Bipedal Model and Hybrid Zero Dynamics of Human Walking with Foot Slip

Foot slip is one of the major causes of falls in human locomotion. Analytical bipedal models provide an insight into the complex slip dynamics and reactive control strategies for slip-induced fall prevention. Most of the existing bipedal dynamics models are built on no foot slip assumption and cannot be used directly for such analysis. We relax the no-slip assumption and present a new bipedal model to capture and predict human walking locomotion under slip. We first validate the proposed slip walking dynamic model by tuning and optimizing the model parameters to match the experimental results. The results demonstrate that the model successfully predicts both the human walking and recovery gaits with slip. Then, we extend the hybrid zero dynamics (HZD) model and properties to capture human walking with slip. We present the closed-form of the HZD for human walking and discuss the transition between the non-slip and slip states through slip recovery control design. The analysis and design are illustrated through human walking experiments. The models and analysis can be further used to design and control wearable robotic assistive devices to prevent slip-and-fall

Historical Shoreline Change Rate in Hualien City Taiwan

Source: ICHE Conference Archive - https://mdi-de.baw.de/icheArchiv

Water Volume and Salinity Forecasts of the Small Aral Sea for the Years 2025

The Aral Sea is a saline endorheic basin in Central Asia. From 1960 onwards the lake started to shrink because of the utilization of rivers water for irrigation purposes. Since the irrigation began, massive amounts water has been used. Therefore, the lake divided into two parts in 1987: the Small Aral Sea in the north and the Large Aral Sea in the south. In the Small Aral Sea, the average water salinity increased from 25-130 g/l from 1987 to 2011. From 1999-2011, the water volume of the Small Aral Sea increased from 12.6 to 22.0 km3. Holt's linear trend forecast method was used to predict the water volume and salinity of the Small Aral Sea from 2010 to 2025. The prediction results indicate that the water volume of the Small Aral Sea will increase to around 22.8 km3, and salinity of the Small Aral Sea will rise to approximately 190 g/l by 2025

Impact of Dams on River Sediment Transport and the Countermeasures－Using Dajia River Basin as an Example

Source: ICHE Conference Archive - https://mdi-de.baw.de/icheArchive

Coprescription of Chinese Herbal Medicine and Western Medications among Prostate Cancer Patients: A Population-Based Study in Taiwan

Use of herbal medicine is popular among cancer patients. This study aimed to explore the coprescription of CHM and WM among prostate cancer patients in Taiwan. This cross-sectional retrospective study used a population-based database containing one million beneficiaries of National Health Insurance. Claims and prescriptions were analyzed. In 2007, 218 (22.4%) prostate cancer patients were CHM users. Among CHM users, 200 (91.7%) patients with 5618 (79.5%) CHM prescriptions were on coprescription of CHM and WM. A total of 484 types of CHM and 930 types of WM were used. The most commonly used CHMs on coprescription were Shu Jing Huo Xue Tang, Ma Zi Ren Wan, and Xue Fu Zhu Yu Tang. The most commonly used WMs on coprescription were magnesium oxide, amlodipine, and aspirin. The average number of prescriptions per user per year was 261.2 versus 151.7 in all (P < 0.001), 123.6 versus 76.9 in WM (P = 0.033), and 34.8 versus 5.1 in CHM (P < 0.001) for patients with and without coprescription, respectively. In conclusion, use of CHM among prostate cancer patients was popular in Taiwan. Most CHMs were used with WM concurrently. The potential drug-herb interactions should be investigated, especially for patients with more prescriptions