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Snake-worm: A Bi-modal Locomotion Robot

Journal of Bionic Engineering 2022年第5期19卷 1272-1287页

作者： zhouwei du Hongbin Fang Jian Xu School of Aerospace Engineering and Applied Mechanics Tongji UniversityShanghai 200092China Institute of AI and Robotics Fudan UniversityShanghai 200433China Engineering Research Center of AI and Robotics Ministry of EducationFudan UniversityShanghai 20043China Shanghai Engineering Research Center of AI and Robotics Fudan UniversityShanghai 200433China

Inspired by the morphology characteristics and the locomotion mechanisms of the earthworm,and the snakes’morphology characteristics and motivated by the demands for multi-modal locomotion robots in variable working environments,this paper presents a novel bi-modal robot named as Snake-Worm Locomotion Robot(SWL-Robot).Two fundamentally different locomotion mechanisms,the earthworm’s peristaltic rectilinear locomotion and the snake’s lateral undulation,are synthesized in the SWL-Robot *** detail,the SWL-Robot consists of six earthworm-like body segments interconnected by rotational joints and a head segment equipped with a couple of independently driven *** actuating the segments following a peristaltic wave-like gait,the robot as a whole could perform earthworm-like rectilinear *** robot could also perform snake-like undulatory locomotion driven by differential motions of the wheels at the head *** understand the relationship between the design parameters and the robotic locomotion performance,kinematic models of the SWL-Robot corresponding to the two locomotion modes are *** locomotion behaviors of the SWL-Robot are achieved,including the peristaltic locomotion inside a tube,multiple planar motions on a flat surface,and a hybrid motion that switches between the tube and the flat *** shows that the measured trajectories of the SWL-Robot agree well with the theoretical *** SWL-Robot is promising to be implemented in tasks where both tubular and flat environments may be encountered.

关键词： Multi-modal locomotion Peristaltic locomotion Planar locomotion Worm-like robot Snake-like robot

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Comparison of the Mutagenicity of Exhaust Emissions From Motor Vehicles Using Leaded and Unleaded Gasoline as Fuel

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Biomedical and Environmental Sciences 1999年第2期12卷 136-143页

作者： YUANDONG zhouwei 等 AddresscorrespondencetoYUANDong DapartmentofEnvironmentalHealth AddresscorrespondencetoYUANDong Dapar

While Unleaded gasoline has the advantage of eliminating lead from automobile exhaust, its potential to reduce the exhaust gas and particles, merits further examination. In the present studies,the concentrations of hydrocarbons (HC) and earbon monoxides (CO) in emissions were analyzed on Santana engine Dynamometer under a standard test cycle, and total exhaust particles were collected from engines using leaded and unleaded gasoline. It was found that unleaded gasoline reduced the emissions of CO and HC, and decreased the quantity of vehicle exhaust particulate matters by 60%.With the unlead gasoline, only 23 kinds of organic substances, adsorbed in the particles, were identified by gas chromatography/mass spectrometer (GC/MS) while 32 components were detected using the leaded gasoline. The results of in vitro Salmonella/ microsomal test and micronucleus induction assay in CHL cells indicated that both types of gasoline increased the number of histidine-independent colonies and the frequencies of micronucleus induction; no significant differellce was found in their mutagenicity.

关键词： line Comparison of the Mutagenicity of Exhaust Emissions From Motor Vehicles Using Leaded and Unleaded Gasoline as Fuel PAHs

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Soil ^(35)S Transformation and Availability to Plants

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Pedosphere 1999年第1期9卷 83-90页

作者： zhouwei PANJIARONG InstituteofSoilandFertilizer CineseAcademyofAgrculturalSciencesBeijing100081China InstituteforAppli

