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Biologically inspired model of path integration based on head direction cells and grid cells

Yang ZHOU,De-wei WU

《信息与电子工程前沿（英文）》 2016年第17卷第5期页码 435-448 doi: 10.1631/FITEE.1500364

摘要： Some neurons in the brain of freely moving rodents show special firing pattern. The firing of head direction cells (HDCs) and grid cells (GCs) is related to the moving direction and distance, respectively. Thus, it is considered that these cells play an important role in the rodents’ path integration. To provide a bionic approach for the vehicle to achieve path integration, we present a biologically inspired model of path integration based on the firing characteristics of HDCs and GCs. The detailed implementation process of this model is discussed. Besides, the proposed model is realized by simulation, and the path integration performance is analyzed under different conditions. Simulations validate that the proposed model is effective and stable.

关键词： Head direction cells (HDCs) Grid cells (GCs) Path integration Bionic navigation

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Design, analysis, and neural control of a bionic parallel mechanism

《机械工程前沿（英文）》 2021年第16卷第3期页码 468-486 doi: 10.1007/s11465-021-0640-8

摘要： Although the torso plays an important role in the movement coordination and versatile locomotion of mammals, the structural design and neuromechanical control of a bionic torso have not been fully addressed. In this paper, a parallel mechanism is designed as a bionic torso to improve the agility, coordination, and diversity of robot locomotion. The mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate the bending and stretching of an animal’s torso during walking and running. The overall spatial motion performance of the parallel mechanism is improved by optimizing the structural parameters. Based on this structure, the rhythmic motion of the parallel mechanism is obtained by supporting state analysis. The neural control of the parallel mechanism is realized by constructing a neuromechanical network, which merges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism for different motion patterns. Experimental results show that the complete integrated system can be controlled in real time to achieve proper limb–torso coordination. This coordination enables several different motions with effectiveness and good performance.

关键词： neural control behavior network rhythm motion pattern

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Cutting performance of surgical electrodes by constructing bionic microstriped structures

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0728-9

摘要： Surgical electrodes rely on thermal effect of high-frequency current and are a widely used medical tool for cutting and coagulating biological tissue. However, tissue adhesion on the electrode surface and thermal injury to adjacent tissue are serious problems in surgery that can affect cutting performance. A bionic microstriped structure mimicking a banana leaf was constructed on the electrode via nanosecond laser surface texturing, followed by silanization treatment, to enhance lyophobicity. The effect of initial, simple grid-textured, and bionic electrodes with different wettabilities on tissue adhesion and thermal injury were investigated using horizontal and vertical cutting modes. Results showed that the bionic electrode with high lyophobicity can effectively reduce tissue adhesion mass and thermal injury depth/area compared with the initial electrode. The formation mechanism of adhered tissue was discussed in terms of morphological features, and the potential mechanism for antiadhesion and heat dissipation of the bionic electrode was revealed. Furthermore, we evaluated the influence of groove depth on tissue adhesion and thermal injury and then verified the antiadhesion stability of the bionic electrode. This study demonstrates a promising approach for improving the cutting performance of surgical electrodes.

关键词： surgical electrodes tissue adhesion thermal injury bionic structures cutting performance medical tools

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-023-0747-1

摘要： Capacitive sensors are efficient tools for biophysical force measurement, which is essential for the exploration of cellular behavior. However, attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive sensors. In this work, a bionic swallow structure design norm was developed for mechanical decoupling, and the influences of structural parameters on mechanical behavior were fully analyzed and optimized. A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic interferences. Electrostatic instability was evaluated, and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and application-specific integrated circuit readouts. An electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm, and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor, which can be easily compensated in readouts. The proposed sensor also exhibited high resistance against electrostatic rotation, and the resulting measurement error dropped below 0.751%. The rotation interferences were less than 0.330 nm and (1.829 × 10⁻⁷)°, which were 35 times smaller than those of the traditional differential one. Based on the proposed bionic decoupling method, the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/µm for gap-variant and area-variant devices, respectively, which were the highest among the current devices. High immunity to mechanical disturbances was maintained simultaneously, i.e., less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices, respectively, indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

