Autonomous Locomotion Mode Transition Simulation of a Track-legged Quadruped Robot Step Negotiation

Multi-modal locomotion (e.g. terrestrial, aerial, and aquatic) is gaining increasing interest in robotics research as it improves the robots environmental adaptability, locomotion versatility, and operational flexibility. Within the terrestrial multiple locomotion robots, the advantage of hybrid robots stems from their multiple (two or more) locomotion modes, among which robots can select from depending on the encountering terrain conditions. However, there are many challenges in improving the autonomy of the locomotion mode transition between their multiple locomotion modes. This work proposed a method to realize an autonomous locomotion mode transition of a track-legged quadruped robot steps negotiation. The autonomy of the decision-making process was realized by the proposed criterion to comparing energy performances of the rolling and walking locomotion modes. Two climbing gaits were proposed to achieve smooth steps negotiation behaviours for energy evaluation purposes. Simulations showed autonomous locomotion mode transitions were realized for negotiations of steps with different height. The proposed method is generic enough to be utilized to other hybrid robots after some pre-studies of their locomotion energy performances

How typical is the Coma cluster?

Coma is frequently used as the archetype z~0 galaxy cluster to compare higher redshift work against. It is not clear, however, how representative the Coma cluster is for galaxy clusters of its mass or X-ray luminosity, and significantly: recent works have suggested that the galaxy population of Coma may be in some ways anomolous. In this work, we present a comparison of Coma to an X-ray selected control sample of clusters. We show that although Coma is typical against the control sample in terms of its internal kinematics (substructure and velocity dispersion profile), it has a significantly high (~3sigma) X-ray temperature set against clusters of comparable mass. By de-redshifting our control sample cluster galaxies star-formation rates using a fit to the galaxy main sequence evolution at z < 0.1, we determine that the typical star-formation rate of Coma galaxies as a function of mass is higher than for galaxies in our control sample at a confidence level of > 99 per cent. One way to alleviate this discrepency and bring Coma in-line with the control sample would be to have the distance to Coma to be slightly lower, perhaps through a non-negligible peculiar velocity with respect to the Hubble expansion, but we do not regard this as likely given precision measurements using a variety of approaches. Therefore in summary, we urge caution in using Coma as a z~0 baseline cluster in galaxy evolution studies.Comment: accepted for publication in MNRA

Conceptual design of an airborne laser Doppler velocimeter system for studying wind fields associated with severe local storms

An airborne laser Doppler velocimeter was evaluated for diagnostics of the wind field associated with an isolated severe thunderstorm. Two scanning configurations were identified, one a long-range (out to 10-20 km) roughly horizontal plane mode intended to allow probing of the velocity field around the storm at the higher altitudes (4-10 km). The other is a shorter range (out to 1-3 km) mode in which a vertical or horizontal plane is scanned for velocity (and possibly turbulence), and is intended for diagnostics of the lower altitude region below the storm and in the out-flow region. It was concluded that aircraft flight velocities are high enough and severe storm lifetimes are long enough that a single airborne Doppler system, operating at a range of less than about 20 km, can view the storm area from two or more different aspects before the storm characteristics change appreciably

Guidelines for the management of the foot health problems associated with rheumatoid arthritis

Background. Rheumatoid arthritis (RA) as a chronic systemic disease, commonly affects the feet, impacting negatively on patients' quality of life. Specialist podiatrists have a prime role to play in the assessment and management of foot and ankle problems within this patient group. However, it has been identified that in many areas there is no specialist podiatry service, with many patients being managed by non‐specialist podiatrists. Therefore, the North West Clinical Effectiveness Group for the Foot in Rheumatic Diseases (NWCEG) identified the need to develop ‘practitioner facing’ guidelines for the management of specific foot health problems associated with RA. Methods. Members of a guideline development group from the NWCEG each reviewed the evidence for specific aspects of the assessment and management of foot problems. Where evidence was lacking, ‘expert opinion’ was obtained from the members of the NWCEG and added as a consensus on current and best practice. An iterative approach was employed, with the results being reviewed and revised by all members of the group and external reviewers before the final guideline document was produced. Results. The management of specific foot problems (callus, nail pathology, ulceration) and the use of specific interventions (foot orthoses, footwear, patient education, steroid injection therapy) are detailed and standards in relation to each are provided. A diagrammatic screening pathway is presented, with the aim of guiding nonspecialist podiatrists through the complexity of assessing and managing those patients with problems requiring input from a specialist podiatrist and other members of the rheumatology multidisciplinary team. Conclusion. This pragmatic approach ensured that the guidelines were relevant and applicable to current practice as ‘best practice’, based on the available evidence from the literature and consensus expert opinion. These guidelines provide both specialist and non‐specialist podiatrists with the essential and ‘gold standard’ aspects of managing people with RA‐related foot problems

