BACKGROUND:Hemiplegia,a prevalent stroke-related condition,is often studied for motor dysfunction;however,spasticity remains under-researched.Abnormal muscle tone significantly hinders hemiplegic patients’walking rec...BACKGROUND:Hemiplegia,a prevalent stroke-related condition,is often studied for motor dysfunction;however,spasticity remains under-researched.Abnormal muscle tone significantly hinders hemiplegic patients’walking recovery.OBJECTIVE:To determine whether early suspension-protected training with a personal assistant machine for stroke patients enhances walking ability and prevents muscle spasms.METHODS:Thirty-two early-stage stroke patients from Shenzhen University General Hospital and the China Rehabilitation Research Center were randomly assigned to the experimental group(n=16)and the control group(n=16).Both groups underwent 4 weeks of gait training under the suspension protection system for 30 minutes daily,5 days a week.The experimental group used the personal assistant machine during training.Three-dimensional gait analysis(using the Cortex motion capture system),Brunnstrom staging,Fugl-Meyer Assessment for lower limb motor function,Fugl-Meyer balance function,and the modified Ashworth Scale were evaluated within 1 week before the intervention and after 4 weeks of intervention.RESULTS AND CONCLUSION:After the 4-week intervention,all outcome measures showed significant changes in each group.The experimental group had a small but significant increase in the modified Ashworth Scale score(P<0.05,d=|0.15|),while the control group had a large significant increase(P<0.05,d=|1.48|).The experimental group demonstrated greater improvements in walking speed(16.5 to 38.44 cm/s,P<0.05,d=|4.01|),step frequency(46.44 to 64.94 steps/min,P<0.05,d=|2.32|),stride length(15.50 to 29.81 cm,P<0.05,d=|3.44|),and peak hip and knee flexion(d=|1.82|to|2.17|).After treatment,the experimental group showed significantly greater improvements than the control group in walking speed(38.44 vs.26.63 cm/s,P<0.05,d=|2.75|),stride length,peak hip and knee flexion(d=|1.31|to|1.45|),step frequency(64.94 vs.59.38 steps/min,P<0.05,d=|0.85|),and a reduced support phase(bilateral:24.31%vs.28.38%,P<0.05,d=|0.88|;non-paretic:66.19%vs.70.13%,P<0.05,d=|0.94|).For early hemiplegia,personal assistant machine-assisted gait training under the suspension protection system helps establish a correct gait pattern,prevents muscle spasms,and improves motor function.展开更多
In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we pr...In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the SkiType gait. We also present our team performance in the trials of the Robotics Challenge.展开更多
The goal of this study is to investigate the effects of relative humidity on particle resuspension.The experimental study on the resuspension of different size particles is performed in the laboratory at 50%,60%,70% a...The goal of this study is to investigate the effects of relative humidity on particle resuspension.The experimental study on the resuspension of different size particles is performed in the laboratory at 50%,60%,70% and 80% relative humidity separately.The material of flooring is shaggy carpet.The experiments are carried out in a closed room with four laser dust instruments and a laser dust particle counter.The results show that when the relative humidity is 60% and 70%,the resuspension of indoor particulate matter is likely to occur.Human walking has a greater impact on larger-size particles.Under the conditions of different humidity,four situations all follow a rule that the larger the particle size is,the more stable the particle state is.展开更多
Walking buses are a way to increase physical activity by encouraging people to walk rather than rely on motorized forms of transportation. Several communities support walking school buses as an alternative mode of pup...Walking buses are a way to increase physical activity by encouraging people to walk rather than rely on motorized forms of transportation. Several communities support walking school buses as an alternative mode of pupil transportation to schools. A possible extension of this concept is the introduction of adult walking buses. Given the novelty of the concept, very little is currently known about the public’s perceptions regarding adult walking buses and their potential effectiveness to increase physical activity and decrease obesity among adults. To bridge this gap, this study examined motivations and barriers to participation in an adult walking bus program in Birmingham, Alabama using a comprehensive questionnaire survey. Analysis of over 340 responses revealed a positive reception of the concept among the survey responders. More specifically, 60.1% of the sample reported they would definitely or probably participate in a walking bus program. Results from nested ordinal logistic regression analysis indicate that health benefits are the strongest motivation for willingness to participate in a walking bus program. Sensitivity to environmental issues is also a significant predictor of willingness to participate across models. The most significant barrier to willingness to participate in a walking bus program is limited time. The significance of demographic variables (obesity, race/ ethnicity, and age) as predictors of willingness to participate is reduced once motivations and barriers are controlled. In conclusion, the positive response to the program among our sample is encouraging and suggests that adult walking buses should be explored further as an active alternative transportation option with a potential to improve the health and wellbeing of participants.展开更多