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Guidelines for navigation-assisted spine surgery

Wei Tian, Bo Liu, Da He, Yajun Liu, Xiaoguang Han, Jingwei Zhao, Mingxing International Society for Computer Assisted Orthopaedic Surgery

《医学前沿（英文）》 2020年第14卷第4期页码 518-527 doi: 10.1007/s11684-020-0775-8

摘要： Spinal surgery is a technically demanding and challenging procedure because of the complicated anatomical structures of the spine and its proximity to several important tissues. Surgical landmarks and fluoroscopy have been used for pedicle screw insertion but are found to produce inaccuracies in placement. Improving the safety and accuracy of spinal surgery has increasingly become a clinical concern. Computer-assisted navigation is an extension and application of precision medicine in orthopaedic surgery and has significantly improved the accuracy of spinal surgery. However, no clinical guidelines have been published for this relatively new and fast-growing technique, thus potentially limiting its adoption. In accordance with the consensus of consultant specialists, literature reviews, and our local experience, these guidelines include the basic concepts of the navigation system, workflow of navigation-assisted spinal surgery, some common pitfalls, and recommended solutions. This work helps to standardize navigation-assisted spinal surgery, improve its clinical efficiency and precision, and shorten the clinical learning curve.

关键词： guidelines spine surgery computer-assisted navigation

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仿生农用杀菌剂银泰的研制与应用

孟昭礼,方向阳,罗兰,尚坚

《中国工程科学》 2007年第9卷第3期页码 28-34

摘要：

银泰（1－对羟基苯基丁酮）是以银杏外种皮提纯物白果酚为先导化合物仿生合成的一种杀菌剂。其中，银杏果实乙醇粗提物8.3倍和25倍液对苹果腐烂病抑菌率达100％和50％；银杏果实外种皮提纯物白果酚200倍和400倍液对苹果腐烂病病菌抑菌率均为100％。20％银泰微乳剂对苹果腐烂病、番茄灰霉病等4种病菌 EC₅₀为17.26～48.43mg/L，分别优于对照药剂；田间防治小麦纹枯病等4种病害效果达85％以上；对非靶标生物安全，且不易产生抗药性。仿生合成的银泰原药对大白鼠毒性试验，经口、经皮 LD₅₀均为4640mg/kg，20％银泰乳油对大白鼠毒性试验，经口LD₅₀为3160mg/kg，经皮 LD₅₀为2150mg/kg；亚慢性经口毒性（90d）试验雌为19.1mg/kg，雄为18.3mg/kg；Ames、细胞微核和染色体畸变试验均为阴性结果。

关键词：银杏白果酚仿生合成银泰防治效果

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导航星座自主导航技术研究

帅平,曲广吉,陈忠贵

《中国工程科学》 2006年第8卷第3期页码 22-30

摘要：

导航星座自主导航日益成为新一代卫星导航系统的主要研究方向。在系统地论述导航星座自主导航的信息处理流程的基础上，重点提出了导航星座自主导航的关键技术，包括卫星星历与时钟参数的长期预报技术、星间测距与通信链路的建立和维持技术、星座卫星自主时间同步技术、星座卫星自主星历更新技术、自主导航信息处理的鲁棒滤波技术、星座整体旋转建模技术，以及地球自转及极移参数的长期预报技术。详细分析了关键技术实施途径，论证了相关数学模型。最后，对星座卫星自主时间同步与星历更新算法进行了系统仿真，结果表明：通过星载滤波器处理星间双向测量数据，不断地修正卫星时钟和星历参数，能够高精度实现星座卫星时间同步和星历更新，初步展示星座自主导航信息处理流程及其关键技术算法的合理性和可行性。

关键词：导航星座自主导航信息处理流程系统仿真

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Innovation and development of BeiDou Navigation Satellite System (BDS) project management mode

