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| 1 | Human-Tracking Strategies for a Six-legged Rescue Robot Based on Distance and View显示文摘Human tracking is an important issue for intelligent robotic control and can be used in many scenarios, such as robotic services and human-robot cooperation. Most of current human-tracking methods are targeted for mobile/tracked robots, but few of them can be used for legged robots. Two novel human-tracking strategies, view priority strategy and distance priority strategy, are proposed specially for legged robots, which enable them to track humans in various complex terrains. View priority strategy focuses on keeping humans in its view angle arrange with priority, while its counterpart, distance priority strategy, focuses on keeping human at a reasonable distance with priority. To evaluate these strategies, two indexes(average and minimum tracking capability) are defined. With the help of these indexes, the view priority strategy shows advantages compared with distance priority strategy. The optimization is done in terms of these indexes, which let the robot has maximum tracking capability. The simulation results show that the robot can track humans with different curves like square, circular, sine and screw paths. Two novel control strategies are proposed which specially concerning legged robot characteristics to solve human tracking problems more efficiently in rescue circumstances. | PAN Yang GAO Feng QI Chenkun CHAI Xun | 2016 | Chinese Journal of Mechanical Engineering2016，29，2： | 17 |
| 2 | Gait Planning for a Quadruped Robot with One Faulty Actuator显示文摘Fault tolerance is essential for quadruped robots when they work in remote areas or hazardous environments. Many fault-tolerant gaits planning method proposed in the past decade constrained more degrees of freedom(DOFs) of a robot than necessary. Thus a novel method to realize the fault-tolerant walking is proposed. The mobility of the robot is analyzed first by using the screw theory. The result shows that the translation of the center of body(Co B) can be kept with one faulty actuator if the rotations of the body are controlled. Thus the DOFs of the robot body are divided into two parts: the translation of the Co B and the rotation of the body. The kinematic model of the whole robot is built, the algorithm is developed to actively control the body orientations at the velocity level so that the planned Co B trajectory can be realized in spite of the constraint of the faulty actuator. This gait has a similar generation sequence with the normal gait and can be applied to the robot at any position. Simulations and experiments of the fault-tolerant gait with one faulty actuator are carried out. The Co B errors and the body rotation angles are measured. Comparing to the traditional fault-tolerant gait they can be reduced by at least 50%. A fault-tolerant gait planning algorithm is presented, which not only realizes the walking of a quadruped robot with a faulty actuator, but also efficiently improves the walking performances by taking full advantage of the remaining operational actuators according to the results of the simulations and experiments. | CHEN Xianbao GAO Feng QI Chenkun TIAN Xinghua | 2015 | Chinese Journal of Mechanical Engineering2015，28，1： | 12 |
| 3 | On iterative learning control design for tracking iteration-varying trajectories with high-order internal model显示文摘In this paper,iterative learning control (ILC) design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models (HOIM).An HOIM formulated as a polynomial operator between consecutive iterations describes the changes of desired trajectories in the iteration domain and makes the iterative learning problem become iteration varying.The classical ILC for tracking iteration-invariant reference trajectories,on the other hand,is a special case of HOIM where the polynomial renders to a unity coefficient or a special first-order internal model.By inserting the HOIM into P-type ILC,the tracking performance along the iteration axis is investigated for a class of continuous-time nonlinear systems.Time-weighted norm method is utilized to guarantee validity of proposed algorithm in a sense of data-driven control. | Chenkun YIN Jianxin XU Zhongsheng HOU | 2010 | 控制理论与应用(英文版)2010，8，3： | 7 |
| 4 | Obstacle avoidance for a hexapod robot in unknown environment显示文摘Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment. | CHAI Xun GAO Feng QI ChenKun PAN Yang XU YiLin ZHAO Yue | 2017 | Science China(Technological Sciences)2017，60，6： | 7 |
