Quadrupedal robots with stiff and compliant actuation

In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff actuated robot that is controlled kinematically, while the second, StarlETH, uses a soft actuation scheme based on highly compliant series elastic actuators. We show how this conceptual difference influences design and control of the robots, compare the hardware of the two systems, and show exemplary their advantages in different applications. © Oldenbourg Wissenschaftsverlag

State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU

This paper introduces a state estimation framework for legged robots that allows estimating the full pose of the robot without making any assumptions about the geometrical structure of its environment. This is achieved by means of an Observability Constrained Extended Kalman Filter that fuses kinematic encoder data with on-board IMU measurements. By including the absolute position of all footholds into the filter state, simple model equations can be formulated which accurately capture the uncertainties associated with the intermittent ground contacts. The resulting filter simultaneously estimates the position of all footholds and the pose of the main body. In the algorithmic formulation, special attention is paid to the consistency of the linearized filter: it maintains the same observability properties as the nonlinear system, which is a prerequisite for accurate state estimation. The presented approach is implemented in simulation and validated experimentally on an actual quadrupedal robot

The periodicity of phytoplankton in Lake Constance (Bodensee) in comparison to other deep lakes of central Europe

Phytoplankton periodicity has been fairly regular during the years 1979 to 1982 in Lake Constance. Algal mass growth starts with the vernal onset of stratification; Cryptophyceae and small centric diatoms are the dominant algae of the spring bloom. In June grazing by zooplankton leads to a lsquoclear-water phasersquo dominated by Cryptophyceae. Algal summer growth starts under nutrient-saturated conditions with a dominance of Cryptomonas spp. and Pandorina morum. Depletion of soluble reactive phosphorus is followed by a dominance of pennate and filamentous centric diatoms, which are replaced by Ceratium hirundinella when dissolved silicate becomes depleted. Under calm conditions there is a diverse late-summer plankton dominated by Cyanophyceae and Dinobryon spp.; more turbulent conditions and silicon resupply enable a second summer diatom growth phase in August. The autumnal development leads from a Mougeotia — desmid assemblage to a diatom plankton in late autumn and winter. Inter-lake comparison of algal seasonality includes in ascending order of P-richness Königsee, Attersee, Walensee, Lake Lucerne, Lago Maggiore, Ammersee, Lake Zürich, Lake Geneva, Lake Constance. The oligotrophic lakes have one or two annual maxima of biomass; after the vernal maximum there is a slowly developing summer depression and sometimes a second maximum in autumn. The more eutrophic lakes have an additional maximum in summer. The number of floristically determined successional stages increases with increasing eutrophy, from three in Königsee and Attersee to eight in Lake Geneva and Lake Constance

Unified management of multi-model data : (Vision paper)

Peer reviewe

Generating SQL Queries from SBVR Rules

Declarative technologies have made great strides in expressivity between SQL and SBVR. SBVR models are more expressive that SQL schemas, but not as imminently executable yet. In this paper, we complete the architecture of a system that can execute SBVR models. We do this by describing how SBVR rules can be transformed into SQL DML so that they can be automatically checked against the database using a standard SQL query. In particular, we describe a formalization of the basic structure of an SQL query which includes aggregate functions, arithmetic operations, grouping, and grouping on condition. We do this while staying within a predicate calculus semantics which can be related to the standard SBVR-LF specification and equip it with a concrete semantics for expressing business rules formally. Our approach to transforming SBVR rules into standard SQL queries is thus generic, and the resulting queries can be readily executed on a relational schema generated from the SBVR model

Evidence-based Languages for Conceptual Data Modelling Profiles

To improve database system quality as well as runtime use of conceptual models, many logic-based reconstructions of conceptual data modelling languages have been proposed in a myriad of logics. They each cover their features to a greater or lesser extent and are typically motivated from a logic viewpoint. This raises questions such as what would be an evidence-based common core and what is the optimal language profile for a conceptual modelling language family. Based on a common metamodel of UML Class Diagrams (v2.4.1), ER/EER, and ORM/2's static elements, a set of 101 conceptual models, and availing of computational complexity insights from Description Logics, we specify these profiles. There is no known DL language that matches exactly the features of those profiles and the common core is small (in the tractable $\mathcal{ALNI}$). Although hardly any inconsistencies can be derived with the profiles, it is promising for scalable runtime use of conceptual data models

The importance of sedimenting organic matter, relative to oxygen and temperature, in structuring lake profundal macroinvertebrate assemblages

