Analysis on formula principles for“head wind”disease based on apriori and clustering algorithm

Objective:To explore the formula principles for“head wind”disease by data-mining and provide reference for the treatment of“head wind”disease.Methods:Prescriptions for headache from“Dictionary of Traditional Chinese Medicine Prescriptions”were collected,sorted and entered into the“Traditional Chinese Medicine Inheritance System”(V2.5)to analyze the composition principles by the methods of revised mutual information,complex system entropy cluster and unsupervised hierarchical cluster.Results:The herbs with high usage frequency in these prescriptions for“head wind”disease included Chuan-xiong,Bai-zhi,Xi-xin,Fang-feng,Gan-cao,Shi-Gao and Qiang-Huo.Three new prescriptions were obtained based on the composition principles and rules.The first new prescription is composed of Quan-xie,Xiong-huang,Jiang-can,Zhi-chuan-wu and Di-long.The second new prescription is composed of Du-huo,Rou-gui,Ku-shen;Fang-feng,Gao-ben,Qiang-huo.The third new prescription is composed of Fu-zi,Sheng-chuan-wu,Tian-nan-xing,Chuan-xiong,Bai-zhi,Shi-gao.Conclusion:We found that the most of herbs used to treat the“head wind”disease are warm and spicy,mainly belong to diaphoretic herbs,wind-expelling herbs,and dampness-dispelling herbs.In addition,the new prescriptions for infertility mainly focus on eliminating evil,with the characteristics of“eliminating phlegm and turbid”,“dredging the channels and collaterals”,“expelling wind-evil”and“promoting blood circulation”.

A Position and Torque Switching Control Method for Robot Collision Safety

With the increasing number of human-robot interaction applications, robot control characteristics and their effects on safety as well as performance should be taken account into the robot control system. In this paper, a position and torque switching con- trol method was proposed to improve the robot safety and performance, when robots and humans work in the same space. The switch- ing control method includes two modes, the position control mode using a proportion-integral （PI） algorithm, and the torque control mode using sliding mode control （SMC） algorithm for eliminating swing. Under the normal condition, the robot works in position con- trol mode for trajectory tracking with quick response. Once the robot and human collide, the robot will switch to torque control mode immediately, and the impact force will be restricted within a safe range. When the robot and human detach, the robot will resume to po- sition control mode automatically. Moreover, for a better performance, the joint torque is detected fl＇om direct-current （DC） motor＇s cur- rent rather than the torque sensor. The experiment results show that the proposed approach is effective and feasible.