Whole-Body Dynamics for Humanoid Robot Fall Protection Trajectory Generation with Wall Support.

When humanoid robots work in human environments, they are prone to falling. However, when there are objects around that can be utilized, humanoid robots can leverage them to achieve balance. To address this issue, this paper established the state equation of a robot using a variable height-inverted pendulum model and implemented online trajectory optimization using model predictive control. For the arms' optimal joint angles during movement, this paper took the distributed polygon method to calculate the arm postures. To ensure that the robot reached the target position smoothly and rapidly during its motion, this paper adopts a whole-body motion control approach, establishing a cost function for multi-objective constraints on the robot's movement. These constraints include whole-body dynamics, center of mass constraints, arm's end effector constraints, friction constraints, and center of pressure constraints. In the simulation, four sets of methods were compared, and the experimental results indicate that compared to free fall motion, adopting the method proposed in this paper reduces the maximum acceleration of the robot when it touches the wall to 69.1 m/s2, effectively reducing the impact force upon landing. Finally, in the actual experiment, we positioned the robot 0.85 m away from the wall and applied a forward pushing force. We observed that the robot could stably land on the wall, and the impact force was within the range acceptable to the robot, confirming the practical effectiveness of the proposed method.

Urban mosquito management administration: Mosquito (Diptera: Culicidae) habitat surveillance and questionnaire survey in Wuhan, Central China.

BACKGROUND: Creating National Sanitary City (CNSC) promotes appearance, environment sanitation and public health including vector management of cities in China. However, vector management especially mosquito management and the related administrative productivity of Patriotic Health Campaign System (PHCS) of National Sanitary Cities (NSCs) were questioned by many pest control professionals and citizens. In this study, we studied mosquito management of NSCs taking Wuhan as an example. The study aimed to (1) determine the distribution and abundance of immature mosquito habitats in built-up areas of Wuhan and (2) better understand the related administration procedure in CNSC. METHODS: Immature mosquito habitat surveillance was carried out in randomly selected premises of driving schools (DSs), schools or kindergartens (SKs), property management residential areas (PMRAs), construction sites (CSs), wide roads with storm drains (WRSDs) and urban creeks (UCs) in built-up areas of Wuhan from July to October 2015 followed by questionnaire interviews with one each of premise occupants and district departments responsible for mosquito management in these premises. RESULTS: Total of 64.1 km of route were inspected in 36 DSs, 36 SKs, 36 PMRAs, 36 CSs and 36 segments of WRSD and 2,158 potential mosquito habitats with 749 (35%) mosquito-positive habitats were found. The route index (RI) was 11.7, which was 14.6 times higher than the grade C criteria for vector density control (RI = 0.8 positive habitats/km) in CNSC. Occupants of 36 DSs, 36 SKs, 36 PMRAs, 34 CSs were interviewed and 77% of them reported no difference in mosquito infestation in their premises since 2013 and 80% of them knew about the responsibility and arrangements of PHCS of mosquito management in their premises. Only 15% had the awareness of larval source reduction strategy and 14% had implemented it. Receipt the electronic/paper edition of CNSC vector management specifications from the PHCS was very low (13%) and an official notification or bulletin for rectification mosquito-positive habitats was also very low (5%). Of the 75 responsible district departments interviewed, about half (55%) reported that they had held training courses/meetings related to CNSC vector management, the majority (96%) reported that they had not carried out independent on-site supervision of premises under their jurisdiction. No differences in larval indices were found between premises which were administrative intervened and with no administrative intervention. CONCLUSIONS: The administrative intervention of PHCS had not evidently improved mosquito management of the premises in built-up areas in Wuhan. It is a violation of the original intention of the National Patriotic Health Campaign Committee in organizing CNSC programs. To combat mosquito borne diseases, and to improve the quality of life of residents, we recommend that PHCS honestly reveals defects in urban mosquito management and seriously takes those exposed defects. The PHCS should strengthen Patriotic Health Campaign activities by strict adherence to NSC standards. Further research on sustained promotion of urban mosquito management of NSCs, which focus on effective administration, as well as on improvement of related sectors of NSC standards should be carried out.

Mosquito (Diptera: Culicidae) Habitat Surveillance by Android Mobile Devices in Guangzhou, China.

