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| 1 | A review of heavy-duty legged robots显示文摘Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed. | ZHUANG HongChao GAO HaiBo DENG ZongQuan DING Liang LIU Zhen | 2014 | Science China(Technological Sciences)2014，57，2： | 15 |
| 2 | Prostate cancer in Asia:A collaborative report显示文摘The incidence of prostate cancer(PCa)within Asian population used to be much lower than in the Western population;however,in recent years the incidence and mortality rate of PCa in some Asian countries have grown rapidly.This collaborative report summarized the latest epidemiology information,risk factors,and racial differences in PCa diagnosis,current status and new trends in surgery management and novel agents for castration-resistant prostate cancer.We believe such information would be helpful in clinical decision making for urologists and oncologists,health-care ministries and medical researchers. | Rui Chen Shancheng Ren 无 Ming Kwong Yiu Ng Chi Fai Wai Sam Cheng Lap Hong Ian Seiji Naito Tadashi Matsuda Elijah Kehinde Ali Kural Jason Yichun Chiu Rainy Umbas Qiang Wei Xiaolei Shi Liqun Zhou Jian Huang Yiran Huang Liping Xie Lulin Ma Changjun Yin Danfeng Xu Kexin Xu Zhangqun Ye Chunxiao Liu Dingwei Ye Xin Gao Qiang Fu Jianquan Hou Jianlin Yuan Dalin He Tiejun Pan Qiang Ding Fengshuo Jin Benkang Shi Gongxian Wang Xiuheng Liu Dongwen Wang Zhoujun Shen Xiangbo Kong Wanhai Xu Yaoliang Deng Haibo Xia Alexa NCohen Xu Gao Chuanliang Xu Yinghao Sun | 2014 | Asian Journal of Urology2014，1，1： | 13 |
| 3 | Method for Analyzing Articulated Torques of Heavy-duty Six-legged Robot显示文摘The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots. | ZHUANG Hongchao GAO Haibo DING Liang LIU Zhen DENG Zongquan | 2013 | Chinese Journal of Mechanical Engineering2013，26，4： | 9 |
| 4 | Direct laser writing of volumetric gradient index lenses and waveguides显示文摘Direct laser writing(DLW)has been shown to render 3D polymeric optical components,including lenses,beam expanders,and mirrors,with submicrometer precision.However,these printed structures are limited to the refractive index and dispersive properties of the photopolymer.Here,we present the subsurface controllable refractive index via beam exposure(SCRIBE)method,a lithographic approach that enables the tuning of the refractive index over a range of greater than 0.3 by performing DLW inside photoresist-filled nanoporous silicon and silica scaffolds.Adjusting the laser exposure during printing enables 3D submicron control of the polymer infilling and thus the refractive index and chromatic dispersion.Combining SCRIBE’s unprecedented index range and 3D writing accuracy has realized the world’s smallest(15μm diameter)spherical Luneburg lens operating at visible wavelengths.SCRIBE’s ability to tune the chromatic dispersion alongside the refractive index was leveraged to render achromatic doublets in a single printing step,eliminating the need for multiple photoresins and writing sequences.SCRIBE also has the potential to form multicomponent optics by cascading optical elements within a scaffold.As a demonstration,stacked focusing structures that generate photonic nanojets were fabricated inside porous silicon.Finally,an all-pass ring resonator was coupled to a subsurface 3D waveguide.The measured quality factor of 4600 at 1550 nm suggests the possibility of compact photonic systems with optical interconnects that traverse multiple planes.SCRIBE is uniquely suited for constructing such photonic integrated circuits due to its ability to integrate multiple optical components,including lenses and waveguides,without additional printed supports. | Christian R.Ocier Corey A.Richards Daniel A.Bacon-Brown Qing Ding Raman Kumar Tanner J.Garcia Jorik van de Groep Jung-Hwan Song Austin J.Cyphersmith Andrew Rhode Andrea N.Perry Alexander J.Littlefield Jinlong Zhu Dajie Xie Haibo Gao Jonah F.Messinger Mark L.Brongersma Kimani C.Toussaint Jr Lynford L.Goddard Paul V.Braun | 2020 | Light(Science & Applications)2020，9，1： | 6 |