N terminus is key to the dominant negative suppression of CaV2 calcium channels: implications for episodic ataxia type 2

Expression of the calcium channels CaV2.1 and CaV2.2 is markedly suppressed by co-expression with truncated constructs containing Domain I. This is the basis for the phenomenon of dominant negative suppression observed for many of the episodic ataxia type 2 mutations in CaV2.1 that predict truncated channels. The process of dominant negative suppression has been shown previously to stem from interaction between the full-length and truncated channels and to result in downstream consequences of the unfolded protein response and endoplasmic reticulum-associated protein degradation. We have now identified the specific domain that triggers this effect. For both CaV2.1 and CaV2.2, the minimum construct producing suppression was the cytoplasmic N terminus. Suppression was enhanced by tethering the N terminus to the membrane with a CAAX motif. The 11-amino acid motif (including Arg52 and Arg54) within the N terminus, which we have previously shown to be required for G protein modulation, is also essential for dominant negative suppression. Suppression is prevented by addition of an N-terminal tag (XFP) to the full-length and truncated constructs. We further show that suppression of CaV2.2 currents by the N terminus-CAAX construct is accompanied by a reduction in CaV2.2 protein level, and this is also prevented by mutation of Arg52 and Arg54 to Ala in the truncated construct. Taken together, our evidence indicates that both the extreme N terminus and the Arg52, Arg54 motif are involved in the processes underlying dominant negative suppression

Biological basis of child health 2: introduction to fertilisation, prenatal development and birth

This article is the second in a series called the biological basis of child health. It considers the period of development from fertilisation to birth, outlining the three stages of prenatal development - the germinal, embryonic and fetal stages. The article details how tissues and organs typically develop at each stage, and explains how and when deviations in development and congenital anomalies are likely to occur. It also describes some of the common congenital anomalies, their potential effects and their detection before or after birth. Information is also provided about the delivery of full-term infants, including the stages of labour

The Tenerife Cosmic Microwave Background Maps: Observations and First Analysis

The results of the Tenerife Cosmic Microwave Background (CMB) experiments are presented. These observations cover 5000 and 6500 square degrees on the sky at 10 and 15 GHz respectively centred around Dec.~ +35 degrees. The experiments are sensitive to multipoles l=10-30 which corresponds to the Sachs-Wolfe plateau of the CMB power spectra. The sensitivity of the results are ~31 and \~12 microK at 10 and 15 GHz respectively in a beam-size region (5 degrees FWHM). The data at 15 GHz show clear detection of structure at high Galactic latitude; the results at 10 GHz are compatible with these, but at lower significance. A likelihood analysis of the 10 and 15 GHz data at high Galactic latitude, assuming a flat CMB band power spectra gives a signal Delta T_l=30+10-8 microK (68 % C.L.). Including the possible contaminating effect due to the diffuse Galactic component, the CMB signal is Delta T_l=30+15-11 microK. These values are highly stable against the Galactic cut chosen. Assuming a Harrison-Zeldovich spectrum for the primordial fluctuations, the above values imply an expected quadrupole Q_RMS-PS=20+10-7 microK which confirms previous results from these experiments, and which are compatible with the COBE DMR.Comment: 17 pages, 7 figures. Submitted to Ap