摘要：This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. This paper is focused on the cable-driven robot, which controls the pose of the lower limb through an orthosis placed on the patient＇s leg. The cable robot reproduces a normal gait movement through the motion of the orthosis. A motion capture system is used to perform the quantitative analysis of a normal gait, which will be used as an input to the inverse dynamic model of the cable robot. By means of an optimization algorithm, the optimal design parameters, which minimize the tensions in the cables, are determined. Two constraints are considered, i.e., a non-negative tension in the cables at all times, and a free cable/end-effector collision. Once the optimal solution is computed, a power analysis is carried out in order to size the robot actuators. The proposed approach can be easily extended for the design study of a similar type of cable robots.

摘要：This paper presents the first application of the bees algorithm to the optimisation of parameters of a two-dimensional （2D） recursive digital filter. The algorithm employs a search technique inspired by the foraging behaviour of honey bees. The results obtained show clear improvement compared to those produced by the widely adopted genetic algorithm （GA）.

摘要：RNAs of different shapes and sizes,natural or synthetic,can regulate gene expression in prokaryotes and *** RNAs have recently appeared to be more widespread than previously thought,but their role in prokaryotes remains ***,by inserting a riboregulatory sequence within a group I permuted intron-exon ribozyme,we created a small noncoding RNA that self-splices to produce a circular riboregulator in Escherichia *** showed that the resulting riboregulator can trans-activate gene expression by interacting with a cis-repressed messenger *** characterized the system with a fluorescent reporter and with an antibiotic resistance marker,and we modeled this novel posttranscriptional *** first reported example of a circular RNA regulating gene expression in *** adds to an increasing repertoire of RNA synthetic biology parts,and it highlights that topological molecules can play a role in the case of prokaryotic regulation.

摘要：Silicon(Si)is a promising anode material for next-generation Li-ion *** nanometer-sized Si could alleviate the pulverization caused by large volume changes during deep ***,compression between agglomerated Si particles causes Si cracking and electrode *** this,we engineered a mechanical cushioning space between Si particles via elastic hollow graphene shells(GSs)to flexibly buffer volume changes and maintain the stability of the electrode *** stress generated from the Si volume expansion during lithiation was mechanically buffered and gently released by compression of the hollow space of the *** this Si/GS composite electrode,GS also reduced the local agglomeration of Si particles and effectively improved the overall *** these advantages,the designed Si/GS electrode showed an enhanced cycling performance with more than 1200 mA h g^(-1) at 0.8 A g^(-1) and an excellent rate capability of 1025 mA h g^(-1) at 4 A g^(-1) after 200 cycles.