Bio-inspired swing leg control for spring-mass robots running on ground with unexpected height disturbance

We proposed three swing leg control policies for spring-mass running robots, inspired by experimental data from our recent collaborative work on ground running birds. Previous investigations suggest that animals may prioritize injury avoidance and/or efficiency as their objective function during running rather than maintaining limit-cycle stability. Therefore, in this study we targeted structural capacity (maximum leg force to avoid damage) and efficiency as the main goals for our control policies, since these objective functions are crucial to reduce motor size and structure weight. Each proposed policy controls the leg angle as a function of time during flight phase such that its objective function during the subsequent stance phase is regulated. The three objective functions that are regulated in the control policies are (i) the leg peak force, (ii) the axial impulse, and (iii) the leg actuator work. It should be noted that each control policy regulates one single objective function. Surprisingly, all three swing leg control policies result in nearly identical subsequent stance phase dynamics. This implies that the implementation of any of the proposed control policies would satisfy both goals (damage avoidance and efficiency) at once. Furthermore, all three control policies require a surprisingly simple leg angle adjustment: leg retraction with constant angular acceleration

Diagnostic and Therapeutic Costs of Patients With a Diagnosis of Or Suspected of Coronavirus Disease in Iran

Objectives: To understand the social and individual effects of the disease and make decisions on the allocation of health resources, it is necessary to understand the economic burden of coronavirus disease (COVID-19); however, there are limited data in this field. This study aimed to estimate diagnostic and therapeutic costs of patients with a diagnosis of or suspected of COVID-19 disease admitted to hospitals in northeast Iran. Methods: This descriptive and analytical research was conducted as a retrospective study using the data collected from 2980 patients admitted to 30 hospitals from February to April 2020 in Iran. For data collection, an appropriate data capture tool was designed to record detailed resource use. A multivariate regression analysis was performed to examine the association between the treatment costs and sociodemographic, disease severity, and underlying diseases. Data were analyzed using Excel 2017 (Microsoft, Redmond, WA) and SPSS version 21 software (SPSS Inc., Chicago, IL). Results: The inpatient costs per patient were Int$416, of which 74% were paid by social health insurance systems, 19% by the government, and 7% by the patients. The largest cost components were hoteling (37%) and medicine (36%). The 4 subscales of age, sex, underlying disease, and severity predicted 48.6% of the cost variance. Conclusion: Understanding the economic consequences of diseases can help policymakers to make plans to reduce out-of-pocket payments and make plans for funding. Since COVID-19 is a newly emerging disease and there is no definitive cure for the disease, the discovery of an effective medicine may alter medical costs and reduce the hospital length of stay, therefore significantly reducing treatment costs

Feasibility studies of time-like proton electromagnetic form factors at PANDA at FAIR

Simulation results for future measurements of electromagnetic proton form factors at \PANDA (FAIR) within the PandaRoot software framework are reported. The statistical precision with which the proton form factors can be determined is estimated. The signal channel $\bar p p \to e^+ e^-$ is studied on the basis of two different but consistent procedures. The suppression of the main background channel, $\textit{i.e.}$ $\bar p p \to \pi^+ \pi^-$, is studied. Furthermore, the background versus signal efficiency, statistical and systematical uncertainties on the extracted proton form factors are evaluated using two different procedures. The results are consistent with those of a previous simulation study using an older, simplified framework. However, a slightly better precision is achieved in the PandaRoot study in a large range of momentum transfer, assuming the nominal beam conditions and detector performance

Feasibility studies for the measurement of time-like proton electromagnetic form factors from p¯ p→ μ+μ- at P ¯ ANDA at FAIR

This paper reports on Monte Carlo simulation results for future measurements of the moduli of time-like proton electromagnetic form factors, | GE| and | GM| , using the p¯ p→ μ+μ- reaction at P ¯ ANDA (FAIR). The electromagnetic form factors are fundamental quantities parameterizing the electric and magnetic structure of hadrons. This work estimates the statistical and total accuracy with which the form factors can be measured at P ¯ ANDA , using an analysis of simulated data within the PandaRoot software framework. The most crucial background channel is p¯ p→ π+π-, due to the very similar behavior of muons and pions in the detector. The suppression factors are evaluated for this and all other relevant background channels at different values of antiproton beam momentum. The signal/background separation is based on a multivariate analysis, using the Boosted Decision Trees method. An expected background subtraction is included in this study, based on realistic angular distributions of the background contribution. Systematic uncertainties are considered and the relative total uncertainties of the form factor measurements are presented

