This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based...This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based on the virtual pendulum concept observed in human and animal locomotion experiments,which redirects ground reaction forces to a virtual support point called the Virtual Pivot Point(VPP)during the stance phase.Using the hybrid averaging theorem,we prove the upright posture stability of bipedal running with a fixed VPP position and propose a VPP angle feedback controller for online VPP adjustment to improve performance and convergence speed.Additionally,we present the first application of the VPP concept to quadrupedal posture control and design a VPP position feedback control law to enhance robustness in quadrupedal bounding.We evaluate the effectiveness of the proposed VPP-based controllers through various simulations,demonstrating their effectiveness in posture control of both bipedal running and quadrupedal bounding.The performance of the VPP-based control approach is further validated through experimental validation on a quadruped robot,SCIT Dog,for stable bounding motion generation at different forward speeds.展开更多
There are little-noticed points in the plane, which are artifacts of linear regression. The points, which are called pivot points, are the intersections of sets of regression lines. We derive the coordinates of the pi...There are little-noticed points in the plane, which are artifacts of linear regression. The points, which are called pivot points, are the intersections of sets of regression lines. We derive the coordinates of the pivot point and explain its sources. We show how a pivot point arises in a certain notable data set, which has been analyzed often for points of high leverage. We obtain the application of pivot points that shortens calculations when updating a set of bivariate observations by adding a new point.展开更多
Various trading strategies are applied in intraday high-frequency market to provide investors with reference signals to be on the right side of market at the right time. In this paper, we apply a trading strategy base...Various trading strategies are applied in intraday high-frequency market to provide investors with reference signals to be on the right side of market at the right time. In this paper, we apply a trading strategy based on the combination of ACD rules and pivot points system, which is first proposed by Mark B. Fisher, into Chinese market. This strategy has been used by millions of traders to achieve substantial profits in the last two decades, however, discussions concerning on the methods of calculating specific entry point in this trading strategy are rare, which is crucial to this strategy. We suggest an improvement to this popular strategy, providing the calculating and optimizing methods in detail to verify its effectiveness in recent Chinese futures market. Because of the high liquidity and low commissions in stock index futures market, this trading strategy achieves substantial profits .However, given the less liquidity in commodity futures market, profits decrease and even be neutralized by the relatively high commissions.展开更多
[目的]基于“以俞调枢”理论探讨艾灸背俞穴预防恶性肿瘤患者化疗相关性恶心呕吐(chemotherapy-induced nausea and vomiting,CINV)的临床疗效。[方法]选取浙江中医药大学附属第一医院2021年9月至2023年12月接受化疗的恶性肿瘤患者94例...[目的]基于“以俞调枢”理论探讨艾灸背俞穴预防恶性肿瘤患者化疗相关性恶心呕吐(chemotherapy-induced nausea and vomiting,CINV)的临床疗效。[方法]选取浙江中医药大学附属第一医院2021年9月至2023年12月接受化疗的恶性肿瘤患者94例,通过随机数字表法分为试验组和对照组,每组各47例。对照组患者接受常规治疗及护理,试验组在常规治疗护理的基础上接受艾灸背俞穴治疗。比较两组患者在化疗后第1~5天、第7天及第14天恶心、呕吐发生率,以及化疗相关药物不良反应(便秘、头痛、疲乏、嗜睡)的发生率。[结果]化疗后第1~2天,试验组恶心发生率低于对照组,但差异无统计学意义(P>0.05);而化疗后第3~5天及第7天,试验组的恶心发生率显著低于对照组(P<0.05)。化疗后第2~5天及第7天,试验组的呕吐发生率亦低于对照组(P<0.05)。试验组化疗相关不良反应便秘、头痛、疲乏及嗜睡等发生率分别为23.4%、4.3%、34.0%和10.6%,均低于对照组,差异有统计学意义(P<0.05)。[结论]艾灸背俞穴可作为辅助治疗,降低恶性肿瘤患者化疗过程中恶心呕吐症状的发生率,同时也能减轻由化疗相关药物引起的其他不良反应。展开更多
基金This work was supported by the Touyan Innovation Program of Heilongjiang Province.
文摘This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based on the virtual pendulum concept observed in human and animal locomotion experiments,which redirects ground reaction forces to a virtual support point called the Virtual Pivot Point(VPP)during the stance phase.Using the hybrid averaging theorem,we prove the upright posture stability of bipedal running with a fixed VPP position and propose a VPP angle feedback controller for online VPP adjustment to improve performance and convergence speed.Additionally,we present the first application of the VPP concept to quadrupedal posture control and design a VPP position feedback control law to enhance robustness in quadrupedal bounding.We evaluate the effectiveness of the proposed VPP-based controllers through various simulations,demonstrating their effectiveness in posture control of both bipedal running and quadrupedal bounding.The performance of the VPP-based control approach is further validated through experimental validation on a quadruped robot,SCIT Dog,for stable bounding motion generation at different forward speeds.
文摘There are little-noticed points in the plane, which are artifacts of linear regression. The points, which are called pivot points, are the intersections of sets of regression lines. We derive the coordinates of the pivot point and explain its sources. We show how a pivot point arises in a certain notable data set, which has been analyzed often for points of high leverage. We obtain the application of pivot points that shortens calculations when updating a set of bivariate observations by adding a new point.
文摘Various trading strategies are applied in intraday high-frequency market to provide investors with reference signals to be on the right side of market at the right time. In this paper, we apply a trading strategy based on the combination of ACD rules and pivot points system, which is first proposed by Mark B. Fisher, into Chinese market. This strategy has been used by millions of traders to achieve substantial profits in the last two decades, however, discussions concerning on the methods of calculating specific entry point in this trading strategy are rare, which is crucial to this strategy. We suggest an improvement to this popular strategy, providing the calculating and optimizing methods in detail to verify its effectiveness in recent Chinese futures market. Because of the high liquidity and low commissions in stock index futures market, this trading strategy achieves substantial profits .However, given the less liquidity in commodity futures market, profits decrease and even be neutralized by the relatively high commissions.
文摘[目的]基于“以俞调枢”理论探讨艾灸背俞穴预防恶性肿瘤患者化疗相关性恶心呕吐(chemotherapy-induced nausea and vomiting,CINV)的临床疗效。[方法]选取浙江中医药大学附属第一医院2021年9月至2023年12月接受化疗的恶性肿瘤患者94例,通过随机数字表法分为试验组和对照组,每组各47例。对照组患者接受常规治疗及护理,试验组在常规治疗护理的基础上接受艾灸背俞穴治疗。比较两组患者在化疗后第1~5天、第7天及第14天恶心、呕吐发生率,以及化疗相关药物不良反应(便秘、头痛、疲乏、嗜睡)的发生率。[结果]化疗后第1~2天,试验组恶心发生率低于对照组,但差异无统计学意义(P>0.05);而化疗后第3~5天及第7天,试验组的恶心发生率显著低于对照组(P<0.05)。化疗后第2~5天及第7天,试验组的呕吐发生率亦低于对照组(P<0.05)。试验组化疗相关不良反应便秘、头痛、疲乏及嗜睡等发生率分别为23.4%、4.3%、34.0%和10.6%,均低于对照组,差异有统计学意义(P<0.05)。[结论]艾灸背俞穴可作为辅助治疗,降低恶性肿瘤患者化疗过程中恶心呕吐症状的发生率,同时也能减轻由化疗相关药物引起的其他不良反应。