| 5 | Virtual Simulation System with Path-following Control for Lunar Rovers Moving on Rough Terrain显示文摘Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase,as well as the design of locomotion systems,performance evaluation,and control strategy verification during the R&D phase.The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics,difficulty in simulating rough terrains,and high complexity making it difficult to realize mobility control in simulation systems.This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling,wheel-soil interaction mechanics,dynamics analysis,mobility control,and visualization for lunar rovers.Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0,0.03,0.05,0.1,0.2,0.3,0.4,and 0.6.The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module.In addition,the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics,and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS.The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS.Finally,a virtual simulation system for lunar rovers is developed.A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched.The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS.The designed virtual lunar rover could follow the planned path on a rough terrain.This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains. | GAO Haibo DENG Zongquan DING Liang WANG Mengyu | 2012 | Chinese Journal of Mechanical Engineering2012，25，1： | 5 |
| 6 | Effects of different biochars on antibiotic resistance genes during swine manure thermophilic composting显示文摘Elimination of antibiotic resistance genes(ARGs)in animal manure from concentrated animal feeding operations by thermophilic composting has drawn increasing attention.This study investigated the effects of sawdust biochar,corn stover biochar and peanut hull biochar with three spiked levels on ARGs in swine manure during thermophilic composting.Thirteen ARGs corresponding to four classes of antibiotics(tetracyclines,sulfonamides,macrolides and quinolones)were determined in the composting piles.Results indicated that the ten tested composting groups became fully mature after 30-day thermophilic composting process.tetM,tetO and ermB were reduced in all tested groups;tetC and tetG,tetX,sul1,sul2,ermF,qnrD and aac(6’)-Ib were mostly reduced under low level biochar addition but increased under higher level biochar addition;gyrA increased under medium biochar addition and reduced in other groups;oqxB remained comparatively stable throughout the composting process.The addition levels of spiked biochar are more important than types of spiked biochar on the removal of ARGs in the composting pile.The average removal rates of ARGs in the control group,low,medium and high level biochar addition groups were 0.24 logs,0.52-0.72 logs,-0.52-0.18 logs and-0.19-0.21 logs,respectively.In summary,low level biochar addition could enhance the elimination of studied ARGs in swine manure during the composting process,while medium level biochar addition to the composting piles would increase the risk of ARGs’propagation. | Jian Wang Bin Sui Yujun Shen Haibo Meng Lixin Zhao Haibin Zhou Ran Li Jingtao Ding Hongsheng Cheng Xi Zhang | 2018 | International Journal of Agricultural and Biological Engineering2018，11，6： | 5 |
| 7 | Cisplatin-induced vestibular hair cell lesion-less damage at high doses显示文摘Cisplatin, a widely used anticancer drug, damages hair cells in cochlear organotypic cultures at low doses, but paradoxically causes little damage at high doses resulting in a U-shaped dose-response function. To determine if the cisplatin dose-response function for vestibular hair cells follows a similar pattern, we treated vestibular organotypic cultures with doses of cisplatin ranging from 10 to 1000 μM. Vestibular hair cell lesions progressively increased as the dose of cisplatin increased with maximum damage occurring around 50-100 μM, but the lesions progressively decreased at higher doses resulting in little hair cell loss at 1000 μM. The U-shaped doseresponse function for cisplatin-treated vestibular hair cells in culture appears to be regulated by copper transporters, Ctrl, ATP7A and ATP7B, that dose-dependently regulate the uptake, sequestration and extrusion of cisplatin. | Dalian Ding Haiyan Jiang Jianhui Zhang Xianrong Xu Weidong Qi Haibo Shi Shankai Yin Richard Salvi | 2018 | Journal of Otology2018，13，4： | 4 |
| 8 | A Layout Optimization Method of Composite Wing Structures Based on Carrying Efficiency Criterion显示文摘二水平的布局优化策略为大规模合成翅膀结构在这份报纸被建议。设计要求根据结构的变丑在系统水平被调整,当布局在从系统水平满足限制的分系统水平被优化时。各种各样的失败的来临的度在翅膀面板的批评负担被采用估计结构正在带效率。由作为一个目的优化效率,这个问题的连续性能被保证。使硬的翅膀面板被相等的 orthotropic 盘子建模,并且全球弄弯负担被精力方法预言。stringer 皮肤本地人扣环抵抗上的支持弹性的非线性的效果被神经网络(NN ) 调查并且接近代理人模型。这些失败预言基于分析答案,它能有效地节省计算资源。最后,大规模翅膀结构的不可分的优化作为一个例子被完成。结果完成设计要求并且显示出这个方法的可行性。 | ZHAO Qun DING Yunliang JIN Haibo | 2011 | Chinese Journal of Aeronautics2011，24，4： | 4 |
