A geometric approach to three-dimensional hipped bipedal robotic walking

This paper presents a control law that results in stable walking for a three-dimensional bipedal robot with a hip. To obtain this control law, we utilize techniques from geometric reduction, and specifically a variant of Routhian reduction termed functional Routhian reduction, to effectively decouple the dynamics of the three-dimensional biped into its sagittal and lateral components. Motivated by the decoupling afforded by functional Routhian reduction, the control law we present is obtained by combining three separate control laws: the first shapes the potential energy of the sagittal dynamics of the biped to obtain stable walking gaits when it is constrained to the sagittal plane, the second shapes the total energy of the walker so that functional Routhian reduction can be applied to decoupling the dynamics of the walker for certain initial conditions, and the third utilizes an output zeroing controller to stabilize to the surface defining these initial conditions. We numerically verify that this method results in stable walking, and we discuss certain attributes of this walking gait

On the Optimization of Mixture Resolving Signal Processing Structures

Mixture resolving signal processing optimization with optimum linear detection operators and mixture resolving estimator

Ultra-compact dwarf galaxies: a new class of compact stellar system discovered in the Fornax Cluster

We have used the 2dF spectrograph on the Anglo-Australian Telescope to obtain a complete spectroscopic sample of all objects in the magnitude range, Bj= 16.5 to 19.8, regardless of morphology, in an area centred on the Fornax Cluster of galaxies. Among the unresolved targets are five objects which are members of the Fornax Cluster. They are extremely compact stellar systems with scale lengths less than 40 parsecs. These ultra-compact dwarfs are unlike any known type of stellar system, being more compact and significantly less luminous than other compact dwarf galaxies, yet much brighter than any globular cluster.Comment: To appear in IAU Symposium 207: Extragalactic Star Cluster

Interaction between Mn Ions and Free Carriers in Quantum Wells with Asymmetrical Semimagnetic Barriers

Investigations of photoluminescence (PL) in the magnetic field of quantum structures based on the ZnSe quantum well with asymmetrical ZnBeMnSe and ZnBeSe barriers reveal that the introduction of Be into semimagnetic ZnMnSe causes a decrease of the exchange integrals for conductive and valence bands as well as the forming of a complex based on Mn, degeneration of an energy level of which with the energy levels of the V band of ZnBeMnSe or ZnSe results in spin-flip electron transitions.Comment: Accepted to Europhys. Let

Silica in a Mars analog environment: Ka'u Desert, Kilauea Volcano, Hawaii

Airborne Visible/Near-Infrared Imaging Spectrometer (AVIRIS) data acquired over the Ka'u Desert are atmospherically corrected to ground reflectance and used to identify the mineralogic components of relatively young basaltic materials, including 250–700 and 200–400 year old lava flows, 1971 and 1974 flows, ash deposits, and solfatara incrustations. To provide context, a geologic surface units map is constructed, verified with field observations, and supported by laboratory analyses. AVIRIS spectral end-members are identified in the visible (0.4 to 1.2 μm) and short wave infrared (2.0 to 2.5 μm) wavelength ranges. Nearly all the spectral variability is controlled by the presence of ferrous and ferric iron in such minerals as pyroxene, olivine, hematite, goethite, and poorly crystalline iron oxides or glass. A broad, nearly ubiquitous absorption feature centered at 2.25 μm is attributed to opaline (amorphous, hydrated) silica and is found to correlate spatially with mapped geologic surface units. Laboratory analyses show the silica to be consistently present as a deposited phase, including incrustations downwind from solfatara vents, cementing agent for ash duricrusts, and thin coatings on the youngest lava flow surfaces. A second, Ti-rich upper coating on young flows also influences spectral behavior. This study demonstrates that secondary silica is mobile in the Ka'u Desert on a variety of time scales and spatial domains. The investigation from remote, field, and laboratory perspectives also mimics exploration of Mars using orbital and landed missions, with important implications for spectral characterization of coated basalts and formation of opaline silica in arid, acidic alteration environments

The Effects of Chlorophyll Assimilation on Carbon Fluxes in a Global Biogeochemical Model

In this paper, we investigated whether the assimilation of remotely-sensed chlorophyll data can improve the estimates of air-sea carbon dioxide fluxes (FCO2). Using a global, established biogeochemical model (NASA Ocean Biogeochemical Model, NOBM) for the period 2003-2010, we found that the global FCO2 values produced in the free-run and after assimilation were within -0.6 mol C m(sup -2) y(sup -1) of the observations. The effect of satellite chlorophyll assimilation was assessed in 12 major oceanographic regions. The region with the highest bias was the North Atlantic. Here the model underestimated the fluxes by 1.4 mol C m(sup -2) y(sup -1) whereas all the other regions were within 1 mol C m(sup -2) y(sup -1) of the data. The FCO2 values were not strongly impacted by the assimilation, and the uncertainty in FCO2 was not decreased, despite the decrease in the uncertainty in chlorophyll concentration. Chlorophyll concentrations were within approximately 25% of the database in 7 out of the 12 regions, and the assimilation improved the chlorophyll concentration in the regions with the highest bias by 10-20%. These results suggest that the assimilation of chlorophyll data does not considerably improve FCO2 estimates and that other components of the carbon cycle play a role that could further improve our FCO2 estimates

