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| 1 | The Uplift of the Longmenshan Thrust Belt and Subsidence of the West Sichuan Foreland Basin显示文摘Based on fission track dating of apatite, and measurement of vitrinite reflectance of rock samples from the Longmenshan (Longmen Mountain)area and the West Sichuan foreland basin and computer modelling it is concluded that (l)the Songpan-Garze fold belt has uplifted at least by 3-4 km with an uplift rate of no less than 0.3-0.4 mm/a since 10 Ma B.P.; (2) the Longmenshan thrust nappe belt has uplifted at least by 5-6 km with an uplift rate of more than 0.5- 0.6 mm /a since 10 Ma B.P.; (3) the Longmenshan detachment belt has uplifted by 1 - 2 km at a rate of 0.016-0.032 mm/a since 60 Ma B.P.; (4) the West Sichuan foreland basin has uplifted by 1.7-3 km at a rate of 0.028-0.05 mm/a since 60 Ma B.P.; (5) the uplift rate of the area on the west side of the Beichuan-Yingxiu-Xiaoguanzi fault for the last 10 Ma is 40 times as much as that on its east side; (6) the uplifting of the the Songpan - Garze fold belt and the subsidence of the West Sichuan foreland basin 60 Ma ago exhibit a mirro-image correlation, i. | Liu Shugen, Luo Zhili, Dai Sulan, Changlu Institute of Technology, Chengdu, Sichuan, ChinaDennis Arne Dalhousie U niversity, Canadaand C.J.L. Wilson Melbourne U niversity, Australia Jiang M inxi | 1996 | Acta Geologica Sinica(English Edition)1996，70，1： | 21 |
| 2 | Formation and destruction processes of upper Sinian oil-gas pools in the Dingshan-Lintanchang structural belt, southeast Sichuan Basin, China显示文摘The lower Cambrian Niutitang Formation hydrocarbon source rocks at the Dingshan-Lintanchang structure in the southeast Sichuan Basin were of medium-good quality with two excellent hydrocarbon-generating centers developed in the periphery areas, with a possibility of forming a medium to large-sized oil-gas field. Good reservoir rocks were the upper Sinian (Dengying Formation) dolomites. The mudstone in the lower Cambrian Niutitang Formation with a good sealing capacity was the cap rock. The widely occurring bitumen in the Dengying Formation indicates that a paleo oil pool was once formed in the study area. The first stage of paleo oil pool formation was maturation of the lower Cambrian source rocks during the late Ordovician. Hydrocarbon generation from the lower Cambrian source rocks stopped due to the Devonian-Carboniferous uplifting. The lower Cambrian source rocks then restarted generation of large quantities of hydrocarbons after deposition of the middle Permian sediments. This was the second stage of the paleo oil pool formation. The oil in the paleo oil pool began to crack during the late Triassic and a paleo gas pool was formed. This paleo gas pool was destroyed during the Yanshan-Himalayan folding, uplifting and denudation. Bitumen can be widely seen in the Dengying Formation in wells and outcrops in the Sichuan Basin and its periphery areas. This provides strong evidence that the Dengying Formation in the Sichuan Basin and its periphery areas was once an ultra-large structural-lithologic oil-gas field, which was damaged during the Yanshan-Himalayan period. | Liu Shugen Zhang Zhijing Huang Wenming Wang Guozhi Sun Wei Xu Guosheng Yuan Haifeng Zhang Changjun Deng Bin | 2010 | Petroleum Science2010，7，3： | 20 |
| 3 | Multi-Stage Basin Development and Hydrocarbon Accumulations: A Review of the Sichuan Basin at Eastern Margin of the Tibetan Plateau显示文摘Sichuan Basin is one of the uppermost petroliferous basins in China. It experienced three evolutionary phases which were marine carbonate platform(Ediacaran to Late Triassic), Indosinian-Yanshanian orogeny foreland basin(Late Triassic to Late Cretaceous) and uplift and tectonic modification(Late Cretaceous to Quaternary). The present-day tectonics of the Sichuan Basin and its periphery are characterized by three basic elements which are topography, basement type and surface structure, and two settings(plate margin and interior). Therefore, be subdivided into five units which have different structure and tectonic history. The basin contains five different sets of source rocks with thickness up to 2 500 m. These source rocks were well preserved due to the presence of Middel–Lower Triassic evaporites(>~200 m) and thick terrestrial sediments filling in the Indosinian-Yanshanian foreland basin(>3 000 m). The uplift and erosion since Late Cretaceous has significant influence on cross-strata migration and accumulation of oil and gas. The multi-phase evolution of the basin and its superimposed tectonic elements, good petroleum geologic conditions and diverse petroleum systems reveal its bright exploration prospects. | Shugen Liu Bin Deng Luba Jansa Zhiwu Li Wei Sun Guozhi Wang Zhili Luo Ziquan Yong | 2018 | Journal of Earth Science2018，29，2： | 17 |
