Dynamic whole-body motion generation under rigid contacts and other unilateral constraints

The most widely used technique for generating wholebody motions on a humanoid robot accounting for various tasks and constraints is inverse kinematics. Based on the task-function approach, this class of methods enables the coordination of robot movements to execute several tasks in parallel and account for the sensor feedback in real time, thanks to the low computation cost. To some extent, it also enables us to deal with some of the robot constraints (e.g., joint limits or visibility) and manage the quasi-static balance of the robot. In order to fully use the whole range of possible motions, this paper proposes extending the task-function approach to handle the full dynamics of the robot multibody along with any constraint written as equality or inequality of the state and control variables. The definition of multiple objectives is made possible by ordering them inside a strict hierarchy. Several models of contact with the environment can be implemented in the framework. We propose a reduced formulation of the multiple rigid planar contact that keeps a low computation cost. The efficiency of this approach is illustrated by presenting several multicontact dynamic motions in simulation and on the real HRP-2 robot

Design and verification of a 24 kA calibration head for a DCCT test facility

The Large Hadron Collider (LHC) is CERN's next particle accelerator project, scheduled for commissioning in 2005. The project requires accurate current measurements above 10 kA. Calibration heads have been developed in collaboration with industry to work up to 24 kA at sub-ppm accuracy. The paper describes the design and verification

Should patients with acute DVT limit activity?

Ambulation, combined with compression of the affected extremity, appears to be safe for medically stable patients with deep venous thromboses (DVT) (strength of recommendation [SOR]: A, consistent randomized controlled trials [RCTs]). Leg compression and ambulation, compared with bed rest without compression, can effectively decrease swelling and pain (SOR: A, consistent RCTs). Only weak data exist to suggest that early ambulation can reduce mortality (SOR: C, cohort studies with historical controls)

Trends in Orange Juice Consumption and Nutrient Adequacy in Children 2003-2016

This study aimed to examine secular trends in 100% orange juice (OJ) consumption and trends in nutrient adequacy in children 2-18 years participating in the 2003-2016 National Health and Nutrition Examination Survey. The National Cancer Institute method was used to estimate the usual intake. Ten deciles of OJ consumption were determined based on intakes with non-consumers in the first decile. Nutrient adequacy was determined using the percentage below the Estimated Average Requirement (EAR) or the Adequate Intake (AI) percentage. Linear regression coefficients for changes in intake over time and across deciles of OJ were generated. Approximately 14% of the total sample consumed OJ with a mean intake of 40.0 g/d (77 KJ [0.9% of total energy intake]). Amounts of all 100% fruit juices consumed decreased by 44%, and whole fruit intake increased by approximately 32% from 2003-2016. Consumption of total energy, total carbohydrates, added sugars, and saturated fatty acids decreased. Intakes of folate, riboflavin, zinc, and vitamin C decreased from 2003-2016. The percentage of children below the EAR increased for vitamin C and zinc and decreased for vitamin A from 2003-2016. Percent of children above the AI increased for fiber. Across the deciles of OJ consumption, the percent of children with an inadequate vitamin D intake, calcium, iron, and phosphorus decreased. OJ and other 100% juices were major food sources of many nutrients consumed at levels below recommendations. One strategy to reduce inadequate intake of calcium, phosphorus, and potassium intake is to maintain or increase the consumption of OJ and other 100% juice

Preconceptual care for couples seeking fertility treatment, an evidence-based approach

There is accumulating evidence demonstrating that positive lifestyle modification and the optimization of the preconceptual period can influence the reproductive potential for both men and women. However, a large percentage of couples attending fertility clinics with potential to improve preconception habits may not always receive appropriate preconceptual advice. In addition, supplements and adjuncts that promise to increase fertility treatment success rates are marketed to infertile patients despite lack of convincing evidence supporting their benefit. This review aims to identify possible associations between lifestyle factors for couples seeking fertility treatment and fertility treatment outcomes and to offer possible explanations of the biological basis of these associations. An electronic search was conducted from 1978 through July 2019 linking preconceptual behaviors for women and men with the outcome of fertility treatment. The literature search explored the importance of numerous factors, including smoking, caffeine, alcohol, obesity, physical exercise, recreational drugs, stress, diet, supplements, alternative medicine, environmental factors, and pollutants. Some associations were found to be more significant than others. The preconceptual period is undeniably a delicate and important window which should not be overlooked during fertility counseling. Simple lifestyle modifications could positively influence fertility treatment outcomes. Fertility teams, consisting of clinicians, fertility nurses, dieticians, psychologists, exercise advisors and others, should dedicate time to offer evidence-based preconceptual advice and targeted interventions to couples seeking fertility treatment

