Feasibility of Manual Teach-and-Replay and Continuous Impedance Shaping for Robotic Locomotor Training Following Spinal Cord Injury

Robotic gait training is an emerging technique for retraining walking ability following spinal cord injury (SCI). A key challenge in this training is determining an appropriate stepping trajectory and level of assistance for each patient, since patients have a wide range of sizes and impairment levels. Here, we demonstrate how a lightweight yet powerful robot can record subject-specific, trainer-induced leg trajectories during manually assisted stepping, then immediately replay those trajectories. Replay of the subject-specific trajectories reduced the effort required by the trainer during manual assistance, yet still generated similar patterns of muscle activation for six subjects with a chronic SCI. We also demonstrate how the impedance of the robot can be adjusted on a step-by-step basis with an error-based, learning law. This impedance-shaping algorithm adapted the robot's impedance so that the robot assisted only in the regions of the step trajectory where the subject consistently exhibited errors. The result was that the subjects stepped with greater variability, while still maintaining a physiologic gait pattern. These results are further steps toward tailoring robotic gait training to the needs of individual patients

High-quality lowest-frequency normal mode strain observations at the Black Forest Observatory (SW-Germany) and comparison with horizontal broad-band seismometer data and synthetics

International audienceWe present spectra concentrating on the lowest-frequency normal modes of the Earth obtained from records of the invar-wire strainmeters and STS-1 broad-band seismometers located in the Black Forest Observatory, Germany after the disastrous earthquakes off the NW coast of Sumatra in 2004 and off the coast near Tohoku, Japan in 2011. We compare the spectra to ones obtained from synthetic seismograms computed using a mode summation technique for an anelastic, elliptical, rotating, spherically symmetric Earth model. The synthetics include strain– strain-coupling effects by using coupling coefficients obtained from comparisons between Earth tide signals recorded by the strainmeters and synthetic tidal records. We show that for the low-frequency toroidal and spheroidal modes up to 1 mHz, the strainmeters produce better signal-to-noise ratios than the broad-band horizontal seismometers. Overall, the comparison with the synthetics is satisfactory but not as good as for vertical accelerations. In particular, we demonstrate the high quality of the strainmeter data by showing the Coriolis splitting of toroidal modes for the first time in individual records, the first clear observation of the singlet 2 S 0 1 and the detection of the fundamental radial mode 0 S 0 with good signal-to-noise ratio and with a strain amplitude of 10 −11. We also identify the latter mode in a record of the Isabella strainmeter after the great Chilean quake in 1960, the detection of which was missed by the original studies

Real space tests of the statistical isotropy and Gaussianity of the WMAP CMB data

ABRIDGED: We introduce and analyze a method for testing statistical isotropy and Gaussianity and apply it to the WMAP CMB foreground reduced, temperature maps, and cross-channel difference maps. We divide the sky into regions of varying size and shape and measure the first four moments of the one-point distribution within these regions, and using their simulated spatial distributions we test the statistical isotropy and Gaussianity hypotheses. By randomly varying orientations of these regions, we sample the underlying CMB field in a new manner, that offers a richer exploration of the data content, and avoids possible biasing due to a single choice of sky division. The statistical significance is assessed via comparison with realistic Monte-Carlo simulations. We find the three-year WMAP maps to agree well with the isotropic, Gaussian random field simulations as probed by regions corresponding to the angular scales ranging from 6 deg to 30 deg at 68% confidence level. We report a strong, anomalous (99.8% CL) dipole ``excess'' in the V band of the three-year WMAP data and also in the V band of the WMAP five-year data (99.3% CL). We notice the large scale hemispherical power asymmetry, and find that it is not highly statistically significant in the WMAP three-year data (<~ 97%) at scales l <= 40. The significance is even smaller if multipoles up to l=1024 are considered (~90% CL). We give constraints on the amplitude of the previously-proposed CMB dipole modulation field parameter. We easily detect the residual foregrounds in cross-band difference maps at rms level <~ 7 \mu K (at scales >~ 6 deg) and limit the systematical uncertainties to <~ 1.7 \mu K (at scales >~ 30 deg).Comment: 20 pages, 20 figures; more tests added; updated to match the version to be published in JCA

Dynamics of the topological structures in inhomogeneous media

We present a general review of the dynamics of topological solitons in 1 and 2 dimensions and then discuss some recent work on the scattering of various solitonic objects (such as kinks and breathers etc) on potential obstructions.Comment: based on the talk given by W.J. Zakrzewski at QTS5. To appear in the Proceedings in a special issue of Journal of Physics

“Cities go smart!”: A system dynamics-based approach to smart city conceptualization

The world’s population has grown rapidly. Thus, new challenges have arisen in terms of people’s quality of life, natural resources renewal, and urban environment sustainability. The smart city concept was developed to deal with these challenges by incorporating new technologies in order to find solutions that preserve cities’ environment while promoting their residents’ wellbeing. However, for cities to be truly “smart”, they should be evaluated, and, to that end, determinants that facilitate their creation need to be identified. This study thus sought to combine cognitive mapping and the system dynamics approach to find which factors foster smart city success, as well as the cause-and-effect relationships among these determinants. In two groupwork sessions, a panel of experts identified a wide range of smart city determinants and analyzed the dynamics of their relationships. The results were validated by the panel members and senior representatives of Cascais and Évora City Councils, Portugal, who confirmed that the analysis system developed provides a deeper understanding of this research context. The advantages and limitations of the proposed framework are also discussed.info:eu-repo/semantics/publishedVersio

Dynamics of the topological structures in inhomogeneous media

We present a general review of the dynamics of topological solitons in 1 and 2 dimensions and then discuss some recent work on the scattering of various solitonic objects (such as kinks and breathers etc) on potential obstructions.Comment: based on the talk given by W.J. Zakrzewski at QTS5. To appear in the Proceedings in a special issue of Journal of Physics