The no-cloning theorem has sparked considerable interest in achieving high-fidelity approximate quantum cloning.Most of the previous studies mainly focused on the cloning of single particle states,and cloning schemes ...The no-cloning theorem has sparked considerable interest in achieving high-fidelity approximate quantum cloning.Most of the previous studies mainly focused on the cloning of single particle states,and cloning schemes used there are incapable of cloning quantum entangled states in multipartite systems.Few schemes were proposed for cloning multiparticle states,which consume more entanglement resources with loss of qubits,and the fidelity of the cloned state is relatively low.In this paper,cloning schemes for bipartite and tripartite entangled states based on photonic quantum walk and entanglement swapping are proposed.The results show that according to the proposed schemes,two high-fidelity(up to 0.75)cloned states can be obtained with less quantum resource consumption.Because of the simple cloning steps,few quantum resources and high fidelity,these schemes are both efficient and feasible.Moreover,this cloning machine eliminates the need for tracing out cloning machine,thereby minimizing resource waste.展开更多
[Objectives]To synthesize evidence on HIIT versus moderate-intensity continuous training(MICT)or routine rehabilitation in stroke survivors.[Methods]We systematically searched 8 databases(PubMed,EMBASE,CENTRAL,Web of ...[Objectives]To synthesize evidence on HIIT versus moderate-intensity continuous training(MICT)or routine rehabilitation in stroke survivors.[Methods]We systematically searched 8 databases(PubMed,EMBASE,CENTRAL,Web of Science,SPORTSDiscus,PsycINFO,SCOPUS,CINAHL)up to May 2025.Seventeen randomized controlled trials(RCTs;total n=1142)met inclusion criteria:adults with stroke,device-based HIIT(≥70%HRR/VO 2peak),and outcomes assessing VO_(2)peak,6-min walk distance(6MWD),or Berg Balance Scale(BBS).Methodological quality was evaluated using the PEDro scale.Pooled effect sizes(Hedges'g)were calculated via random-effects models,with heterogeneity quantified by I^(2).[Results]HIIT significantly improved peak oxygen uptake(VO_(2)peak)versus controls(g=0.59,95%CI:0.44-0.75,p<0.001;I^(2)=16.29%).Low heterogeneity and symmetrical funnel plots supported robustness.HIIT also enhanced walking endurance(6MWD:g=0.32,95%CI:0.16-0.48,p<0.01;I^(2)=30%).In contrast,no significant benefit was observed for balance function(BBS:g=0.07,95%CI:-0.13-0.26,p=0.50;I^(2)=0%).[Conclusions]HIIT is a safe and highly effective intervention for enhancing aerobic capacity and walking function post-stroke.Its benefits are maximized at higher intensities and longer durations but do not extend to balance improvement.Integrating HIIT into stroke rehabilitation protocols is strongly recommended to promote functional independence.展开更多
Background The redirected walking(RDW)method for multi-user collaboration requires maintaining the relative position between users in a virtual environment(VE)and physical environment(PE).A chasing game in a VE is a t...Background The redirected walking(RDW)method for multi-user collaboration requires maintaining the relative position between users in a virtual environment(VE)and physical environment(PE).A chasing game in a VE is a typical virtual reality game that entails multi-user collaboration.When a user approaches and interacts with a target user in the VE,the user is expected to approach and interact with the target user in the corresponding PE as well.Existing methods of multi-user RDW mainly focus on obstacle avoidance,which does not account for the relative positional relationship between the users in both VE and PE.Methods To enhance the user experience and facilitate potential interaction,this paper presents a novel dynamic alignment algorithm for multi-user collaborative redirected walking(DA-RDW)in a shared PE where the target user and other users are moving.This algorithm adopts improved artificial potential fields,where the repulsive force is a function of the relative position and velocity of the user with respect to dynamic obstacles.For the best alignment,this algorithm sets the alignment-guidance force in several cases and then converts it into a constrained optimization problem to obtain the optimal direction.Moreover,this algorithm introduces a potential interaction object selection strategy for a dynamically uncertain environment to speed up the subsequent alignment.To balance obstacle avoidance and alignment,this algorithm uses the dynamic weightings of the virtual and physical distances between users and the target to determine the resultant force vector.Results The efficacy of the proposed method was evaluated using a series of simulations and live-user experiments.The experimental results demonstrate that our novel dynamic alignment method for multi-user collaborative redirected walking can reduce the distance error in both VE and PE to improve alignment with fewer collisions.展开更多