| 9 | Metagenome analysis reveals potential microbial functions in topsoil of wheat-maize rotation system with five-year application of fertilizers显示文摘Fertilization mode affects soil quality and ecological health.The effects of four fertilization regimens on lignocellulose content,readily degradable carbohydrate decomposition,and potential microbial functions in the topsoil of a wheat-maize rotation system between 2012 and 2017 were investigated.The fertilization regimens of control(control NFNB),high chemical fertilizer(HCF),high biochar plus low chemical fertilizer(HBLCF),and biochar-based fertilizer(BBF)were compared on soil fundamental properties,microbial structure,and potential function in soil carbohydrate degradation based on metagenome analysis.The diversity of carbohydrate-active enzyme genes in the topsoil microbial consortia in the four trials was primarily distributed within the ten ecologically most dominant phyla.Application of BBF was associated with the lowest decline in total nitrogen and P2O5(2012-2017:6.5%and 28.1%,respectively)and the most effective carbohydrate decomposition(2015-2017:67.0%for cellulose and 59.9%for readily degradable carbohydrate).Carbohydrate transport and metabolism accounted for 6.0%of reads assigned functional classification under the BBF regimen.These findings reveal the ecologically functional diversity of topsoil microorganisms and suggest BBF application as a promising strategy for sustainable agriculture and beneficial to soil health. | Yujun Shen Lixin Zhao Haibo Meng Hongsheng Cheng Jingtao Ding Jiarui Wang Shanshan Dong Xi Zhang Liqiu Song Shengwei Zheng | 2019 | International Journal of Agricultural and Biological Engineering2019，12，6： | 3 |
| 10 | Antioxidative stress-induced damage in cochlear explants显示文摘The imbalance of reactive oxygen species and antioxidants is considered to be an important factor in the cellular injury of the inner ear. At present, great attention has been placed on oxidative stress. However,little is known about fighting oxidative stress. In the current study, we evaluated antioxidant-induced cochlear damage by applying several different additional antioxidants. To determine whether excessive antioxidants can cause damage to cochlear cells, we treated cochlear explants with 50 m M M40403, a superoxide dismutase mimetic, 50 m M coenzyme Q-10, a vitamin-like antioxidant, or 50 m M d-methionine, an essential amino acid and the important antioxidant glutathione for 48 h. Control cochlear explants without the antioxidant treatment maintained their normal structures after incubation in the standard serum-free medium for 48 h, indicating the maintenance of the inherent oxidative and antioxidant balance in these cochlear explants. In contrast, M40403 and coenzyme Q-10-treated cochlear explants displayed significant hair cell damage together with slight damage to the auditory nerve fibers.Moreover, d-methiodine-treated explants exhibited severe damage to the surface structure of hair cells and the complete loss of the spiral ganglion neurons and their peripheral fibers. These results indicate that excessive antioxidants are detrimental to cochlear cells, suggesting that inappropriate dosages of antioxidant treatments can interrupt the balance of the inherent oxidative and antioxidant capacity in the cell. | Dalian Ding Jianghui Zhang Fang Liu Peng Li Weidong Qi Yazhi Xing Haibo Shi Haiyan Jiang Hong Sun Shankai Yin Richard Salvi | 2020 | Journal of Otology2020，15，1： | 3 |
| 11 | Three-layer intelligence of planetary exploration wheeled mobile robots:Robint,virtint,and humint显示文摘The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or rovers.Planetary WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) synergetically.This article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic systems.Double-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is introduced.The challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be key.Double-level virtual simulation architecture to realize virtint is proposed.Key technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction mechanics.This generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay. | DING Liang GAO HaiBo DENG ZongQuan LI YuanKai LIU GuangJun YANG HuaiGuang YU HaiTao | 2015 | Science China(Technological Sciences)2015，58，8： | 3 |
