Search

Human-like features, like toe-off, heel-strike can enhance the performance of bipedal robots. However, few studies have considered the anthropomorphism of walking planning. Fewer studies have achieved their toe-off, heel-strike gait planning framework in a child-sized humanoid robot platform. This paper presents a human-like walking control framework based on the Divergent Component of Motion (DCM) com planning method that enables a child-sized humanoid robot to walk with a humanoid pattern with a speed of 0.6 s per step a strike of 30 cm. The control framework consists of three parts: the human-like gait generation of the center of mass (CoM) and swings foot trajectory, the dynamic replan in phase switch and the upper body stabilization controller. The dynamic replanning of the CoM and foot trajectory can efficiently decrease the vibration in the step-phase switch. The up-body stabilization controller can reduce the up-body swing in walking and increase the robot's stability while walking. The robot uses a mems-based inertial measurement unit (IMU) and joint position encoders to estimate the current state of the robot and use force-sensitive resistors (FSR) on the robot foot to identify the actual step phase of the robot. None of these solutions is high-cost or difficult to integrate with a child-size robot. Software simulations and walking experiments are using to verify the motion control algorithm. The effectiveness of the pattern generation and the controller can realize more human-like walking styles in a child-size robot are confirmed.

As a support network of the smart grid, the reliability of electric power communication network has become the prerequisites of the smart grid to become intelligent and economic, and operate safely. This paper mainly studies the vulnerability of the electric power communication network, so as to provide a strong guarantee and support for electric power production. Vulnerability, as an effective measure of network reliability, can measure the performance of the network under attack or equipment failure. Here we put forward an analysis method about the vulnerability of the electric power communication network business layer, based on the importance of electric power business: in view of the uncertainty produced during expert evaluation link in importance evaluation of traditional electric power business, we put forward an objective standards instead of experts subjective rating business importance evaluation method, namely characteristic index evaluation method. Introduction With the booming of electric power technology, electric system higher the requirements on communication security. The vulnerabilities in electric power communication system lead to incidents. In the traditional analysis, we use reliability index to analyze the electric power communication system. The reliability index only relies on the amount of known incident type, which is unable to reflect the defect of the system and it is not conducive to improve the system. However, the evaluation based on the concept of vulnerability synthesize the safety index, reflect the system security level in general. The network vulnerability, as an effective measure to the system reliability, reflects decline degree of network performance on different network unit and point out the weak link in the network, which supports network planning and risk management. In this paper, we first state the concept of electric power telecommunication network and its main business. Second, we elaborate the development status of electric power communication network. Then we discuss the basic concept of the vulnerability and its characteristics. After that we confirm the measurement index of the vulnerability. At last, we put forward an electric power communication network business layer model of its vulnerability. In this model, an electric power business importance evaluation method is proposed, in which the expert subjective rating is replaced by objective indicators. It eliminates the subjective uncertainty of evaluation results. Then we use business importance as parameters. We build the electric power communication network model on the business layer and analyze the vulnerability of electric power communication network in various link failure model. At last, we adjust the weak link in the network according to the results to improve the network performance. 2nd International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII 2016) © 2016. The authors Published by Atlantis Press 185 The concept of electric power communication network Power Line Communication, whose full name is Power Line Carrier Communication, is a special communication method using high voltage power lines, medium voltage power line and low voltage power line as information transmission medium for voice or data transmission. Network vulnerability as an effective measure of network reliability measures the network performance when network is attacked or equipment naturally fails. It reflects various decline degree when different network unit fails and point out the weak link in the network to support the network programming and risk management. Electric power communication business is divided to production business and management business. There are a large amount of indexes to describe network vulnerability, such as integrity, expansivity and so on. In the traditional network vulnerability analysis, we consider rather less on categories and characteristics of network transmission business, which has its limitation. Development of electric power communication network Public network is lack of communication capacity and develops slowly. There are various types of business in the public communication network. The business with huge span makes it difficult to refine the network performance index to the business layer. As the electric communication network special for electric system, the demand of improving communication capability and satisfy to meet the special request of the electric system arises. Because of the specificity of the electric system, power generation, transmission, substation, power distribution is conducted at the same time and distribution area is very extensive. In order to reasonable economic power generation, distribution of electricity and timely find and deal with the faults of power system, we have to set up an electric power system for unified management and need a safeguard of electric power communication system to supervise the whole process of electric power system and detection. These days, electric power communication network in China has made great progress with the development of the power system. After years of development, communication institutions and team should have a certain scale and to create a good academic atmosphere. Even so, there are still some defects in our country contrast to the big trend in the development of the global telecommunications and direction of the development of electric power communication around the world electric power communication network at present. The network structure is weak. The main electric power communication network structure is complex, mainly tree or star structure, difficult to form a roundabout circuit. Hence, it is difficult to reasonable share through the detour once the fault happens. Communication system is relatively backward and main circuit over term service. Many circuits operate for ages, over the term of scrap. It is difficult to complete the integrated digital business. Network access and network management is weak. The current user access is telephone lines in general or the analog signal interface. Difficult as the network management information is collected, it is hard to form a comprehensive network management system. The basic concept of vulnerability In system safety point of view, vulnerability refers to exist in a weakness or defect in the system, system for a specific threat attack or the sensitivity of risk events and the possibility of the threat of attack effect. The index of vulnerability and other indexes have fundamental difference.

