The quadruped robot is subject to self and external interference during the running process. In this paper, in order to improve the stability of the quadruped robot, a disturbance suppression strategy based on the kinematic model and the virtual model is proposed. Through the whole-body kinematics modeling of the body, the cause of the disturbance is analyzed. At the same time, two spring-damping virtual elements are introduced on the body. The virtual force generated by the spring-damping model is according to (...) the displacement and speed of the CoM when the robot is moving. By simulating the tort gait of the robot, sorting out the data obtained from the experiment, and drawing a comparison curve with the experiment results of the no spring-damping virtual element under the same conditions, it is proved that the method proposed in this paper has a significant effect on maintaining the dynamic stability of the body, and the actual trajectory is not different from the theoretical trajectory. (shrink)

In this paper, a lightweight and modular design of a quadruped robot with two-degree-of-freedom parallel legs is presented. To reduce the weight and enhance the transmission accuracy, the horizontal layout of the driving end is adopted for designing the legs of the quadruped robot. The rotation angle of each actuator for the quadruped robot is analyzed by the inverse kinematics algorithm. Moreover, the trajectory of the foot-end, including support and swing phases, is planned to reduce the impact between the foot-end (...) and the ground. Furthermore, the gait of the four legs of the quadruped robot is designed by considering the conditions of trot, standing, take-off, and walking. Finally, the effectiveness of the foot-end trajectory and the stable gait is verified by conducting experiments on a prototype platform. (shrink)

Selective retrieval of task-relevant information often facilitates memory retention of that information. However, it is still unclear if selective retrieval of task-relevant information can alter memory for task-irrelevant information, and the role of emotional arousal in it. In two experiments, we used emotional and neutral faces as stimuli, and participants were asked to memorise the name (who is this person?) and location (where does he/she come from?) associated with each face in initial study. Then, half of the studied faces were (...) presented as cues, and participants were asked to retrieve the corresponding names (Experiment 1) or locations (Experiment 2). Finally, all the faces were presented and participants were asked to retrieve both the corresponding names and locations. The results of the final test showed that retrieval practice not only enhanced memory of task-relevant information but also enhanced memory of task-irrelevant information. More importantly, negative emotion amplified the retrieval practice effect overall, with a larger retrieval-induced benefit for the negative than neutral condition. These findings demonstrated an emotional arousal amplification effect on retrieval-induced enhancement effects, suggesting that the advantage of the retrieved memory representations can be amplified by emotional arousal even without explicit goals in a task setting. (shrink)

BackgroundThe Basal ganglia (BG) played a crucial role in the brain-level mechanisms of chronic pain disorders. However, the functional changes of BG in chronic prostatitis/chronic pelvic pain syndrome (CP/CPPS) are still poorly understood. This study investigated the BG subregions’ resting-state functional connectivity (rs-FC) in CP/CPPS patients compared with healthy controls.MethodsTwenty eight patients with CP/CPPS and 28 age- and education-matched healthy males underwent clinical measurements and 3T brain MR imaging, including T1-weighted structural images and resting-state functional imaging. The data were analyzed (...) by the seeded-based rs-FC analysis. Then, a machine learning method was applied to assess the feasibility of detecting CP/CPPS patients through the changed rs-FC.ResultsCompared with healthy males, patients presented decreased rs-FC between the BG subregions and right middle cingulate cortex, and correlated with pain (r = 0.51, p-uncorrected = 0.005) and urinary symptoms (r = –0.4, p-uncorrected = 0.034). The left superior temporal gyrus and right supramarginal gyrus showed decreased rs-FC with the BG subregions as well. The area under the receiver operating characteristic curve of 0.943 (accuracy = 80%, F1-score = 80.6%) was achieved for the classification of CP/CPPS patients and healthy males with support vector machine (SVM) based on the changed rs-FC.ConclusionThese findings provide evidence of altered BG subregions’ rs-FC in CP/CPPS, which may contribute to our understanding of the BG’s role in CP/CPPS. (shrink)

Stress is prevalent in our daily life, and people often make moral decision-making in a stressful state. Several studies have indicated the influence of acute stress on moral decision-making and behavior. The present study extended the investigation to chronic stress, and employed a new approach, the CNI model, to add new insights regarding the mechanism underlying the association between chronic stress and moral decision-making. A total of 197 undergraduates completed the Perceived Stress Scale and made moral decision-making on a series (...) of deliberately designed moral dilemmas. The results indicated that the high-stress group (one standard deviation above the mean) preferred more deontological options than the low-stress group (one standard deviation below the mean). Process-dissociation analysis revealed that the two groups had differences on deontological inclinations but not on utilitarian inclinations. And CNI model analyses suggested that the high-stress group showed a stronger general preference for inaction than the low-stress group did, but there were no significant differences in sensitivity to consequences or sensitivity to moral norms between the two groups. Finally, the implications of our findings were discussed. (shrink)