| 12 | Three-Dimensional Direct Laser Writing of PEGda Hydrogel Microstructures with Low Threshold Power using a Green Laser Beam显示文摘Three-dimensional(3D)direct laser writing(DLW)based on two-photon polymerisation(TPP)is an advanced technology for fabricating precise 3D hydrogel micro-and nanostructures for applications in biomedical engineering.Particularly,the use of visible lasers for the 3D DLW of hydrogels is advantageous because it enables high fabrication resolution and promotes wound healing.Polyethylene glycol diacrylate(PEGda)has been widely used in TPP fabrication owing to its high biocompatibility.However,the high laser power required in the 3D DLW of PEGda microstructures using a visible laser in a high-water-content environment limits its applications to only those below the biological laser power safety level.In this study,a formula for a TPP hydrogel based on 2-hydroxy-2-methylpropiophenone(HMPP)and PEGda was developed for the fabrication of 3D DLW microstructures at a low threshold power(0.1 nJ per laser pulse at a writing speed of 10μm·s^(−1))in a high-water-content environment(up to 79%)using a green laser beam(535 nm).This formula enables the fabrication of microstructures with micrometre fabrication resolution and high mechanical strength(megapascal level)and is suitable for the fabrication of waterresponsive,shape-changing microstructures.These results will promote the utilisation of low-power 3D DLW for fabricating hydrogel microstructures using visible lasers in high-water-content environments. | Haoyi Yu Haibo Ding Qiming Zhang Zhongze Gu Min Gu | 2021 | Light(Advanced Manufacturing)2021，2，1： | 3 |
| 13 | Complete thoracoscopic ablation of the left atrium via the left chest for treatment of lone atrial fibrillation显示文摘 | Ju Mei Nan Ma Fangbao Ding Yin Chen Zhaolei Jiang Fengqing Hu Haibo Xiao | 2012 | The Journal of Thoracic and Cardiovascular Surgery2012，，： | 2 |
| 14 | Investigation and analysis of the linkage mechanism and whole process cost of livestock manure organic fertilizer显示文摘In recent years,the utilization of manure resources for livestock and poultry farming has attracted a widespread attention,and manure resources utilization models suitable for different regional characteristics have formed gradually.Among them,the production of organic fertilizer from animal manure is a vital utilization method.However,there are still some problems such as high production costs,difficult sales,and the unwillingness of farmers to use organic fertilizers which have affected the breeding cycle and the sustainability of manure treatment in livestock and poultry breeding.This article selected 371 organic fertilizer plants,related farms and farmers in China,focusing on the main links of the entire process of livestock manure-organic fertilizer-farm application,and studied the mode of animal manure collection by organic fertilizer plants.The costs of organic fertilizer production and farmland application were discussed.Moreover,suggestions were made for the promotion and implementation of large-scale organic fertilizers to make good utilization of manure resources in livestock and poultry farming. | Shanshan Dong Bin Sui Yujun Shen Haibo Meng Lixin Zhao Jingtao Ding Haibin Zhou Xi Zhang Hongsheng Cheng Jian Wang Ran Li Liqiu Song Pengxiang Xu Ji Li | 2020 | International Journal of Agricultural and Biological Engineering2020，13，2： | 2 |
| 15 | Self-adaptive phosphor coating technology for white LED packaging显示文摘变换黄磷的轻射出的二极管(pclead ) 它与黄黄磷采用蓝 LEDs 产生白色点亮照明,是点亮来源的广泛地使用的 solidstate。以便在带的薄片上与高质量进行黄磷层涂层,一种自我适应的涂层技术在这份报纸被介绍。与自我暴露方法相结合的一种泥浆涂层技术被使用并且发展了表明自我适应的涂层层的好处。为自我暴露,泥浆涂层暴露于除到以外的带的本身的蓝排放紫外(紫外) 做光致抗蚀剂 crosslinking 的轻外面。测量的结果显示有自我适应的涂层的白 LEDs 与常规涂层和另外的保角的涂层比那些显示出自我适应性到蓝轻、执行的更高空间的颜色一致性的紧张的尖分发。 | Haibo RAO Kun DING Jirong SONG Likun XIE Wei WANG Xianlong WAN Linsong ZHOU Junyuan LIAO | 2012 | Frontiers of Optoelectronics2012，5，2： | 2 |