Sulfur transformation in 3 soils maintained in a closed incubation system and its availability to plants were investigated using carrier-free35S-SO42- and 35S-labeled ryegrass straw. For carrier-free Na235SO4 treatment, 78%, 70% and 64% of 35S applied were found in Ca (H2PO4)2-extractble S fraction 14%, 5% and 7% in slowly soluble inorganic S, 11%, 15% and 18% in C-O-S, 5%, 7% and 6% in C-bonded S, and 5%,7% and 6% in unidentified organic S 120 days after incubation in black soil, cinnamon soil and chestnut soil, respectively. Most of 35S uptake by plants came from extractable 35S42-, and little from C-O-35S and C-bonded 355. In the treatment with 35S-labeled straw, 51%, 46% and 36% of 355 incorporated were found in C a (H2PO4)2 -extractable S fraction) 7%, 6% and 7% in slowly solub ie inorganic S, 13%, 15% and 18% in C-O-S, 8%, 8% and 6% in C-bonded S, and 18%, 25% and 35% in unidentified organic S at the end of incubation in above-mentioned three soils, respectively. Higher availability of C-O-35S, C-bonded 35S and unidentified organic 35S from 35S-labeled straw was observed in 35S-labeled straw treatment compared to carrier-free Na235SO4 treatment.

关键词： availability 35S sulfur fraction transformation

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Conditional moment closure modeling of a lifted turbulent flame

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Chinese Science Bulletin 2005年第12期50卷 1261-1269页

作者： JIANGYong QIURong zhouwei FANWeicheng StateKeyLaboratoryofFireScience UniversityofScienceandTechnologyofChinaHefei230026China

Results obtained using conditional moment closure (CMC) approach to modeling a lifted turbulent hy-drogen flame are presented. Predictions are based on k-ε-g turbulent closure, a 23-step chemical mechanism and a ra-dially averaged CMC model. The objectives are to find out how radially averaged CMC can represent a lifted flame and which mechanism of flame stabilization can be described by this modeling method. As a first stage of the study of multi-dimensional CMC for large eddy simulation (LES) of the lifted turbulent flames, the effect of turbulence upon combustion is included, the high-order compact finite- difference scheme (Padé) is used and previously developed characteristic-wave-based boundary conditions for multi- component perfect gas mixtures are here extended to their conditional forms but the heat release due to combustion is not part of the turbulent calculations. Attention is focused to the lift-off region of the flame which is commonly considered as a cold flow. Comparison with published experimental data and the computational results shows that the lift-off height can be accurately determined, and Favre averaged radial profiles of temperature and species mole fractions are also reasonably well predicted. Some of the current flame stabili-zation mechanisms are discussed.

关键词：条件反应瞬间关闭 CMC模型氢火焰稳定性

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Structural mass prediction in conceptual design of blended-wing-body aircraft

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Chinese Journal of Aeronautics 2019年第11期32卷 2455-2465页

作者： Wensheng ZHU zhouwei FAN Xiongqing YU College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics

The Blended-Wing-Body(BWB) is an unconventional configuration of aircraft and considered as a potential configuration for future commercial aircraft. One of the difficulties in conceptual design of a BWB aircraft is structural mass prediction due to its unique structural feature. This paper presents a structural mass prediction method for conceptual design of BWB aircraft using a structure analysis and optimization method combined with empirical calibrations. The total BWB structural mass is divided into the ideal load-carrying structural mass, non-ideal mass, and secondary structural mass. Structural finite element analysis and optimization are used to predict the ideal primary structural mass, while the non-ideal mass and secondary structural mass are estimated by empirical methods. A BWB commercial aircraft is used to demonstrate the procedure of the BWB structural mass prediction method. The predicted mass of structural components of the BWB aircraft is presented, and the ratios of the structural component mass to the Maximum TakeOff Mass(MTOM) are discussed. It is found that the ratio of the fuselage mass to the MTOM for the BWB aircraft is much higher than that for a conventional commercial aircraft, and the ratio of the wing mass to the MTOM for the BWB aircraft is slightly lower than that for a conventional aircraft.

