HMM-based state classification of a user with a walking support system using visual PCA features

The improvement of safety and dependability in systems that physically interact with humans requires investigation with respect to the possible states of the user’s motion and an attempt to recognize these states. In this study, we propose a method for real-time visual state classification of a user with a walking support system. The visual features are extracted using principal component analysis and classification is performed by hidden Markov models, both for real-time fall detection (one-class classification) and real-time state recognition (multi-class classification). The algorithms are used in experiments with a passive-type walker robot called “RT Walker” equipped with servo brakes and a depth sensor (Microsoft Kinect). The experiments are performed with 10 subjects, including an experienced physiotherapist who can imitate the walking pattern of the elderly and people with disabilities. The results of the state classification can be used to improve fall-prevention control algorithms for walking support systems. The proposed method can also be used for other vision-based classification applications, which require real-time abnormality detection or state recognition.     

Human tracking system based on adaptive multi-feature mean-shift for robot under the double-layer locating mechanism

Human tracking has been a challenging task for robot in the past decades. In this paper, to realize the human following in a cluttered environment, a human tracking system based on adaptive multi-feature mean-shift (AMF-MS) under the double-layer locating mechanism (DLLM) is proposed to solve the problem of distinguishing target, occlusion, and quick turning. The DLLM, considering the course location processing and fine location processing, is designed to estimate the person’s position using the fusion of heterogeneous data. As an ID tag attached on target can be detected by RF antennas, the course locating method can track the target easily and quickly. The Bayes rule is introduced to calculate the probability where the tag exists due to the instability of RF signals. In the fine locating step, the AMF-MS is proposed because it can reduce computational load and represent target by multi-feature histogram function. Meanwhile, we combine extended Kalman filter and AMF-MS to overcome MS’s inability of occlusion. To control the robot following the target person precisely, an intelligent gear shift strategy based on fuzzy control is implemented by analyzing the robot structure. Experiments demonstrate that the proposed approach is robust to handle complex tracking conditions, and show the system has an optimum performance.     

Model reference adaptive impedance control in Cartesian coordinates for physical human–robot interaction

In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human–robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robot’s end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations; however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations and experiments on a two DOFs robot, the effectiveness of the proposed controller is investigated.     

重组人干扰素α2b阴道泡腾片抗豚鼠单纯疱疹病毒性阴道炎的疗效

目的观察重组人干扰素α2b阴道泡腾片对单纯疱疹病毒性阴道炎动物模型的疗效。方法采用单纯疱疹病毒感染建立豚鼠实验性阴道炎模型,并分别用重组人干扰素α2b阴道泡腾片600、3 000和15 000 IU/只进行治疗。以阿昔洛韦(无环鸟苷)和干扰素α2b栓剂15 000 IU/只作为对照。对治疗前后豚鼠阴道外观及组织切片进行评分。结果应用重组人干扰素α2b阴道泡腾片对豚鼠实验性单纯疱疹病毒性阴道炎进行治疗后,豚鼠阴道外观病变与组织切片病变评分均显著降低,其中15 000 IU/只效果最好。同样剂量的α2b泡腾片药效优于栓剂。结论重组人干扰素α2b阴道泡腾片对实验性单纯疱疹病毒性阴道炎有明显的疗效。     

重组人干扰素α2b内毒素检查法的研究

目的研究鲎试剂法与家兔法检测重组人干扰素α2b内毒素结果的相关性,并参照家兔热原试验的阈值量,来确定本制品质量标准中内毒素的限量标准。方法分别用不同浓度的内毒素溶液和含不同浓度内毒素的供试品溶液进行家兔热原质试验,确定供试品内毒素限值,并在此限值下进行内毒素检测,方法均参照2000年版《中国药典》和2000年版《中国生物制品规程》进行。结果在含不同浓度内毒素溶液的家兔热原质试验中,致热阈值小于5.0EUml。在含不同浓度内毒素供试品溶液的家兔热原质试验中,致热阈值小于1.25EUml。以此确定本品内毒素限值,检测该制品的内毒素含量,结果均符合规定。结论本品在内毒素含量小于3.5EU500万单位dose的范围内,根据具体的对照实验及制品的用途来规定细菌内毒素限值,可用鲎试剂法代替家兔法检测注射用重组人干扰素α2b冻干制剂的热原质。     

基于似人特性的机器人拟人臂自主抓取动作规划

针对拟型服务机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的机器人手臂动作的运动规划方法.该方法基于人体工程学中的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人传速速率最优为目标规划机器人持物动作的姿态构型.最后以Motoman SDA10D拟人双臂机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了该方法的可行性和有效性.     

基于似人特性的拟人臂机器人自主抓取动作规划

针对拟人臂机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的拟人臂动作的规划方法.该方法分为两个部分,构型规划和运动规划,构型规划基于人体工程学中广泛使用的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人末端传速速率最优为目标规划机器人运动过程中的关键构型.运动规划结合了Fitts定律和似人运动模型规划了机器人末端的空间轨迹.本文最后以Motoman SDA10D拟人双臂机器人和Mitsubishi PA10机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了本方法的可行性和有效性.     

重组人干扰素α2b栓剂的检定及其临床疗效

目的对重组人干扰素α2b栓剂进行质量检定及临床疗效观察。方法连续试制3批样品,进行各项质控指标的检定及宫颈糜烂的临床疗效观察。结果本品各项检定指标均符合质量要求。治疗组宫颈糜烂的有效率为74·8%,对照组的有效率为60·0%。治疗组和对照组的副反应发生率分别为9·1%和8·3%。结论重组人干扰素α2b栓剂质量稳定,安全性好,疗效确切。     

1995年中国化学工业

介绍了１９９５年及“八五”期间中国化学工业在生产的增长、基建与技改、科技进步、对外开放、深化企业改革和强化管理方面取得的成绩；同时指出了存在问题和“九五”时期的建设目标。     

Knowledge transfer in IT offshoring relationships: the roles of social capital,efficacy and outcome expectations

Information technology (IT) development in global organisations relies heavily on the transfer of tacit and complex knowledge from onshore units to offshore subsidiaries. A central concern of such organisations is the development of social capital, which is known to facilitate the smooth transfer of knowledge. However, only a few studies in IS research have explicitly examined the role of social capital for knowledge transfer in an IT offshoring context. In this paper, we argue that such knowledge transfer mechanisms can be understood better by considering social capital in concert with knowledge senders' efficacy and outcome expectations, two of the potentially key motivational drivers of knowledge transfer. We develop our arguments through a qualitative case study of a large German multinational company. German IT developers in this firm provided in‐depth accounts of their experience with offshore colleagues in an Indian captive subsidiary unit. Drawing on our analysis, we develop a model that depicts the influence of social capital, efficacy and outcome expectations on onshore IT developers' ability and willingness to transfer knowledge to offshore colleagues. Through the model, we also explain how social capital, efficacy and outcome expectations are interrelated and generate three interlocked, self‐reinforcing circles of knowledge transfer success in IT offshoring relationships.