Evidence for a Time-Invariant Phase Variable in Human Ankle Control

Human locomotion is a rhythmic task in which patterns of muscle activity are modulated by state-dependent feedback to accommodate perturbations. Two popular theories have been proposed for the underlying embodiment of phase in the human pattern generator: a time-dependent internal representation or a time-invariant feedback representation (i.e., reflex mechanisms). In either case the neuromuscular system must update or represent the phase of locomotor patterns based on the system state, which can include measurements of hundreds of variables. However, a much simpler representation of phase has emerged in recent designs for legged robots, which control joint patterns as functions of a single monotonic mechanical variable, termed a phase variable. We propose that human joint patterns may similarly depend on a physical phase variable, specifically the heel-to-toe movement of the Center of Pressure under the foot. We found that when the ankle is unexpectedly rotated to a position it would have encountered later in the step, the Center of Pressure also shifts forward to the corresponding later position, and the remaining portion of the gait pattern ensues. This phase shift suggests that the progression of the stance ankle is controlled by a biomechanical phase variable, motivating future investigations of phase variables in human locomotor control.United States Army Medical Research Acquisition Activity (USAMRAA grant W81XWH-09-2-0020)National Institute of Neurological Disorders and Stroke (U.S.) (NIH award number F31NS074687)Burroughs Wellcome Fund (Career Award at the Scientific Interface

Webteaching: sequencing of subject matter in relation to prior knowledge of pupils

Two experiments are discussed in which the sequencing procedure of webteaching is compared with a linear sequence for the presentation of text material.\ud \ud In the first experiment variations in the level of prior knowledge of pupils were studied for their influence on the sequencing mode of text presentation. Prior knowledge greatly reduced the effect of the size of sequencing procedures.\ud \ud In the second experiment pupils with a low level of prior knowledge studied a text, following either a websequence or a linear sequence. Webteaching was superior to linear teaching on a number of dependent variables. It is concluded that webteaching is an effective sequencing procedure in those cases where substantial new learning is required

Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion

Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in underactuated bipedal robots. Two fundamental tools are introduced, virtual constraints and hybrid zero dynamics. Virtual constraints are relations on the state variables of a mechanical model that are imposed through a time-invariant feedback controller. One of their roles is to synchronize the robot's joints to an internal gait phasing variable. A second role is to induce a low dimensional system, the zero dynamics, that captures the underactuated aspects of a robot's model, without any approximations. To enhance intuition, the relation between physical constraints and virtual constraints is first established. From here, the hybrid zero dynamics of an underactuated bipedal model is developed, and its fundamental role in the design of asymptotically stable walking motions is established. The chapter includes numerous references to robots on which the highlighted techniques have been implemented.Comment: 17 pages, 4 figures, bookchapte

Possible Jurassic age for part of Rakaia Terrane: implications for tectonic development of the Torlesse accretionary prism

Greywacke sandstone and argillite beds comprising Rakaia Terrane (Torlesse Complex) in mid Canterbury, South Island, New Zealand, are widely regarded as Late Triassic (Norian) in age based on the occurrence of Torlessia trace fossils, Monotis, and other taxa. This paleontological age assignment is tested using published 40Ar/39Ar mica and U-Pb zircon ages for these rocks and published and new zircon fission track (FT) ages. The youngest U-Pb zircon ages in the Rakaia Terrane rocks in mid Canterbury are Norian, whereas 10-20% of the 40Ar/39Ar muscovite ages are younger than Norian. Numerical modelling of these mica ages shows that they cannot have originated from partial thermal overprinting in the Torlesse prism if the thermal maximum was short-lived and early in the prism history (210-190 Ma), as commonly inferred for these rocks. The young component of mica ages could, however, be explained by extended residence (200-100 Ma) at 265-290deg.C in the prism. Early Jurassic (c. 189 Ma) zircon FT ages for sandstone beds from Arthur's Pass, the Rakaia valley, and the Hermitage (Mt Cook) are interpreted not to have experienced maximum temperatures above 210deg.C, and therefore cannot have been reduced as a result of partial annealing in the Torlesse prism. This is based on identification of a fossil Cretaceous, zircon FT, partial annealing zone in low-grade schists to the west, and the characteristics of the age data. The Early Jurassic zircon FT ages and the young component of 40Ar/39Ar mica ages are regarded therefore as detrital ages reflecting cooling in the source area, and constrain the maximum depositional age of parts of the Rakaia Terrane in mid Canterbury. The zircon FT data also show the initiation (c. 100 Ma) of marked and widespread Late Cretaceous cooling of Rakaia Terrane throughout Canterbury, which is attributed to uplift and erosion of inboard parts of the Torlesse prism due to continuing subduction accretion at its toe. The critical wedge concept is proposed as a new framework for investigating the development of the Torlesse Complex. The Rakaia Terrane may have formed the core of an accretionary wedge imbricated against the New Zealand margin during the Middle or Late Jurassic. Late Jurassic nonmarine sediments (e.g., Clent Hills Formation) accumulated upon the inner parts of the prism as it enlarged, emerged, and continued to be imbricated. Exhumation of Otago Schist from c. 135 Ma may mark the development of a balance (steady state) between sediments entering the prism at the toe and material exiting at the inboard margin. The enlargement of the area of exhumation to all of Canterbury from c. 100 Ma may reflect a dynamic response to widening of the prism through the accretion of Cretaceous sediments. The model of a dynamic critical wedge may help to explain the various expressions of the Rangitata Orogeny