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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

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Frontiers of Mechanical Engineering 2021年第2期16卷 271-284页

作者： Yue ZHAO Feng GAO qiao SUN Yunpeng yin State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification hexapod robot legged robot adaptive locomotion gait control

Loss of fragile histidine triad protein expression in inflammatory bowel disease

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World Journal of Gastroenterology 2006年第45期12卷 7355-7360页

作者： Chun-Mei Xu Chuan-hu qiao Department of Gastrocnterology Xiangfan No.1 Hospital 75 Jiefang Road Xiangfan 441000 Hubei Province China

AIM： To investigate the expression of fragile histidine triad （FHIT） protein in 64 patients with ulcerative colitis （UC） and Crohn＇s disease （CD）, and its relation with clinicopathological data. METHODS： Rabbit-anti-FHIT antibody was used to detect FHIT protein expression in 64 formalin-fixed, paraffin-embedded tissue specimens of inflammatory bowel disease （IBD） by citrate-microwave-streptavidin （SP）-HRP immunohistochemical method. RESULTS： The positive FHIT protein expression was 22.79% ± 16.16%, 42.14% ± 16.82% in active and remittent phases of UC, 36.07% ± 19.23% in CD, and 57.05% ±8.86% in normal colon mucosa. Statistically significant differences in FHIT protein expression were observed between the active and remittent phases of UC, between the active phase of UC and normal colon mucosa, as well as between the remittent phase of UC and normal colon mucosa, and between CD and normal colon mucosa. CONCLUSION： Our results show that FHIT protein expression is completely absent or reduced in IBD, suggesting that the FHIT gene might be associated with the oncogenesis and progression of IBD, an early event from inflammatory conditions to carcinoma in IBD.

关键词： Fragile histidine triad protein expression Ulcerative colitis Crohn's disease Inflammatory bowel disease

阿仑膦酸钠/壳聚糖/聚乙烯醇复合水凝胶膜的制备与表征

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中国组织工程研究 2025年第22期29卷 4720-4730页

作者：胡晨姜莹陈佳乔光伟董文马坚宁夏医科大学总医院口腔颌面外科宁夏回族自治区银川市750004 徐州市口腔医院口腔颌面外科江苏省徐州市221000 宁夏医科大学总医院口腔医院正畸科宁夏回族自治区银川市750004

背景:骨质疏松症是牙种植治疗的高风险因素,制备缓释阿仑膦酸钠的组织工程支架应用于骨质疏松患者口腔种植手术是当前口腔骨组织工程研究热点。目的:制备阿仑膦酸钠/壳聚糖/聚乙烯醇复合水凝胶膜,表征其缓释性能。方法:(1)采用物理交联... 详细信息

背景:骨质疏松症是牙种植治疗的高风险因素,制备缓释阿仑膦酸钠的组织工程支架应用于骨质疏松患者口腔种植手术是当前口腔骨组织工程研究热点。目的:制备阿仑膦酸钠/壳聚糖/聚乙烯醇复合水凝胶膜,表征其缓释性能。方法:(1)采用物理交联法制备不同质量比(壳聚糖与聚乙烯醇的质量比分别为3∶7、5∶5、7∶3)的壳聚糖/聚乙烯醇复合水凝胶膜与单纯的壳聚糖、聚乙烯醇水凝胶膜,通过表征水凝胶膜的形貌、水接触角、力学性能、溶胀率与细胞相容性筛选适宜的水凝胶膜作为阿仑膦酸钠的载体。(2)制备含0,0.4,1.2,2.0 mg/L阿仑膦酸钠的单纯壳聚糖/聚乙烯醇复合水凝胶膜,将大鼠骨髓间充质干细胞分别与4组水凝胶膜共培养,通过CCK-8法与CD44免疫荧光染色检测水凝胶膜的细胞相容性。将载药壳聚糖/聚乙烯醇复合水凝胶膜浸泡于PBS中,采用紫外可见分光光度法检测复合水凝胶膜的药物释放性能。结果与结论:(1)表征结果显示,随着水凝胶膜中聚乙烯醇质量的增加,水凝胶膜的结构密度增加、孔隙率减少,水接触角(均在90°以内)、断裂伸长率与抗压强度增大,平衡溶胀率降低,对大鼠骨髓间充质干细胞的增殖均无影响,单纯壳聚糖水凝胶膜可促进大鼠骨髓间充质干细胞的黏附,3∶7、5∶5比例复合水凝胶膜不影响大鼠骨髓间充质干细胞的黏附,单纯聚乙烯醇水凝胶膜、7∶3比例复合水凝胶膜抑制大鼠骨髓间充质干细胞的黏附,综合以上结果,选择5∶5复合水凝胶膜作为阿仑膦酸钠的载体。(2)CCK-8检测结果显示,含0.4,1.2 mg/L阿仑膦酸钠组复合水凝胶膜无细胞毒性;CD44免疫荧光染色结果显示,含0.4 mg/L阿仑膦酸钠组复合水凝胶膜不影响大鼠骨髓间充质干细胞的黏附,含1.2,2.0 mg/L阿仑膦酸钠组复合水凝胶膜抑制大鼠骨髓间充质干细胞的黏附;含0.4,1.2,2.0 mg/L阿仑膦酸钠的壳聚糖/聚乙烯醇复合水凝胶膜在最初6 h内爆发性释放阿仑膦酸钠,此后均匀稳定地释放阿仑膦酸钠,释放时间达96 h以上。(3)结果表明,5∶5比例的壳聚糖/聚乙烯醇复合水凝胶膜具有良好的理化性能、细胞相容性,可以作为阿仑膦酸钠的缓释载体。