关键词： Aircraft conceptual design Blended-Wing-Body Finite element method Mass prediction Structural optimization

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Land Use Change and Its Effect on Environment Based on Farmers’Behaviors: A Case Study in Agricultural Areas of Tibet, China

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Wuhan University Journal of Natural Sciences 2005年第4期10卷 767-773页

作者： zhouwei YANYan ZENGYun-ying ZHONGXiang-hao InstituteofMountainHazardsandEnvironment ChineseAcademyofSciencesandMinistryofWaterConservancyChengdu610041SichuanChina／／DepartmentofCivilEngineeringJiujiangCollegeJiujiang332005JiangxiChina GraduatedSchooloftheChineseAcademyofSciences Beijing100039China InstituteofMountainHazardsandEnvironment ChineseAcademyofSciencesandMinistryofWaterConservancyChengdu610041SichuanChina

In the case study in Agricultural Area of Tibet, the process and characteristics of farmers' land use were surveyed by semi-structural interview questionnaire. By comparing the change of land covers and farmers' land decision in two periods, the spatial connection of them was obtained. And the relations among farmers' land decision, land use change and environment were examined by calculating emergy and value flow. The results show that: hunting the maximal profits is the primary aim of farmers' land decision; farmers' land decision is incompatible with sustainable land use presently; farmers' land decision and land cover can be embodied spatially by each other; the change of farmers' land decision can be monitored by observing the change of land cover, and the sustainability of farmers' land decision can be appraised by calculating emergy and value flow.

关键词： Key words farmers' land decision land use change emergy value flow agricultural area of Tibet

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Calcium Forms, Subcelluar Distribution and Ultrastructure of Pulp Cells as Influenced by Calcium Deficiency in Apple (Malus pumila) Fruits

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Agricultural Sciences in China 2004年第5期3卷 349-355页

作者： CHENJian-hui zhouwei SoilandFertilizerInstitute ChineseAcademyofAgriculturalSciences／KeyLaboratoryofPlantNutritionandNutrientCyclingMinistryofAgricultureBeijing100081P.R.China

Calcium in Red Fuji and Starkrimson apples during storage were fractionated by sequentextracting. Localization and distribution of calcium and influence of calcium nutritionon cell ultrastructure were observed by transmission electron microscopy combined within situ precipitation of calcium with an improved method of potassium pyroantimonatetechnique. Results indicated that spraying calcium solution on surface of young fruitsincreased contents of calcium in all forms. during storage, contents of soluble calciumand pectic calcium declined and those in calcium phosphate, calcium oxalate and calciumsilicate increased. Calcium contents of Red Fuji in all forms were higher than those ofStarkrimson, indicating that calcium accumulating capability of Red Fuji fruits precededthat of Starkrimson. Under transmission electron microscopy, calcium antimonite precipitates(CaAP) was mainly distributed in cell wall, tonoplast, nuclear membrane and nucleoplasm,much more CaAP deposited in vacuole. Calcium deficiency during storage leads to decreaseof CaAP in locations mentioned above, disappearance of compartmentation, and entrance ofCaAP to cytoplasm. Transformation from soluble calcium and pectic calcium to calciumphosphate, oxalate and damages of biomembranes structuraly and functionally resultedfrom calcium deficiency during storage were the crucial causation of physiologicaldisorder.

关键词： Apple Calcium forms Subcellular distribution Ultrastructure

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AstragalosideⅣimproves melanocyte differentiation from mouse bone marrow mesenchymal stem cells

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BIOCELL 2021年第6期45卷 1551-1559页

作者： XINGYU MEI zhouwei WU CHENGZHONG ZHANG YUE SUN WEIMIN SHI Department of Dermatology Shanghai General HospitalShanghai Jiao Tong University School of MedicineShanghai200080China.

