Inspired by kangaroo＇s locomotion, we report on developing a kangaroo-style hopping robot. Unlike bipeds, quadrupeds, or hexapods which altemate the legs for forward locomotion, the kangaroo uses both legs synchronou...Inspired by kangaroo＇s locomotion, we report on developing a kangaroo-style hopping robot. Unlike bipeds, quadrupeds, or hexapods which altemate the legs for forward locomotion, the kangaroo uses both legs synchronously and generates the forward locomotion by continuous hopping behavior, and the tail actively balances the unwanted angular momentum generated by the leg motion. In this work, we generate the Center of Mass （CoM） locomotion of the robot based on the reduced-order Rolling Spring Loaded Inverted Pendulum （R-SLIP） model, for matching the dynamic behavior of the empirical robot legs. In order to compensate the possible body pitch variation, the robot is equipped with an active tail for pitch variation compensation, emulating the balance mechanism of a kangaroo. The robot is empirically built, and various design issues and strategies are addressed. Finally, the experimental evaluation is executed to validate the performance of the kangaroo-style robot with hopping locomotion.展开更多
Background: Kangaroo Mother Care is a simple safe method used to care for low-birth-weight babies. Low-birth-weight is a global public health issue that pose significant challenge to perinatal care systems. Globally, ...Background: Kangaroo Mother Care is a simple safe method used to care for low-birth-weight babies. Low-birth-weight is a global public health issue that pose significant challenge to perinatal care systems. Globally, complications due to low-birth-weight are the leading cause of neonatal mortality, resulting in an estimated 1 million deaths annually. Kangaroo Mother Care (KMC) is a low-cost method of care for low-birth-weight infants in areas with inadequate incubators and power outages with positive outcomes. Objectives: To assess factors influencing acceptability of Kangaroo Mother Care (KMC) in NICU at Arthur Davison Children’s Hospital in Ndola, Zambia. Methodology: A cross sectional quantitative analytical study design was used. The study was conducted at Arthur Davison Children’s Hospital (ADCH) in Ndola, Zambia. The purposive sampling method was used to select the study participants and a total of 129 mothers with Low Weight Babies A were selected to participate structured closed ended questionnaire was used to collect data from the participants using an interview. Data was analyzed using a Statistical Package for Social Scientists (SPSS) software version 26. Cross tabulations were done to determine association of variables using a Chi square (x<sup>2</sup>) test at 95% confidence interval and were assumptions where not met, fishers exact test was used. Multivariate binary logistic regression analysis was used to quantify the relationship between the dependent and independent variables. Results: Most of the respondents had male babies 77%, 69% of the babies weighed 1000 g - 1400 g, majority 79% had normal delivery, 71% of the respondents were multigravida and most of the respondents 79% were married. The study reviewed that 85% of those who attained secondary education accepted KMC, 74% of the respondents without monthly income accepted KMC, 80% of the respondents had positive attitude and accepted KMC. 82% of the respondents who had positive perception accepted KMC. Conclusion: Acceptance of Kangaroo 展开更多