关键词：阿仑膦酸钠壳聚糖聚乙烯醇水凝胶复合水凝胶膜种植体

Smart Gait:A Gait Optimization Framework for Hexapod Robots

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 146-159页

作者： Yunpeng yin Feng Gao qiao Sun Yue Zhao Yuguang Xiao State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Lenovo Corporation ShanghaiChina AI Institute School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural *** paper proposes a gait optimization framework for hexapod robots called Smart *** Gait contains three modules:swing leg trajectory optimization,gait period&duty optimization,and gait sequence *** full dynamics of a single leg,and the centroid dynamics of the overall robot are considered in the respective *** Smart Gait not only helps the robot to decrease the energy consumption when in locomotion,mostly,it enables the hexapod robot to determine its gait pattern transitions based on its current state,instead of repeating the formalistic clock-set step *** Smart Gait framework allows the hexapod robot to behave nimbly as a living animal when in 3D movements for the first *** Smart Gait framework combines offline and online optimizations without any fussy data-driven training procedures,and it can run efficiently on board in real-time after *** experiments are carried out on the hexapod robot *** results show that the energy consumption is reduced by 15.9%when in *** gait patterns can be generated spontaneously both in regular and challenge environments,and when facing external interferences.

关键词： Gait optimization Swing trajectory optimization Legged robot Hexapod robot

DRUG PRICING PATTERN IN CHINA： DILEMMA AND COUNTERMEASURE

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Journal of Systems Science and Systems Engineering 2018年第3期27卷 340-366页

作者： Mingxi Wang Yi hu Han qiao Chuangyin Dang School of International Trade and Economics University of International Business and Economics Beijing 100029 China School of Economics and Management University of Chinese Academy of Sciences Beijing 100190 China Department of Systems Engineering and Engineering Management City University of Hong Kong Kowloon Hong Kong

Maybe it is the most important medical reform for current China to adopt the bid-and-procurement scheme to correct the distortion of pharmaceutical resources allocation. Nevertheless, overpriced drugs often happen. This article aims to identify potential factors leading to the overpriced. Based on the mechanism rules of the scheme, it is found that unethical doctors are crucial to high price markup in the pricing pattern of drugs. Under China＇s actual conditions, asymmetric ownership is identified to be another cause of the overpriced by developing an asymmetric bidding model. How are the impacts of these two factors to be alleviated？ Upon examination, several reform measures cannot effectively avoid the occurrence of the overpriced. Yet, the issue is very urgent for China because it is facing with the problem of population aging. Therefore, alternative options - a regulation-penalty tool and an investment subsidy policy - are proposed to improve China＇s health care.

关键词： The bid-and-procurement scheme overpriced drug asymmetry health-care reform

SYNTHESES,CHARACTERIZATION AND ETHYLENE POLYMERIZATION OF HALF-SANDWICH GROUP IV METAL COMPLEXES WITH TRIDENTATE [O,N,S] LIGANDS

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Chinese Journal of Polymer Science 2013年第5期31卷 760-768页

作者： Ya-lin qiao Ping hu 金国新 State Key Laboratory of Molecular Engineering of Polymers Department of ChemistryFudan University

A series of half-sandwich group IV metal complexes with tridentate monoanionic phenoxy-imine arylsulfide [O-NS] ligand [2-Bu^t4-Me-6-（（2-（SC6H5）C6H4N = CHC6H2O）]- （La） and dianionic phenoxy-amine arylsulfide [O-N-S] ligand [2-Bu^t4-Me-6-（（2-（SC6H5）C6H4N-CH2C6H2O）]2- （Lb） have been synthesized and characterized. Lb was obtained easily in high yield by reduction of ligand La with excess LiAlH4 in cool diethyl ether. Half-sandwich Group Ⅳ metal complexes CpTi[O-NS]Cl2 （1a）, CpZr[O-NS]Cl2 （1b）, CpTi[O-N-S]Cl （2a）, CpZr[O-N-S]Cl （2b） and CpZr[O-N-S]Cl （2c） were synthesized by the reactions of La and Lb with CpTiCl3, CpZrCl3 and Cp ZrCl3, and characterized by IR, ^1H-NMR, ^13C-NMR and elemental analysis. In addition, an X-ray structure analysis was performed on ligand Lb. The title Group IV half-sandwich bearing tridentate [O,N,S] ligands show good catalytic activities for ethylene polymerization in the presence of methylaluminoxane （MAO） as co-catalyst up to 1.58 × 10^7 ***-Zr-1.h-1. The good catalytic activities can be maintained even at high temperatures such as 100 ℃ exhibiting the excellent thermal stability for these half-sandwich metal pre-catalysts.

