Evolution of central pattern generators for the control of a five-link bipedal walking mechanism

Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for a specific task and it is acknowledged in the field that generic methods and design principles for creating individual networks for a given task are lacking. This study presents an approach where the connectivity and oscillatory parameters of a CPG network are determined by an evolutionary algorithm with fitness evaluations in a realistic simulation with accurate physics. We apply this technique to a five-link planar walking mechanism to demonstrate its feasibility and performance. In addition, to see whether results from simulation can be acceptably transferred to real robot hardware, the best evolved CPG network is also tested on a real mechanism. Our results also confirm that the biologically inspired CPG model is well suited for legged locomotion, since a diverse manifestation of networks have been observed to succeed in fitness simulations during evolution.Comment: 11 pages, 9 figures; substantial revision of content, organization, and quantitative result

Schottky mass measurements of heavy neutron-rich nuclides in the element range 70\leZ \le79 at the ESR

Storage-ring mass spectrometry was applied to neutron-rich $^{197}$Au projectile fragments. Masses of $^{181,183}$Lu, $^{185,186}$Hf, $^{187,188}$Ta, $^{191}$W, and $^{192,193}$Re nuclei were measured for the first time. The uncertainty of previously known masses of $^{189,190}$W and $^{195}$Os nuclei was improved. Observed irregularities on the smooth two-neutron separation energies for Hf and W isotopes are linked to the collectivity phenomena in the corresponding nuclei.Comment: 10 pages, 9 figures, 2 table

Atopic conditions and brain tumor risk in children and adolescents—an international case-control study (CEFALO)

In this study, atopic conditions were not associated with risk of brain tumors in children and adolescents or of glioma in particular. Results are not consistent with findings for adult glioma, possibly explained by a different distribution of histological subtypes. Only a few studies on atopic conditions and pediatric brain tumors are currently available, and the evidence is conflictin

Spectroscopy of η′\eta'-nucleus bound states at GSI and FAIR --- very preliminary results and future prospects ---

The possible existence of \eta'-nucleus bound states has been put forward through theoretical and experimental studies. It is strongly related to the \eta' mass at finite density, which is expected to be reduced because of the interplay between the $U_A(1)$ anomaly and partial restoration of chiral symmetry. The investigation of the C(p,d) reaction at GSI and FAIR, as well as an overview of the experimental program at GSI and future plans at FAIR are discussed.Comment: 7 pages, 3 figures; talk at the International Conference on Exotic Atoms and Related Topics (EXA2014), Vienna, Austria, 15-19 September 2014. in Hyperfine Interactions (2015

Edge-guided image gap interpolation using multi-scale transformation

This paper presents improvements in image gap restoration through the incorporation of edge-based directional interpolation within multi-scale pyramid transforms. Two types of image edges are reconstructed: 1) the local edges or textures, inferred from the gradients of the neighboring pixels and 2) the global edges between image objects or segments, inferred using a Canny detector. Through a process of pyramid transformation and downsampling, the image is progressively transformed into a series of reduced size layers until at the pyramid apex the gap size is one sample. At each layer, an edge skeleton image is extracted for edge-guided interpolation. The process is then reversed; from the apex, at each layer, the missing samples are estimated (an iterative method is used in the last stage of upsampling), up-sampled, and combined with the available samples of the next layer. Discrete cosine transform and a family of discrete wavelet transforms are utilized as alternatives for pyramid construction. Evaluations over a range of images, in regular and random loss pattern, at loss rates of up to 40%, demonstrate that the proposed method improves peak-signal-to-noise-ratio by 1–5 dB compared with a range of best-published works

Search for {\eta}'(958)-nucleus bound states by (p,d) reaction at GSI and FAIR

The mass of the {\eta}' meson is theoretically expected to be reduced at finite density, which indicates the existence of {\eta}'-nucleus bound states. To investigate these states, we perform missing-mass spectroscopy for the (p, d) reaction near the {\eta}' production threshold. The overview of the experimental situation is given and the current status is discussed.Comment: 6 pages, 3 figures; talk at II Symposium on applied nuclear physics and innovative technologies, September 24th - 27th, 2014, Jagiellonian University, Krak\'ow Poland; to appear in Acta Physica Polonica

\b{eta}-delayed three-proton decay of 31Ar

The beta decay of 31Ar, produced by fragmentation of a 36Ar beam at 880 MeV/nucleon, was investigated. Identified ions of 31Ar were stopped in a gaseous time projection chamber with optical readout allowing to record decay events with emission of protons. In addition to \b{eta}-delayed emission of one and two protons we have clearly observed the beta-delayed three-proton branch. The branching ratio for this channel in 31Ar is found to be 0.07(2)%.Comment: 5 pages, 3 figures, submitted to Physical Rev.

Mars laser altimeter based on a single photon ranging technique

The Mars 94/96 Mission will carry, among others things, the balloon probe experiment. The balloon with the scientific cargo in the gondola underneath will drift in the Mars atmosphere, its altitude will range from zero, in the night, up to 5 km at noon. The accurate gondola altitude will be determined by an altimeter. As the Balloon gondola mass is strictly limited, the altimeter total mass and power consumption are critical; maximum allowed is a few hundred grams a few tens of mWatts of average power consumption. We did propose, design, and construct the laser altimeter based on the single photon ranging technique. Topics covered include the following: principle of operation, altimeter construction, and ground tests

Minimal Model Holography

We review the duality relating 2d W_N minimal model CFTs, in a large N 't Hooft like limit, to higher spin gravitational theories on AdS_3.Comment: 54 pages, 1 figure; Contribution to J. Phys. A special volume on "Higher Spin Theories and AdS/CFT" edited by M. R. Gaberdiel and M. Vasiliev. v2. minor change