Changfeng YANG

《工程管理前沿（英文）》 2021年第8卷第2期页码 312-320 doi: 10.1007/s42524-021-0155-3

摘要： Zachary A. COLLIER, James H. LAMBERT. [J]. Front. Eng, 2020, 7(2): 172-181.Shanlin YANG, Jianmin WANG, Leyuan SHI, Yuejin TAN, Fei QIAO. [J]. Front. Eng, 2018, 5(4): 420-450.Yongkai ZHOU, Hongfeng CHAI. [J]. Front. Eng, 2017, 4(2): 127-137.Eric SCHEEPBOUWER, Douglas D. GRANSBERG, Carla Lopez del PUERTO. [J]. Front. Eng, 2017, 4(1): 49-57.Jonathan Jingsheng SHI, Saixing ZENG, Xiaohua MENG. [J]. Front. Eng, 2017, 4(1): 41-48.David A. Wyrick,Warren Myers. [J]. Front. Eng, 2016, 3(3): 203-205.Elizabeth A. Cudney,William L. Gillis. [J]. Front. Eng, 2016, 3(3): 224-230.Ling-ling Zhang,Ming-hui Zhao,Qiao Wang. [J]. Front. Eng, 2016, 3(2): 136-143.Chuan-jun Zheng,Hu Cheng. [J]. Front. Eng, 2015, 2(3): 304-310.Yong Shi. [J]. Front. Eng, 2015, 2(3): 293-303.Qiao Xiang. [J]. Front. Eng, 2015, 2(3): 249-260.Wen Ling. [J]. Front. Eng, 2015, 2(2): 173-177.Hong-feng Chai. [J]. Front. Eng, 2015, 2(2): 165-172.Hiral Shah,Walter Nowocin. [J]. Front. Eng, 2015, 2(1): 60-63.William L. Gillis,Elizabeth A. Cudney. [J]. Front. Eng, 2015, 2(1): 39-51.

关键词： BDS engineering management systems engineering

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北斗卫星导航系统全球服务的风险分析和应对策略

杨军

《中国工程科学》 2023年第25卷第2期页码 13-21 doi: 10.15302/J-SSCAE-2023.02.002

摘要： Corresponding author: Yang Jun is a professor-level senior engineer from the China Satellite Navigation

关键词：北斗系统；全球服务；风险分析；风险应对

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开辟长江口深水航道建立上海国际航运中心

严恺

《中国工程科学》 1999年第1卷第2期页码 30-33

摘要：

开辟长江口深水航道，在长江口内建立国际集装箱枢纽港是建成上海国际航运中心，以实现以上海浦东开发开放为龙头，尽快把上海建成国际经济、金融、贸易中心，带动长江三角洲和整个长江流域地区经济新飞跃的关键举措。在长江口南支南港的北槽采用整治与疏浚相结合的治理方案，修建双导堤和丁坝，以束水归槽，并浚深航槽，可以使长江口栏门沙滩顶水深从6m分期加深到8.5m、10m和12.5m，最终使第三、四代集装箱船可以全天候通行，第五、六代超级集装箱船和10万t级散货轮乘潮进出。同时需建设长江三角洲综合交通运输网。

关键词：长江口深水航道上海国际航运中心国际集装箱枢纽港整治与疏浚长江三角洲综合交通运输网

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PNT体系视角下卫星导航与不依赖卫星导航技术融合发展研究

郭树人,姜坤,李星,刘刚,李平,李林泽,郭思远

《中国工程科学》 2023年第25卷第2期页码 50-58 doi: 10.15302/J-SSCAE-2023.02.006

摘要：

卫星导航自问世以来以其全天候、全天时、低成本的优势，成为广泛使用的导航定位授时（PNT）方式；但在应用层面为，了规避对卫星导航单一手段的过度依赖，“不依赖卫星导航技术”概念被提出并受到重视，如何准确把握两者之间的关系成为现实而迫切的问题。本文概述了卫星导航技术特征与体系定位，进而基于PNT体系视角，对比分析了惯性导航、匹配导航、无线电导航（除卫星导航外）等典型不依赖卫星导航技术的性能、成本、应用场景；辨析了卫星导航与不依赖卫星导航的关系，明晰了卫星导航作为最大共性需求满足者、体系核心与基石的总体定位，量化分析了卫星导航与不依赖卫星导航技术融合的效能。我国PNT体系的科学发展，需要创新突破不依赖卫星导航技术，促进卫星导航和不依赖卫星导航技术深度融合，同时加快低轨导航系统建设，提升卫星导航性能并最大化体系贡献率。

