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.     

基于工作任务的“4-5-6”情景化项目驱动教学模式的设计与实践

目前我国高职教育正处于改革的重要阶段,创新课程的教学模式,是高职教育的要求,也是课程建设与职业岗位有效接轨的要求。基于工作任务的"4-5-6"情景化项目驱动教学模式,是以职业能力培养为目标,围绕"岗位工作任务"这一主题,以"4"个阶段来划分能力培养过程,以"5"化教学作为教学设计,以"6"个步骤作为教学实施的教学法。通过在Linux操作系统课程教学中的改革实践表明,该教学模式培养了学生的自我学习能力和创造力,提高了学生的职业能力。     

三种在线商务洽谈室的设计与实现

讨论了建设在线商务洽谈室的基本原则,ASP（Active Server Pages)技术的,提出了3种在线商务洽谈室的模型及工作流程,并结合自己开发的在线商务洽谈室系统的实际代码,介绍了其中部分技术难点,提出了一套较为完整的在线商务洽谈室的解决方案。     

深埋型无水芒硝矿床溶采工艺研究

采用本研究成果──钻井两管油垫注热水工艺，能够成功地开采出理深达2200m的无水芒硝矿，较好地解决芒硝卤水采运过程中的结晶堵管及顶板垮塌等技术难题，充分有效地开采地下芒硝资源，并取得较好的经济效益。     

金属板材无模成形加工轨迹生成的研究

介绍了一种采用快速原型制造原理的金属板材无模成形技术．根据快速成形技术中分层制造的思想，从板材无模成形的技术特点出发，采用基于STL文件的金属板材无模成形的加工轨迹生成方法，通过构造STL文件的等距模型并对其进行切片，得到加工轨迹。     

Formation cross sections of nuclei with (n,2n) reactions

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Procedural Synthesis using Vortex Particle Method for Fluid Simulation

We propose a fast and effective technique to improve sub‐grid visual details of the grid based fluid simulation. Our method procedurally synthesizes the flow fields coming from the incompressible Navier‐Stokes solver and the vorticity fields generated by vortex particle method for sub‐grid turbulence. We are able to efficiently animate smoke which is highly turbulent and swirling with small scale details. Since this technique does not solve the linear system in high‐resolution grids, it can perform fluid simulation more rapidly. We can easily estimate the influence of turbulent and swirling effect to the fluid flow.     

Therapeutic Effects of Insulin-Producing Human Umbilical Cord-Derived Mesenchymal Stem Cells in a Type 1 Diabetes Mouse Model

In patients with type 1 diabetes (T1D), compromised pancreatic β-cell functions are compensated through daily insulin injections or the transplantation of pancreatic tissue or islet cells. However, both approaches are associated with specific challenges. The transplantation of mesenchymal stem cells (MSCs) represents a potential alternative, as MSCs have tissue-forming capacity and can be isolated from various tissues. The human umbilical cord (hUC) is a good source of freely available MSCs, which can be collected through pain-free, non-invasive methods subject to minimal ethical concerns. We sought to develop a method for the in vitro generation of insulin-producing cells (IPCs) using MSCs. We examined the potential therapeutic uses and efficacy of IPCs generated from hUC-derived MSCs (hUC-IPCs) and human adipose tissue (hAD)-derived MSCs (hAD-IPCs) through in vitro experiments and streptozotocin (STZ)-induced C57BL/6 T1D mouse models. We discovered that compared to hAD-IPCs, hUC-IPCs exhibited a superior insulin secretion capacity. Therefore, hUC-IPCs were selected as candidates for T1D cell therapy in mice. Fasting glucose and intraperitoneal glucose tolerance test levels were lower in hUC-IPC-transplanted mice than in T1D control mice and hAD-IPC-transplanted mice. Our findings support the potential use of MSCs for the treatment of T1D.     

A Novel Kind of Wideband Low-Profile Dielectric Resonator Antenna Suitable for Beam-scanning Applications

In this paper, a low-profile wideband dielectric resonator antenna(DRA) with a very compact planar size is investigated. The antenna consists of a high permittivity dielectric sheet on the top, a low permittivity substrate in the middle, and a probe feeding structure at the bottom. By digging an annular slot in the designated area of the square dielectric sheet, the resonant frequency of fundamental TE111 mode can be effectively increased to be close to the high-order TE131 mode. The two modes c...