin of Gymnarchus niloticus in the amiiform mode. Since the performance of the pre-existing undulating fins is hardly satisfactory, we obtain bionic in-spirations of undulatory asymmetry through observations and measurements on the specimen of G. niloticus, to improve upon the performance. Consequently, the newly acquired innovation for bionic asymmetry is incorporated into the previously derived kinematics model, and also applied to the experimental prototype. Both computational and experimental results verify that bionic asymmetric undulation generates better propulsion performance (in terms of linear velocity and efficiency) than the traditional symmetric modes with the same undulatory parameters. | HU TianJiang SHEN LinCheng LOW K. H. | 2009 | Chinese Science Bulletin2009，54，4： | 7 |
| 4 | Parallel architecture and optimization for discrete-event simulation of spike neural networks显示文摘Spike neural networks are inspired by animal brains,and outperform traditional neural networks on complicated tasks.However,spike neural networks are usually used on a large scale,and they cannot be computed on commercial,off-the-shelf computers.A parallel architecture is proposed and developed for discrete-event simulations of spike neural networks.Furthermore,mechanisms for both parallelism degree estimation and dynamic load balance are emphasized with theoretical and computational analysis.Simulation results show the effectiveness of the proposed parallelized spike neural network system and its corresponding support components. | TANG YuHua ZHANG BaiDa WU JunJie HU TianJiang ZHOU Jing LIU FuDong | 2013 | Science China(Technological Sciences)2013，56，2： | 5 |
| 5 | Bevacizumab biosimilar LY01008 compared with bevacizumab(Avastin)as first-line treatment for Chinese patients with unresectable,metastatic,or recurrent non-squamous non-small-cell lung cancer:A multicenter,randomized,double-blinded,phase Ⅲ trial显示文摘Background:Previous studies have demonstrated the preclinical pharmacological and toxicological consistency,and clinical pharmacokinetic equivalence of bevacizumab biosimilar LY01008 with reference bevacizumab(Avastin).This randomized controlled trial aimed to compare the efficacy and safety of LY01008 with Avastin in first-line treatment of Chinese patients with advanced or recurrent non-squamous non-small cell lung cancer(NSCLC).Methods:StageⅢB-ⅣNSCLC patients with evaluable lesions,good physical status,and adequate organ functions from 67 centers across China were randomized in a ratio of 1:1 to receive LY01008 or Avastin 15 mg/kg intravenously in combination with paclitaxel/carboplatin(combined treatment)for 4-6 cycles,followed by maintenance monotherapy with LY01008 until disease progression,intolerable toxicity,or death.The primary endpoint was objective response rate(ORR)in accordance with Response Evaluation Criteria in Solid Tumors(RECIST)version 1.1 confirmed by independent radiological review committees(IRRC).Secondary endpoints included disease control rate(DCR),duration of response(DoR),progression-free survival(PFS),overall survival(OS),and safety.This study was registered in Clinical Trials.gov(NCT03533127).Results:Between December 15^(th),2017,and May 15^(th),2019,a total of 649 patients were randomized to the LY01008(n=324)or Avastin(n=325)group.As of September 25th,2019 for primary endpoint analysis,589 patients received ORR evaluation,with a median number of combined treatment cycles of 5(range 1-6)andmedian duration of treatment of 3.0(range 0.0-5.1)months.ORRof responseevaluable patients in the LY01008 and Avastin groups were 48.5% and 53.0%,respectively.The stratified ORR ratio was 0.91(90%CI 0.80-1.04,within the prespecified equivalence margin of 0.75-1.33).Up to May 15^(th),2020,with a median follow-up of 13.6(range 0.8-28.4)months,no notable differences in DCR,median DoR,median PFS,median OS,and 1-year OS rate were observed between the LY01008 and Avastin groups.There were no clinically meaningful differences in safety and immunogenicity across treatment groups.Conclusions:LY01008 demonstrated similarity to Avastin in terms of efficacy and safety in Chinese patients with advanced or recurrent non-squamous NSCLC.LY01008 combined with paclitaxel/carboplatin is expected to become a new treatment option for unresectable,metastatic,LY01008 and Avastin groups.There were no clinically meaningful differences in safety and immunogenicity across treatment groups.Conclusions:LY01008 demonstrated similarity to Avastin in terms of efficacy and safety in Chinese patients with advanced or recurrent non-squamous NSCLC.LY01008 