We quantified the role of a main food resource, sedimenting organic matter (SOM), relative to oxygen (DO) and temperature (TEMP) in structuring profundal macroinvertebrate assemblages in boreal lakes. SOM from 26 basins of 11 Finnish lakes was analysed for quantity (sedimentation rates), quality (C:N:P stoichiometry) and origin (carbon stable isotopes, d13C). Hypolimnetic oxygen and temperature were measured from each site during summer stratification. Partial canonical correspondence analysis (CCA) and partial regression analyses were used to quantify contributions of SOM, DO and TEMP to community composition and three macroinvertebrate metrics. The results suggested a major contribution of SOM in regulating the community composition and total biomass. Oxygen best explained the Shannon diversity, whereas TEMP had largest contribution to the variation of Benthic Quality Index. Community composition was most strongly related to d13C of SOM. Based on additional d13C and stoichiometric analyses of chironomid taxa, marked differences were apparent in their utilization of SOM and body stoichiometry; taxa characteristic of oligotrophic conditions exhibited higher C:N ratios and lower C:P and N:P ratios compared to the species typical of eutrophic lakes. The results highlight the role of SOM in regulating benthic communities and the distributions of individual species, particularly in oligotrophic systems

Sharing Space: The Presence of Other Bodies Extends the Space Judged as Near

Background: As social animals we share the space with other people. It is known that perceived extension of the peripersonal space (the reaching space) is affected by the implicit representation of our own and other's action potentialities. Our issue concerns whether the co-presence of a body in the scene influences our extrapersonal space (beyond reaching distance) categorization. Methodology/Principal Findings: We investigated, through 3D virtual scenes of a realistic environment, whether egocentric spatial categorization can be influenced by the presence of another human body (Exp. 1) and whether the effect is due to her action potentialities or simply to her human-like morphology (Exp. 2). Subjects were asked to judge the location ("Near" or "Far") of a target object located at different distances from their egocentric perspective. In Exp. 1, the judgment was given either in presence of a virtual avatar (Self-with-Other), or a non-corporeal object (Self-with-Object) or nothing (Self). In Exp. 2, the Self condition was replaced by a Self-with-Dummy condition, in which an inanimate body (a wooden dummy) was present. Mean Judgment Transition Thresholds (JTTs) were calculated for each subject in each experimental condition. Self-with-Other condition induced a significant extension of the space judged as "Near" as compared to both the Selfwith- Object condition and the Self condition. Such extension was observed also in Exp. 2 in the Self-with-Dummy condition. Results suggest that the presence of others impacts on our perception of extrapersonal space. This effect holds also when the other is a human-like wooden dummy, suggesting that structural and morphological shapes resembling human bodies are sufficient conditions for the effect to occur. Conclusions: The observed extension of the portion of space judged as near could represent a wider portion of "accessible" space, thus an advantage in the struggle to survive in presence of other potential competing individuals

Quantifying system disturbance and recovery from historical mining-derived metal contamination at Brotherswater, northwest England

The final publication is available at Springer via https://doi.org/10.1007/s10933-016-9907-1Metal ore extraction in historical times has left a legacy of severe contamination in aquatic ecosystems around the world. In the UK, there are ongoing nationwide surveys of present-day pollution discharged from abandoned mines but few assessments of the magnitude of contamination and impacts that arose during historical metal mining have been made. We report one of the first multi-centennial records of lead (Pb), zinc (Zn) and copper (Cu) fluxes into a lake (Brotherswater, northwest England) from point-sources in its catchment (Hartsop Hall Mine and Hogget Gill processing plant) and calculate basin-scale inventories of those metals. The pre-mining baseline for metal contamination has been established using sediment cores spanning the past 1,500 years and contemporary material obtained through sediment trapping. These data enabled the impact of 250 years of local, small-scale mining (1696 – 1942) to be quantified and an assessment of the trajectory towards system recovery to be made. The geochemical stratigraphy displayed in twelve sediment cores show strong correspondence to the documented history of metal mining and processing in the catchment. The initial onset in 1696 was detected, peak Pb concentrations (>10,000 µg g-1) and flux (39.4 g m-2 y-1) corresponded to the most intensive mining episode (1863-1871) and 20th century technological enhancements were reflected as a more muted sedimentary imprint. After careful evaluation, we used these markers to augment a Bayesian age-depth model of the independent geochronology obtained using radioisotope dating (14C, 210Pb, 137Cs and 241Am). Total inventories of Pb, Zn and Cu for the lake basin during the period of active mining were 15,415 kg, 5,897 kg and 363 kg, respectively. The post-mining trajectories for Pb and Zn project a return to pre-mining levels within 54-128 years for Pb and 75-187 years for Zn, although future remobilisation of metal-enriched catchment soils and floodplain sediments could perturb this recovery. We present a transferable paleolimnological approach that highlights flux-based assessments are vital to accurately establish the baseline, impact and trajectory of mining-derived contamination for a lake catchment