Qixian Zhang

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This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint(More)
Schistosoma japonicum is the pathogen responsible for schistosomiasis japonica, one of the major infectious diseases targeted for prevention nationally in China. Expression of heat shock proteins (HSPs) following stress plays a very important biological role in many organisms including S. japonicum. Among the HSP family, the 70-kDa HSPs are most responsible(More)
A facile method to obtain polydisperse chemically-converted graphene sheets that are covalently functionalized with ionic liquid was reported -- the resulting graphene sheets, without any assistance from polymeric or surfactant stabilizers, can be stably dispersed in water, DMF, and DMSO.
Angiostrongylus cantonensis is an emerging zoonotic pathogen that has caused hundreds of cases of human angiostrongyliasis worldwide. The larva in nonpermissive hosts cannot develop into an adult worm and can cause eosinophilic meningitis and ocular angiostrongyliasis. The mechanism of brain inflammation caused by the worm remains poorly defined. According(More)
Grasping robotic hands is classified into three categories based on the object connectivity. We decompose the space of contact forces into four subspaces and develop a method to determine the dimensions of the subspaces with respect to the connectivity of the grasped object. The relationships we obtain reveal the kinematic and static characteristics of(More)