Zero Dynamics of Planar Biped Walkers with One Degree of Under Actuation

The zero dynamics of a hybrid model of bipedal walking are introduced and studied for a class of N-link, planar robots with one degree of underactuation and outputs that depend only on the configuration variables. Asymptotically stable solutions of the zero dynamics correspond to asymptotically stabilizable orbits of the full hybrid model of the walker. The Poincaré map of the zero dynamics is computed and proven to be diffeomorphic to a scalar, linear, time-invariant system, thereby rendering transparent the existence and stability properties of periodic orbits. For more information: Kod*La

Enhancing the management of anorexia of ageing to counteract malnutrition : are physical activity guidelines optimal?

Funding Information: NJC and SERL receive funding from by The National Institute for Health Research (NIHR). The views expressed are those of the authors and not necessarily those of the NHS, the NIHR or the Department of Health and Social Care.Peer reviewedPublisher PD

Analysis by x-ray microtomography of a granular packing undergoing compaction

Several acquisitions of X-ray microtomography have been performed on a beads packing while it compacts under vertical vibrations. An image analysis allows to study the evolution of the packing structure during its progressive densification. In particular, the volume distribution of the pores reveals a large tail, compatible to an exponential law, which slowly reduces as the system gets more compact. This is quite consistent, for large pores, with the free volume theory. These results are also in very good agreement with those obtained by a previous numerical model of granular compaction.Comment: 4 pages, 4 figures. Latex (revtex4). to be published in Phys. Rev.

Compaction of Rods: Relaxation and Ordering in Vibrated, Anisotropic Granular Material

We report on experiments to measure the temporal and spatial evolution of packing arrangements of anisotropic, cylindrical granular material, using high-resolution capacitive monitoring. In these experiments, the particle configurations start from an initially disordered, low-packing-fraction state and under vertical vibrations evolve to a dense, highly ordered, nematic state in which the long particle axes align with the vertical tube walls. We find that the orientational ordering process is reflected in a characteristic, steep rise in the local packing fraction. At any given height inside the packing, the ordering is initiated at the container walls and proceeds inward. We explore the evolution of the local as well as the height-averaged packing fraction as a function of vibration parameters and compare our results to relaxation experiments conducted on spherically shaped granular materials.Comment: 9 pages incl. 7 figure

Self-Similarity in Random Collision Processes

Kinetics of collision processes with linear mixing rules are investigated analytically. The velocity distribution becomes self-similar in the long time limit and the similarity functions have algebraic or stretched exponential tails. The characteristic exponents are roots of transcendental equations and vary continuously with the mixing parameters. In the presence of conservation laws, the velocity distributions become universal.Comment: 4 pages, 4 figure

Effect of rotator cuff dysfunction on the initial mechanical stability of cementless glenoid components

The functional outcome of shoulder replacement is related to the condition of the rotator cuff. Rotator cuff disease is a common problem in candidates for total shoulder arthroplasty; this study relates the functional status of the rotator cuff to the initial stability of a cementless glenoid implant. A 3D finite element model of a complete scapula was used to quantify the effect of a dysfunctional rotator cuff in terms of bone-implant interface micromotions when the implant is physiologically loaded shortly after surgery. Four rotator cuff conditions (from fully intact to progressively ruptured rotator cuff tendons) as well as two bone qualities were simulated in a model. Micromotions were significantly larger in the worst modeled cuff dysfunction (i.e. the supraspinatus and infraspinatus tendons were fully dysfunctional). Micromotions were also significantly different between conditions with healthy and poor bone quality. The implant's initial stability was hardly influenced by a dysfunctional supraspinatus alone. However, when the infraspinatus was also affected, the glenohumeral joint force was displaced to the component's rim resulting in larger micromotions and instability of the implant

Dynamics of Coronal Bright Points as seen by Sun Watcher using Active Pixel System detector and Image Processing (SWAP), Atmospheric Imaging Assembly AIA), and Helioseismic and Magnetic Imager (HMI)

The \textit{Sun Watcher using Active Pixel system detector and Image Processing}(SWAP) on board the \textit{PRoject for OnBoard Autonomy\todash 2} (PROBA\todash 2) spacecraft provides images of the solar corona in EUV channel centered at 174 \AA. These data, together with \textit{Atmospheric Imaging Assembly} (AIA) and the \textit{Helioseismic and Magnetic Imager} (HMI) on board \textit{Solar Dynamics Observatory} (SDO), are used to study the dynamics of coronal bright points. The evolution of the magnetic polarities and associated changes in morphology are studied using magnetograms and multi-wavelength imaging. The morphology of the bright points seen in low-resolution SWAP images and high-resolution AIA images show different structures, whereas the intensity variations with time show similar trends in both SWAP 174 and AIA 171 channels. We observe that bright points are seen in EUV channels corresponding to a magnetic-flux of the order of $10^{18}$ Mx. We find that there exists a good correlation between total emission from the bright point in several UV\todash EUV channels and total unsigned photospheric magnetic flux above certain thresholds. The bright points also show periodic brightenings and we have attempted to find the oscillation periods in bright points and their connection to magnetic flux changes. The observed periods are generally long (10\todash 25 minutes) and there is an indication that the intensity oscillations may be generated by repeated magnetic reconnection

Analysis of the National Adult Nutrition Survey (Ireland) and the Food4Me Nutrition Survey Databases to Explore the Development of Food Labelling Portion Sizes for the European Union

The present study set out to explore the option of developing food portion size for nutritional labelling purposes using two European Union (EU) dietary surveys. The surveys were selected as they differed in (a) methodologies (food diary versus food frequency questionnaire), (b) populations (Irish National Adult Nutrition Survey (NANS) versus a seven-country survey based on the pan EU study Food4Me), (c) food quantification (multiple options versus solely photographic album) and (d) duration (4 consecutive days versus recent month). Using data from these studies, portion size was determined for 15 test foods, where portion size was defined as the median intake of a target food when consumed. The median values of the portion sizes derived from both the NANS and Food4Me surveys were correlated (r = 0.823; p < 0.00) and the mean of the two survey data sets were compared to US values from the Recognized as Customarily Consumed (RACC) database. There was very strong agreement across all food categories between the averaged EU and the US portion size (r = 0.947; p < 0.00). It is concluded that notwithstanding the variety of approaches used for dietary survey data in the EU, the present data supports using a standardized approach to food portion size quantification for food labelling in the EU

When Will Adolescents Tell Someone About Dating Violence Victimization?

This study examined factors that influence help-seeking among a diverse sample of adolescents who experienced dating violence. A sample of 57 high school students in an urban community reported on the prevalence and characteristics of dating violence in their relationships. Someone observing a dating violence incident and a survivor’s attaching an emotional meaning to the event significantly influenced adolescents to talk to someone. When dating violence occurred in isolation, survivors were more likely to receive no support from others in the aftermath of the incident. Differences between boys’ and girls’ help-seeking and implications for dating violence intervention and prevention programming are discussed.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/90887/1/Black-Tolman-Callahan-Saunders- Weisz- 2008-When will adolescents tell someone about dating violence VAW.pd