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| 1 | Motion Control and Motion Coordination of Bionic Robotic Fish: A Review显示文摘 | Junzhi Yu Ming Wang Huifang Dong Yanlu Zhang Zhengxing Wu | 2018 | Journal of Bionic Engineering2018，15，4： | 19 |
| 2 | Characterization of disinfection byproduct formation potential in 13 source waters in China显示文摘The formation potential of four trihalomethanes (THMFP) and seven haloacetic acids (HAA 7 FP) in 13 source waters taken from four major water basin areas in China was evaluated using the simulated distribution system (SDS) chlorination method.The specific ultraviolet absorbance (SUVA 254:the ratio of UV 254 to dissolved organic carbon (DOC)),which ranged between 0.9 and 5.0 L/(mg·m),showed that the organic compounds in different source waters exhibited different reactivities with chlorine.The HAA 7 FP of source waters ranged from 20 to 448 μg/L and the THMFP ranged from 29 to 259 μg/L.The HAA 7 FP concentrations were higher than the THMFP concentrations in all but one of the samples.Therefore,the risks of haloacetic acids (HAAs) should be of concern in some source waters.TCM (chloroform) and BDCM (bromodichloromethane) were the major THM constituents,while TCAA (trichloroacetic acid) and DCAA (dichloroacetic acid) were the major HAA species.Br-THM (brominated THM species) were much higher than BrHAA (brominated HAA species),and the formation of Br-DBP (Br-THM and Br-HAA) should be of concern when the bromide concentration is over 100 μg/L. | Junzhi Zhang Jianwei Yu Wei An Juan Liu Yongjing Wang Youjun Chen Jia Tai Min Yang | 2011 | Journal of Environmental Sciences2011，23，2： | 13 |
| 3 | Towards an Esox lucius inspired multimodal robotic fish显示文摘In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator(CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and heaving-pitching.We found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin(BCF) locomotion. | WU ZhengXing YU JunZhi SU ZongShuai TAN Min LI ZhenLong | 2015 | Science China(Information Sciences)2015，58，5： | 11 |
| 4 | A rapid reporter assay for recombinant human brain natriuretic peptide(rhBNP)by GloSensor technology显示文摘Accurate determination of biological activity is essential in quality control of recombinant human brain natriuretic peptide(rhBNP). In previous study, we successfully developed a genetically modified cell line 293GCAC3-based ELISA assay for rhBNP. But ELISA procedure is still tedious, so this study was aimed to develop a rapid and simple bioassay for rhBNP using GloSensor technology, which provides a platform of flexible luciferase-based biosensors for real-time detection of signaling events in live cells, including cGMP production. A reporter cell line 293GCAGlo-G1 was constructed by transfecting pGloSensor^(TM) 40 F plasmid into 293GCAC3. The reporter assay based on 293GCAGlo-G1 showed high precision with intraassay CV being 8.3% and inter-assay CV being 14.1%; high accuracy with 80%, 100% and 120% recovery rate being 99.2%, 102.4% and 99.0% respectively; and great linearity with R^2 of linear fitting equation being 0.99. Besides, no significant difference was found in test results of reporter assay and 293GCAC3-based ELISA assay(paired t test, p=0.630). All these results suggested that the reporter assay was a viable assay for biological determination of rhBNP. | Lei Yu Xinchang Shi Chunmei Han Chunming Rao Junzhi Wang | 2018 | Journal of Pharmaceutical Analysis2018，8，5： | 11 |
| 5 | Quality Control and Nonclinical Research on CAR-T Cell Products: General Principles and Key Issues显示文摘Adoptive cell therapy using chimeric antigen receptor T (CAR-T) cells, which is a promising cancer immunotherapy strategy, has been developing very rapidly in recent years. CAR-T cells are genetically modified T cells that can specifically recognize tumor specific antigens on the surface of tumor cells, and then effectively kill tumor cells. At present, exciting results are being achieved in clinical applications of CAR-T cells for patients with hematological malignancies. The research and development of CAR-T cells for various targets and for the treatment of solid tumors have become a hot topic worldwide, so an increasing number of investigational new drug applications (INDAs) and new drug applications (NDAs) of CAR-T cell products are expected to be submitted in future. The quality control and nonclinical research of these products are of great significance in ensuring the safety and effectiveness of these products;however, they also present great challenges and difficulties. This article discusses the general principles of and key issues regarding the quality control and nonclinical research of CAR-T cell products based on their product characteristics and on relevant guidelines for gene and cell therapy products. | Yonghong Li Yan Huo Lei Yu Junzhi Wang | 2019 | Engineering2019，5，1： | 9 |