Study of doubly strange systems using stored antiprotons

Bound nuclear systems with two units of strangeness are still poorly known despite their importance for many strong interaction phenomena. Stored antiprotons beams in the GeV range represent an unparalleled factory for various hyperon-antihyperon pairs. Their outstanding large production probability in antiproton collisions will open the floodgates for a series of new studies of systems which contain two or even more units of strangeness at the P‾ANDA experiment at FAIR. For the first time, high resolution γ-spectroscopy of doubly strange ΛΛ-hypernuclei will be performed, thus complementing measurements of ground state decays of ΛΛ-hypernuclei at J-PARC or possible decays of particle unstable hypernuclei in heavy ion reactions. High resolution spectroscopy of multistrange Ξ−-atoms will be feasible and even the production of Ω−-atoms will be within reach. The latter might open the door to the |S|=3 world in strangeness nuclear physics, by the study of the hadronic Ω−-nucleus interaction. For the first time it will be possible to study the behavior of Ξ‾+ in nuclear systems under well controlled conditions

Precision resonance energy scans with the PANDA experiment at FAIR: Sensitivity study for width and line shape measurements of the X(3872)

This paper summarises a comprehensive Monte Carlo simulation study for precision resonance energy scan measurements. Apart from the proof of principle for natural width and line shape measurements of very narrow resonances with PANDA, the achievable sensitivities are quantified for the concrete example of the charmonium-like X(3872) state discussed to be exotic, and for a larger parameter space of various assumed signal cross-sections, input widths and luminosity combinations. PANDA is the only experiment that will be able to perform precision resonance energy scans of such narrow states with quantum numbers of spin and parities that differ from J P C = 1 - -

Status of evidence-based clinical practice among nurses of hospitals affiliated to Kerman University of Medical Sciences after evidence-based follow-up nursing training

Considering the complex and rapid changes occurring in the healthcare sector, there is a need for emphasizing clinical practice by the best available evidence. Evidence-based nursing has been defined as an approach to making quality decisions and providing nursing care based upon personal clinical expertise in combination with the most current, relevant research available on the topic. The present research was a quasi-experimental intervention-based study which was carried out in 2012. The statistical population included all clinical nurses in Kerman, 70 of whom were randomly selected as the sample and divided into two groups of intervention and control. During the workshops, subjects in the intervention group were trained on evidence-based nursing. The required data and information were collected using the inventory of evidence-based clinical practice. Data analysis was done using t-test and ANOVA in SPSS-17. The ability of evidence-based clinical practice in the intervention group before and after training and after a one-month follow-up was compared using paired t-test. The results showed that evidence-based nursing training increases the score of nurses on clinical practice (p=0.007). The results also showed that the mean scores (47.23±4.14) were better after training. No significant difference was found in score of clinical practice between before the training and the follow-up period and also between after the training and after the follow-up. However, mean scores were higher in the follow-up period. The use of evidence-based nursing education, because of the strengthening and development of critical thinking and creativity, increases the ability of nurses in clinical practice. According to the findings of the present study, this approach is recommended to be used for training of nurses

Psychological reactions of family members of patients in intensive care unit in Iran

Studies suggest that family members of patients in the icu and true negative changes in your life as stress, physical, emotional - psychological and social experience Members stress has increased over time, eventually resulting in impaired function and role of the family. This alone can cause severe fouling in distress within the family system. Therefore, this study compared stress, anxiety and depression in family members of patients hospitalized in intensive ccu, icu in Iran. This descriptive - analytical comparison. On 200 first-degree family members of the patients admitted to the ICU ccu, icu hospital Anbiya paced Zahedan in 2014. Stress and depression DASS questionnaire collected data using spss software and parametric t-test and chi-square test was used for statistical analysis. Our findings in the study of stress, anxiety and depression in family members of ICU patients in ICU, CCU showed. ICU hospitalized patients, family stress, anxiety and depression in family members of patients with more than hospitalized in CCU experience. When a patient is admitted in intensive care unit patients and family members should be treated with respect and make a decision that impacts the physiological and psychological symptoms in family members. Members often stress, anxiety and depression so it seems the nurses support patients and families through health communication proper and assist them in the discharge of feelings and emotions, to create hope in families and reduce their stress levels