Background: Pain management for term newborns undergoing clustered painful procedures has not been tested. Kangaroo Care (chest-to-chest, skin-to-skin position of infant on mother) effectively reduces pain o...Background: Pain management for term newborns undergoing clustered painful procedures has not been tested. Kangaroo Care (chest-to-chest, skin-to-skin position of infant on mother) effectively reduces pain of single procedures, but its effect on pain from clustered procedures is not known. Aim: The aim was to test Kangaroo Care’s effect on pain in one term infant who received clustered painful procedures while determining feasibility of the Kangaroo Care intervention. Design, Setting, and Participant: A case study design was used with one healthy term newborn who received two heel sticks and one injection in one session in the mother’s postpartum room. Method: Heart rate and oxygen saturation (recorded from Massimo Pulse Oximeter every 30 seconds), crying time (total seconds of crying on videotape) and behavioral state (using Anderson Behavioral State Scoring system every 30 seconds) were measured before (5 minutes), during (10.5 minutes) and after (30 minutes) the three clustered painful procedures in a newborn who was in Kangaroo Care during all observations. One staff nurse administered the clustered procedures. Results: Heart rate increased sequentially with each heelstick, oxygen saturation remained unchanged, sleep predominated, and crying was minimal throughout the procedures. Conclusion: Kangaroo Care appeared to reduce pain from clustered painful procedures and can be further tested.展开更多
Background: Preterm birth is common in Morocco and it’s around 8%. Several management rules of taking care of preterm infants have been developed but have not been put into action. The geo-graphical inaccessibility t...Background: Preterm birth is common in Morocco and it’s around 8%. Several management rules of taking care of preterm infants have been developed but have not been put into action. The geo-graphical inaccessibility to specialized hospitals and the weakness of the reception capacity of the care centers hinder the management of the complications associated with preterm birth. Purpose: The present study is designed to present some epidemiological data of preterm births within the Provincial Hospital Center of Missour during 2012 and to discuss the various problems emerging in the management of treatment and care. Materials and Methods: Retrospective study of preterm births in the maternity ward in the Hospital of Missour during 2012. Results: 37 preterm births among 1121 (3.3%) have been analyzed (51.3% severe premature infants, 45.9% late preterm infants and 2.7% extremely premature infants). 64.2% are originally from difficult areas to reach during winter. All mothers have received upon arrival at the maternity a corticosteroid and calcium antagonists (Adalate*) and an antibiotic treatment to those with a positive infectious anamnesis found in half of the women. We have recorded 3 twin pregnancies and 2 gravidic toxemias. Only 21 babies have been given back to their mothers (namely 56.7%). 5 premature infants (namely 13%) have been referred to the university hospital center of Fez (2 respiratory distress, a malformation and 2 severe premature births) given that there is an absence of a specialized care unit at the hospital, knowing that no baby has received neither surfactant nor caffeine at birth. 14 premature babies (namely 37.8%) have been transferred to the pediatric unit with a total death rate of 16.2% (6 premature) mainly related to neonatal infection and to suffering of the hyaline membranes disease. Conclusion: We emphasize the interest of prevention programs which demand an early diagnosis of preterm birth threats and monitoring high-risk pregnancies, improving the medical care given to low-weight prem展开更多
Background: Kangaroo mother care (KMC) is effective in preventing hypothermia, establishing breastfeeding, and reducing nosocomial infection in preterm babies in resource-limited areas. Relatively little is known abou...Background: Kangaroo mother care (KMC) is effective in preventing hypothermia, establishing breastfeeding, and reducing nosocomial infection in preterm babies in resource-limited areas. Relatively little is known about long-term morbidity and mortality outcomes among Ethiopian infants managed with KMC. Aims: To describe the follow up profiles and outcome of infants managed with KMC and discharged alive. Methods: This cross-sectional descriptive study examined outcomes among infants