| 4 | DEVELOPMENT OF A SHAPE-SHIFTING MOBILE ROBOT FOR URBAN SEARCH AND RESCUE显示文摘A portable shape-shifting mobile robot system named as Amoeba II (A-II) is developed for the urban search and rescue application.It is designed with three degrees of freedom and two tracked drive systems.This robot consists of two modular mobile units and a joint unit.The mobile unit is a tracked mechanism to enforce the propulsion of robot.And the joint unit can transform the robot shape to get high environment adaptation.A-If robot can not only adapt to the environment but also change its body shape according to the locus space.It behaves two work states including the linear state (named as I state) and the parallel state (named as II state).With the linear state the robot can climb upstairs and go through narrow space such as the pipe,cave,etc.The parallel state enables the robot with high mobility on rough ground.Also,the joint unit can propel the robot to roll in sidewise direction.Two modular A-II robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot,which Can transform the body into four wheels-driven vehicle.The experimental results validate the adaptation and mobility of A-II robot. | YE Changlong MA Shugen LI Bin | 2008 | Chinese Journal of Mechanical Engineering2008，21，2： | 12 |
| 5 | Hydrothermal Dolomite in the Upper Sinian (Upper Proterozoic) Dengying Formation, East Sichuan Basin, China显示文摘Hydrothermal Dolomite(HTD) is present in the Upper Sinian(Upper Proterozoic) Dengying Formation, east Sichuan Basin, China. The strata are comprised by primary dolomite. The HTD has various textures, including zebra dolomite, subhorizontal sheet-like cavities filled by saddle dolomite and breccias cemented by saddle dolomites as well occur as a fill of veins and fractures. Also co-occur MVT type lead-zinc ores in the study area. The δ13C and δ18O isotopes of HTD in the Upper Sinian Dengying Formation are lighter than those of the host rocks, while 87Sr/86 Sr is higher. The apparent difference in carbon, oxygen and strontium isotopes, especially the large difference in 87Sr/86 Sr isotopes ratio indicate crystallization from hot basinal and/or hydrothermal fluids. Saddle dolomite was precipitated at temperatures of 270-320°C. The diagenetic parasequences of mineral assemblage deposited in the Dengying Formation are:(1) dolomite host rock →sphalerite-galena-barite-fluorite;(2) dolomite host rock →saddle dolomite →quartz;(3) dolomite host rock → saddle dolomite→bitumen;(4) dolomite host rock → saddle dolomite → barite. The mean chemical composition of the host dolomite matrix and HTD didn't change much during hydrothermal process. The fluids forming the HTDs in the Dengying Formation were mixtures of freshwater from the unconformity at the top of Sinian, fluids from diagenetic compaction and hydrocarbon generation & expulsion from the Lower Cambrian Niutitang Formation mudstones or the Doushantuo Formation silty mudstones, and hydrothermal fluids from the basement. The hydrocarbon reservoirs associated with the HTD were mostly controlled by the basement faults and fractures and karsting processes at the unconformity separating Sinian and Cambrian strata. The hydrocarbon storage spaces of HTD included dissolved cavities and intercrystalline pores. Dissolution cavities are extensive at the top of Dengying Formation, up to about 46 m below the unconformity between Sinian and Cambrian and were generated mainly during karstification. Hydrothermal alteration enhanced the reservoir property of the Dengying Formation dolomites with 3%-5% increase in porosity. No agreement has been reached why zebra dolomite occurs only in the Upper Sinian strata, which would indicate that HTD mineralization occurred during two different periods, each of them related to major extensional tectonic event. The early one related to the Xingkai taphrogenesis(Z2-?1)and the later one to the Emei taphrogenesis(D2-T2). But, all the data from saddle dolomite suggest that the predominant crystallization occurred during the latter event. | LIU Shugen HUANG Wenming JANSA Luba F. WANG Guozhi SONG Guangyong ZHANG Changjun SUN Wei MA Wenxin | 2014 | Acta Geologica Sinica(English Edition)2014，88，5： | 11 |
