Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion

This paper works with the concept of Divergent Component of Motion (DCM), also called ’(instantaneous) Capture Point’. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double support. Thus, the resulting DCM trajectories are well suited for real-world robots and allow for increased step length and step height. The performance of the proposed methods was tested in numerous simulations and experiments on IHMC’s Atlas robot and DLR’s humanoid robot TORO

An x-ray probe of laser-aligned molecules

We demonstrate a hard x-ray probe of laser-aligned small molecules. To align small molecules with optical lasers, high intensities at nonresonant wavelengths are necessary. We use 95 ps pulses focused to 40 mum from an 800 nm Ti:sapphire laser at a peak intensity of 10^12 W/cm^2 to create an ensemble of aligned bromotrifluoromethane (CF3Br) molecules. Linearly polarized, 120 ps x-ray pulses, focused to 10 mum, tuned to the Br 1s --> sigma* pre-edge resonance at 13.476 keV, probe the ensemble of laser-aligned molecules. The demonstrated methodology has a variety of applications and can enable ultrafast imaging of laser-controlled molecular motions with Angstrom-level resolution.Comment: 4 pages, 4 figures, RevTeX4, corrected typo

Controlled Erasure as a Building Block for Universal Thermodynamically-Robust Superconducting Computing

Reducing the energy inefficiency of conventional CMOS-based computing devices -- which rely on logically irreversible gates to process information -- remains both a fundamental engineering challenge and a practical social challenge of increasing importance. We extend an alternative computing paradigm that manipulates microstate distributions to store information in the metastable minima determined by an effective potential energy landscape. These minima serve as mesoscopic memories that are manipulated by a dynamic landscape to perform information processing. Central to our results is the control erase (CE) protocol that controls the landscape's metastable minima to determine whether information is preserved or erased. Importantly, successive protocol executions can implement a NAND gate -- a logically-irreversible universal logic gate. We show how to practically implement this in a device created by two inductively-coupled superconducting quantum interference devices (SQUIDs). We identify circuit parameter ranges that give rise to effective CEs and establish the device's robustness against logical errors. These SQUID-based logical devices are capable of operating above GHz frequencies and at the $k_\text{B} T$ energy scale. Due to this, optimized devices and associated protocols provide a universal-computation substrate that is both computationally fast and energy efficient.Comment: 13 pages, 8 figures, 2 tables; https://csc.ucdavis.edu/~cmg/compmech/pubs/cebb.ht

Silac mouse for quantitative proteomics uncovers kindlin-3 as an essential factor for red blood cell function

Stable isotope labeling by amino acids in cell culture (SILAC) has become a versatile tool for quantitative, mass spectrometry (MS)-based proteomics. Here, we completely label mice with a diet containing either the natural or the 13C6-substituted version of lysine. Mice were labeled over four generations with the heavy diet, and development, growth, and behavior were not affected. MS analysis of incorporation levels allowed for the determination of incorporation rates of proteins from blood cells and organs. The F2 generation was completely labeled in all organs tested. SILAC analysis from various organs lacking expression of β1 integrin, β-Parvin, or the integrin tail-binding protein Kindlin-3 confirmed their absence and disclosed a structural defect of the red blood cell membrane skeleton in Kindlin-3-deficient erythrocytes. The SILAC-mouse approach is a versatile tool by which to quantitatively compare proteomes from knockout mice and thereby determine protein functions under complex in vivo conditions

Factors underlying Ebola virus infection among health workers, Kenema, Sierra Leone, 2014-2015

Background. Ebola virus disease (EVD) in health workers (HWs) has been a major challenge during the 2014-2015 outbreak. We examined factors associated with Ebola virus exposure and mortality in HWs in Kenema District, Sierra Leone. Methods. We analyzed data from the Sierra Leone National Viral Hemorrhagic Fever Database, contact tracing records, Kenema Government Hospital (KGH) staff and Ebola Treatment Unit (ETU) rosters, and burial logs.Results. From May 2014 through January 2015, 600 cases of EVD originated in Kenema District, including 92 (15%) HWs, 66 (72%) of whom worked at KGH. Among KGH medical staff and international volunteers, 18 of 62 (29%) who worked in the ETU developed EVD, compared with 48 of 83 (58%) who worked elsewhere in the hospital. Thirteen percent of HWs with EVD reported contact with EVD patients, while 27% reported contact with other infected HWs. The number of HW EVD cases at KGH declined roughly 1 month after implementation of a new triage system at KGH and the opening of a second ETU within the district. The case fatality ratio for HWs and non-HWs with EVD was 69% and 74%, respectively.Conclusions. The cluster of HW EVD cases in Kenema District is one of the largest ever reported. Most HWs with EVD had potential virus exposure both inside and outside of hospitals. Prevention measures for HWs must address a spectrum of infection risks in both formal and informal care settings as well as in the community.Publisher PDFPeer reviewe