In 2014, Guangzhou City, South China, suffered from its worst outbreak of dengue fever in decades. Larval mosquito habitat surveillance was carried out by using android mobile devices in four study sites in May 2015. The habitats with larval mosquitoes were recorded as photo waypoints in OruxMaps or in videos. The total number of potential mosquito habitats was 342, of which 166 (49%) were found to have mosquito larvae or pupae. Small containers were the most abundant potential habitats, accounting for 26% of the total number. More mosquito larvae and pupae, were found in small containers than in other objects holding water, for example, potted or hydroponic plants (p < 0.05). Mosquito larvae were collected from all plastic road barriers, used tires, and underground water. Aedes albopictus larvae were found from small and large containers, stumps, among others. The overall route index (RI) was 11.3, which was 14.2 times higher than the grade C criteria of the National Patriotic Health Campaign Committee (NPHCC), China. The higher RIs were found from the bird and flower markets, schools, and underground parking lots. The results indicated that Android mobile devices are a convenient and useful tool for surveillance of mosquito habitats, and the enhancement of source reduction may benefit the prevention and control of dengue vector mosquitoes.

CF3I synthesis catalyzed by activated carbon: a density functional theory study.

A revised reaction mechanism of CF3I synthesis catalyzed by activated carbon is investigated with quantum chemistry methods using density functional theory (DFT). The adsorption configurations of possible intermediates are carefully examined. The reaction pathway and related transition states are also analyzed. According to our calculations, first, the dehydrofluorination of CHF3 is catalyzed by -COOH groups, which possesses the highest barrier and is accordingly identified as the rate-determining step. Second, the difluorocarbene disproportionation over graphite (001) surface proceeds instead of dimerization. The next reaction steps involving the association of fluoromethine and trifluoromethyl, the fluorine abstractions between intermediates and the iodine abstractions by the desorbed CF3 and CF2CF3 from molecular iodine are also feasible over graphite (001) surfaces. It is also found that the coke deposition in experiments is due to the fluorine abstraction from fluoromethine. This revised mechanism is in agreement with available experimental data and our theoretical computations.

Dynamics of hantavirus infections in humans and animals in Wuhan city, Hubei, China.

Hemorrhagic fever with renal syndrome (HFRS) has been a significant public problem since the first cases were reported in 1961 in Wuhan city (capital of Hubei province of China). Epidemiological surveys were carried out to better understand the dynamics of hantavirus infection in humans and animals in Wuhan. During 1961-2011, a total of 21,820 HFRS cases were registered in Wuhan. The two large epidemics had occurred during 1970-1991. They reached peaks in 1973 and 1983, respectively. There have been <10 cases since 2005. The disease occurred in the whole region including the downtown areas, but mainly in two districts. Although in 1980s and 1990s HFRS cases mainly recorded in August and winter, since 2000 the disease has mainly occurred in spring and summer. In this study, hantaviruses were identified in Apodemus mice, Rattus rats, and Mus mice by indirect immunofluorescent-assay and RT-PCR. Serological and genetic analyses showed that Hantaan virus (HTNV) and Seoul virus (SEOV) co-circulated in rodents. Phylogenetic analysis of hantaviral genome sequences revealed a novel genetic lineage of HTNV circulating in rodents in Wuhan. Another lineage of HTNV was closely related to the lineages from the provinces located in the origin and delta of Yangtze River. Remarkably, SEOV variants identified in Wuhan were more closely related to the variants found outside China. Results of the present study showed that HFRS cases in Wuhan are caused by HTNV and SEOV. Phylogenetic analysis of the hantavirus sequences revealed that a novel genetic lineage of HTNV is present in rodents in Wuhan.

[Analysis of sequence and genotype of E gene of the newly isolated Japanese encephalitis virus strains in Wuhan, Hubei Province].

OBJECTIVE: To analyze the molecular characteristics of the newly isolated two Japanese encephalitis virus strains (JEV) in Wuhan. METHODS: The mosquitoes were collected in Wuhan from April to October in 2009. The envelope (E) protein gene of JEV was detected using RT-PCR and sequenced. Sequence comparisons and phylogenetic analysis were conducted using DNAstar and MegAlign. RESULTS: Two Japanese encephalitis virus (JEV) strains (WHJX09-9, WHJX09-10) were isolated from Culex tritaeniorhynchus among 16 mosquito pools and identified as genotype I. The result showed that the homology of the two strains was 98. 9% in nucleotides and 100% in deduced amines. The comparison between the new genotype 1 JEV strains and live attenuated vaccine strain SA14-14-2 in E gene showed that the homology of nucleotide sequence was 87.4% and 87.9%, the homology of amino acid was 96.9% (total 15 amino acid were different) in E gene. The mutation sites of amino acid distributed among three different coding domain, but no antigen binding site and neurotoxin-involved site of amino acid were changed. CONCLUSION: Wuhan had appeared a new genotype of JEV which was different from the former strain isolated in Wuhan, the new JEV strains still had neurotoxicity but had high homology with the vaccine strains adopted in Wuhan. The vaccine could still be adopted to prevent Japanese encephalitis if steps were take to eradicate mosquitos at the same time. laboratory surveillance were also an important task to build an early-warning mechanism against JEV.