关键词： Half-sandwich group IV metal complexes Tridentate dianionic ligands Phenoxy-imine arylsulfide ligands Catalyst Ethylene polymerization

APJTM streamlines content coverage and submission process to better support tropical medicine research

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Asian Pacific Journal of Tropical Medicine 2022年第6期15卷 239-240页

作者： Yan Lei qiao Zhang yin Pan Editorial Office of Asian Pacific Journal of Tropical Medicine Hainan Medical UniversityHaikou 571199China

Asian Pacific Journal of Tropical Medicine(APJTM)is a peer-reviewed open access monthly publication focusing on neglected tropical diseases and major diseases that are prevalent in the underdeveloped tropical *** Journal received an updated journal Impact Factor of 3.041 in the newly released 2021 Journal Citation Report,an increase of 148%over the past *** the 24 journals under the category of Tropical Medicine in the Science Citation Index-Expanded(SCIE),the Journal ranks 10/24(Q2).Although journal Impact Factor has several shortcomings and limitations,it is the most widely recognized indicator of journal prestige and impact[1].

关键词： journal shortcomings neglected

The Construction and Application of Work and Production Resuming Behavior System Dynamics Evolutionary Game Regulation and Control Model

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Journal of Systems Science and Information 2023年第2期11卷 160-178页

作者： qiao hu Jiayin QI School of Business and Management Shanghai International Studies UniversityShanghai 201620China School of Cyberspace Security Guangzhou UniversityGuangzhou 510006ChinaKey Laboratory of Trustworthy Distributed Computing and Service(BUPT)Ministry of EducationBeijing 100084China

The resumption of production after the“suspension”caused by the COVID-19 has emerged as an urgent problem for many enterprises and the *** resumption of production is actually a dynamic evolution problem from 0 to 1(100%).This paper constructs a general game model and a dynamic replication system for the resumption of production and government support,and gives theorems for the construction of the *** analyzes the evolution mechanism and scenario conditions for the convergence of enterprise strategies to the“resumption of production”strategy,takes the resumption of production of hog farmers as an example to carry out a study on the regulation of countermeasures to resume hog production,and explores systemic countermeasures and suggestions for the rapid convergence of farmers’strategies to the“resumption of work and production”*** study found that the production resuming behavior system dynamics evolution game regulation model provides a systematic model and method for the study of resumption countermeasures,a general regulation model for the resumption ratio from 0 to 1(100%),and a systematic idea,method and model for exploring the“precise strategy”system to promote the rapid resumption of production.

关键词： the resumption of production system dynamics evolutionary game regulation and control model simulation

Seasonal prediction skills of FIO-ESM for North Pacific sea surface temperature and precipitation

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Acta Oceanologica Sinica 2019年第1期38卷 5-12页

作者： Yiding Zhao Xunqiang yin Yajuan Song Fangli qiao College of Oceanic and Atmospheric Sciences Ocean University of China First Institute of Oceanography Ministry of Natural Resources Laboratory for Regional Oceanography and Numerical Modeling Pilot National Laboratory for Marine Science and Technology (Qingdao) Key Laboratory of Marine Science and Numerical Modeling Ministry of Natural Resources

The seasonal prediction of sea surface temperature(SST) and precipitation in the North Pacific based on the hindcast results of The First Institute of Oceanography Earth System Model(FIO-ESM) is assessed in this *** Ensemble Adjusted Kalman Filter assimilation scheme is used to generate initial conditions, which are shown to be reliable by comparison with the observations. Based on this comparison, we analyze the FIO-ESM 6-month hindcast results starting from each month of 1993–2013. The model exhibits high SST prediction skills over most of the North Pacific for two seasons in advance. Furthermore, it remains skillful at long lead times for midlatitudes. The reliable prediction of SST can transfer fairly well to precipitation prediction via air-sea *** average skill of the North Pacific variability(NPV) index from 1 to 6 months lead is as high as 0.72(0.55) when El Ni?o-Southern Oscillation and NPV are in phase(out of phase) at initial conditions. The prediction skill of the NPV index of FIO-ESM is improved by 11.6%(23.6%) over the Climate Forecast System, Version 2. For seasonal dependence, the skill of FIO-ESM is higher than the skill of persistence prediction in the later period of prediction.

关键词： seasonal prediction North Pacific sea surface temperature precipitation FIO-ESM climate model