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足式机器人马蹄型仿生足设计及垂向动力学研究

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山东理工大学学报（自然科学版） 2025年第2期39卷 37-43页

作者：吕娜宋延松刚宪约柴汇山东理工大学交通与车辆工程学院山东淄博255049 山东大学机器人研究中心山东济南250061

针对足式机器人行走垂向缓冲及越沙防陷的需求,借鉴马蹄高负载、广适应的生物特征,提出一种集金属靴、橡胶蹄球和可更换蹄掌为一体的马蹄型仿生足结构。在充分考虑足部结构自身材料非线性和接触非线性的基础上,对比分析了仿生足静刚度... 详细信息

针对足式机器人行走垂向缓冲及越沙防陷的需求,借鉴马蹄高负载、广适应的生物特征,提出一种集金属靴、橡胶蹄球和可更换蹄掌为一体的马蹄型仿生足结构。在充分考虑足部结构自身材料非线性和接触非线性的基础上,对比分析了仿生足静刚度、动刚度、冲击特性及越沙防陷等垂向动力学性能。结果表明,仿生足能够有效缓冲行进过程中的足部冲击,外凸内凹的蹄掌设计能确保机器人具有良好的越沙性能,马蹄型仿生足垂向动力学性能总体优于原始足。

关键词：仿生足垂向动力学性能足式机器人缓冲性能越沙性能

Synthesis and in vitro-Anti-hepatitis B Virus Activities of Several Ethyl 5-Hydroxy-1H-indole-3-carboxylates

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Chemical Research in Chinese Universities 2006年第5期22卷 577-583页

作者： ZHAO Chun-shen ZHAO Yan-fang chai hui-fang GONG Ping Liaoning Province Key Laboratory of Innovative Medicine Research and Design Shenyang Pharmaceutical University Shenyang 110016 P. R. China

A series of ethyl 5-hydroxyindole-3-earboxylates 6a-10r was designed and synthesized. The structures of all the compounds were confirmed by IR, ^1H NMR, and MS and their anti-hepatitis B virus （HBV） activities were evaluated in 2.2.15 cells. Among them, compound 7g { ethyl 5-hydroxy-2- [ （ 3-methoxyphenylsulfinyl ） methyl ] -1-methyl-4- [ （4-methylpiperazin-1-yl） methyl ]-1H-indole-3-carboxylate} displays a significant anti-HBV activity, which is more potent than the positive control lamivudine.

关键词： Ethyl 5-hydroxy-1H-indole-3-carboxylates Synthesis Anti-hepatitis B virus activity

A heuristic control framework for heavy-duty hexapod robot over complex terrain

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IET Cyber-Systems and Robotics 2022年第4期4卷 322-330页

作者： Jinmian Hou hui chai Yibin Li Yaxian Xin Wei Chen School of Control Science and Engineering Shandong UniversityJinanChina Engineering Research Center of Intelligent Unmanned System Ministry of EducationShandong UniversityJinanChina

The large and heavy-duty hexapod robot has strong motion stability and load capacity,which promises to have a wide range of application prospects in rescue and disaster ***-mode gait and static stability during walking make the hexapod robot adapt to more diverse terrains,while little research has been conducted on the motion control methods of heavy-duty hexapod robots in complex environments.A novel heuristic whole-body motion control framework for the heavy-duty hexapod robot to traverse complex terrain is *** splitting the legged locomotion into a single task,the whole-body motion could be planned in a reasonable *** terrain adaptation strategy is designed to improve the complex terrain *** reaction forces are then optimised based on single rigid-body dynamics with *** framework utilised simple but powerful heuristics to approximate complex dynamics and allows for a single set of parameters for all task *** results demonstrate the robustness and adaptability of the proposed framework.

关键词： legged locomotion robotics robots

Human action recognition using a convolutional neural network based on skeleton heatmaps from two-stage pose estimation

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Biomimetic Intelligence & Robotics 2022年第3期2卷 22-33页

作者： Ruiqi Sun Qin Zhang Chuang Luo Jiamin Guo hui chai School of Electrical Engineering University of JinanJinan 250022China School of Control Science and Engineering Shandong UniversityJinan 250061China

Human action recognition based on skeleton information has been extensively used in various areas,such as human-computer *** this paper,we extracted human skeleton data by constructing a two-stage human pose estimation model,which combined the improved single shot detector(SSD)algorithm with convolutional pose machines(CPM)to obtain human skeleton *** backbone of the SSD algorithm was replaced with ResNet,which can characterize images *** addition,we designed multiscale transformation rules for CPM to fuse the information of different scales and a convolutional neural network for the classification of the skeleton keypoints heatmaps to complete action *** and outdoor experiments were conducted on the Caster Moma mobile robot platform,and without an external remote control,the real-time movement of the robot was controlled by the leader through command actions.