| 6 | Multi-Stage Hydrocarbon Accumulation and Formation Pressure Evolution in Sinian Dengying FormationCambrian Longwangmiao Formation, Gaoshiti-Moxi Structure, Sichuan Basin显示文摘Sichuan Basin is a typical superimposed basin, which experienced multi-phase tectonic movements, meanwhile Sinian–Cambrian underwent complex hydrocarbon accumulation processes, causing exploration difficulties in the past 60 years. Based on the microscopic evidence of fluid inclusions, combined with basin-modelling, this paper determines stages and time of hydrocarbon accumulation, reconstructs evolution of formation pressure and dynamic processes of hydrocarbon accumulation in Sinian Dengying Formation-Cambrian Longwangmiao Formation of Gaoshiti-Moxi structure. Three stages of inclusions are detected, including a stage of yellow-yellowgreen fluorescent oil inclusions, a stage of blue fluorescent oil-gas inclusions and a stage of non-fluorescent gas inclusions, reflecting the study area has experienced a series of complex hydrocarbon accumulation processes, such as formation of paleo-oil reservoirs, cracking of crude oil, formation of paleo-gas reservoirs and adjustment to present gas reservoirs, which occurred during 219–188, 192–146 and 168–0 Ma respectively. During the period of crude oil cracking, Dengying Formation-Longwangmiao Formation showed weak overpressure to overpressure characteristics, then after adjustment of paleo-gas reservoirs to present gas reservoirs, the pressure in Dengying Formation changed into overpressure but finally reduced to normal pressure system. However, due to excellent preservation conditions, the overpressure strength in Longwangmiao Formation only slightly decreased and was still kept to this day. | Juan Wu Shugen Liu Guozhi Wang Yihua Zhao Wei Sun Jinming Song Yanhong Tian | 2016 | Journal of Earth Science2016，27，5： | 8 |
| 7 | ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT显示文摘一个新奇三模块的机器人被介绍了。适应不平的地面并且在稳定性上改进它的尖端能改变它的配置。这个 three-moduletracked 机器人有三种对称配置。他们是线类型,三角类型,和排类型。在因素和活动机器人在问题上的尖端的反措施被分析以后,在稳定性索引上的稳定性金字塔和尖端被建议到全球性确定的 mobilerobot 的静态的稳定性和动态稳定性。转移机器人的形状被这种技术在模拟在沥青的联合骚乱下面测试,滚动并且偏航。模拟结果证明这种技术为活动机器人在稳定性上的尖端的分析是有效的,特别为可计算的交换子或转移模块化的机器人的形状。三种对称配置的实验在未组织的环境下面被做。环境实验显示出象三角类型配置有的模拟的一样的结果最好的稳定性。模拟和实验为交换子提供有效引用可计算的机器人的潜在的应用程序。 | LIU Jinguo WANG Yuechao MA Shugen LI Bin | 2006 | Chinese Journal of Mechanical Engineering2006，19，2： | 8 |
| 8 | Analysis of the constraint relation between ground and self-adaptive mobile mechanism of a transformable wheel-track robot显示文摘To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to 'MGCR model' is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot. | LI ZhiQing MA ShuGen LI Bin WANG MingHui WANG YueChao | 2011 | Science China(Technological Sciences)2011，54，3： | 7 |
| 9 | Formation and evolution of Sinian oil and gas pools in typical structures, Sichuan Basin, China显示文摘The only major breakthrough in the exploration of the Sinian of the Sichuan Basin has been the Weiyuan gas field. Taking the typical structures in the Sichuan Basin as examples, an apatite fission track simulation was applied to constrain the thermal evolutionary history of the source rocks in this study. Combined with trap formation and evolution, the formation, destruction, and accumulation history of the Sinian reservoirs were analyzed from a dynamic perspective. The Sinian reservoirs underwent several primary stages: the paleo-reservoir formation and destruction in the late Silurian, hydrocarbon recharge in the Permian-Triassic, the cracking of oil to gas and dissolved-gas in the late Triassic-Mid-Late Jurassic, and the exsolution and accumulation of dissolved-gas as a result of episodic uplift since the Late Cretaceous. The exsolution process of dissolved-gas is of great significance to the accumulation of natural gas. The formation of the Weiyuan gas field is also related to this process. The Sinian in the Sichuan Basin has a broad exploration prospect, and exploration targets focused on the Leshan-Longnüsi Paleo-uplift tectonic zone with weak influences on potential hydrocarbon reservoirs from the late tectonism and transformation. | Yuan Haifeng Liang Jiaju Gong Deyu Xu Guosheng Liu Shugen Wang Guozhi | 2012 | Petroleum Science2012，9，2： | 7 |