who were 1) managed by KMC at Black Lion Hospital, 2) discharged alive, and 3) available for follow-up. Structured, pretested questionnaires were administered to mothers. Results: Of the 110 infants included in the study, 9.1% died over the study period and 60% of the deaths occurred at home. Mortality was 100% in those babies with mothers aged less than 18 years. Thirty five percent of the deaths occurred in those from rural location. Common medical problems identified in study subjects were respiratory infections (10%), gastroenteritis (7%), rickets (7%), and anemia (6%). About 20% of infants were readmitted to hospital at least once. KMC initiation within one week was not found to be significantly associated with survival, but continued KMC after discharge significantly decreased mortality in our sample. Conclusion: Frequent follow up is very important especially those with teenage mothers and coming from a rural location. Follow up should be frequent in the first 2 months after discharge. Further research is needed to explore the determinants of mortality and morbidity after hospital discharge.展开更多
为明确引起贵阳某动物园袋鼠馆袋鼠死亡的病原,本试验采集病料样本进行病理组织学观察和细菌分离鉴定。结果,切片可见死亡袋鼠肝脏出现肝细胞变性坏死,肝窦扩张淤血,脾脏白髓淋巴细胞减少,肠组织黏膜固有层炎性细胞浸润,黏膜下层血管扩...为明确引起贵阳某动物园袋鼠馆袋鼠死亡的病原,本试验采集病料样本进行病理组织学观察和细菌分离鉴定。结果,切片可见死亡袋鼠肝脏出现肝细胞变性坏死,肝窦扩张淤血,脾脏白髓淋巴细胞减少,肠组织黏膜固有层炎性细胞浸润,黏膜下层血管扩张淤血等病理变化。经分离培养后发现均一的菌落生长,且菌落形态、菌体特征和生化结果均符合豚鼠气单胞菌(Aerom onas caviae)特点,遂将其命名为Kangroo21株。该分离菌PCR扩增的16S r RNA序列与豚鼠气单胞菌广东湛江分离株的同源性高达97.4%,接种可致死小白鼠且分离得到原接种菌。药敏试验显示,该分离菌对庆大霉素、氧氟沙星、头孢他啶等9种抗生素敏感。这些结果表明,引起袋鼠死亡的病原是豚鼠气单胞菌,可用敏感抗生素进行预防和治疗。展开更多
在澳大利亚发生了一则袋鼠“路路”(Lulu)救主人的感人故事,但是让笔者感动的,除了故事本身之外,以下一句也让我感动不已:…called forLulu to be nominated(提名,推荐)for its annual national bravery award.(大意:提名授予路路年度...在澳大利亚发生了一则袋鼠“路路”(Lulu)救主人的感人故事,但是让笔者感动的,除了故事本身之外,以下一句也让我感动不已:…called forLulu to be nominated(提名,推荐)for its annual national bravery award.(大意:提名授予路路年度的勇敢者大奖)。国人是否也应该考虑为我们的动物朋友设立此奖项呢?展开更多
The discrete logarithm problem(DLP)is to find a solution n such that g^n=h in a finite cyclic group G=,where h∈G.The DLP is the security foundation of many cryptosystems,such as RSA.We propose a method to improve Pol...The discrete logarithm problem(DLP)is to find a solution n such that g^n=h in a finite cyclic group G=,where h∈G.The DLP is the security foundation of many cryptosystems,such as RSA.We propose a method to improve Pollard’s kangaroo algorithm,which is the classic algorithm for solving the DLP.In the proposed algorithm,the large integer multiplications are reduced by controlling whether to perform large integer multiplication.To control the process,the tools of expanding factor and jumping distance are introduced.The expanding factor is an indicator used to measure the probability of collision.Large integer multiplication is performed if the value of the expanding factor is greater than the given bound.The improved algorithm requires an average of(1.633+o(1))q(1/2)times of the large integer multiplications.In experiments,the average large integer multiplication times is approximately(1.5+o(1))q(1/2).展开更多
文摘Inspired by kangaroo＇s locomotion, we report on developing a kangaroo-style hopping robot. Unlike bipeds, quadrupeds, or hexapods which altemate the legs for forward locomotion, the kangaroo uses both legs synchronously and generates the forward locomotion by continuous hopping behavior, and the tail actively balances the unwanted angular momentum generated by the leg motion. In this work, we generate the Center of Mass （CoM） locomotion of the robot based on the reduced-order Rolling Spring Loaded Inverted Pendulum （R-SLIP） model, for matching the dynamic behavior of the empirical robot legs. In order to compensate the possible body pitch variation, the robot is equipped with an active tail for pitch variation compensation, emulating the balance mechanism of a kangaroo. The robot is empirically built, and various design issues and strategies are addressed. Finally, the experimental evaluation is executed to validate the performance of the kangaroo-style robot with hopping locomotion.