ObjectivesAcupuncture therapy has been used for cognitive impairment-related diseases, however, there are still few studies on the overall trend of acupuncture therapy on cognitive impairment based on bibliometric analysis. The purpose of this study was to explore the research trend of the impact of acupuncture on cognitive impairment in the past 15 years, analyze the research trends and hotspots, and provide new ideas and theoretical basis for future research directions.MethodsFrom the Web of Science Core Collection, the relevant literature on the (...) treatment of cognitive impairment with acupuncture from 2007 to 2022 was retrieved. Then, based on the CiteSpace and VOSviewer software of the Java platform, the cooperation between countries and institutions in this field, the co-citation of journals and documents, and the cooperation between authors and authors, etc. were analyzed. In addition, the co-occurrence and burst analysis of keywords are also carried out, and a visual knowledge map is drawn.ResultsAs of August 08, 2022, a total of 394 records related to the treatment of cognitive impairment with acupuncture were identified. The analysis results show: The number and rate of annual publications have steadily increased, with some fluctuations from year to year. The countries that contribute the most to this field are China and the USA. Among them, Beijing University of Chinese Medicine and Capital Medical University are tied for first place in terms of the number of published papers. Tao Jing is the most prolific author and the number one cited author.ConclusionsThe number of publications on acupuncture for cognitive impairment is expected to increase rapidly in future research, suggesting a bright future for the field. Future research hotspots will focus on pain, injury, protocol, diagnosis, guidelines, etc. It is also necessary to strengthen cross-regional and cross-country cooperation among various academic groups. (shrink)

Lifelong premature ejaculation (LPE) is a common male sexual dysfunction. Lack of active control for rapid ejaculation brought great distress to sexual harmony, and even fertility. Previous neurophysiology studies revealed an ejaculation-related control mechanism in the brain. However, it remains unclear whether this inhibitory network is altered in LPE patients. The present study investigated the central inhibitory network function of LPE patients by using stop signal task-related functional magnetic resonance imaging and resting-state functional connectivity analysis. The results showed no difference (...) in task-related behavioral performance or neural activation during response inhibition between LPE patients and controls. However, LPE patients showed a significantly different correlation pattern between the stop signal reaction time (SSRT) and left inferior frontal gyrus activation during successful inhibition, in which a typical negative correlation between SSRT and the activation was completely disappeared in patients. In addition, using the left inferior frontal gyrus as a seed, patients showed weaker functional connectivity between the seed and two areas (left dental nucleus and right frontal pole) compared with controls. These data suggest that LPE patients have an abnormal brain control network, which may contribute to the reduced central control of rapid ejaculation. This study provides new insights into the neural mechanism of LPE involving the central inhibitory network, which may offer an underlying intervention target for future treatment. (shrink)

With the increase in depth of coal mining, the hydrogeological complexity largely increases and water inrush accidents happen more frequently. For the safety of coal mining, horizontal directional drilling and grouting techniques have been implemented to detect and plug the fractures and conduits that deliver high-pressure groundwater to coal mine. Taking the grouting engineering performed at Xingdong coal mine at 980 m below sea level as an example, we collected the data of grouting quantity, the loss of drilling fluid, gamma (...) value, water temperature, average water absorption, distance between grouting loss points, water pressure on coal seam floor, and aquifuge thickness at 90 boreholes in the mine to conduct grey relational analysis, first. The analysis showed that the grouting quantity was highly correlated with all other factors. Subsequently, grey system evaluation was used to evaluate the risk of water inrush from the coal seam floor. The results of risk analysis illustrated that three water inrushes from Ordovician limestone occurred in mining face 2127, 2125, and 2222 in the study area were all located in the area with a risk score higher than 65. Through grouting, the identified cracks were effectively blocked and waterproof layers beneath the coal seam floors were constructed to reduce the threat of water inrush. By comparing the risk assessment results with three water inrush cases before grouting operation, we found that water inrush areas were consistent with the area of higher risk. (shrink)

本书主要内容包括:名理、玄言和风度;从“九品中正制”到《人物志》;得“意”忘“象”;枉入红尘的“逸气”和“弃才”;适性逍遥;《易》外别传;“空”“无”之辨;“言不尽意”和“寄言出意”等.

