Ruixiang Zhang

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–The evolution of a dynamic walking gait of biped robot is presented in this paper. The gait is generated for a biped robot to walk on flat ground and climb up stairs. For the trajectory based gait generation, various parameters satisfy ZMP criterion and can realize continuous walking. The evolutionary algorithm is used to choose the parameter combinations.(More)
This paper describes an integrated quasi‐ autonomous four‐limbed robot, named Capuchin, which is equipped with appropriate sensing, planning and control capabilities to " free‐climb " vertical terrain. Unlike aid climbing that takes advantage of special tools and/or engineered terrain features, free climbing only relies on friction at the contacts between(More)
–This paper presents the research work on a small size humanoid robot: RoboSapien. The objective of this project is to build a platform for the study of dynamic walking and the artificial intelligence tools. In all, the robot has 17 degrees of freedom and each joint is driven by a DC servo motor. Two DSPs are utilized in the control system. In this paper,(More)
Despite the successes in capturing continuous distributions, the application of generative ad-versarial networks (GANs) to discrete settings, like natural language tasks, is rather restricted. The fundamental reason is the difficulty of back-propagation through discrete random variables combined with the inherent instability of the GAN training objective.(More)
Acknowledgements I am especially grateful to my advisor and coauthor Boris Bukh, without whom I would not have been able to finish my PhD. I would like to thank Po-Shen Loh, who first introduced extremal combinatorics to me. I would also like to thank other faculty members of math, physics and computer science departments, Schimmerling and Dejan Slepčev,(More)
The effect of neoadjuvant chemotherapy on the survival of patients with thoracic esophageal squamous cell carcinomas (ESCCs) remains controversial. The optimal management strategy for resectable ESCCs varies regionally based on local randomized controlled trials. A systematic review and meta-analysis was conducted to re-evaluate this controversial issue.A(More)
Double-lumen endotracheal tube (DLET) anaesthesia is the commonly used method in minimally invasive oesophagectomy (MIE). However, DLET intubation does have its disadvantages. Firstly, the placement of the DLET needs a skilled anaesthetist with familiarity of the technique and subsequent ability to perform a fibre-optic bronchoscopy for confirmation.(More)
All Rights Reserved ii I certify that I have read this dissertation and that, in my opinion, it is fully adequate in scope and quality as a dissertation for the degree of Doctor of Philosophy. (Jean-Claude Latombe) Principal Adviser I certify that I have read this dissertation and that, in my opinion, it is fully adequate in scope and quality as a(More)