| 10 | Center-configuration selection technique for the reconfigurable modular robot显示文摘The reconfigurable modular robot has an enormous amount of configurations to adapt to various environments and tasks. It greatly increases the complexity of configuration research in that the possible configuration number of the recon-figurable modular robot grows exponentially with the increase of module number. Being the initial configuration or the basic configuration of the reconfigurable robot, the center-configuration plays a crucial role in system’s actual applications. In this paper, a novel center-configuration selection technique has been proposed for re-configurable modular robots. Based on the similarities between configurations’ transformation and graph theory, configuration network has been applied in the modeling and analyzing of these configurations. Configuration adjacency matrix, reconfirmation cost matrix, and center-configuration coefficient have been defined for the configuration network correspondingly. Being similar to the center-location problem, the center configuration has been selected according to the largest cen-ter-configuration coefficient. As an example of the reconfigurable robotic system, AMOEBA-I, a three-module reconfigurable robot with nine configurations which was developed in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), has been introduced briefly. According to the numerical simulation result, the center-configuration coefficients for these nine configurations have been calculated and compared to validate this technique. Lastly, a center- configu-ration selection example is provided with consideration of the adjacent configura-tions. The center-configuration selection technique proposed in this paper is also available to other reconfigurable modular robots. | LIU JinGuo WANG YueChao LI Bin MA ShuGen TAN DaLong | 2007 | Science in China(Series F)2007，50，5： | 7 |
| 11 | Analysis of the Oldest Carbonate Gas Reservoir in China——New Geological Significance of the Dengying Gas Reservoir in the Weiyuan Structure, Sichuan Basin显示文摘The Weiyuan Structure is the largest surface structure in the Sichuan Basin. However, the abundance of the Dengying Formation gas reservoir in the Weiyuan Structure is low. The height of the gas column is 244 m, but the integrated abundance is only 26.4%. After nearly 40 years of exploration, the Gaoshi1 Well and Moxi8 Well yielded gas flows that marked an important exploration success after the discovery of the Sinian Dengying Formation gas reservoir in the Weiyuan Structure, Sichuan Basin, Lower-Paleozoic in 1964. Combined with research examples of oil and gas migration and gas chimneys around the world, the authors used comprehensive geological-geophysical-geochemical research methods to provide a reasonable explanation of the low abundance of the gas reservoir in the Weiyuan Structure based on the surface and subsurface data. The latest research results show that(1) currently, the Weiyuan Structure is the apex of the Dengying Formation in the Mid-Sichuan Basin. The Guang'an, Longnüsi, Gaoshiti-Moxi, and Weiyuan structures are a series of traps in the Dengying Formation with gradual uplifting spill and closure points during the regional uplift of the Himalayan period. The natural gas of the Dengying Formation accumulated in different ways over a wide range and long distance in the Sichuan Basin.(2) At approximately 40 Ma, the Weiyuan area started to uplift and form the present structure, and it is the only outcropped area with the Triassic Jialingjiang Formation and Leikoupo Formation in the surface of the Sichuan Basin(except the steep structural belt in East Sichuan). Caused by the uplift and denudation, the core of the Weiyuan Structure has formed an escaping 'skylight' for natural gas. The evidence of a gas chimney includes(1) the component percentage of non-hydrocarbon gas, which decreased from the bottom to the top,(2) the pressure coefficient is normal because the gas reservoir from the Upper Sinian to the Lower Permian commonly have a normal pressure coefficient(an average of 1.0), and(3) the isotope geochemistry of the argon mostly represents abiogenic characteristics of a deep source, and the 40 Ar/36 Ar ratio is as high as 2 855–5 222 in the Upper Permian. All of these characteristics provide sufficient evidence for a gas chimney effect. The characteristics of low abundance in the Weiyuan Structure can be a reference example for studying the late reconstruction of deep oil and gas reservoirs in the superimposed basins of western China. | Xiao Liang Shugen Liu Shubei Wang Bin Deng Siyu Zhou Wenxin Ma | 2019 | Journal of Earth Science2019，30，2： | 7 |
