Abstract: Disclosed are a method and culture medium for performing an in vivo treatment on ovaries of mammals including humans or performing in vitro culturing on ex vivo ovaries or ovarian tissue by means of using 4-vinylcyclohexene diepoxide. The method or culture medium provided facilitates the retention and enhancement of the developmental and reproductive potential of mammalian ovaries or ovarian tissue, and is particularly capable of promoting follicle maturation and increasing the number of ovulations.

Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.

Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.

Abstract: The invention relates to the field of genetic recombination and stein cell application. In particular, the invention provides a construct for expressing a soluble fragment of a secretory TRAIL, and a lentiviral expression vector comprising the construct. The present invention also provides a mesenchymal stein cell in which the construct is integrated into the genome, which can express and secrete the TRAIL fragment. The invention also provides the use of the construct or vector or mesenchymal stein cells for the treatment of brain tumors.