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This paper explores the design of humanoid complicated dynamic motion based on human motion capture. Captured human data must be adapted for the humanoid robot because its kinematics and dynamics mechanisms differ from those of the human actor. It is expected that humanoid movements are highly similar to those of the human actor. First, the kinematics constraints, including ground contact conditions, are formulated. Second, the similarity evaluation on the humanoid motion based on both the spatial and temporal factors compared with the human motion is proposed. Third, the method to obtain humanoid motion with high similarity is presented. Finally, the effectiveness of the proposed method is confirmed by simulations and experiments of our developed humanoid robot "sword" motion performance.

Multivariate recurrent event data are usually encountered in many clinical and longitudinal studies in which each study subject may experience multiple recurrent events. For the analysis of such data, most existing approaches have been proposed under the assumption that the censoring times are noninformative, which may not be true especially when the observation of recurrent events is terminated by a failure event. In this article, we consider regression analysis of multivariate recurrent event data with both time-dependent and time-independent covariates where the censoring times and the recurrent event process are allowed to be correlated via a frailty. The proposed joint model is flexible where both the distributions of censoring and frailty variables are left unspecified. We propose a pairwise pseudolikelihood approach and an estimating equation-based approach for estimating coefficients of time-dependent and time-independent covariates, respectively. The large sample properties of the proposed estimates are established, while the finite-sample properties are demonstrated by simulation studies. The proposed methods are applied to the analysis of a set of bivariate recurrent event data from a study of platelet transfusion reactions.

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Water resources utilization, social economy development, and ecological environment protection are key factors in regional sustainable development. Scientific evaluation of regional coordinated development status and diagnosis of regional uncoordinated development constraints will improve the management level of decision-makers. At present, most developing countries have the problem of unbalanced regional development caused by the one-sided pursuit of a certain system. Taking 14 prefecture-level cities in Hunan Province as cases, this paper analyzed the spatial and temporal distribution characteristics of the carrying capacity level of the water resources system, the development level of the social economy system and the protection level of the ecological environment system in each evaluation unit based on entropy weight method and order parameter analysis. Based on the theory of coordinated development, a calculation model of a coordinated development degree was constructed, and the corresponding evaluation criteria were formulated. The spatial and temporal distribution characteristics of a coordinated development degree in each research unit were analyzed and evaluated. The results showed that the average coordinated development degree of Hunan Province from 2004 to 2016 evolved from “Light disorder recession” to “Nearly disorder recession”, then to “Reluctance coordinated development”. Restricted by different systems, the coordinated development degree in each research unit presented spatial and temporal differences. According to different development stages and the characteristics of different regions, corresponding development strategies can be formulated to provide the guidance for coordinated the development of regions.

When a humanoid robot walks fast or runs, the yaw torque is so large that the supporting foot slips easily and the robot may become unstable. The compensation for the yaw torque is important for fast humanoid walking and many studies have been focusing on yaw torque compensation. However, the issue of humanoid robot motion design that can make the movements of the robot more human-like, as well as guarantee the stability of the robot, has not been studied in-depth. In this paper, the mechanism of yaw torque compensating for human walking is firstly studied. Then we propose a method to compensate yaw torque for a humanoid robot through the motion of the arms and waist joint based on the human yaw torque compensation mechanism and ZMP stability citation. Finally, the effectiveness of the proposed method is demonstrated by the results from the simulation and walking experiments on the newly developed BHR humanoid robot.

In this paper, an adaptive controller is designed to synchronize the chaotic dynamical network with unknown and mismatched parameters. Based on the invariance principle of differential equations, some generic sufficient conditions for asymptotic synchronization are obtained. In order to demonstrate the effectiveness of the proposed method, an example is provided and numerical simulations are performed. The numerical results show that our control scheme is very effective and robust against the weak noise.

Background Carotid atherosclerosis is a major cause of stroke, but the conclusion about risk factors for carotid atherosclerosis is still controversial. The aim of our present meta-analysis and systematic review was to explore the modifiable risk factors for carotid atherosclerosis. Methods We searched PubMed from January 1962 to October 2018 to include longitudinal and cross-sectional studies. The results were pooled using random effects model. Heterogeneity was measured by I2 statistic and publication bias was assessed by funnel plots. Results A total of 14,700 articles were screened, of which 76 with 27 factors were eligible. Our meta-analysis of cross-sectional studies indicated nine factors (hyperlipidemia, hyperhomocysteinemia, hypertension, hyperuricemia, smoking, metabolic syndrome, hypertriglyceridemia, diabetes, and higher low density lipoprotein) were significantly associated with the presence of carotid plaque, among which four (hyperlipidemia, hyperhomocysteinemia, hypertension, and hyperuricemia) could elevate the risk of atherosclerosis by at least 50%; and one factor (hypertension) was associated with increased carotid intima-media thickness. In the systematic review, another five factors (negative emotion, socioeconomic strain, alcohol, air pollution, and obstructive sleep apnea syndrome (OSAS)) were also related to the presence of atherosclerosis. The cross-sectional associations with most of the above 14 factors were further confirmed by longitudinal studies. Among them, the managements of 4 factors (hypertension, hyperlipidemia, diabetes and OSAS) were indicated to prevent carotid atherosclerosis by cohort studies. Conclusions Effective interventions targeting pre-existing disease, negative emotion, lifestyle and diet may reduce the risk of carotid atherosclerosis. Further good-quality prospective studies are needed to confirm these findings.