Missiles provide long-range precision strike capabilities and have become a cornerstone of modern warfare.The contrail clouds formed by missile during their active flight phase present significant chal-lenges to high-...Missiles provide long-range precision strike capabilities and have become a cornerstone of modern warfare.The contrail clouds formed by missile during their active flight phase present significant chal-lenges to high-altitude environmental observation and target detection and tracking.Existing studies primarily focus on specific airspace regions,leaving critical gaps in understanding the effects of long dispersion times,wide altitude ranges,and variable atmospheric conditions on missile contrail clouds.To address these gaps,this article develops a numerical method based on the Lagrangian random walk model,which incorporates various velocity variation terms,including particle velocity caused by the difference of wind field,by the thermal motion of local gas molecules and by random collisions between contrail cloud particles to capture the influence of environmental wind fields,atmospheric conditions,and particle concentrations on the motion of contrail cloud particles.A general coordinate system aligned with the missile's flight trajectory is employed to represent particle distribution characteristics.The proposed method is in good agreement with the conducted experiments as well as with the available numerical simulations.The results demonstrate that the proposed model effectively simulates the dispersion state of contrail clouds,accurately reflecting the impact of large-scale wind field variations and altitude changes with high computational efficiency.Additionally,simulation results indicate that the increased distance between gas molecules in rarefied environments facilitates enhanced particle dispersion,while larger particles exhibit a faster dispersion rate due to their greater mass.展开更多
Older adults are at an increased risk of developing knee osteoarthritis.High internal knee abduction moment during daily activities may elevate the risk of knee osteoarthritis.Incline walking exercise has been found t...Older adults are at an increased risk of developing knee osteoarthritis.High internal knee abduction moment during daily activities may elevate the risk of knee osteoarthritis.Incline walking exercise has been found to decrease knee abduction moment in healthy young adults.However,it is unknown if this occurs in healthy older adults.The purpose of this study was to quantify the internal knee abduction moment at different treadmill grades to determine if incline walking could reduce the knee abduction moment in healthy older adults.Twelve healthy older adult males walked on a treadmill at five incline grades(0%,5%,10%,15%,and 20%)at 1.34 m·s^(-1).The primary outcome variable was the internal knee abduction moment.A one-way repeated measures multivariate analysis of variance was performed to determine differences in the dependent variables among incline gradients.Peak knee abduction moment significantly decreased from level walking at all gradients in 10% increments(0%-10%,p<0.001;5%-15%,p<0.002;and 10%-20%,p=0.04).A reduction in knee abduction moment during incline walking could result in decreased knee joint loading on the medial knee compartment.For older adults,who are looking to exercise to improve their health,incline walking may be beneficial to promote lower body strength and cardiovascular ability without inflicting further harm to the aging knee joints.However,because the frontal plane knee joint was of primary interest in this study,further research is needed to determine the effects of incline walking on other joints and in other planes of motion.展开更多
The successful application of perimeter control of urban traffic system strongly depends on the macroscopic fundamental diagram of the targeted region.Despite intensive studies on the partitioning of urban road networ...The successful application of perimeter control of urban traffic system strongly depends on the macroscopic fundamental diagram of the targeted region.Despite intensive studies on the partitioning of urban road networks,the dynamic partitioning of urban regions reflecting the propagation of congestion remains an open question.This paper proposes to partition the network into homogeneous sub-regions based on random walk algorithm.Starting from selected random walkers,the road network is partitioned from the early morning when congestion emerges.A modified Akaike information criterion is defined to find the optimal number of partitions.Region boundary adjustment algorithms are adopted to optimize the partitioning results to further ensure the correlation of partitions.The traffic data of Melbourne city are used to verify the effectiveness of the proposed partitioning method.展开更多
It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight...It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function.Therefore,Improvement of enhancing capacity and functions of the walking robot is an important research issue.According to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed.The proposed robot can be used for both a biped and a quadruped walking robot.The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized.The results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,respectively.Based on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process.Besides laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.展开更多