| 16 | Influence of simulating deep-sea environmental factors on cathodic performance of seawater battery显示文摘A metal-dissolved oxygen seawater battery(SWB)uses metal and dissolved oxygen as the reactants,and it is ideal for use as a long-time low-power distributed power supply in deep sea,due to its advantages of open structure in service without electrolyte.However,several simulating deep-sea environmental factors,such as flow rate,dissolved oxygen concentration,and temperature of seawater may af fect the oxygen reduction reaction(ORR)rate and the stability of electrochemically modified polyacrylonitrile-based carbon fiber brush(MPAN-CFB)cathode,which was studied by steady-state polarization and galvanostatic discharge methods.In addition,the scales formed on MPAN-CFB surface were characterized by SEM and XRD.Results show that the ORR rate increased quickly with the increase of the seawater flow rate up to 3 cm/s,and then gradually stabilized.Moreover,the ORR rate was largely af fected by dissolved oxygen concentration,and the concentration of>3 mg/L was favorable.Compared with surface layer temperature of 15℃,the low temperature of deep sea(4℃)has a negligible ef fect on ORR rate.When the working current is too high,it will lead to the formation of CaCO_3 scales(aragonite)of at the cathodic surface,resulting in the decrease of ORR rate,and consequently the damage to the long-time stability of MPAN-CFB. | LU Yonghong YANG Lulu ZHANG Yue ZHAO Qing SANG Lin DING Fei XU Haibo | 2020 | Journal of Oceanology and Limnology2020，38，2： | 2 |
| 17 | Dynamic Finite Element Modeling and Simulation of Soft Robots显示文摘Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material level.An increasing number of researchers are interested in their designing,manufacturing,modeling,and control.However,the dynamic simulation of soft robots is difficult owing to their infinite degrees of freedom and nonlinear characteristics that are associated with soft materials and flexible geometric structures.In this study,a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft robots.Various actuators for soft robots are modeled in a virtual environment,including soft cable-driven,spring actuation,and pneumatic driving.A pneumatic driving simulation was demonstrated by the bending modules with different materials.A cable-driven soft robot arm prototype and a cylindrical soft module actuated by shape memory alley springs inspired by an octopus were manufactured and used to validate the simulation model,and the experimental results demonstrated adequate accuracy.The proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots,including hybrid actuated robots and rigid-flexible coupling robots.This study also provides a fundamental framework for simulating soft mobile robots and soft manipulators in contact with the environment. | Liang Ding Lizhou Niu Yang Su Huaiguang Yang Guangjun Liu Haibo Gao Zongquan Deng | 2022 | Chinese Journal of Mechanical Engineering2022，35，2： | 2 |
| 18 | White light-emitting diodes from perovskites显示文摘White light-emitting diodes(WLEDs),as key infrastructure,play an important role in the field of lighting and display.In the past few decades,many methods were developed to prepare WLEDs.A common strategy is to use blue LEDs to excite yttrium aluminum garnet(YAG)phosphors and generate composite white light,which is now the main technology for commercial lighting.In 2014,Nobel Prize in Physics was awarded to Nakamura et al.for their contribution to blue LEDs[1,2]. | Hengyang Xiang Chuantian Zuo Haibo Zeng Liming Ding | 2021 | Journal of Semiconductors2021，42，3： | 2 |
| 19 | Bounded Consensus Algorithms for Multi‐Agent Systems in Directed Networks显示文摘 | Haibo Du Shihua Li Shihong Ding | 2012 | Asian J Control2012，，1： | 1 |
| 20 | Petri net based test case generation for evolved specification显示文摘Model-based testing can use a model to test a concrete program's implementation. When the model is changed due to the evolution of the specification, it is important to maintain the test suites up to date, such that it can be used for regression testing. A complete regeneration of the whole test suite from the new model,although inefficient, is still frequently used in practice. To address this problem effectively, we propose a test case reusability analysis technique to identify reusable test cases of the original test suite based on graph analysis,such that we can generate new test cases to cover only the change-related parts of the new model. The Market Information System(MIS) is employed to demonstrate the feasibility and effectiveness of the proposed method.Our experimental results show that the use of our method saves about 31.5% test case generation cost. | Zuohua DING Mingyue JIANG Haibo CHEN Zhi JIN Mengchu ZHOU | 2016 | Science China(Information Sciences)2016，59，8： | 1 |
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