| 5 | A UV-B-responsive glycosyltransferase,OsUGT706C2,modulates flavonoid metabolism in rice显示文摘Although natural variations in rice flavonoids exist, and biochemical characterization of a few flavonoid glycosyltransferases has been reported, few studies focused on natural variations in tricin-lignan-glycosides and their underlying genetic basis. In this study, we carried out metabolic profiling of tricin-lignan-glycosides and identified a major quantitative gene annotated as a UDPdependent glycosyltransferase OsUGT706C2 by metabolite-based genome-wide association analysis. The putative flavonoid glycosyltransferase OsUGT706C2 was characterized as a flavonoid 7-O-glycosyltransferas in vitro and in vivo. Although the in vitro enzyme activity of OsUGT706C2 was similar to that of OsUGT706D1, the expression pattern and induced expression profile of OsUGT706C2 were very different from those of OsUGT706D1. Besides, OsUGT706C2 was specifically induced by UV-B. Constitutive expression of OsUGT706C2 in rice may modulate phenylpropanoid metabolism at both the transcript and metabolite levels. Furthermore, overexpressing OsUGT706C2 can enhance UV-B tolerance by promoting ROS scavenging in rice. Our findings might make it possible to use the glycosyltransferase OsUGT706C2 for crop improvement with respect to UVB adaptation and/or flavonoid accumulation, which may contribute to stable yield. | Feng Zhang Hao Guo Jiacheng Huang Chenkun Yang Yufei Li Xuyang Wang Lianghuan Qu Xianqing Liu Jie Luo | 2020 | Science China(Life Sciences)2020，63，7： | 5 |
| 6 | Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space显示文摘在地面上的一个严肃环境,自从人首先由飞目标探索了空间,在空间的零严肃的环境的二个飞的目标的接触过程的模拟是一个挑战性的问题。Hardware-in-the-loop (HIL ) 模拟是一个重要、有效的方法在空间测试真实停靠机制的可用性,可靠性,和安全。为 HIL 模拟系统有四个主要问题:能够高频率反应,高运动精确,高速度,和快速的加速的模拟器的设计;为模拟失真的赔偿;为 HIL 模拟进程的一个控制模型的设计;并且试验性的确认。这里,我们与 6-DOF 3-3 建议一个新奇 HIL 模拟器系统垂直平行机制和 3-DOF 3-PRS 平行机制;发现模拟失真的原则;为模拟器的力量测量系统,动态反应,和结构的动力学介绍失真赔偿模型;并且为 HIL 模拟过程提供一个控制模型。二种实验在被动未受潮的有弹性的杆和停靠机制上被执行测试他们的表演并且验证 HIL 模拟器的有效性和可用性。在这份报纸建议的 HIL 模拟系统为开发停靠的空格是有用的, berthing, refueling,修理,升级,搬运,并且 rescuing 技术。 | GAO Feng QI ChenKun REN AnYe ZHAOXianChao CAO Rui SUN Qiao WANG Qian HU Yan HE Jun JIN ZhenLin LIU RenQiang ZHANG Yong GUO WeiZhong HU ZhenYu TANG Ping NI Bo JING QianFeng WANG WeiJun GAO Peng | 2016 | Science China(Technological Sciences)2016，59，8： | 4 |
| 7 | Terminal iterative learning control based station stop control of a train显示文摘 | Zhongsheng Hou Yi Wang Chenkun Yin Tao Tang | 2011 | International Journal of Control2011，，7： | 3 |
| 8 | Rice metabolic regulatory network spanning the entire life cycle显示文摘As one of the most important crops in the world,rice(Oryza sativa)is a model plant for metabolome research.Although many studies have focused on the analysis of specific tissues,the changes in metab-olite abundance across the entire life cycle have not yet been determined.In this study,combining both tar-geted and nontargeted metabolite profiling methods,a total of 825 annotated metabolites were quantified in rice samples from different tissues covering the entire life cycle.The contents of metabolites in different tissues of rice were significantly different,with various metabolites accumulating in the plumule and radicle during seed germination.Combining these data with transcriptome data obtained from the same time period,we constructed the Rice Metabolic Regulation Network.The metabolites and co-expressed genes were further divided into 12 clusters according to their accumulation patterns,with members within each cluster displaying a uniform and clear pattern of abundance across development.Using this dataset,we established a comprehensive metabolic profile of the rice life cycle and used two independent strategies to identify novel transcription factors-namely the use of known regulatory genes as bait to screen for new networks underlying lignin metabolism and the unbiased identification of new glycerophospholipid metabolism regulators on the basis of tissue specificity.This study thus demonstrates how guilt-by-association analysis of metabolome and transcriptome data spanning the entire life cycle in cereal crops provides novel resources and tools to aid in understanding the mechanisms underlying important agro-nomic traits. | Chenkun Yang Shuangqian Shen Shen Zhou Yufei Li Yuyuan Mao Junjie Zhou Yuheng Shi Longxu An Qianqian Zhou Wenju Peng Yuanyuan Lyu Xuemei Liu Wei Chen Shouchuang Wang Lianghuan Qu Xianqing Liu Alisdair R.Fernie Jie Luo | 2022 | Molecular Plant2022，15，2： | 3 |