combined with paclitaxel/carboplatin is expected to become a new treatment option for unresectable,metastatic,or recurrent non-squamous NSCLC patients in the first-line setting. | Yuankai Shi Kaijian Lei Yuming Jia Bingqiang Ni Zhiyong He Minghong Bi Xicheng Wang Jianhua Shi Ming Zhou Qian Sun Guolei Wang Dongji Chen Yongqian Shu Lianke Liu Zhongliang Guo Yong Liu Junquan Yang Ke Wang Ke Xiao LinWu Tienan Yi Debin Sun Mafei Kang Tianjiang Ma Yimin Mao Jinsheng Shi Tiegang Tang Yan Wang Puyuan Xing Dongqing Lv Wangjun Liao Zhiguo Luo Bin Wang Xiaohong Wu Xiaoli Zhu Shuhua Han Qisen Guo Rongyu Liu Zhiwei Lu Jianyong Zhang Jian Fang Changlu Hu Yinghua Ji Guolong Liu Hong Lu Dedong Wu Junhong Zhang Shuyang Zhu Zheng Liu Wensheng Qiu Feng Ye Yan Yu Yanqiu Zhao Qinhong Zheng Jun Chen Zhanyu Pan Yiping Zhang Wenjuan Lian Bo Jiang Bo Qiu Guojun Zhang Hua Zhang Yanju Chen Yuan Chen Hongbing Duan Manxiang Li Shengming Liu Lijun Ma Hongming Pan Xia Yuan Xueli Yuan Yulong Zheng Emei Gao Li Zhao Shumin Wang Can Wu | 2021 | Cancer Communications2021，41，9： | 5 |
| 6 | CPGs control method using a new oscillator in robotic fish显示文摘A new oscillator is presented in this paper based on our pervious oscillator (Zhang’s oscillator). Using this new oscillator, a bionic neural control system, the central pattern generators (CPGs) control system, is built. This control system has a two-level form. To validate the function of this new oscillator and the control system, simulations and experiments were both carried out, a simple robotic fish was built with three joints, and the results showed that the new oscillator can be used in startup and stop control mode, angle offset control mode and amplitude changing control mode. The new oscillator can be used in bionic CPGs control area with a simple form, and may be a new progress in bionic control. | WANG Gang*, ZHANG DaiBing, LIN LongXin, XIE HaiBin, HU TianJiang & SHEN LinCheng School of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China | 2010 | Science China(Technological Sciences)2010，53，11： | 4 |
| 7 | Deep learning enabled localization for UAV autolanding显示文摘This article concentrates on ground vision guided autonomous landing of a fixed-wing Unmanned Aerial Vehicle(UAV)within Global Navigation Satellite System(GNSS)denied environments.Cascaded deep learning models are developed and employed into image detection and its accuracy promoting for UAV autolanding,respectively.Firstly,we design a target bounding box detection network Bbox Locate-Net to extract its image coordinate of the flying object.Secondly,the detected coordinate is fused into spatial localization with an extended Kalman filter estimator.Thirdly,a point regression network Point Refine-Net is developed for promoting detection accuracy once the flying vehicle’s motion continuity is checked unacceptable.The proposed approach definitely accomplishes the closed-loop mutual inspection of spatial positioning and image detection,and automatically improves the inaccurate coordinates within a certain range.Experimental results demonstrate and verify that our method outperforms the previous works in terms of accuracy,robustness and real-time criterions.Specifically,the newly developed Bbox Locate-Net attaches over 500 fps,almost five times the published state-of-the-art in this field,with comparable localization accuracy. | Minghui LI Tianjiang HU | 2021 | Chinese Journal of Aeronautics2021，34，5： | 3 |
| 8 | Robust optimization of aircraft weapon delivery trajectory using probability collectives and meta-modeling显示文摘Conventional trajectory optimization techniques have been challenged by their inability to handle threats with irregular shapes and the tendency to be sensitive to control variations of aircraft. Aiming to overcome these difficulties, this paper presents an alternative approach for trajectory optimization, where the problem is formulated into a parametric optimization of the maneuver variables under a tactics template framework. To reduce the size of the problem, global sensitivity analysis (GSA) is performed to identify the less-influential maneuver variables. The probability collectives (PC) algorithm, which is well-suited to discrete and discontinuous optimization, is applied to solve the trajectory optimization problem. The robustness of the trajectory is assessed through multiple sampling around the chosen values of the maneuver variables. Meta-models based on radius basis function (RBF) are created for evaluations of the means and deviations of the problem objectives and constraints. To guarantee the approximation accuracy, the meta-models are adaptively updated during optimization. The proposed approach is demonstrated on a typical airground attack mission scenario. Results reveal that the proposed approach is capable of generating robust and optimal trajectories with both accuracy and efficiency. | Wang Nan Shen Lincheng Liu Hongfu Chen Jing Hu Tianjiang | 2013 | Chinese Journal of Aeronautics2013，26，2： | 3 |