| 12 | Reservoir Characteristics and Preservation Conditions of Longmaxi Shale in the Upper Yangtze Block, South China显示文摘The Upper Ordovician-Lower Silurian Longmaxi Shale in the Upper Yangtze block represents one of the most important shale gas plays in China. The shale composition,porosity,organic thermal maturity,and methane sorption were investigated at the Qilongcun section in the Dingshan area,southeastern Sichuan Basin. The results show that the Upper Ordovician-Lower Silurian Longmaxi Shale contains:(1) sapropelic I organic matter;(2) a 40-m thick bedded sequence where total organic carbon(TOC) content is > 2%;(3) a 30-m thick layer at the base of the Longmaxi Shale with a brittle mineral content higher than 50%; and(4) a mean methane adsorption capacity of 1.80 cm^3/g(7 MPa pressure). A positive correlation between TOC and sorbed gas indicates that organic matter content exerts an important control on methane storage capacity. Based on the analysis of the shale reservoir characteristics,the lower member of the Longmaxi Shale can thus be considered a favorable stratum for shale gas exploration and exploitation. It has similar reservoir characteristics with the Longmaxi Shale in the Jiaoshiba area tested with a high-yield industrial gas flow. However,based on tectonic analysis,differences in the level of industrial gas flow between the low-yield study area and the high-yield Jiaoshiba area may result from different tectonic preservation conditions. Evidence from these studies indicates the shale gas potential of the Longmaxi Shale is constrained by the reservoir and preservation conditions. | RAN Bo LIU Shugen Luba JANSA SUN Wei YANG Di WANG Shiyu YE Yuehao Christopher XIAO ZHANHG Jian ZHAI Cangbo LUO Chao ZHANG Changjun | 2016 | Acta Geologica Sinica(English Edition)2016，90，6： | 6 |
| 13 | Chemical and boron isotopic compositions of tourmaline in the Longtoushan hydrothermal gold deposit, Guangxi, China:implications for gold mineralization显示文摘The Longtoushan hydrothermal gold deposit is located in the southwestern region of the Dayaoshan Uplift.Tourmaline is widespread in the Longtoushan gold deposit and is mainly distributed in the rhyolite porphyry and associated cryptoexplosive breccia. The spatial distribution of tourmaline enrichment is similar to that of the gold orebody. Feldspar has been largely replaced by tourmaline in the rhyolite porphyry and cryptoexplosive breccia.Electron microprobe analysis revealed that tourmalines in the Longtoushan deposit belong mainly to the alkali group and partly to the X-vacant group; they mostly fell in the schorl-dravite series field. Two distinct sets of dominant substitutions were observed: MgFe_(-1) and Al□(NaR2+)-1,where R = Fe, Mg. In addition, minor substitutions include(CaMg)(NaAl)_(-1) and FeAl_(-1). The calculated d11 B value for the mineralizing fluids ranged from-12.8 to-9.7%,which is typical of S-type granites, and boron-enriched fluids predominantly derived from rhyolitic melt. Part of the tourmaline from the rhyolite porphyry crystallized during the magmatic-hydrothermal stage, whereas most tourmalines from the deposit formed in the post-magmatic hydrothermal stage. The tourmalines were deposited from a relatively reduced and acidic fluid system, and the gold predominantly precipitated during the post-magmatic hydrothermal stage in the Longtoushan deposit. | Lihua Qian Jianqing Lai Shugen Zhang Lifang Hu Rong Cao Shilong Tao | 2019 | Acta Geochimica2019，38，2： | 5 |
| 14 | Network-based reconfiguration routes for a self-reconfigurable robot显示文摘This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named 'AMOEBA-I' has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis,where reconfiguration route,reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfigu-ration route. Numerical analysis and experimental simulation results prove the va-lidity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots' configuration control and reconfiguration planning. | LIU JinGuo MA ShuGen WANG YueChao LI Bin | 2008 | Science in China(Series F)2008，51，10： | 5 |
| 15 | Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes显示文摘A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design(AD) theory is applied to evaluate and analyze the existing designs. Then an uncoupled concept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the proposed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the motion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots that have inclining-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping. | LI Te MA ShuGen LI Bin WANG MingHui WANG YueChao | 2016 | Science China(Technological Sciences)2016，59，2： | 5 |