| 9 | Metabolomics-centered mining of plant metabolic diversity and function:Past decade and future perspectives显示文摘Plants are natural experts in organic synthesis,being able to generate large numbers of specific metabolites with widely varying structures that help them adapt to variable survival challenges.Metabolomics is a research discipline that integrates the capabilities of several types of research including analytical chemistry,statistics,and biochemistry.Its ongoing development provides strategies for gaining a systematic understanding of quantitative changes in the levels of metabolites.Metabolomics is usually performed by targeting either a specific cell,a specific tissue,or the entire organism.Considerable advances in science and technology over the last three decades have propelled us into the era of multi-omics,in which metabolomics,despite at an earlier developmental stage than genomics,transcriptomics,and proteomics,offers the distinct advantage of studying the cellular entities that have the greatest influence on end phenotype.Here,we summarize the state of the art of metabolite detection and identification,and illustrate these techniques with four case study applications:(i)comparing metabolite composition within and between species,(ii)assessing spatio-temporal metabolic changes during plant development,(iii)mining characteristic metabolites of plants in different ecological environments and upon exposure to various stresses,and(iv)assessing the performance of metabolomics as a means of functional gene identification,metabolic pathway elucidation,and metabolomics-assisted breeding through analyzing plant populations with diverse genetic variations.In addition,we highlight the prominent contributions of joint analyses of plant metabolomics and other omics datasets,including those from genomics,transcriptomics,proteomics,epigenomics,phenomics,microbiomes,and ion-omics studies.Finally,we discuss future directions and challenges exploiting metabolomics-centered approaches in understanding plant metabolic diversity. | Shuangqian Shen Chuansong Zhan Chenkun Yang Alisdair R.Fernie Jie Luo | 2023 | Molecular Plant2023，16，1： | 2 |
| 10 | OsRLCK160 contributes to flavonoid accumulation and UV-B tolerance by regulating OsbZIP48 in rice显示文摘Plants produce specialized metabolites to adapt to the ever-changing environments.Flavonoids are antioxidants essential for growth,development,and breeding with increased stress resistance in crops.However,the mechanism of the involvement of flavonoids in ultraviolet-B(UV-B)stress in rice(Oryza sativa)is largely unknown.In this study,we cloned and functionally identified a receptor-like kinase(OsRLCK160)and a bZIP transcription factor(OsbZIP48)positively regulating flavonoid accumulation through metabolite-based genome-wide association study of the flavonoid content in rice.Meanwhile,OsRLCK160 interacted with and phosphorylated OsbZIP48 to regulate the flavonoid accumulation and participate in UV-B tolerance in rice.Our study indicates the importance of applying OsRLCK160 and OsbZIP48 to advance the fundamental understanding of stable rice production and breed UV-B-tolerant rice varieties,which may contribute to breeding high-yield rice varieties. | Feng Zhang Jiacheng Huang Hao Guo Chenkun Yang Yufei Li Shuangqian Shen Chuansong Zhan Lianghuan Qu Xianqing Liu Shouchuang Wang Wei Chen Jie Luo | 2022 | Science China(Life Sciences)2022，65，7： | 2 |
| 11 | Benefiting others and self: Production of vitamins in plants显示文摘Vitamins maintain growth and development in humans, animals, and plants. Because plants serve as essential producers of vitamins, increasing the vitamin contents in plants has become a goal of crop breeding worldwide. Here, we begin with a summary of the functions of vitamins. We then review the achievements to date in elucidating the molecular mechanisms underlying how vitamins are synthesized, transported, and regulated in plants. We also stress the exploration of variation in vitamins by the use of forward genetic approaches, such as quantitative trait locus mapping and genome-wide association studies. Overall, we conclude that exploring the diversity of vitamins could provide new insights into plant metabolism and crop breeding. | Yufei Li Chenkun Yang Hasan Ahmad Mohamed Maher Chuanying Fang Jie Luo | 2021 | Journal of Integrative Plant Biology2021，63，1： | 2 |
| 12 | Auto-tuning of PID controller parameters with supervised receding horizon optimization显示文摘 | Min Xu Shaoyuan Li Chenkun Qi Wenjian Cai | 2005 | ISA Transactions2005，，： | 1 |
| 13 | Latestprogressesinthehydrophilic/hydrophobicmodifiedtemGperatureGsensitivegel显示文摘 | ChenKun ZhangQingsong ZhaoYiping etal | 2011 | NewChemicalMaterial2011，08，： | 1 |
