Chiral Symmetry restoration from the hadronic regime

We discuss recent advances on QCD chiral symmetry restoration at finite temperature, within the theoretical framework of Effective Theories. $U(3)$ Ward Identities are derived between pseudoscalar susceptibilities and quark condensates, allowing to explain the behaviour of lattice meson screening masses. Unitarized interactions and the generated $f_0(500)$ thermal state are showed to play an essential role in the description of the transition through the scalar susceptibilityComment: 10 pages, 9 figures. Proceedings of "XII Quark Confinement and the Hadron Spectrum

Acute Ischemic Stroke in a Pediatric Patient

Acute ischemic stroke in a pediatric patient is a complex disease with a variety of etiologies that differ from adults. Though rare, they are a real phenomenon with potentially devastating consequences. Some treating institutions are using anti-thrombotic drug therapy with unclear benefits. Available literature, which is limited to case reports and retrospective reviews of databases, clouds this topic with both positive and negative outcomes. Emergency department management should focus on stabilization and resuscitation with immediate involvement of a pediatric neurologist and intensivist. The decision to use anti-thrombotic drug therapy, including anti-platelet drugs and thrombolytics, should be in consult with the specialists involved until randomized controlled trials determine their safety and efficacy in the pediatric population

Active Disturbance Rejection Control based on Generalized Proportional Integral Observer to Control a Bipedal Robot with Five Degrees of Freedom

An Active Disturbance Rejection Control based on Generalized Proportional Integral observer (ADRC with GPI observer) was developed to control the gait of a bipedal robot with five degrees of freedom. The bipedal robot used is a passive point feet which produces an underactuated dynamic walking. A virtual holonomic constraint is imposed to generate online smooth trajectories which were used as references of the control system. The proposed control strategy is tested through numerical simulation on a task of forward walking with the robot exposed to external disturbances. The performance of ADRC with GPI observer strategy is compared with a feedback linearization with proportional-derivative control. A stability test consisting on analyzing the existence of limit cycles using the Poincaré's method revealed that asymptotically stable walking was achieved. The proposed control strategy effectively rejects the external disturbances and keeps the robot in a stable dynamic walking

Robust compound control of dynamic bipedal robots

This paper presents a robust compound control strategy to produce a stable gait in dynamic bipedal robots under random perturbations. The proposed control strategy consists of two interactive loops: an adaptive trajectory generator and a robust trajectory tracking controller. The adaptive trajectory generator produces references for the robot controlled joints without a-priori knowledge of the terrain features and minimizes the effects of disturbances and model uncertainties during the gait, particularly during the support-leg exchange. The trajectory tracking controller is a non-switching robust multivariable generalized proportional integral (GPI) controller. The GPI controller rejects external disturbances and uncertainties faced by the robot during the swing walking phase. The proposed control strategy was evaluated on the numerical model of a five-link planar bipedal robot with one degree of under-actuation, four actuators, and point feet. The results showed robust performance and stability under external disturbances and model parameter uncertainties on uneven terrain with uphills and downhills. The stability of the gait was proven through the computation of a Poincaré return map for a hybrid zero dynamics with uncertainties (HZDU) model, which shows convergence to a bounded neighborhood of a nominal orbital periodic behavior

Anachronistic Grain Growth and Global Structure of the Protoplanetary Disk Associated with the Mature Classical T Tauri Star, PDS 66

We present ATCA interferometric observations of the old (13 Myr), nearby (86pc) classical T Tauri star, PDS 66. Unresolved 3 and 12 mm continuum emission is detected towards PDS 66, and upper limits are derived for the 3 and 6 cm flux densities. The mm-wave data show a spectral slope flatter than that expected for ISM-sized dust particles, which is evidence of grain growth. We also present HST/NICMOS 1.1 micron PSF-subtracted coronagraphic imaging of PDS 66. The HST observations reveal a bilaterally symmetric circumstellar region of dust scattering about 0.32% of the central starlight, declining radially in surface brightness. The light-scattering disk of material is inclined 32 degrees from face-on, and extends to a radius of 170 AU. These data are combined with published optical and longer wavelength observations to make qualitative comparisons between the median Taurus and PDS 66 spectral energy distributions (SEDs). By comparing the near-infrared emission to a simple model, we determine that the location of the inner disk radius is consistent with the dust sublimation radius (1400 K at 0.1 AU). We place constraints on the total disk mass using a flat-disk model and find that it is probably too low to form gas giant planets according to current models. Despite the fact that PDS 66 is much older than a typical classical T Tauri star (< 5 Myr), its physical properties are not much different.Comment: 31 pages, 7 figure

Hybrid disturbance rejection control of dynamic bipedal robots

This paper presents a disturbance rejection control strategy for hybrid dynamic systems exposed to model uncertainties and external disturbances. The focus of this work is the gait control of dynamic bipedal robots. The proposed control strategy integrates continuous and discrete control actions. The continuous control action uses a novel model-based active disturbance rejection control (ADRC) approach to track gait trajectory references. The discrete control action resets the gait trajectory references after the impact produced by the robot’s support-leg exchange to maintain a zero tracking error. A Poincaré return map is used to search asymptotic stable periodic orbits in an extended hybrid zero dynamics (EHZD). The EHZD reflects a lower-dimensional representation of the full hybrid dynamics with uncertainties and disturbances. A physical bipedal robot testbed, referred to as Saurian, is fabricated for validation purposes. Numerical simulation and physical experiments show the robustness of the proposed control strategy against external disturbances and model uncertainties that affect both the swing motion phase and the support-leg exchange

非接触駆動機構のための熱的に誘起されるクヌッセン力の研究

Tohoku University小原拓課