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Due to its unique value the existing achievements of robot autonomous control cannot fully meet the requirements of harsh environment. Artificial control system which has full range of operational functions，real-time and good stability，will become the prerequisite for the task being smoothly and safely completed by the robots at the present stage. Based on the preliminary foundation about hardware system of the manned hexapod robot，the paper presents a control mode which is integrated with the principles of situational awareness and man-machine function allocation. Optimal allocation schemes through establishing a multi-objective fuzzy decision model is obtained. Finally a hexapod robot control system whose the core controller is B&R controllers is designed and achieve the real-time condition monitoring of robotic and the accuracy of motion control. at the same time the integration of the proposed human-machine function allocation algorithm and good maneuverability of the system is also verified. We provide manned hexapod robot control system as the reference in the future.

The Turán number of a graph H, denoted by ex(n, H), is the maximum number of edges of an n-vertex simple graph having no H as a subgraph. Let Sℓ denote the star on ℓ + 1 vertices, and let k · Sℓ denote k disjoint copies of Sℓ. Erdős and Gallai determined the value ex(n, k · S1) for all positive integers k and n. Yuan and Zhang determined the value ex(n, k · S2) and characterized all extremal graphs for all positive integers k and n. Recently, Lan et al. determined the value ex(n, 2 · S3) for all positive integers n, and Li and Yin determined the values ex(n, k · Sℓ) for k = 2, 3 and all positive integers ℓ and n. In this paper, we further determine the value ex(n, 4 · Sℓ) for all positive integers ℓ and almost all n, improving one of the results of Lidický et al.

Abstract Background Although socioeconomic status (SES) has been focused on as a key determinant of cancer stage at diagosis in western countries, there has been no systemic study on the relationship of SES and breast cancer stage at diagnosis in China. Methods The medical charts of 4,211 eligible breast cancer patients from 7 areas across China who were diagnosed between 1999 and 2008 were reviewed. Four area-based socioeconomic indicators were used to calculate area-based SES by cluster analysis. The associations between area-based SES and stage at diagnosis were analyzed by trend chi-square tests. Binary logistic regression was performed to estimate odds ratios for individual demographic characteristics' effects on cancer stages, stratified by area-based SES. Results The individual demographic and pathologic characteristics of breast cancer cases were significantly different among the seven areas studied. More breast cancer cases in low SES areas (25.5%) were diagnosed later (stages III & IV) than those in high (20.4%) or highest (14.8%) SES areas (χ2 for trend = 80.79, P < 0.001). When area-based SES is controlled for, in high SES areas, cases with less education were more likely to be diagnosed at later stages compared with more educated cases. In low SES areas, working women appeared to be diagnosed at earlier breast cancer stages than were homemakers (OR: 0.18-0.26). Conclusions In China, women in low SES areas are more likely to be diagnosed at later breast cancer stages than those in high SES areas.

Abstract Background According to the very limited cancer registry, incidence and mortality rates for female breast cancer in China are regarded to be increasing especially in the metropolitan areas. Representative data on the breast cancer profile of Chinese women and its time trend over years are relatively rare. The aims of the current study are to illustrate the breast cancer profile of Chinese women in time span and to explore the current treatment approaches to female breast cancer. Methods This was a hospital-based nation-wide and multi-center retrospective study of female primary breast cancer cases. China was divided into 7 regions according to the geographic distribution; from each region, one tertiary hospital was selected. With the exception of January and February, one month was randomly selected to represent each year from year 1999 to 2008 at every hospital. All inpatient cases within the selected month were reviewed and related information was collected based on the designed case report form (CRF). The Cancer Hospital/Institute, Chinese Academy of Medical Sciences (CICAMS) was the leading hospital in this study. Results Four-thousand two-hundred and eleven cases were randomly selected from the total pool of 45,200 patients and were included in the analysis. The mean age at diagnosis was 48.7 years (s.d. = 10.5 yrs) and breast cancer peaked in age group 40-49 yrs (38.6%). The most common subtype was infiltrating ductal carcinoma (86.5%). Clinical stage I & II accounted for 60.6% of 4,211 patients. Three-thousand five-hundred and thirty-four cases had estrogen receptor (ER) and progestin receptor (PR) tests, among them, 47.9% were positive for both. Two-thousand eight-hundred and forty-nine cases had human epidermal growth factor receptor 2(HER-2) tests, 25.8% of them were HER-2 positive. Among all treatment options, surgery (96.9% (4,078/4,211)) was predominant, followed by chemotherapy (81.4% (3,428/4,211). Much less patients underwent radiotherapy (22.6% (952/4,211)) and endocrine therapy (38.0% (1,599/4,211)). Conclusions The younger age of breast cancer onset among Chinese women and more advanced tumor stages pose a great challenge. Adjuvant therapy, especially radiotherapy and endocrine therapy are of great unmet needs.