| 9 | New three-dimensional guidance law for BTT missiles based on differential geometry and Lie-group显示文摘A new non-decoupling three-dimensional guidance law is proposed for bank-to-turn (BTT) missiles with the motion coupling problem.In this method,the different geometry is taken for theoretically modeling on BTT missiles' motion within the threedimensional style without information loss,and meanwhile,Liegroup is utilized to describe the line-of-sight (LOS) azimuth when the terminal angular constraints are considered.Under these circumstances,a guidance kinematics model is established based on differential geometry.Then,corresponding to no terminal angular constraint and terminal angular constraints,guidance laws are respectively designed by using proportional control and generalized proportional-derivative (PD) control in SO(3) group.Eventually,simulation results validate that this developed method can effectively avoid the complexity of pure Lie-group method and the information loss of the traditional decoupling method as well. | Shuangchun Peng Liang Pan Tianjiang Hu Lincheng Shen | 2011 | Journal of Systems Engineering and Electronics2011，22，4： | 2 |
| 10 | Biological inspirations, kinematics modeling, mechanism design and experiments on an undulating robotic fin inspired by Gymnarchus niloticus显示文摘 | Tianjiang Hu Lincheng Shen Longxin Lin Haijun Xu | 2008 | Mechanism and Machine Theory2008，，3： | 1 |
| 11 | Air2Land:A deep learning dataset for unmanned aerial vehicle autolanding from air to land显示文摘In this paper,a novel deep learning dataset,called Air2Land,is presented for advancing the state‐of‐the‐art object detection and pose estimation in the context of one fixed‐wing unmanned aerial vehicle autolanding scenarios.It bridges vision and control for ground‐based vision guidance systems having the multi‐modal data obtained by diverse sensors and pushes forward the development of computer vision and autopilot algorithms tar-geted at visually assisted landing of one fixed‐wing vehicle.The dataset is composed of sequential stereo images and synchronised sensor data,in terms of the flying vehicle pose and Pan‐Tilt Unit angles,simulated in various climate conditions and landing scenarios.Since real‐world automated landing data is very limited,the proposed dataset provides the necessary foundation for vision‐based tasks such as flying vehicle detection,key point localisation,pose estimation etc.Hereafter,in addition to providing plentiful and scene‐rich data,the developed dataset covers high‐risk scenarios that are hardly accessible in reality.The dataset is also open and available at https://github.com/micros‐uav/micros_air2land as well. | Xunchen Zheng Tianjiang Hu | 2022 | IET Cyber-Systems and Robotics2022，4，2： | 0 |
| 12 | Triangular lattice formation in robot swarms with minimal local sensing显示文摘The problem of triangular lattice formation in robot swarms has been investigated extensively in the literature,but the existing algorithms can hardly keep comparative performance from swarm simulation to real multi‐robot scenarios,due to the limited computation power or the restricted field of view(FOV)of robot sensors.Eventually,a distributed solution for triangular lattice formation in robot swarms with minimal sensing and computation is proposed and developed in this study.Each robot is equipped with a sensor with a limited FOV providing only a ternary digit of information about its neighbouring environment.At each time step,the motion command is directly determined by using only the ternary sensing result.The circular motions with a certain level of randomness lead the robot swarms to stable triangular lattice formation with high quality and robustness.Extensive numerical simulations and multi‐robot experiments are conducted.The results have demonstrated and validated the efficiency of the proposed approach.The minimised sensing and computation requirements pave the way for massive deployment at a low cost and implementation within swarms of miniature robots. | Zisen Nie Qingrui Zhang Xiaohan Wang Fakui Wang Tianjiang Hu | 2023 | IET Cyber-Systems and Robotics2023，5，2： | 0 |
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