| 6 | Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish显示文摘 | Zhengxing Wu Junzhi Yu Min Tan Jianwei Zhang | 2014 | Journal of Bionic Engineering2014，11，2： | 8 |
| 7 | Development and path planning of a novel unmanned surface vehicle system and its application to exploitation of Qarhan Salt Lake显示文摘Qarhan Salt Lake is rich in mineral resources, such as sodium chloride, potassium, and magnesium [1]. At present, liquid mine exploiting is the main exploitation form for the Qarhan Salt Lake. Salt mining ships with mining equipments are widely used to exploit carnallite which is located at the bottom of pools. Conventionally, workmen utilize rude ferric sampler to collect carnallite samples and estimate their thickness, providing guidance to the salt mining ship [2]. However, the turbid brine and uneven carnallite reduce the efficiency of exploitation, which could no longer meet the rapid mining requirements. | Zhibin XUE Jincun LIU Zhengxing WU Sheng DU Shihan KONG Junzhi YU | 2019 | Science China(Information Sciences)2019，62，8： | 8 |
| 8 | Multimodal swimming control of a robotic fish with pectoral fins using a CPG network显示文摘The neural-based approaches inspired by biological neural mechanisms of locomotion are becoming increasingly popular in robot control.This paper investigates a systematic method to formulate a Central Pattern Generator(CPG) based control model for mul-timodal swimming of a multi-articulated robotic fish with flexible pectoral fins.A CPG network is created to yield diverse swim-ming in three dimensions by coupling a set of nonlinear neural oscillators using nearest-neighbor interactions.In particular,a sensitivity analysis of characteristic parameters and a stability proof of the CPG network are given.Through the coordinated con-trol of the joint CPG,caudal fin CPG,and pectoral fin CPG,a diversity of swimming modes are defined and successfully imple-mented.The latest results obtained demonstrate the effectiveness of the proposed method.It is also confirmed that the CPG-based swimming control exhibits better dynamic invariability in preserving rhythm than the conventional body wave method. | WANG Ming YU JunZhi TAN Min ZHANG JianWei | 2012 | Chinese Science Bulletin2012，57，10： | 7 |
| 9 | Constructing a high-density linkage map for Gossypium hirsutum × Gossypium barbadense and identifying QTLs for lint percentage显示文摘To introgress the good fiber quality and yield from Gossypium barbadense into a commercial Upland cotton variety, a high-density simple sequence repeat(SSR) genetic linkage map was developed from a BC1F1 population of Gossypium hirsutum×Gossypium barbadense. The map comprised 2,292 loci and covered 5115.16 centi Morgan(c M) of the cotton AD genome, with an average marker interval of 2.23 c M. Of the marker order for 1,577 common loci on this new map, 90.36% agrees well with the marker order on the D genome sequence genetic map. Compared with five published high-density SSR genetic maps, 53.14% of marker loci were newly discovered in this map. Twenty-six quantitative trait loci(QTLs) for lint percentage(LP) were identified on nine chromosomes. Nine stable or common QTLs could be used for marker-assisted selection. Fifty percent of the QTLs were from G. barbadense and increased LP by 1.07%–2.41%. These results indicated that the map could be used for screening chromosome substitution segments from G. barbadense in the Upland cotton background, identifying QTLs or genes from G. barbadense, and further developing the gene pyramiding effect for improving fiber yield and quality. | Yuzhen Shi Wentan Li Aiguo Li Ruihua Ge Baocai Zhang Junzhi Li Guangping Liu Junwen Li Aiying Liu Haihong Shang Juwu Gong Wankui Gong Zemao Yang Feiyü Tang Zhi Liu Weiping Zhu Jianxiong Jiang Xiaonan Yu Tao Wang Wei Wang Tingting Chen Kunbo Wang Zhengsheng Zhang Youlu Yuan | 2015 | Journal of Integrative Plant Biology2015，57，5： | 7 |
| 10 | Trajectory tracking control of a bionic robotic fish based on iterative learning显示文摘A bionic robotic fish has great potential application prospect.High maneuverability swimming control of a bionic robotic fish has been one of the research hotspots in the robotic fish field.In this paper,an iterative learning method has been proposed to solve the trajectory tracking control problem of robotic fish swimming.First,a dynamic model of the multi-joint bionic robotic fish is established.By considering a three-joint robotic fish as an example,the unified expression of the dynamic equation of the three-joint bionic robotic fish is obtained by Lagrange method.Second,the iterative learning controller for controlling the bionic robotic fish is designed.Then the convergence of the iterative learning controller is proved.Finally,the trajectory tracking control simulation experiment based on iterative learning is conducted.The simulation results show that the trajectory tracking control method based on iterative learning for a bionic robotic fish is effective. | Ming WANG Yanlu ZHANG Huifang DONG Junzhi YU | 2020 | Science China(Information Sciences)2020，63，7： | 7 |
