Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

我国刑事被害人权利保护在执法上存在的缺陷及其完善

目前，我国刑事被害人的权利保护状况已得到了很大的改善，然而，在执法实践中公安司法机关对被害人权利的保护仍存有许多缺陷，包括立案、侦查直至审判、执行等诉讼环节都还有系列需改进之处。针对执法之现状，我们必须采取有效措施去加以完善。     

基于蚁群聚类算法的离群挖掘方法

离群挖掘是数据挖掘研究的重要内容,在实际生活中获得广泛应用。该文首先给出了离群数据的量化定义,并用基于蚁群的聚类学习方法,产生了状态空间的整体特征。然后结合具体的设备对象,提出了离群数据的挖掘方法。最后进行了实验验证,结果表明该文提出的方法是有效的。     

星用光纤通信系统中的发光二极管的总剂量效应研究

介绍了星用光纤通信系统中的发光二极管在 6 0 Co- γ射线辐照下的总剂量效应试验研究 ,通过对不同剂量辐照情况下发光二极管的发光光谱、伏安特性及 P- I曲线进行测试 ,给出了在不同剂量的 γ- 6 0 Co射线辐照下发光二极管的发光光谱、伏安特性及 P- I曲线     

亭台楼阁类建筑的文学价值

亭台楼阁作为中国古代的传统建筑,其特殊的体式、功能及其与自然环境所构成的独特意境,成为历代文人登高临远的重要场所,形成了大量诗文,这些作品往往寄寓了游子怀乡、壮士悲歌、文士不遇等情感,许多名篇对后人产生了强大的精神感召力,成为中华民族精神文化遗产的一部分。     

Unkeito Suppresses RANKL-Mediated Osteoclastogenesis via the Blimp1–Bcl6 and NF-κB Signaling Pathways and Enhancing Osteoclast Apoptosis

Osteoporosis is a common bone disease, particularly in menopausal women. Herein, we screened four Kampo medicines (Unkeito (UKT), Kamishoyosan (KSS), Kamikihito (KKT), and Ninjinyoeito (NYT)), frequently used to treat menopausal syndromes, for their effects on receptor activator of nuclear factor-kappaB ligand (RANKL)-induced osteoclast differentiation in RAW 264 cells. Considering that UKT exhibited the most potent effect, we examined its effect on RANKL-induced osteoclastogenesis, the induction of osteoclast apoptosis, and the mechanisms underlying its effects. UKT inhibits RANKL-induced osteoclast differentiation in the early stage and decreases osteoclast-related genes, including tartrate-resistant acid phosphatase (Trap), dendritic cell-specific transmembrane protein (Dcstamp), matrix metalloproteinase-9 (Mmp9), and cathepsin K (Ctsk). Specifically, UKT inhibits the nuclear factor of activated T cells 1 (NFATc1), which is essential for osteoclastogenesis. UKT increases Bcl6, which antagonizes NFATc1 and Dc-stamp, thereby blocking the progression of osteoclasts to maturation. UKT also decreased nuclear translocation by downregulating the activity of p65/NF-κB. In addition, UKT enhances mononuclear osteoclast apoptosis via activation of caspase-3. Herein, we demonstrate that UKT suppresses RANKL-mediated osteoclastogenesis via the Blimp1–Bcl6 and NF-κB signaling pathways and enhances mononuclear osteoclast apoptosis. Furthermore, UKT prevents bone loss in OVX mice. Thus, UKT might be a potential therapeutic agent for postmenopausal osteoporosis.     

Control of food spoilage fungi by ethanol

This review discusses the effects of ethanol on the inhibition of growth and germination of fungi and on the inactivation of fungal spores. After a brief survey on the impact of spoilage fungi on the economy and food quality, the major applications of ethanol in controlling fruit decay and extending the shelf-life of food products are reviewed. Many parameters including minimum inhibitory concentration (MIC) and D-values for various moulds are included. The thermodynamic relationship between the liquid phase and the headspace and the mode of action of ethanol on fungi are explained. Due to their promising use as a fumigant, special attention is paid to ethanol vapours.     

Two New Convolutions for the Fractional Fourier Transform

In this paper we introduce two novel convolutions for the fractional Fourier transforms, and prove natural algebraic properties of the corresponding multiplications such as commutativity, associativity and distributivity, which may be useful in signal processing and other types of applications. We analyze a consequent comparison with other known convolutions, and establish necessary and sufficient conditions for the solvability of associated convolution equations of both the first and second kind in \(L^1({\mathbb {R}})\) and \(L^2 ({\mathbb {R}})\) spaces. An example satisfying the sufficient and necessary condition for the solvability of the equations is given at the end of the paper.     

基于球坐标的非线性小波变换图像压缩编码算法

利用小波变换的3个高频分量之间相关特性,提出了基于球坐标变换的非线性小波变换图像压缩编码的方法,在小波收缩中,采用双曲线收缩处理球坐标下的径向分量以提高重建图像的质量,实验结果表明,此算法在压缩比和重建质量方面都取得较好的效果。     

Improved Hydrogen Capping Effect in n-Type Crystalline Silicon Solar Cells by SiN(Si-Rich)/SiN(N-Rich) Stacked Passivation

The effect of hydrogen capping of SiN(Si-rich)/SiN(N-rich) stacks for n-type c-Si solar cells was investigated. Use of a passivation layer consisting of Si-rich SiN with a refractive index (n) of 2.7 and N-rich SiN with a refractive index of 2.1 improved the thermal stability. A single SiN passivation layer with a refractive index of 2.05 resulted in an initial lifetime of 200 μs whereas the layer with a refractive index of 2.7 resulted in a high initial lifetime of 2 ms, but the layer degraded rapidly after firing. A stacked passivation layer with refractive indices of 2.1 and 2.7 had a stable lifetime of 1.5 ms with an implied open-circuit voltage (iV _oc) of 720 mV after firing. The thermally stable passivation mechanism with changing amounts of Si–N and Si–H bonding was analyzed by Fourier-transform infrared (FTIR) spectroscopy. Incorporation of the SiN _x stack layer (2.7 + 2.1) into the passivated rear of n-type Cz silicon screen-printed solar cells resulted in energy conversion efficiency of 19.69%. Improved internal quantum efficiency in the long-wavelength range above 900 nm, with V _oc of 630 mV, is mainly because of superior passivation of the rear surface compared with conventional solar cells.