The main goal of spinal cord rehabilitation is to restore walking ability and improve walking quality after spinal cord injury(SCI). The spatiotemporal parameters of walking and the parameters of plantar pressure can ...The main goal of spinal cord rehabilitation is to restore walking ability and improve walking quality after spinal cord injury(SCI). The spatiotemporal parameters of walking and the parameters of plantar pressure can be obtained using a plantar pressure analysis system. Previous studies have reported step asymmetry in patients with bilateral SCI. However, the asymmetry of other parameters in patients with SCI has not been reported. This was a prospective, cross-sectional study, which included 23 patients with SCI, aged 48.1 ± 14.5 years, and 28 healthy subjects, aged 47.1 ± 9.8 years. All subjects underwent bare foot walking on a plantar pressure measurement device to measure walking speed and spatiotemporal parameters. Compared with healthy subjects, SCI patients had slower walking speed, longer stride time and stance time, larger stance phase percentage, and shorter stride length. The peak pressures under the metatarsal heads and toe were lower in SCI patients than in healthy subjects. In the heel, regional impulse and the contact area percentage in SCI patients were higher than those in healthy subjects. The symmetry indexes of stance time, step length, maximum force, impulse and contact area were increased in SCI patients, indicating a decline in symmetry. The results confirm that the gait quality, including spatiotemporal variables and plantar pressure parameters, and symmetry index were lower in SCI patients compared with healthy subjects. Plantar pressure parameters and symmetry index could be sensitive quantitative parameters to improve gait quality of SCI patients. The protocols were approved by the Clinical Research Ethics Committee of Shengjing Hospital of China Medical University(approval No. 2015 PS54 J) on August 13, 2015. This trial was registered in the ISRCTN Registry(ISRCTN42544587) on August 22, 2018. Protocol version: 1.0.展开更多
Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation...Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation is usually used for control compensation of manipulator arm,the error compensation of multi-legged robots has seldom been explored.In order to reduce the kinematic error of robots,a motion error compensation method based on the feedforward for multi-legged mobile robots is proposed to improve motion precision of a mobile robot.The locus error of a robot body is measured,when robot moves along a given track.Error of driven joint variables is obtained by error calculation model in terms of the locus error of robot body.Error value is used to compensate driven joint variables and modify control model of robot,which can drive the robots following control model modified.The model of the relation between robot＇s locus errors and kinematic variables errors is set up to achieve the kinematic error compensation.On the basis of the inverse kinematics of a multi-legged walking robot,the relation between error of the motion trajectory and driven joint variables of robots is discussed.Moreover,the equation set is obtained,which expresses relation among error of driven joint variables,structure parameters and error of robot＇s locus.Take MiniQuad as an example,when the robot MiniQuad moves following beeline tread,motion error compensation is studied.The actual locus errors of the robot body are measured before and after compensation in the test.According to the test,variations of the actual coordinate value of the robot centroid in x-direction and z-direction are reduced more than one time.The kinematic errors of robot body are reduced effectively by the use of the motion error compensation method based on the feedforward.展开更多
BACKGROUND Dysfunction in stroke patients has been a problem that we committed to solve and explore.Physical therapy has some effect to regain strength,balance,and coordination.However,it is not a complete cure,so we ...BACKGROUND Dysfunction in stroke patients has been a problem that we committed to solve and explore.Physical therapy has some effect to regain strength,balance,and coordination.However,it is not a complete cure,so we are trying to find more effective treatments.AIM To observe the effect of whole-body vibration training(WVT)on the recovery of balance and walking function in stroke patients,which could provide us some useful evidence for planning rehabilitation.METHODS The clinical data of 130 stroke participants who underwent conventional rehabilitation treatment in our hospital from January 2019 to August 2020 were retrospectively analyzed.The participants were divided into whole-body vibration training(WVT)group and non-WVT(NWVT)group according to whether they were given WVT.In the WVT group,routine rehabilitation therapy was combined with WVT by the Galileo Med L Plus vibration trainer at a frequency of 20 Hz and a vibration amplitude of 0+ACY-plusmn+ADs-5.2 mm,and in the NWVT group,routine rehabilitation therapy only was provided.The treatment course of the two groups was 4 wk.Before and after treatment,the Berg balance scale(BBS),3 m timed up-and-go test(TUGT),the maximum walking speed test(MWS),and upper limb functional reaching(FR)test were performed.RESULTS After 4 wk training,in both groups,the BBS score and the FR distance respectively increased to a certain amount(WVT=46.08±3.41 vs NWVT=40.22±3.75;WVT=20.48±2.23 vs NWVT=16.60±2.82),with P<0.05.Furthermore,in the WVT group,both BBS score and FR distance(BBS:18.32±2.18;FR:10.00±0.92)increased more than that in the NWVT group(BBS:13.29±1.66;FR:6.16±0.95),with P<0.05.Meanwhile,in both groups,the TUGT and the MWS were improved after training(WVT=32.64±3.81 vs NWVT=39.56±3.68;WVT=12.73±2.26 vs NWVT=15.04±2.27,respectively),with P<0.05.The change in the WVT group(TUGT:17.49±1.88;MWS:6.79±0.81)was greater than that in the NWVT group(TUGT:10.76±1.42;MWS:4.84±0.58),with P<0.05.CONCLUSION The WVT could effectively improve the balance and walking function in stroke patients,which may be good for improving their quality of life.展开更多