关键词： Convolutional neural networks Human detection Human pose estimation Human action recognition

Design of trotting controller for the position-controlled quadruped robot

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High Technology Letters 2016年第3期22卷 321-333页

作者：张国腾 Liu Jinchang Rong Xuewen Li Yibin chai hui Li Bin Zhang hui Zhang Shuaishuai School of Control Science and Engineering Shandong University High Technology Research Development Center Ministry of Science and Technology of the People's Republic of China

This work presents a controller designed for position-controlled quadrupedal dynamic locomotion,aiming at simple and robust trotting control. The controller takes the torso attitude angles and velocities into planning foot trajectories. Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced. Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model. Furthermore,it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional motions. Finally,results of robust trotting in various speeds,path tracking and push recovery in simulation are reported,and results of trotting on real quadruped robots will be studied.

关键词： quadruped robot position control torso attitude foot trajectory trotting locomotion

The determination of sedimentary environment and associated energy in deep-buried marine carbonates:insights from natural gamma ray spectrometry log

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Frontiers of Earth Science 2024年第1期18卷 204-218页

作者： Jingyan LIU Qian CHANG Junlong ZHANG hui chai Feng HE Yizan YANG Shiqiang XIA School of Energy Resources China University of Geosciences(Beijing)Beijing 100083China Exploration and Development Research Institute Daqing Oilfield CompanyPetroChinaDaqing 163712China China National Oil and Gas Exploration and Development Co. Ltd(CNODC)Beijing 100032China Beijing Research Institute of Uranium Geology Beijing 100029China College of Mining Engineering North China University of Science and TechnologyTangshan 063210China

It has always been challenging to determine the ancient sedimentary environment and associated energy in deep-buried marine *** energy represents the hydrodynamic conditions that existed when the carbonates were *** energy includes light and chemical energies in compounds and kinetic energy in currents and mass ***-buried marine carbonates deposited during the Ordovician depositional period in the eastern Tarim Basin result from a complex interplay of tectonics,sedimentation,and *** a result,determining the ancient sedimentary environment and associated energy is *** natural gamma-ray spectrometry(GRS)log(from 12 wells)is used in this paper to conduct studies on the sedimentary environment and associated energy in deep-buried marine *** findings show that the values of thorium(Th),uranium(U),potassium(K),and gamma-ray without uranium(KTh)in a natural GRS log can reveal lithological associations,mineral composition,diagenetic environment,stratigraphic water activity,and ancient climatic *** the Ordovician,quantitative analysis and determination of sedimentary environment energy are carried out using a comprehensive calculation of natural GRS log parameters in typical wells(penetrating through the Ordovician with cores and thin sections)of well GC4,well GC6,well GC7,and well *** results show that GRS log can determine different lithology associations in typical wells than a sieve residue ***,cores and thin sections can be used to validate the determination of lithology *** on the determination of lithology associations,the lithology associations that reflect the sedimentary environment and associated energy can be analyzed in a new ***,the sedimentary environment energy curve derived from a natural GRS log can reveal hydrodynamic fluctuations during depositional periods,which will aid in the discovery of carbonate reservoirs,establishing sequence stratigra

关键词： ancient sedimentary environment energy of sedimentary environment marine deep-buried carbonates natural GRS the Ordovician eastern Tarim Basin

A test on adverse selection of farmers in crop insurance:Results from Inner Mongolia,China

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Journal of Integrative Agriculture 2017年第2期16卷 478-485页

作者： ZHAO Yuan-feng chai Zhi-hui Michael S.Delgado Paul V.Preckel College of Economics and Management Inner Mongolia Agricultural University Department of Agricultural Economics Purdue University

Adverse selection is an operating risk of crop insurance. Based on survey data on crop insurance collected by questionnaires in Inner Mongolia, China, the paper uses non-parametric analysis and econometric models to estimate the relationship between conditions for crop production and farmers＇ insurance decision in order to test the existence of farmers＇ adverse selection. The results show farmers＇ adverse selection does exist, but settling a claim by negotiation and premium subsidy from governments at all levels can defuse farmers＇ adverse selection under the current system of crop insurance. Risk regionalization, heterogeneous insurance contract and product innovation may decrease adverse selection to some extent.