The donation from charitable foundations is playing an increasingly important role in the source of financial support for colleges and universities. How to generate an optimal investment strategy is a problem that every foundation concerns. In this paper, we construct a model to select institutions with high potential for effectively utilizing funding and high education performance. Then we determine the investment amount and the duration of each institution, which leads to the calculation of the estimated return. To evaluate candidate schools, we find the official data from the U.S. National Center on Education Statistics, which maintains an extensive database of survey information on nearly all post-secondary colleges and universities in the United States. Then we categorize the indexes into eight metrics based on two aspects: institution features and student features. Using Classification Index Comprehensive Evaluation model based on Principal Component Analysis method, we get the rankings of candidate schools. However, the relevance of the metrics leads to deviation on the model results. Hence we propose an optimal model. First, we objectively obtain the relative materiality between the metrics by determining indexes weight using Fractal Dimension method. Second, we formulate the Mahalanobis Distance-based TOPSIS Evaluation method to work out the reasonable ranking by eliminating impacts due to correlation metrics using sample covariance matrix. In order to get the investment amount and the duration of each institution, we generate a Discrete Time Investment Portfolio Optimization model setting the estimated return as the objective function based on the Markowitz Fund Allocation model. In the real life, the estimated return dropped greatly when the proportion of our investment to the institution total funding shows a consistently low level. Accordingly, our model introduces a concept of Efficiency Factor to optimize the model and reveals the potential institutions. At last, we perform a sensitivity analysis on normalized parameter and index weight of factors affecting the estimated return of Fractal Dimension method. Result is almost not affected by the change of the factors. Strengths and weaknesses of our model are also discussed in the paper. The model can also be applied in the investments such as stocks.

With the development of economy, Chinese urbanization has accelerated already, the people's living standards and quality of life have also increased steadily, and car ownership has gradually increased. Traffic congestion caused by a series of reasons including road planning and traffic control has become a big problem which cannot be ignored blocking the urbanization city. This paper chooses Huilongguan area as the research object, visiting the residents there and field research, we acquire the relevant data and then analyze environmental pollution, energy consumption and various losses which brought by the traffic congestion. Finally, provide the improvement of the relevant recommendations.

The capD gene, encoding a polysaccharide biosynthesis protein, was identified previously as a differential gene between Haemophilus parasuis virulent strain Nagasaki and avirulent strain SW114; however, the characteristics of this gene associating with the pathogenicity of H. parasuis remain unclear. Here, the capD deletion mutant (ΔcapD) and its complement strain (C-capD) were generated in H. parasuis virulent strain SH0165. The deletion of capD gene significantly attenuated the pathogenicity of the SH0165 strain, while the complementation of this gene largely recovered the pathogenicity to piglets. Additionally, the ΔcapD strain could not be recovered from piglets after challenge, while both SH0165 and C-capD strains were recovered from most systemic sites. Moreover, the ΔcapD strain exhibited an extreme sensitivity to the complement-mediated killing compared with SH0165 strain, while its serum-resistance ability largely restored with the capD gene complementation. These data present the evidence that the capD gene is a novel pathogenicity-associated determinant and involved in serum-resistance ability of H. parasuis.