文摘BACKGROUND:Hemiplegia,a prevalent stroke-related condition,is often studied for motor dysfunction;however,spasticity remains under-researched.Abnormal muscle tone significantly hinders hemiplegic patients’walking recovery.OBJECTIVE:To determine whether early suspension-protected training with a personal assistant machine for stroke patients enhances walking ability and prevents muscle spasms.METHODS:Thirty-two early-stage stroke patients from Shenzhen University General Hospital and the China Rehabilitation Research Center were randomly assigned to the experimental group(n=16)and the control group(n=16).Both groups underwent 4 weeks of gait training under the suspension protection system for 30 minutes daily,5 days a week.The experimental group used the personal assistant machine during training.Three-dimensional gait analysis(using the Cortex motion capture system),Brunnstrom staging,Fugl-Meyer Assessment for lower limb motor function,Fugl-Meyer balance function,and the modified Ashworth Scale were evaluated within 1 week before the intervention and after 4 weeks of intervention.RESULTS AND CONCLUSION:After the 4-week intervention,all outcome measures showed significant changes in each group.The experimental group had a small but significant increase in the modified Ashworth Scale score(P<0.05,d=|0.15|),while the control group had a large significant increase(P<0.05,d=|1.48|).The experimental group demonstrated greater improvements in walking speed(16.5 to 38.44 cm/s,P<0.05,d=|4.01|),step frequency(46.44 to 64.94 steps/min,P<0.05,d=|2.32|),stride length(15.50 to 29.81 cm,P<0.05,d=|3.44|),and peak hip and knee flexion(d=|1.82|to|2.17|).After treatment,the experimental group showed significantly greater improvements than the control group in walking speed(38.44 vs.26.63 cm/s,P<0.05,d=|2.75|),stride length,peak hip and knee flexion(d=|1.31|to|1.45|),step frequency(64.94 vs.59.38 steps/min,P<0.05,d=|0.85|),and a reduced support phase(bilateral:24.31%vs.28.38%,P<0.05,d=|0.88|;non-paretic:66.19%vs.70.13%,P<0.05,d=|0.94|).For early hemiplegia,personal assistant machine-assisted gait training under the suspension protection system helps establish a correct gait pattern,prevents muscle spasms,and improves motor function.
文摘In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the SkiType gait. We also present our team performance in the trials of the Robotics Challenge.
基金the National Natural Science Foundation of China(No.51476144)。
文摘The goal of this study is to investigate the effects of relative humidity on particle resuspension.The experimental study on the resuspension of different size particles is performed in the laboratory at 50%,60%,70% and 80% relative humidity separately.The material of flooring is shaggy carpet.The experiments are carried out in a closed room with four laser dust instruments and a laser dust particle counter.The results show that when the relative humidity is 60% and 70%,the resuspension of indoor particulate matter is likely to occur.Human walking has a greater impact on larger-size particles.Under the conditions of different humidity,four situations all follow a rule that the larger the particle size is,the more stable the particle state is.
文摘Walking buses are a way to increase physical activity by encouraging people to walk rather than rely on motorized forms of transportation. Several communities support walking school buses as an alternative mode of pupil transportation to schools. A possible extension of this concept is the introduction of adult walking buses. Given the novelty of the concept, very little is currently known about the public’s perceptions regarding adult walking buses and their potential effectiveness to increase physical activity and decrease obesity among adults. To bridge this gap, this study examined motivations and barriers to participation in an adult walking bus program in Birmingham, Alabama using a comprehensive questionnaire survey. Analysis of over 340 responses revealed a positive reception of the concept among the survey responders. More specifically, 60.1% of the sample reported they would definitely or probably participate in a walking bus program. Results from nested ordinal logistic regression analysis indicate that health benefits are the strongest motivation for willingness to participate in a walking bus program. Sensitivity to environmental issues is also a significant predictor of willingness to participate across models. The most significant barrier to willingness to participate in a walking bus program is limited time. The significance of demographic variables (obesity, race/ ethnicity, and age) as predictors of willingness to participate is reduced once motivations and barriers are controlled. In conclusion, the positive response to the program among our sample is encouraging and suggests that adult walking buses should be explored further as an active alternative transportation option with a potential to improve the health and wellbeing of participants.