关键词： PNT体系；卫星导航；不依赖卫星导航；技术融合；体系发展

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北斗“一带一路”服务性能增强技术研究

周建华,陈俊平,张晶宇

《中国工程科学》 2019年第21卷第4期页码 69-75 doi: 10.15302/J-SSCAE-2019.04.005

摘要：

为了破解北斗应用“走出去”的难题，本文结合卫星导航应用及产业发展的整体趋势，对北斗卫星导航系统（以下简称“北斗”）的服务性能、应用现状进行了总体评估和分析。针对北斗应用“走出去”，分别从系统服务、特色服务、应用产业三个层面上分析了“一带一路”沿线北斗应用推广存在的主要难题，论证说明提升北斗差异化的竞争力是破解北斗“走出去”的重要途径。基于以上分析，针对北斗星基增强和短报文服务，设计两种特色服务在“一带一路”沿线推广应用的初步技术途径和方案。通过在“一带一路”沿线国家设置十多个海外监测站，可满足“一带一路”国家和地区高精度位置服务的绝大部分需求；通过研制建设北斗短报文海外服务系统，可为海量的“一带一路”沿线用户提供性能更优、体验更好的短报文通信服务；针对性给出了北斗特色服务的示范应用推广构想。最后，从政策层面提出了加快推进北斗在“一带一路”沿线国家应用的保障建议。

关键词：卫星导航，北斗，“一带一路”，应用推广，示范应用

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认识北斗建设北斗

许其凤

《中国工程科学》 2014年第16卷第8期页码 26-32

摘要：

指出卫星导航系统的发展规划应与国防战略和装备能力相适应，一个包括我国周边及西太平洋的区域系统可以满足近期的军用、民用需求。分析了我国建设卫星导航系统的不利条件，并设计了规避不利条件的卫星星座。介绍了我国发展全球系统所必需的卫星对卫星观测和数据传输的技术支撑。分析了区域增强的全球系统的竞争优势。

关键词：卫星导航系统卫星星座设计区域系统区域增强

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北斗卫星导航系统规模应用国际化发展战略研究

杨长风,杨军,杨君琳,王浚,李作虎

《中国工程科学》 2023年第25卷第2期页码 1-12 doi: 10.15302/J-SSCAE-2023.02.001

摘要：

北斗卫星导航系统（北斗系统）规模应用国际化是北斗系统进入新发展阶段后面临的新要求，对于推动“一带一路”高质量发展、构建国内国际双循环新发展格局、促进全球共享北斗系统建设发展成果、支持构建人类命运共同体具有重大意义。本文研判了北斗系统规模应用国际化发展的需求、全球卫星导航系统应用发展现状和趋势，全面分析了北斗系统规模应用国际化的优势与短板、机遇与挑战；提出了北斗系统规模应用国际化的概念内涵，涵盖北斗系统形象国际化、北斗系统服务国际化、北斗系统应用产品国际化、北斗系统企业经营国际化，进而明确了北斗系统规模应用国际化的发展目标及具体指标。研究建议，建立统筹协调管理机制、强化产品服务供给能力、打造多层次企业体系、提高国际合作水平、加大财税金融支持、统筹国内法治与涉外法治、开展国际应用推广，以此推动北斗系统规模应用国际化的稳健发展。

关键词：卫星导航；北斗系统；国际化；产业应用

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导航卫星双向伪距时间同步

谭述森

《中国工程科学》 2006年第8卷第12期页码 70-74

摘要：

针对卫星导航系统时间同步需求，提出了导航卫星双向伪距时间同步的理论根据，并就4种基本同步方法（双向无线电伪距同步方法, 星地双向激光伪距同步方法,双向卫星中继无线电伪距同步方法, 双向地球站中继无线电伪距同步方法）与应用进行了分析，与目前国际导航卫星时间同步通用方法相比,具有精度高, 方法简单，设备负担轻特点。

关键词：导航卫星伪距时间同步