| 11 | A survey on fabrication,control,and hydrodynamic function of biomimetic robotic fish显示文摘Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic fish.This paper has two objectives:(1) to review biological clues on biomechanics and hydrodynamic flow control offish swimming and(2) to summarize design and control methods for efficient and stable swimming in robotic fishes.Our review of state-of-the-art research and future-oriented new directions indicates that fish-inspired biology and engineering interact in mutually beneficial ways.This strong interaction offers an important insight into the design and control of novel fish-inspired robots that addresses the challenge of environmental uncertainty and competing objectives;in addition,it also facilitates refinement of biological knowledge and robotic strategies for effective and efficient swimming. | YU JunZhi WEN Li REN ZiYu | 2017 | Science China(Technological Sciences)2017，60，9： | 7 |
| 12 | Energy Analysis of a CPG-controlled Miniature Robotic Fish显示文摘 | Junzhi Yu Shifeng Chen Zhengxing Wu Xingyu Chen Ming Wang | 2018 | Journal of Bionic Engineering2018，15，2： | 5 |
| 13 | Fault-Tolerant Control of a CPG-Governed Robotic Fish显示文摘Fault tolerance is essential for the maneuverability of self-propelled biomimetic robotic fish in real-world aquatic applications.This paper explores the fault-tolerance control problem of a free-swimming robotic fish with multiple moving joints and a stuck tail joint.The created control system is composed of two main components:a feedback controller and a feedforward compensator.Specifically,the bio-inspired central pattern generator-based feedback controller is designed to make the robotic fish robust to external disturbances,while the feedforward compensator speeds up the convergence of the overall control system.Simulations are performed for control system analysis and performance validation of the faulty robotic fish.The experimental results demonstrate that the proposed fault-tolerant control method is able to effectively regulate the faulty robotic fish,allowing it to complete the desired motion in the presence of damage and thereby improving both the stability and the lifetime of the real robotic system. | Yueqi Yang Jian Wang Zhengxing Wu Junzhi Yu | 2018 | Engineering2018，4，6： | 5 |
| 14 | Design and attitude control of a novel robotic jellyfish capable of 3D motion显示文摘Aquatic creatures such as fish,cetaceans,and jellyfish could inspire innovative designs to improve the ways that manmade systems operate in and interact with aquatic environments(1,2)Jellyfish in nature use jet propulsion to move through the water,which have been proven to be one of the most energetically efficient swimmers on the planet(3)Researchers are making an integrated effort to develop smart actuators to fabricate various robotic jellyfish,such as shape memory alloys(SMA)[4],ionic polymer metal composites(IPMC)[5],and dielectric elastomer actuator[6]. | Junzhi YU Xiangbin LI Lei PANG Zhengxing WU | 2019 | Science China(Information Sciences)2019，62，9： | 4 |
| 15 | Optimal design and motion control of biomimetic robotic fish显示文摘This paper is concerned with the design, optimization, and motion control of a radio- controlled, multi-link, free-swimming biomimetic robotic fish based on an opti- mized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish's morphological characteristics and ki- nematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-length- ratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator (CPG) based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation. | YU JunZhi WANG Long ZHAO Wei TAN Min | 2008 | Science in China(Series F)2008，51，5： | 3 |
| 16 | The molecular determinants governing the immunogenicity of Japanese encephalitis live attenuated vaccines显示文摘In the course of isolating the attenuated Japanese encephalitis vaccine SA14-14-2,two attenuated strains SA14-9-7 and SA14-5-3 were also obtained that elicited low antibody responses in humans(o10%and 62%,respectively)and exerted much weaker immune protection in animal challenge experiments.However,the reason for these differences remains unknown.In order to understand why SA14-14-2 is superior to SA14-9-7 and SA14-5-3,we employed a reverse genetics method to identify the key mutations in the virus genome that determine the immunogenicity of live attenuated Japanese encephalitis viruses.We first sequenced the full genomic sequences of SA14-9-7 and SA14-5-3 and