关键词： crop insurance farmers adverse selection

Importance of SALL4 in the development and prognosis of hepatocellular carcinoma

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World Journal of Gastroenterology 2016年第9期22卷 2837-2843页

作者： Fei Yin Xin Han Shu-Kun Yao Xiao-Ling Wang hui-chai Yang Department of Gastroenterology the Fourth Hospital of Hebei Medical University Department of Gastroenterology China-Japan Friendship Hospital Department of Pathology the Fourth Hospital of Hebei Medical University

AIM: To detect the expression of sal-like protein 4 (SALL4) and to explore its relationship with clinicopathological characteristics and prognosis of hepatocellular carcinoma (HCC).METHODS: One hundred and twenty-six samples of HCC tissue, 44 of adjacent noncancerous cirrhotic tissue and 10 of liver hemangioma tissue, were obtained from patients who underwent hepatectomy for HCC at the Fourth Hospital of Hebei Medical University. None of the patients had received any form of treatment before the operation. After resection, all the tissues were fixed in 10% neutral formaldehyde and embedded in paraffin. Expression of SALL4 was detected by immunohistochemistry. Patients were followed up for postoperative survival until February 2014. The relationships between SALL4 expression level and clinicopathological data and prognosis of HCC were ***: SALL4 expression was negative in the 10 samples of tissue from liver hemangioma, was weakly positive in the two samples from adjacent noncancerous cirrhotic tissue, and positive in 58 samples of HCC tissues. The differences were statistically significant (P < 0.05). Expression of SALL4 was higher in patients with higher α-fetoprotein (AFP) levels, portal vein tumor thrombus, and later clinical stage based on the Barcelona Clinic Liver Cancer classification (P < 0.05). Among patients with negative expression, weakly positive expression, positive expression, and strongly positive expression of SALL4, the median survival time was 39, 25, 23, and 9 mo, respectively (P < 0.001). When both AFP and SALL4 were detected, patients who were negative for both AFP and SALL4, SALL4-positive only, AFP-positive only, and positive for both AFP and SALL4, had a median survival time of 41, 38, 31, and 12 mo, respectively (P < 0.001).CONCLUSION: Expression of SALL4 is relevant to the prognosis of HCC patients. Patients with higher expression levels of SALL4 and AFP have worse prognosis.

关键词： Sal-like protein 4 Hepatocellular carcinoma Survival analysis α -Fetoprotein Prognosis

Research on the autonomous system of the quadruped robot with a manipulator to realize leader-following,object recognition,navigation and operation

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IET Cyber-Systems and Robotics 2022年第4期4卷 376-388页

作者： Jiamin Guo hui chai Yibin Li Qin Zhang Zhiying Wang Jialin Zhang Qifan Zhang Haoning Zhao School of Control Science and Engineering Shandong UniversityJinanChina Engineering Research Center of Intelligent Unmanned System Ministry of EducationShandong UniversityJinanChina School of Electrical Engineering University of JinanJinanChina

A systematic solution is developed to improve the autonomous capability of the quadruped robot with a manipulator,such as navigation,recognition and *** developed system adopts novel software,hardware system and system architecture,including a specially designed environment awareness system(EAS).Based on the camera and LiDAR on the EAS,the recognition of multiple common targets,such as the leader,door,window and bag,is *** terms of navigation,a location method is built,that combines the laser odometer and global positioning system.A mapping and path planning module is designed by the Robot-centric Elevation Mapping algorithm and the rapidly exploring rand tree *** operation,a real-time target grasp detection system is proposed based on the You Only Look Once v5 algorithm to improve the success rate of *** whole system is integrated based on the task relevance scheduling strategy to reduce the computational *** tightly integrated system and the subsystems are evaluated by conducting simulations and physical experiments in robot recognition,navigation and *** experiments show that the proposed framework can better achieve the autonomous navigation and operation of the quadruped robot with a ***,the proposed framework is still effective when facing dynamic *** addition,the system can be easily extended to other forms of mobile robot.

关键词： environment awareness system leader-following navigation quadruped robot