文摘Background: Kangaroo Mother Care is a simple safe method used to care for low-birth-weight babies. Low-birth-weight is a global public health issue that pose significant challenge to perinatal care systems. Globally, complications due to low-birth-weight are the leading cause of neonatal mortality, resulting in an estimated 1 million deaths annually. Kangaroo Mother Care (KMC) is a low-cost method of care for low-birth-weight infants in areas with inadequate incubators and power outages with positive outcomes. Objectives: To assess factors influencing acceptability of Kangaroo Mother Care (KMC) in NICU at Arthur Davison Children’s Hospital in Ndola, Zambia. Methodology: A cross sectional quantitative analytical study design was used. The study was conducted at Arthur Davison Children’s Hospital (ADCH) in Ndola, Zambia. The purposive sampling method was used to select the study participants and a total of 129 mothers with Low Weight Babies A were selected to participate structured closed ended questionnaire was used to collect data from the participants using an interview. Data was analyzed using a Statistical Package for Social Scientists (SPSS) software version 26. Cross tabulations were done to determine association of variables using a Chi square (x<sup>2</sup>) test at 95% confidence interval and were assumptions where not met, fishers exact test was used. Multivariate binary logistic regression analysis was used to quantify the relationship between the dependent and independent variables. Results: Most of the respondents had male babies 77%, 69% of the babies weighed 1000 g - 1400 g, majority 79% had normal delivery, 71% of the respondents were multigravida and most of the respondents 79% were married. The study reviewed that 85% of those who attained secondary education accepted KMC, 74% of the respondents without monthly income accepted KMC, 80% of the respondents had positive attitude and accepted KMC. 82% of the respondents who had positive perception accepted KMC. Conclusion: Acceptance of Kangaroo
文摘Background: Pain management for term newborns undergoing clustered painful procedures has not been tested. Kangaroo Care (chest-to-chest, skin-to-skin position of infant on mother) effectively reduces pain of single procedures, but its effect on pain from clustered procedures is not known. Aim: The aim was to test Kangaroo Care’s effect on pain in one term infant who received clustered painful procedures while determining feasibility of the Kangaroo Care intervention. Design, Setting, and Participant: A case study design was used with one healthy term newborn who received two heel sticks and one injection in one session in the mother’s postpartum room. Method: Heart rate and oxygen saturation (recorded from Massimo Pulse Oximeter every 30 seconds), crying time (total seconds of crying on videotape) and behavioral state (using Anderson Behavioral State Scoring system every 30 seconds) were measured before (5 minutes), during (10.5 minutes) and after (30 minutes) the three clustered painful procedures in a newborn who was in Kangaroo Care during all observations. One staff nurse administered the clustered procedures. Results: Heart rate increased sequentially with each heelstick, oxygen saturation remained unchanged, sleep predominated, and crying was minimal throughout the procedures. Conclusion: Kangaroo Care appeared to reduce pain from clustered painful procedures and can be further tested.
文摘Background: Preterm birth is common in Morocco and it’s around 8%. Several management rules of taking care of preterm infants have been developed but have not been put into action. The geo-graphical inaccessibility to specialized hospitals and the weakness of the reception capacity of the care centers hinder the management of the complications associated with preterm birth. Purpose: The present study is designed to present some epidemiological data of preterm births within the Provincial Hospital Center of Missour during 2012 and to discuss the various problems emerging in the management of treatment and care. Materials and Methods: Retrospective study of preterm births in the maternity ward in the Hospital of Missour during 2012. Results: 37 preterm births among 1121 (3.3%) have been analyzed (51.3% severe premature infants, 45.9% late preterm infants and 2.7% extremely premature infants). 