METHODS OF IMPROVING COMPUTATIONAL ACCURACY OF ROBOT DYNAMICS

In this paper the geometric meaning of robot systems is expounded based on the theory of multibody system. The error accumulation for the known algorithm is analyzed and the cause of ‘Energy consumption’ is revealed, the relationship between the coefficients of dynamic equation is derived so as to establish the canonical equations. The error accumulation of dynamics can be eliminated by using canonical equations and the symplectic integral method so that the computational accuracy can be ensured effectively. As an example, a planar robotics system is considered.

＂Oh Wow. Oh Wow. Oh Wow＂ Ontological Contexts and Transconceptual Interpretations of Death and Dying

In this paper, I examine Apple Founder Steve Job＇s final words ＂Oh wow. Oh wow. Oh wow＂ as uttered to his half-Sister Mona Simpson as a framework to explore how pre-experiential linguistic, social, and ontological patterns shape and construct consciousness and expressions at the final moment of death. Final words of passage provide society with insight into the experience of being human in the transition from life to death, both in their limitations and in their potential for providing a continuous fluidity of transformation. Understanding how these final words are transconceptual experiences will encourage us to reflect on alternative interpretative possibilities sensitive to ontological and logical contexts of death and dying providing a holistic alternative framework which is more congruent with individual spiritual needs.

The Gap Between Historical Narrative and Historical Facts： A Re-analysis of Li Xiehe＇s Political Decisions and Motivations During the Xinhai Revolution （1911）

As one of the leading figures in latter years of the Guangfuhui alliance, Li Xiehe＇s devotion to the revolution had a considerable impact on the growth and flourishing of the revolutionary force. During the Xinhai Revolution, his leadership as the Commander-in-Chief and collaborative efforts with Chen Qimei and other military leaders in restoring Shanghai, re-establishing the Restoration Army to assist rebellious actions in Nanjing and Wuhan, as well as their determination to march northward contributed greatly to the collapse of the Qing government. In its founding years of the Republic, Li retreated from the glory of his political success. Instead of winning him the due respect, however, his well-intentioned and humble act went tarnished by his later forced membership of the Chouanhui, a highly controversial topic in the literature. Adopting the relationship between the Tong- menghui and the Guangfuhui as a point of departure, this paper presents a thorough re-analysis of related historical accounts and various preoccupations surrounding Li, and assumed motivations of his political decisions, so as to reconstruct a truthful image of the debated historical figure.

Effect of Ermiao Fang with Xixin(Herba Asari Mandshurici) on bone marrow stem cell directional homing to a focal zone in an osteoarthritis rat model

OBJECTIVE: To investigate the effects of Ermiao Fang(EM) with medical guide Xixin(Herba Asari Mandshurici)(HAM) on bone marrow stem cell migration to a focal zone in osteoarthritis(OA) rats.METHODS: OA rats were induced by arthrectomy and assigned to sham-operated, model, EM, or EM plus HAM groups.All rats were injected with recombinant human granulocyte colony-stimulating factor 30μg·kg-1·d-1for7 days and treated with EMor EM plus HAM at 1.6 or 1.9 g·kg-1·d-1 for 3 or 6 weeks, respectively. Chondrocyte apoptosis and cartilage matrix components were tested by transferase-mediated deoxyuridine triphosphate-biotin nick end labeling assay and special staining. Levels of interleukin-1 beta(IL-1β) tumor necrosis factor alpha(TNF-α) nitric oxide(NO), and inducible nitric oxide synthase(iNOS) in serum were detected by enzyme-linked immunosorbent assay or radioimmunoassay. Matrix metalloproteinases(MMPs)-13,tissue inhibitors of metalloproteinases(TIMPs)-1,Bromodeoxyuridine(BrdU), cluster of differentiation 34(CD34), and stromal cell-derived factor 1(SDF-1) were measured by immunohistochemical assay.RESULTS:The EM and EM plus HAM groups had significantly less cartilage damage and synovium inflammation the model group. Moreover, the EM and EM plus HAM groups had less chondrocyte apoptosis and more proteoglycan and collagen content than the model group.The EM and EMplus HAM groups had obviously higher MMPs-13 and TIMPs-1 expression in the cartilage than the model group. Moreover, the two formula groups had less release of IL-1β, TNF-α, NO, and iNOS than model group. Importantly, the expressions of BrdU, CD34,and SDF-1 in cartilage were significantly higher in the EM and EM plus HAM-Medtreated rats than model group. Notably, the EM plus HAM treatment seemed to have the greatest effects.CONCLUSION: HAM improves the therapeutic effects of EM on OA rats by enhancing BMSC directional homing to the focal zone.