Ensemble Habitat Suitability Modeling to Guide Conservation of Black-Backed Woodpeckers

Conservation of black-backed woodpecker (Picoides arcticus), a burned-forest specialist, is challenged by the unpredictable availability of suitable habitat. Habitat models calibrated with data from previous wildfires can be used to predict habitat suitability in newly fire-affected areas. Predictive accuracy of habitat models depends on how well statistical relationships reflect actual ecological relationships. We predicted habitat suitability for Black-backed Woodpecker at Montana post-wildfire forests (? 6 years postfire) east of the continental divide using models calibrated with nest location data from wildlfire locations in Idaho, Oregon, and Washington. We developed 6 habitat models, including one partitioned Mahalanobis model, two Maxent models, and 3 weighted logistic regression models with combinations of seven environmental variables describing burn severity, topography, and pre-fire canopy cover. We converted continuous habitat suitability indices (HSIs) into binary predictions (suitable or unsuitable) and combined predictions using and ensemble approach; we compiled the number of models (0–6) predicting locations (30×30-m pixels) as suitable. Habitat models represented different hypotheses regarding true ecological relationships, making inferences from ensemble predictions robust to uncertainties in the form of these relationships. Thirty-five percent of the area burned by eastside Montana wildfires was predicted suitable by either all seven habitat models or none of them (i.e. complete agreement among models). We recommend conservation of areas (e.g., exclusion of post-fire salvage logging) that were consistently predicted suitable by most models, e.g., 32 percent of burned areas predicted suitable by ? 5 models. Additionally, we recommend surveying areas where models disagree to help validate and refine models

Application Of Prediction Models Of Asian Soybean Rust In Two Crop Seasons, In Londrina, Pr

Predictive models of Asian soybean rust have been described by researchers to estimate favorable responses to epidemics. The prediction strategies are based on weather data obtained during period when initial symptoms of the disease are observed. Therefore, this study will evaluate the application of two prediction models of Asian soybean rust, and compare the results from two harvest seasons. The experiments were carried out during the 2011/2012 and 2012/2013 seasons in Londrina, PR. "SIGA spore traps" were installed to monitor the presence of Phakopsora pachyrhizi uredospores, and "Electronic trees," to collect data on weather variables. Following the detection of the first urediniospores, incidence and disease severity were assessed and compared with the predictions made by the models. The model described by Reis et al. (2004) did not indicate favorable conditions for the development of the first rust lesions following the detection of the first urediniospores during the 2011/2012 season. The premonitory symptoms of rust in the first and second harvest seasons were observed only when the model of Reis et al. (2004) indicated SDVPI close to 15 units. The model of Del Ponte et al. (2006b) overestimated the final rust severity during the two seasons.3752881288

Thermodynamic Forecasts of the Mediterranean Sea Acidification

Anthropogenic CO2 is a major driver of the present ocean acidification. This latter is threatening the marine ecosystems and has been identified as a major environmental and economic menace. This study aims to forecast from the thermodynamic equations, the acidification variation (ΔpH) of the Mediterranean waters over the next few decades and beyond this century. In order to do so, we calculated and fitted the theoretical values based upon the initial conditions from data of the 2013 MedSeA cruise. These estimates have been performed both for the Western and for the Eastern basins based upon their respective physical (temperature and salinity) and chemical (total alkalinity and total inorganic carbon) properties. The results allow us to point out four tipping points, including one when the Mediterranean Sea waters would become acid (pH<7). In order to provide an associated time scale to the theoretical results, we used two of the IPCC (2007) atmospheric CO2 scenarios. Under the most optimistic scenario of the “Special Report: Emissions Scenarios” (SRES) of the IPCC (2007), the results indicate that in 2100, pH may decrease down to 0.245 in the Western basin and down to 0.242 in the Eastern basin (compared to the pre-industrial pH). Whereas for the most pessimistic SRES scenario of the IPCC (2007), the results for the year 2100, forecast a pH decrease down to 0.462 and 0.457, for the Western and for the Eastern basins, respectively. Acidification, which increased unprecedentedly in recent years, will rise almost similarly in both Mediterranean basins only well after the end of this century. These results further confirm that both basins may become undersaturated (< 1) with respect to calcite and aragonite (at the base of the mixed layer depth), only in the far future (in a few centuries)