Dissipative corrections to particle spectra and anisotropic flow from a saddle-point approximation to kinetic freeze out

Lang C, Borghini N. Dissipative corrections to particle spectra and anisotropic flow from a saddle-point approximation to kinetic freeze out. The European Physical Journal C. 2014;74(7): 2955.A significant fraction of the changes in momentum distributions induced bydissipative phenomena in the description of the fluid fireball created inultrarelativistic heavy ion collisions are actually taking place when the fluidturns into individual particles. We study these corrections in the limit of alow freeze-out temperature of the flowing medium, and show that they mostlyaffect particles with a higher velocity than the fluid. For these, we deriverelations between different flow harmonics, from which the functional form ofthe dissipative corrections could ultimately be reconstructed from experimentaldata

Achieving high-sensitivity for clinical applications using augmented exome sequencing

daSNVs in ACMG genes where inadequate coverage was observed among at least one platform, using WES/ACE data normalized to both 12 Gb and 100× mean coverage. (XLSX 312 kb

Crucial role of ultraviolet light for desert ants in determining direction from the terrestrial panorama

Ants use the panoramic skyline in part to determine a direction of travel. A theoretically elegant way to define where terrestrial objects meet the sky is to use an opponent-process channel contrasting green wavelengths of light with ultraviolet (UV) wavelengths. Compared with the sky, terrestrial objects reflect relatively more green wavelengths. Using such an opponent-process channel gains constancy in the face of changes in overall illumination level. We tested the use of UV wavelengths in desert ants by using a plastic that filtered out most of the energy below 400 nm. Ants, Melophorus bagoti, were trained to home with an artificial skyline provided by an arena (experiment 1) or with the natural panorama (experiment 2). On a test, a homing ant was captured just before she entered her nest, and then brought back to a replicate arena (experiment 1) or the starting point (the feeder, experiment 2) and released. Blocking UV light led to deteriorations in orientation in both experiments. When the artificial skyline was changed from opaque to transparent UV-blocking plastic (experiment 3) on the other hand, the ants were still oriented. We conclude that UV wavelengths play a crucial role in determining direction based on the terrestrial surround.10 page(s

Improving the sensitivity to gravitational-wave sources by modifying the input-output optics of advanced interferometers

We study frequency dependent (FD) input-output schemes for signal-recycling interferometers, the baseline design of Advanced LIGO and the current configuration of GEO 600. Complementary to a recent proposal by Harms et al. to use FD input squeezing and ordinary homodyne detection, we explore a scheme which uses ordinary squeezed vacuum, but FD readout. Both schemes, which are sub-optimal among all possible input-output schemes, provide a global noise suppression by the power squeeze factor, while being realizable by using detuned Fabry-Perot cavities as input/output filters. At high frequencies, the two schemes are shown to be equivalent, while at low frequencies our scheme gives better performance than that of Harms et al., and is nearly fully optimal. We then study the sensitivity improvement achievable by these schemes in Advanced LIGO era (with 30-m filter cavities and current estimates of filter-mirror losses and thermal noise), for neutron star binary inspirals, and for narrowband GW sources such as low-mass X-ray binaries and known radio pulsars. Optical losses are shown to be a major obstacle for the actual implementation of these techniques in Advanced LIGO. On time scales of third-generation interferometers, like EURO/LIGO-III (~2012), with kilometer-scale filter cavities, a signal-recycling interferometer with the FD readout scheme explored in this paper can have performances comparable to existing proposals. [abridged]Comment: Figs. 9 and 12 corrected; Appendix added for narrowband data analysi

Upper limits on the strength of periodic gravitational waves from PSR J1939+2134

The first science run of the LIGO and GEO gravitational wave detectors presented the opportunity to test methods of searching for gravitational waves from known pulsars. Here we present new direct upper limits on the strength of waves from the pulsar PSR J1939+2134 using two independent analysis methods, one in the frequency domain using frequentist statistics and one in the time domain using Bayesian inference. Both methods show that the strain amplitude at Earth from this pulsar is less than a few times $10^{-22}$.Comment: 7 pages, 1 figure, to appear in the Proceedings of the 5th Edoardo Amaldi Conference on Gravitational Waves, Tirrenia, Pisa, Italy, 6-11 July 200