Vitiligo results in an autoimmune disorder destructing skin pigment cells,melanocytes(Mcs).This study aimed to investigate whether Astragaloside IV(AIV)could efficiently induce differentiation of bone marrow mesenchymal stem cells(BMMSCs)into *** were induced and differentiated into Mcs with 0.1,0.2,and 0.4 mg/L AIV during *** changes of differentiated cells were *** of some melanocytic specific genes(TRP-1,TRP-2,MART-1,Mitf)were measured with quantitative polymerase chain reaction(qPCR)at 90,120,and 150 days of *** 90-day induction,the differentiated cells with 0.4 mg/L AIV demonstrated the typical morphology of Mcs,positive 3,4 dihydroxyphenylalanine staining,and positive staining of TRP-1,TRP-2,MART-1,and *** 90-and 120-days’induction with 0.4 mg/L AIV,TRP-1 expression was significantly elevated(p0.05)and 0.2 mg/L(p>0.05)AIV-treated *** 90 to 150-day induction,there were no significant differences for Mitf levels between AIV-treated groups and negative control(p>0.05).In conclusion,90-day induction with 0.4 mg/L AIV up-regulated TRP-1,TRP-2,and MART-1 expression,indicating that AIV can efficiently induce Mcs differentiation from *** results provide experimental and theoretic evidence for AIV application in clinical vitiligo repigmentation treatment.

关键词： Tyrosinase-related protein Melanoma antigen recognized by T cells 1 Microphthalmia-associated transcription factor Committed differentiation Traditional Chinese medicine

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Engine-Map-Based Predictive Fuel-Efficient Control Strategies for a Group of Connected Vehicles

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Automotive Innovation 2018年第4期1卷 311-319页

作者： Lihong Qiu Lijun Qian Zoleikha Abdollahi zhouwei Kong Pierluigi Pisu Changan Intelligent Vehicle R&D Institute Chongqing 401120China Department of Vehicle Engineering Hefei University of TechnologyHefei 230009China International Center for Automotive Research Clemson UniversityGreenville 29607USA

An engine-map-based predictive fuel-efficient control strategy for a group of connected vehicles is presented. A decentralizedmodel predictive control framework is formulated to predict the optimal velocity profile that compromises fuel economy andmobility while guaranteeing the safety of each vehicle. In the model predictive control framework, an engine-map-based fuelconsumption model is established by implementing a backward conventional vehicle model in the cost function. Moreover,the cost function is normalized by dividing each term by its reference value. An extra cost is added to the safety term when thedistance between adjacent vehicles drops to a critical value to guarantee vehicle safety, while another extra cost is consideredfor the velocity tracking term to prevent the violation of traffic rules. The results of simulation show the effectiveness of theproposed control method.

关键词： Model predictive control Connected vehicles Fuel-efficient control Engine map Intelligent transportation system

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Degradation of carbon tetrachloride in thermally activated persulfate system in the presence of formic acid

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Frontiers of Environmental Science & Engineering 2016年第3期10卷 438-446页

作者： Minhui XU Xiaogang GU Shuguang LU zhouwei MIAO Xueke ZANG Xiaoliang WU Zhaofu QIU Qian SUI State Environmental Protection Key Laboratory of Environmental Risk Assessment and Control on Chemical Process East China University of Science and Technology Shanghai 200237 China

The thermally activated persulfate （PS） degradation of carbon tetrachloride （CT） in the presence of formic acid （FA） was investigated. The results indicated that CT degradation followed a zero order kinetic model, and CO2^- was responsible for the degradation of CT confirmed by radical scavenger tests. CT degradation rate increased with increasing PS or FA dosage, and the initial CT had no effect on CT degradation rate. However, the initial solution pH had effect on the degradation of CT, and the best CT degradation occurred at initial pH 6. Cl^- had a negative effect on CT degradation, and high concentration of Cl^- displayed much strong inhibition. Ten mmol·L^-1HCO3^- promoted CT degradation, while 100mmol·L^-1NO3^- inhibited the degradation of CT, but SO4^2- promoted CT degradation in the presence of FA. The measured Cl^- concentration released into solution along with CT degradation was 75.8% of the total theoretical dechlorination yield, but no chlorinated intermediates were detected. The split of C-Cl was proposed as the possible reaction pathways in CT degradation. In conclusion, this study strongly demonstrated that the thermally activated PS system in the presence of FA is a promising technique in in situ chemical oxidation （ISCO） remediation for CT contaminated site.

关键词： persulfate carbon tetrachloride thermal activation formic acid carbon dioxide radical anion

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