文摘The no-cloning theorem has sparked considerable interest in achieving high-fidelity approximate quantum cloning.Most of the previous studies mainly focused on the cloning of single particle states,and cloning schemes used there are incapable of cloning quantum entangled states in multipartite systems.Few schemes were proposed for cloning multiparticle states,which consume more entanglement resources with loss of qubits,and the fidelity of the cloned state is relatively low.In this paper,cloning schemes for bipartite and tripartite entangled states based on photonic quantum walk and entanglement swapping are proposed.The results show that according to the proposed schemes,two high-fidelity(up to 0.75)cloned states can be obtained with less quantum resource consumption.Because of the simple cloning steps,few quantum resources and high fidelity,these schemes are both efficient and feasible.Moreover,this cloning machine eliminates the need for tracing out cloning machine,thereby minimizing resource waste.
文摘[Objectives]To synthesize evidence on HIIT versus moderate-intensity continuous training(MICT)or routine rehabilitation in stroke survivors.[Methods]We systematically searched 8 databases(PubMed,EMBASE,CENTRAL,Web of Science,SPORTSDiscus,PsycINFO,SCOPUS,CINAHL)up to May 2025.Seventeen randomized controlled trials(RCTs;total n=1142)met inclusion criteria:adults with stroke,device-based HIIT(≥70%HRR/VO 2peak),and outcomes assessing VO_(2)peak,6-min walk distance(6MWD),or Berg Balance Scale(BBS).Methodological quality was evaluated using the PEDro scale.Pooled effect sizes(Hedges'g)were calculated via random-effects models,with heterogeneity quantified by I^(2).[Results]HIIT significantly improved peak oxygen uptake(VO_(2)peak)versus controls(g=0.59,95%CI:0.44-0.75,p<0.001;I^(2)=16.29%).Low heterogeneity and symmetrical funnel plots supported robustness.HIIT also enhanced walking endurance(6MWD:g=0.32,95%CI:0.16-0.48,p<0.01;I^(2)=30%).In contrast,no significant benefit was observed for balance function(BBS:g=0.07,95%CI:-0.13-0.26,p=0.50;I^(2)=0%).[Conclusions]HIIT is a safe and highly effective intervention for enhancing aerobic capacity and walking function post-stroke.Its benefits are maximized at higher intensities and longer durations but do not extend to balance improvement.Integrating HIIT into stroke rehabilitation protocols is strongly recommended to promote functional independence.
基金Supported by STI 2030 Major Projects of China(2021ZD0200400).
文摘Background The redirected walking(RDW)method for multi-user collaboration requires maintaining the relative position between users in a virtual environment(VE)and physical environment(PE).A chasing game in a VE is a typical virtual reality game that entails multi-user collaboration.When a user approaches and interacts with a target user in the VE,the user is expected to approach and interact with the target user in the corresponding PE as well.Existing methods of multi-user RDW mainly focus on obstacle avoidance,which does not account for the relative positional relationship between the users in both VE and PE.Methods To enhance the user experience and facilitate potential interaction,this paper presents a novel dynamic alignment algorithm for multi-user collaborative redirected walking(DA-RDW)in a shared PE where the target user and other users are moving.This algorithm adopts improved artificial potential fields,where the repulsive force is a function of the relative position and velocity of the user with respect to dynamic obstacles.For the best alignment,this algorithm sets the alignment-guidance force in several cases and then converts it into a constrained optimization problem to obtain the optimal direction.Moreover,this algorithm introduces a potential interaction object selection strategy for a dynamically uncertain environment to speed up the subsequent alignment.To balance obstacle avoidance and alignment,this algorithm uses the dynamic weightings of the virtual and physical distances between users and the target to determine the resultant force vector.Results The efficacy of the proposed method was evaluated using a series of simulations and live-user experiments.The experimental results demonstrate that our novel dynamic alignment method for multi-user collaborative redirected walking can reduce the distance error in both VE and PE to improve alignment with fewer collisions.
