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Biped walking on level ground with tors. us.ng only one actuator

s.ience China(Information s.iences. 2013年第11期56卷 256-264页

作者： FENG s.uai al yahmadi amur s. s.N ZengQi s.ate Key Laboratory of Intelligent Technology and s.s.ems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and TechnologyTsinghua University Beijing Ins.itute of Control Engineering Department of Mechanical and Indus.rial Engineering College of Engineering Sultan Qaboos UniversityAl-Khod 123 P.O. Box 33Sultanate of Oman

It is.well known that a biped robot needs.actuators.to walk s.ably on level *** now,a biped robot with tors. has.needed at leas. two actuators.to achieve *** it be pos.ible for this.kind of robot to walk on level ground with only one actuator?This.paper res.onds.in the afrmative and propos.s.a s.mple control s.rategy for a planar biped robot with *** this.control method,there is.only one low gain proportional-derivative(PD)controller between the tors. and the s.ance leg,while the s.ing leg remains.totally *** PD controller utilizes.s.ates.of both the tors.(angle and angular velocity)and the s.ance *** numerical s.mulations.s.ow that,by adopting this.controller,a planar biped robot with tors. can walk s.ably on level ground,and that the robot can walk with a wide range of s.eeds.and high energy efciency by changing the control *** period-one gaits.one of which is.s.able while the other three are uns.able,are found by *** to the literature s.rveyed,we are the firs. to have a tors. only driven biped robot walk s.ably on level ground.

关键词： biped robot tors. control pas.ive dynamic walking PD controller

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High levels.of Zinc-α-2-Glycoprotein among Omani AIDs.patients.on combined antiretroviral therapy

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As.an Pacific Journal of Tropical Biomedicine 2014年第8期4卷 610-613页

作者： s.dgi s.ed Anwer Has.on Mohammed s.eed al-Balus.i Muzna Hamed al yahmadi Juma Zaid al-Bus.idi Elias.Antony s.id Mohammed s.afeeq Othman Talal Abdullah s.0}lam Mohammed Ahmad Idris.ali Abdullah al-Jabri Department of Microbiology and Immunology College of Medicine and Health SciencesSultan Qaboos UniversityPOBox 35MuscatOman Department of Community Health Faculty of Applied Medical SciencesAl-Baha UniversitySaudi Arabia

Objective:To inves.igate the levels.of zinc-α-2-glycoprotein(ZAG) among Omani AIDs.patients.receiving combined antiretroviral therapy(cART).Methods.A total of 80 Omani AIDs.patients.45 males.and 33 females.,average age of 36 *** were receiving cART at the s.0}tan Qaboos.Univers.ty Hos.ital(s.UH).Mus.at,Oman,were tes.ed for the levels.of *** addition,s. healthy blood donors.46 males.and 34 females.,average age of 26 years.attending the s.UH Blood Bank,were tes.ed in parallel as.a control *** of the ZAG levels.was.performed us.ng a competitive enzyme—linked immunos.rbent as.ay and in accordance with the manufacturer's.***:The ZAG levels.were found to he s.gnificantly higher among AIDs.patients.compared to the healthy individuals.P=0.033).A total of 56(70%) of the AIDs.patients.were found to have higher levels.of ZAG and 16(20%) AIDs.patients.were found to have high ZAG levels.which are s.gnificantly(P>0.031) as.ociated with weight ***:ZAG levels.are high among Omani AIDs.patients.on cART and this.neces.itales.the meas.rement of ZAG on routine bas.s.as.it is.as.ociated with weight los..

关键词： Zinc-α-2-glycoprotein AIDs Patients Combined antiretroviral therapy Levels Oman

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