Real-Time Footprint Planning and Model Predictive Control Based Method for Stable Biped Walking.

In order to walk in a physical environment, the biped will encounter various external disturbances, and walking under persistent conditions is still challenging. This paper tries to improve the push recovery performance based on capture point (CP) and model predictive control. The trajectory of zero moment point (ZMP) and center of mass are solved and predicted in a limited time horizon.

Analysis of association between common variants of uncoupling proteins genes and diabetic retinopathy in a Chinese population.

Background: The aim of this study was to explore the association between diabetic retinopathy (DR) and the variants of uncoupling proteins (UCPs) genes in a Chinese population of type 2 diabetes, in total and in patients of different glycemic status separately.

Methods: This case-control study included a total of 3107 participants from two datasets, among which 662 were DR patients (21.31%).

Roll-to-Roll Manufacturing of Robust Superhydrophobic Coating on Metallic Engineering Materials.

Creating a robust superhydrophobic surface on the conventional engineering materials at mass production is of great importance for a self-cleaning, anti-icing, nonwetting surface and low flow resistance in industrial applications. Herein, we report a roll-to-roll strategy to create durable and robust superhydrophobic surfaces with designed micro-/nanoscale hierarchical structures on many conventional engineering materials by combining electrical discharge machining and coating of carbon nanoparticles, followed by oil penetration and drying. The treated surface shows good superhydrophobic properties with a static water contact angle of 170 ± 2° and slide angle of 3 ± 1°.

Lens Power, Axial Length-to-Corneal Radius Ratio, and Association with Diabetic Retinopathy in the Adult Population with Type 2 Diabetes.

Purpose: To calculate crystalline lens power and to determine the relationship between ocular biometry and diabetic retinopathy (DR) in an adult population with type 2 diabetes mellitus (T2DM).

Design: Cross-sectional, population-based study.

Participants: Patients with T2DM from the Beixinjing community, Changning district, Shanghai.

[Prevalence and risk factors of mild vision loss in patients with type 2 diabetes in Beixinjing Community of Shanghai].

Objective: To investigate the prevalence and risk factors of mild vision loss in adult patients with type 2 diabetes in Beixinjing Community, Shanghai, China.

Methods: A population-based, cross-sectional survey among 2 216 Chinese Han adult patients with type 2 diabetes was conducted from October 2014 to January 2015.Random cluster sampling was used to enroll diabetic patients based on the local Chronic Diseases Prevention and Control System data.

A five-year prospective study of diabetic retinopathy progression in chinese type 2 diabetes patients with "well-controlled" blood glucose.

Purpose: To determine the progression rate and risk factors for diabetic retinopathy (DR) in Chinese type 2 diabetic patients who have reached the target hemoglobin A1c (HbA1c) level recommended by the American Diabetes Association.

Methods: This was a 5-year community-based prospective study. The study population consisted of patients with type 2 diabetes with HbA1c less than 7.

The 5-year onset and regression of diabetic retinopathy in Chinese type 2 diabetes patients.

Purpose: To determine the rate and risk factors of diabetic retinopathy (DR) onset and regression in Chinese type 2 diabetes mellitus patients.

Methods: This is a 5-year community-based prospective study. The demographic information, systemic examination results and ophthalmological test results of each participant were collected.

Implementation and first-year screening results of an ocular telehealth system for diabetic retinopathy in China.

Background: To describe implementation and first-year screening results of the first Chinese telehealth system for diabetic retinopathy (DR) - the Beixinjing Community Diabetic Retinopathy Telehealth system (BCDRT).

Methods: BCDRT implementation was based on the acquisition of adequate digital retinographs, secure digital transmission, storage and retrieval of participants' data and reader-generated medical reports. Local diabetic residents meeting inclusion criteria were enrolled into the BCDRT system beginning in 2009.