文摘Missiles provide long-range precision strike capabilities and have become a cornerstone of modern warfare.The contrail clouds formed by missile during their active flight phase present significant chal-lenges to high-altitude environmental observation and target detection and tracking.Existing studies primarily focus on specific airspace regions,leaving critical gaps in understanding the effects of long dispersion times,wide altitude ranges,and variable atmospheric conditions on missile contrail clouds.To address these gaps,this article develops a numerical method based on the Lagrangian random walk model,which incorporates various velocity variation terms,including particle velocity caused by the difference of wind field,by the thermal motion of local gas molecules and by random collisions between contrail cloud particles to capture the influence of environmental wind fields,atmospheric conditions,and particle concentrations on the motion of contrail cloud particles.A general coordinate system aligned with the missile's flight trajectory is employed to represent particle distribution characteristics.The proposed method is in good agreement with the conducted experiments as well as with the available numerical simulations.The results demonstrate that the proposed model effectively simulates the dispersion state of contrail clouds,accurately reflecting the impact of large-scale wind field variations and altitude changes with high computational efficiency.Additionally,simulation results indicate that the increased distance between gas molecules in rarefied environments facilitates enhanced particle dispersion,while larger particles exhibit a faster dispersion rate due to their greater mass.
基金funded,in part,by a Ball State University ASPiRE grant.
文摘Older adults are at an increased risk of developing knee osteoarthritis.High internal knee abduction moment during daily activities may elevate the risk of knee osteoarthritis.Incline walking exercise has been found to decrease knee abduction moment in healthy young adults.However,it is unknown if this occurs in healthy older adults.The purpose of this study was to quantify the internal knee abduction moment at different treadmill grades to determine if incline walking could reduce the knee abduction moment in healthy older adults.Twelve healthy older adult males walked on a treadmill at five incline grades(0%,5%,10%,15%,and 20%)at 1.34 m·s^(-1).The primary outcome variable was the internal knee abduction moment.A one-way repeated measures multivariate analysis of variance was performed to determine differences in the dependent variables among incline gradients.Peak knee abduction moment significantly decreased from level walking at all gradients in 10% increments(0%-10%,p<0.001;5%-15%,p<0.002;and 10%-20%,p=0.04).A reduction in knee abduction moment during incline walking could result in decreased knee joint loading on the medial knee compartment.For older adults,who are looking to exercise to improve their health,incline walking may be beneficial to promote lower body strength and cardiovascular ability without inflicting further harm to the aging knee joints.However,because the frontal plane knee joint was of primary interest in this study,further research is needed to determine the effects of incline walking on other joints and in other planes of motion.
基金Project supported by the National Natural Science Foundation of China(Grant No.12072340)the Chinese Scholarship Council and the Australia Research Council through a linkage project fund。
文摘The successful application of perimeter control of urban traffic system strongly depends on the macroscopic fundamental diagram of the targeted region.Despite intensive studies on the partitioning of urban road networks,the dynamic partitioning of urban regions reflecting the propagation of congestion remains an open question.This paper proposes to partition the network into homogeneous sub-regions based on random walk algorithm.Starting from selected random walkers,the road network is partitioned from the early morning when congestion emerges.A modified Akaike information criterion is defined to find the optimal number of partitions.Region boundary adjustment algorithms are adopted to optimize the partitioning results to further ensure the correlation of partitions.The traffic data of Melbourne city are used to verify the effectiveness of the proposed partitioning method.
基金supported by National Natural Science Foundation of China(Grant No.61075099)
文摘It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function.Therefore,Improvement of enhancing capacity and functions of the walking robot is an important research issue.According to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed.The proposed robot can be used for both a biped and a quadruped walking robot.The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized.The results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,respectively.Based on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process.Besides laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.
基金supported by the New Technique Project of Shengjing Hospital of China Medical University,China,No.2015-117(to XNY)
文摘The main goal of spinal cord rehabilitation is to restore walking ability and improve walking quality after spinal cord injury(SCI). The spatiotemporal parameters of walking and the parameters of plantar pressure can be obtained using a plantar pressure analysis system. Previous studies have reported step asymmetry in patients with bilateral SCI. However, the asymmetry of other parameters in patients with SCI has not been reported. This was a prospective, cross-sectional study, which included 23 patients with SCI, aged 48.1 ± 14.5 years, and 28 healthy subjects, aged 47.1 ± 9.8 years. All subjects underwent bare foot walking on a plantar pressure measurement device to measure walking speed and spatiotemporal parameters. Compared with healthy subjects, SCI patients had slower walking speed, longer stride time and stance time, larger stance phase percentage, and shorter stride length. The peak pressures under the metatarsal heads and toe were lower in SCI patients than in healthy subjects. In the heel, regional impulse and the contact area percentage in SCI patients were higher than those in healthy subjects. The symmetry indexes of stance time, step length, maximum force, impulse and contact area were increased in SCI patients, indicating a decline in symmetry. The results confirm that the gait quality, including spatiotemporal variables and plantar pressure parameters, and symmetry index were lower in SCI patients compared with healthy subjects. Plantar pressure parameters and symmetry index could be sensitive quantitative parameters to improve gait quality of SCI patients. The protocols were approved by the Clinical Research Ethics Committee of Shengjing Hospital of China Medical University(approval No. 2015 PS54 J) on August 13, 2015. This trial was registered in the ISRCTN Registry(ISRCTN42544587) on August 22, 2018. Protocol version: 1.0.