found mutations that changed four amino-acid base pairs when compared to the envelope gene of SA14-14-2.We mutated the genome of SA14-14-2 to generate these mutations both singly(E-177,E-264,E-279 and E-315)and in combination(E-177/264,E-279/315 and E-177/264/279/315)and tested these mutants along with parental strains SA14-14-2,SA14-9-7 and SA14-5-3 for their immunogenicity in vivo.When mice were immunized with SA14-9-7 and SA14-5-3,lower levels of neutralizing antibodies were generated compared with the immune response to SA14-14-2.Furthermore,SA14-5-3 was more immunogenic than SA14-9-7,which replicated the results previously seen in humans.Point mutations E-177,E-264,E-279 and E-315 diminished the immunogenicity of SA14-14-2 with E-264 and E-315,contributing the most to this phenotype.The mutant rJEV(E-177/E-264/E-279/E-315)containing all four point mutations exhibited the lowest immunogenicity with a seroconversion rate of 0 at an inoculation dose of 103 PFU(plaque-forming unit).We have identified the key amino acids in the envelope protein that account for the superior immunogenicity of SA14-14-2. | Yuhua Li Yin Fu Xinyu Liu Huiqiang Yang Yongxin Yu Lili Jia Xuguang Li Aaron Farnsworth Junzhi Wang | 2017 | Signal Transduction and Targeted Therapy2017，2，1： | 3 |
| 17 | Hydrodynamic Analysis and Verification of an Innovative Whale Shark-like Underwater Glider显示文摘This paper presents an innovative design for a biomimetic whale shark-like underwater glider aiming at the combination of high maneuverability and long duration.As a hybrid of the underwater glider and the robotic fish,its pectoral fins and tail can serve as not only the external control surfaces for attitude regulation during gliding but also the propellers for agile fish-like swimming mode.To verify the gliding capability of the whale shark-like glider and prepare for future dynamic analysis,the hydrodynamic coefficients,including drag,lift,sliding force,and corresponding moments are estimated through computational fluid dynamics method.In addition,the hydrodynamic analyses of the proposed glider and an equivalent conventional glider during steady gliding motion are executed for comparison.Extended experiments are performed to verify the downward gliding performance.The results reveal that the whale shark-like glider has less drag as well as higher lift-to-drag ratio and a markable gliding capability in practice.It may offer important inspiration for improving the gliding efficiency and performance of an underwater glider in biomimetic shape design. | Huijie Dong Zhengxing Wu Min Tan Junzhi Yu | 2020 | Journal of Bionic Engineering2020，17，1： | 3 |
| 18 | A Survey of Underwater Multi-Robot Systems显示文摘As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent decades.In this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new functions.More specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their combination.Further,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of MRS.To conclude,we have discussed related promising directions for future research.This survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios. | Ziye Zhou Jincun Liu Junzhi Yu | 2022 | IEEE/CAA Journal of Automatica Sinica2022，9，1： | 3 |
| 19 | Recovery of Collided RFID Tags With Frequency Drift on Physical Layer显示文摘In a passive ultra-high frequency(UHF)radio frequency identification(RFID)system,the recovery of collided tag signals on a physical layer can enhance identification efficiency.However,frequency drift is very common in UHF RFID systems,and will have an influence on the recovery on the physical layer.To address the problem of recovery with the frequency drift,this paper adopts a radial basis function(RBF)network to separate the collision signals,and decode the signals via FM0 to recovery collided RFID tags.Numerical results show that the method in this paper has better performance of symbol error rate(SER)and separation efficiency compared to conventional methods when frequency drift occurs. | Junzhi Li Haifeng Wu Yu Zeng | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，6： | 3 |
| 20 | The structure differences of Japanese encephalitis virus SA14 and SA14-14-2 E proteins elucidate the virulence attenuation mechanism显示文摘Dear Editor,Japanese encephalitis(JE)is a mosquito-borne acute neurological infectious disease caused by the Japanese encephalitis virus(JEV).Globally,68,000 cases of the disease are estimated each year,with a fatality rate of as high as 30%and with approximately 30%-50%of survivors suffering from severe neurological sequelae(WHO,2015). | Xinyu Liu Xin Zhao Rui Na Lili Li Eberhard Warkentin Jennifer Witt Xu Lu Yongxin Yu Yuquan Wei Guohong Peng Yuhua Li Junzhi Wang | 2019 | Protein & Cell2019，10，2： | 3 |
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