To meet the stability requirements for moving quadruped robots, it is important to design a rational structure for a single leg and plan the trajectory of the foot. First, a novel electrically driven leg mechanism for a quadruped robot is designed in this paper to reduce the inertia of the leg swing. Second, a modified foot trajectory based on a compound cycloid is proposed, which has swing-back and retraction motion and continuous velocity in the x-axis direction. Third, a Simulink platform (...) is built to verify the correctness of the proposed foot trajectory. The simulation result shows that when the flight phase and the stand phase switch, the impact of torque is smaller than the foot trajectory before modification. Finally, an experimental platform is constructed, and a control algorithm is written into the controller to realize the foot proposed trajectory. The results of the experiment prove the feasibility of the leg mechanism and the rationality of the proposed foot trajectory. (shrink)

More and more research on left ventricle quantification skips segmentation due to its requirement of large amounts of pixel-by-pixel labels. In this study, a framework is developed to directly quantify left ventricle multiple indices without the process of segmentation. At first, DenseNet is utilized to extract spatial features for each cardiac frame. Then, in order to take advantage of the time sequence information, the temporal feature for consecutive frames is encoded using gated recurrent unit. After that, the attention mechanism is (...) integrated into the decoder to effectively establish the mappings between the input sequence and corresponding output sequence. Simultaneously, a regression layer with the same decoder output is used to predict multi-indices of the left ventricle. Different weights are set for different types of indices based on experience, and l2-norm is used to avoid model overfitting. Compared with the state-of-the-art, our method can not only produce more competitive results but also be more flexible. This is because the prediction results in our study can be obtained for each frame online while the SOTA only can output results after all frames are analyzed. (shrink)

本书是王森先生的遗作,如1989年出版的《中国逻辑史·唐明卷》中的《藏传因明》一章;梵文汉译的《胜论经》;梵文古写本《七句义论》校注;《正理滴论》、《中论》、《辨中边论》梵藏汉文会勘;贝叶本《俱舍论颂 》梵藏汉文索引;以及《正理滴论》梵汉对照索引等.