基金supported by National Natural Science Foundation of China (Grant Nos. 50675079,50875246)Program for Innovative Research Team (in Science and Technology) in University of Henan Province,China
文摘Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation is usually used for control compensation of manipulator arm,the error compensation of multi-legged robots has seldom been explored.In order to reduce the kinematic error of robots,a motion error compensation method based on the feedforward for multi-legged mobile robots is proposed to improve motion precision of a mobile robot.The locus error of a robot body is measured,when robot moves along a given track.Error of driven joint variables is obtained by error calculation model in terms of the locus error of robot body.Error value is used to compensate driven joint variables and modify control model of robot,which can drive the robots following control model modified.The model of the relation between robot＇s locus errors and kinematic variables errors is set up to achieve the kinematic error compensation.On the basis of the inverse kinematics of a multi-legged walking robot,the relation between error of the motion trajectory and driven joint variables of robots is discussed.Moreover,the equation set is obtained,which expresses relation among error of driven joint variables,structure parameters and error of robot＇s locus.Take MiniQuad as an example,when the robot MiniQuad moves following beeline tread,motion error compensation is studied.The actual locus errors of the robot body are measured before and after compensation in the test.According to the test,variations of the actual coordinate value of the robot centroid in x-direction and z-direction are reduced more than one time.The kinematic errors of robot body are reduced effectively by the use of the motion error compensation method based on the feedforward.
基金Supported by Chongqing Science and Technology Bureau,No.cstc2019jxjl130023.
文摘BACKGROUND Dysfunction in stroke patients has been a problem that we committed to solve and explore.Physical therapy has some effect to regain strength,balance,and coordination.However,it is not a complete cure,so we are trying to find more effective treatments.AIM To observe the effect of whole-body vibration training(WVT)on the recovery of balance and walking function in stroke patients,which could provide us some useful evidence for planning rehabilitation.METHODS The clinical data of 130 stroke participants who underwent conventional rehabilitation treatment in our hospital from January 2019 to August 2020 were retrospectively analyzed.The participants were divided into whole-body vibration training(WVT)group and non-WVT(NWVT)group according to whether they were given WVT.In the WVT group,routine rehabilitation therapy was combined with WVT by the Galileo Med L Plus vibration trainer at a frequency of 20 Hz and a vibration amplitude of 0+ACY-plusmn+ADs-5.2 mm,and in the NWVT group,routine rehabilitation therapy only was provided.The treatment course of the two groups was 4 wk.Before and after treatment,the Berg balance scale(BBS),3 m timed up-and-go test(TUGT),the maximum walking speed test(MWS),and upper limb functional reaching(FR)test were performed.RESULTS After 4 wk training,in both groups,the BBS score and the FR distance respectively increased to a certain amount(WVT=46.08±3.41 vs NWVT=40.22±3.75;WVT=20.48±2.23 vs NWVT=16.60±2.82),with P<0.05.Furthermore,in the WVT group,both BBS score and FR distance(BBS:18.32±2.18;FR:10.00±0.92)increased more than that in the NWVT group(BBS:13.29±1.66;FR:6.16±0.95),with P<0.05.Meanwhile,in both groups,the TUGT and the MWS were improved after training(WVT=32.64±3.81 vs NWVT=39.56±3.68;WVT=12.73±2.26 vs NWVT=15.04±2.27,respectively),with P<0.05.The change in the WVT group(TUGT:17.49±1.88;MWS:6.79±0.81)was greater than that in the NWVT group(TUGT:10.76±1.42;MWS:4.84±0.58),with P<0.05.CONCLUSION The WVT could effectively improve the balance and walking function in stroke patients,which may be good for improving their quality of life.