| 16 | Adaptive controller design for underwater snake robot with unmatched uncertainties显示文摘Because of hydrodynamic model error of the present dynamic model, there is a challenge in controller design for the underwater snake-like robot. To tackle this challenge, this paper proposes an adaptive control schemes based on dynamic model for a planar, underwater snake-like robot with model error and time-varying noise. The adaptive control schemes aim to achieve the adaptive control of joint angles tracking and the direction of locomotion control. First, through approximation and reducibility using Taylor expansion method, a simplified dynamics model of a planar amphibious snake-like robot is derived. Then, the L1 adaptive controller based on piecewise constant adaptive law is applied on the simplified planar, underwater snake-like robot, which can deal with both matched and unmatched nonlinear uncertainties. Finally, to control the direction of locomotion, an auxiliary bias signal is used as the control input to regulate the locomotion direction. Simulation results show that this L1 adaptive controller is valid to deal with different uncertainties and achieve the joint angles tracking and fast adaptive at the same time. The modified L1 adaptive controller, in which the auxiliary bias item is added, has the ability to change the direction of locomotion, that is, the orientation angle is periodic with arbitrarily given constant on average. | Anfan ZHANG Shugen MA Bin LI Minghui WANG Xian GUO Yuechao WANG | 2016 | Science China(Information Sciences)2016，59，5： | 4 |
| 17 | An Improved Filter of Progressive TIN Densification for LiD AR Point Cloud Data显示文摘Based on the classic filter of progressive triangulated irregular network(TIN) densification, an improved filter is proposed in this paper. In this method, we divide ground points into grids with certain size and select the lowest points in the grids to reconstruct TIN in the process of iteration. Compared with the classic filter of progressive TIN densification(PTD), the improved method can filter out attached objects, avoid the interference of low objects and obtain relatively smooth bare-earth. In addition, this proposed filter can reduce memory requirements and be more efficient in processing huge data volume. The experimental results show that the filtering accuracy and efficiency of this method is higher than that of the PTD method. | WANG Huan WANG Shugen CHEN Qi JIN Weihua SUN Mingwei | 2015 | Wuhan University Journal of Natural Sciences2015，20，4： | 3 |
| 18 | Two-dimensional PSD based automatic docking of self-reconfiguration modular exploration robot system显示文摘Based on the design of a docking mechanism,this paper thoroughly investigates the space automatic doc- king of self-reconfiguration modular exploration robot system(RMERS).The method that leads robot to achieve space docking by using two-dimensional PSD is put forward innovatively for the median size robot system.At the same time,in order to enlarge the detecting extension and the precision of PSD and reduce its dependence on light- ing signal,the PSD was remade by increasing the optical device over its light-sensitive surface.The emission board and LED light scheduling were designed according to docking arithmetic,and the operating principle of docking process was analyzed based on these.The simulation experiments were carried out and their results are presented. | Zhang Liping Ma Shugen Li Bin Zhang Zheng Cao Binggang | 2007 | 仪器仪表学报2007，28，7： | 3 |
| 19 | Gaits-transferable CPG controller for a snake-like robot显示文摘With slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory (BCI) CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake. | LU ZhenLi MA ShuGen LI Bin WANG YueChao | 2008 | Science in China(Series F)2008，51，3： | 3 |
| 20 | Comprehensive evaluation of mechanism of 'chimney effect' using principles of magnetism, geochemistry and mineralogy显示文摘Study of forming mechanism of 'chimney-effect' (CE) has important significance for basic theory and applications of non-seismic geophysical and geochemical methods locating oil/gas reservoirs. The theoretical basis of comprehensive evaluation of mechanism of CE using principles of magnetism, geochemistry and mineralogy has been reviewed, with the problems to be solved: (ⅰ) study for the relationship between process of oil/gas migration and geochemical field; (ⅱ) analysis of genesis of magnetic, geochemical and mineralogical anomaly; (ⅲ) interpretation of surface soil magnetism and geochemical anomaly combined with seismic data. | LIU Qingsheng 1, CHENG Tongjin 2 and LIU Shugen 3 1. Department of Applied Geophysics, China University of Geosciences, Wuhan 430074, China 2. Center of Petroleum Geochemistry, China National Star Petroleum Corporation, Hefei 230022, China 3. The St | 1998 | Chinese Science Bulletin1998，43，9： | 3 |
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