本书包括:远古夏商周时期的哲学思想;春秋战国秦汉时期的哲学思想;东汉末至两宋时期的哲学思想;元明清近现代时期的哲学思想等内容。.

本书内容包括:社区与精神文明、城市社区精神文明建设的历史考察、社区服务与城市社区精神文明建设、社区文化与城市社区精神文明建设、社区环境与城市社区精神文明建设、社区精神与城市社区精神文明建设等.

Ben shu yan jiu zhong guo li shi shang jia zhi si xiang de yan bian he jia zhi chuan tong de xing cheng, bing zai ci ji chu shang ti chu xin shi dai zhong guo jia zhi ge ming de mu biao he ren wu.

Perceived trust is a key factor affecting the behavior to donate online. In order to further explore the factors and influencing mechanisms that affect the success of medical crowdfunding projects, this paper, combined with the Stimulus-Organism-Response theory, introduces the mediating variable of social presence and perceived differences in trust, and constructs a model of online users’ donation behavior to medical crowdfunding projects. We collected 437 valid samples through a questionnaire survey, and processed the data with SPSS and Amos software to (...) test and analyze the theoretical model. The research results showed that project description and user participation have a significant positive effect on social presence; project transparency and patient identity have a significant negative effect on perceived differences in trust; social presence has a positive effect on donation behavior, while the perceived difference in trust has a negative effect; social presence and perceived differences in trust play a mediating role respectively; there is no significant effect of patient status on social presence. This study further expands the application of social presence and perceived differences in trust in medical crowdfunding, and provides a theoretical basis for the success of medical crowdfunding projects. (shrink)

本书内容包括:张载及关学研究,涉及张载的礼学、易学、气学以及张载的思想特征等。曹南冥学术思想的研究,内容涉及南冥学的思想特征,曹南冥的理气观、社会观以及南冥与同时代的李退溪等人的比较研究等;儒学与东亚 文明的研究,内容涉及儒学的形上学等。.

Embroidery is a part of the needlework that is one of the four virtues of women in ancient times, including “appearance, speech, needlework and behavior”. (Chen Baoliang, 2004) The education of women in old times mainly focused on the "feminine virtues" and "needlework". Due to cultivation at an early age, the upper-class women were mostly clever and intelligent, and did not have to earn their own living. Because of the restraints of the traditional society, they could not devote too much (...) of their time and energy to the technical improvement of the needlework. The embroidery works of women in the Ming and Qing dynasties, however, show different characteristics from that of the previous age. They skillfully adopted the ideas of old masters, and with continuation and development, they showed signs to separate embroidery from traditional needlework, eventually making it into an independent art. (shrink)

Abstract:With the development of literati gardens during the Ming dynasty (1368–1644), the layout and design level of gardens reached an unprecedented height. As the representative of Suzhou gardens, The Humble Administrator's Garden (Zhuozhengyuan, 拙政园, 1530) has unique natural conditions and mature garden design, and its water management art is particularly exquisite. The best-preserved graphic information of The Humble Administrator's Garden are the poems and paintings by Wen Zhengming (文徵明, 1470–1559), including Thirty-One Scenes of The Humble Administrator's Garden (拙政园三十一景图, 1533), (...) thirty landscape poems, and the biography Wang's Humble Administrator's Garden (王氏拙政园记, 1533). As the research object, this article aims to restore the image of The Humble Administrator's Garden by analyzing the water scene of the garden, summarizing its water technique and art, and extracting "Source of inflowing water" (为有源头活水来), "Esteem the mountain, revere the water, imitate the heaven and earth" (敬山畏水, 象天法地), "Fusion of the imitation of nature and the subjective ideas of the artist" (外师造化, 中得心源), and "Free and unfettered, enjoy the joy of leisure" (逍遥自得, 享闲居之乐) as the water aesthetic thoughts of the garden. In addition, this article provides some reference for the current landscape design. (shrink)

本书以环境问题的提出为切入点,运用系统范式考察环境问题的成因,落足于可持续发展战略下重建人与自然和人与人的和谐关系,这一作者思考环境的最终结论之上。.

This essay accounts for Mengzi’s 孟子 failure in persuading King Xuan of Qi (Qi Xuan Wang 齊宣王) to act morally. We argue that the distinction between internal and external reasons in contemporary philosophy helps to highlight the nature of the failure. The problem of nontransmission of the compassionate impulse within a person despite moral persuasion, which Mencians need to address in order to enhance the success of moral conversion, is now explained as a result of misdirecting the advisee (...) to the lofty ideal of sagehood. We conclude by proposing a proleptic understanding of external reasons within a pragmatic model of giving moral advice. (shrink)