64.2% are originally from difficult areas to reach during winter. All mothers have received upon arrival at the maternity a corticosteroid and calcium antagonists (Adalate*) and an antibiotic treatment to those with a positive infectious anamnesis found in half of the women. We have recorded 3 twin pregnancies and 2 gravidic toxemias. Only 21 babies have been given back to their mothers (namely 56.7%). 5 premature infants (namely 13%) have been referred to the university hospital center of Fez (2 respiratory distress, a malformation and 2 severe premature births) given that there is an absence of a specialized care unit at the hospital, knowing that no baby has received neither surfactant nor caffeine at birth. 14 premature babies (namely 37.8%) have been transferred to the pediatric unit with a total death rate of 16.2% (6 premature) mainly related to neonatal infection and to suffering of the hyaline membranes disease. Conclusion: We emphasize the interest of prevention programs which demand an early diagnosis of preterm birth threats and monitoring high-risk pregnancies, improving the medical care given to low-weight prem
文摘Background: Kangaroo mother care (KMC) is effective in preventing hypothermia, establishing breastfeeding, and reducing nosocomial infection in preterm babies in resource-limited areas. Relatively little is known about long-term morbidity and mortality outcomes among Ethiopian infants managed with KMC. Aims: To describe the follow up profiles and outcome of infants managed with KMC and discharged alive. Methods: This cross-sectional descriptive study examined outcomes among infants who were 1) managed by KMC at Black Lion Hospital, 2) discharged alive, and 3) available for follow-up. Structured, pretested questionnaires were administered to mothers. Results: Of the 110 infants included in the study, 9.1% died over the study period and 60% of the deaths occurred at home. Mortality was 100% in those babies with mothers aged less than 18 years. Thirty five percent of the deaths occurred in those from rural location. Common medical problems identified in study subjects were respiratory infections (10%), gastroenteritis (7%), rickets (7%), and anemia (6%). About 20% of infants were readmitted to hospital at least once. KMC initiation within one week was not found to be significantly associated with survival, but continued KMC after discharge significantly decreased mortality in our sample. Conclusion: Frequent follow up is very important especially those with teenage mothers and coming from a rural location. Follow up should be frequent in the first 2 months after discharge. Further research is needed to explore the determinants of mortality and morbidity after hospital discharge.
文摘为明确引起贵阳某动物园袋鼠馆袋鼠死亡的病原,本试验采集病料样本进行病理组织学观察和细菌分离鉴定。结果,切片可见死亡袋鼠肝脏出现肝细胞变性坏死,肝窦扩张淤血,脾脏白髓淋巴细胞减少,肠组织黏膜固有层炎性细胞浸润,黏膜下层血管扩张淤血等病理变化。经分离培养后发现均一的菌落生长,且菌落形态、菌体特征和生化结果均符合豚鼠气单胞菌(Aerom onas caviae)特点,遂将其命名为Kangroo21株。该分离菌PCR扩增的16S r RNA序列与豚鼠气单胞菌广东湛江分离株的同源性高达97.4%,接种可致死小白鼠且分离得到原接种菌。药敏试验显示,该分离菌对庆大霉素、氧氟沙星、头孢他啶等9种抗生素敏感。这些结果表明,引起袋鼠死亡的病原是豚鼠气单胞菌,可用敏感抗生素进行预防和治疗。
文摘在澳大利亚发生了一则袋鼠“路路”(Lulu)救主人的感人故事,但是让笔者感动的,除了故事本身之外,以下一句也让我感动不已:…called forLulu to be nominated(提名,推荐)for its annual national bravery award.(大意:提名授予路路年度的勇敢者大奖)。国人是否也应该考虑为我们的动物朋友设立此奖项呢?
基金partially supported by National Key R&D Program of China(no.2017YFB0802500)The 13th Five-Year National Cryptographic Development Foundation(no.MMJJ20180208)+1 种基金Beijing Science and Technology Commission(no.2181100002718001)NSF(no.61272039).
文摘The discrete logarithm problem(DLP)is to find a solution n such that g^n=h in a finite cyclic group G=,where h∈G.The DLP is the security foundation of many cryptosystems,such as RSA.We propose a method to improve Pollard’s kangaroo algorithm,which is the classic algorithm for solving the DLP.In the proposed algorithm,the large integer multiplications are reduced by controlling whether to perform large integer multiplication.To control the process,the tools of expanding factor and jumping distance are introduced.The expanding factor is an indicator used to measure the probability of collision.Large integer multiplication is performed if the value of the expanding factor is greater than the given bound.The improved algorithm requires an average of(1.633+o(1))q(1/2)times of the large integer multiplications.In experiments,the average large integer multiplication times is approximately(1.5+o(1))q(1/2).