| 14 | SpringParameters Design for the New Hydraulic Actuated QuadrupedRobot显示文摘 | CHEN Xianbo GAO Feng QI Chenkun | 2014 | Journal of Mechanisms and Robotics2014，6，02： | 1 |
| 15 | Disease resistance conferred by components of essential chrysanthemum oil and the epigenetic regulation of OsTPS1显示文摘The sesquiterpene alpha-bisabolol is the predominant active ingredient in essential oils that are highly valued in the cosmetics industry due to its wound healing,anti-inflammatory,and skin-soothing properties.Alpha-bisabolol was thought to be restricted to Compositae plants.Here we reveal that alpha-bisabolol is also synthesized in rice,a non-Compositae plant,where it acts as a novel sesquiterpene phytoalexin.Overexpressing the gene responsible for the biosynthesis of alpha-bisabolol,Os TPS1,conferred bacterial blight resistance in rice.Phylogenomic analyses revealed that alpha-bisabolol-synthesizing enzymes in rice and Compositae evolved independently.Further experiments demonstrated that the natural variation in the disease resistance level was associated with differential transcription of Os TPS1 due to polymorphisms in its promoter.We demonstrated that Os TPS1 was regulated at the epigenetic level by JMJ705 through the methyl jasmonate pathway.These data reveal the cross-family accumulation and regulatory mechanisms of alpha-bisabolol production. | Chuansong Zhan Long Lei Hao Guo Shen Zhou Congping Xu Zixin Liu Zichen Wu Yuan Deng Yuanyuan Miao Yu Han Meng Zhang Hua Li Sishu Huang Chenkun Yang Feng Zhang Yufei Li Ling Liu Xianqing Liu Hafiz Muhammad Khalid Abbas Alisdair R.Fernie Meng Yuan Jie Luo | 2023 | Science China(Life Sciences)2023，66，5： | 1 |
| 16 | Auto - tuning of PID controller parameters with supervised receding horizon optimization显示文摘 | Xu Min Li Shaoyuani Qi Chenkun Cai Wenjian | 2005 | ISA transactions2005，，44： | 1 |
| 17 | Nonlinear theory for relativistic plasma wakefields in the blowout regime显示文摘 | Lu Wei Huang Chenkun Zhou Miaomiao | 2006 | Phys Rev Lett2006，96，16： | 1 |
| 18 | 番茄育种重建果实代谢组显示文摘文章简介人类的生存和文明的发展密切依赖于几十种植物的驯化和育种改良,为了系统地揭示番茄育种对果实代谢组的影响。本研究中产生了一个多组学的数据集,包括几百份材料的基因组、转录组和代谢组,对番茄驯化和育种改良开展了多组学的研究。 | 祝光涛 王守创 Zejun Huang Shuaibin Zhang Qinggang Liao Chunzhi Zhang Tao Lin Mao Qin Meng Peng Chenkun Yang Xue Cao Xu Han Xiaoxuan Wang Esther van der Knaap Zhonghua Zhang Xia Cui Harry Klee Alisdair R.Fernie 罗杰 黄三文 | 2019 | 科学新闻2019，0，2： | 0 |
| 19 | Quasi-Newton method based control design for unknown nonlinear systems with input constraints显示文摘Dear editor,With the development in digital computers,various and huge data of controlled plants are obtained and stored,which has led to a rapid growth in the application of numerical methods in controller design. | Shuangshuang XIONG Zhongsheng HOU Chenkun YIN | 2020 | Science China(Information Sciences)2020，63，5： | 0 |
| 20 | Elucidation of the melitidin biosynthesis pathway in pummelo显示文摘Specialized plant metabolism is a rich resource of compounds for drug discovery.The acylated flavonoid glycoside melitidin is being developed as an anti-cholesterol statin drug candidate,but its biosynthetic route in plants has not yet been fully characterized.Here,we describe the gene discovery and functional characterization of a new flavonoid gene cluster(UDP-glucuronosyltransferases(Cg UGTs),1,2rhamnosyltransferase(Cg1,2Rha T),acyltransferases(Cg ATs))that is responsible for melitidin biosynthesis in pummelo(Citrus grandis(L.)Osbeck).Population variation analysis indicated that the tailoring of acyltransferases,specific for bitter substrates,mainly determine the natural abundance of melitidin.Moreover,3-hydroxy-3-methylglutaryl-Co A reductase enzyme inhibition assays showed that the product from this metabolic gene cluster,melitidin,may be an effective anti-cholesterol statin drug candidate.Co-expression of these clustered genes in Nicotiana benthamiana resulted in the formation of melitidin,demonstrating the potential for metabolic engineering of melitidin in a heterologous plant system.This study establishes a biosynthetic pathway for melitidin,which provides genetic resources for the breeding and genetic improvement of pummelo aimed at fortifying the content of biologically active metabolites. | Shuangqian Shen Shouchuang Wang Chenkun Yang Chao Wang Qianqian Zhou Shen Zhou Ran Zhang Yufei Li Zixuan Wang Liupan Dai Wenjv Peng Yingchen Hao Hao Guo Guangping Cao Xianqing Liu Fan Yao Qiang Xu Alisdair RFernie Jie Luo | 2023 | Journal of Integrative Plant Biology2023，65，11： | 0 |
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