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

Detection of Noble Gas Scintillation Light with Large Area Avalanche Photodiodes (LAAPDs)

Large Area Avalanche Photodiodes (LAAPDs) were used for a series of systematic measurements of the scintillation light in Ar, Kr, and Xe gas. Absolute quantum efficiencies are derived. Values for Xe and Kr are consistent with those given by the manufacturer. For the first time we show that argon scintillation (128 nm) can be detected at a quantum efficiency above 40%. Low-pressure argon gas is shown to emit significant amounts of non-UV radiation. The average energy expenditure for the creation of non-UV photons in argon gas at this pressure is measured to be below 378 eV.Comment: 16 pages, 7 figure

First passage behaviour of fractional Brownian motion in two-dimensional wedge domains

We study the survival probability and the corresponding first passage time density of fractional Brownian motion confined to a two-dimensional open wedge domain with absorbing boundaries. By analytical arguments and numerical simulation we show that in the long time limit the first passage time density scales as t**{-1+pi*(2H-2)/(2*Theta)} in terms of the Hurst exponent H and the wedge angle Theta. We discuss this scaling behaviour in connection with the reaction kinetics of FBM particles in a one-dimensional domain.Comment: 6 pages, 4 figure

Extreme value statistics and return intervals in long-range correlated uniform deviates

We study extremal statistics and return intervals in stationary long-range correlated sequences for which the underlying probability density function is bounded and uniform. The extremal statistics we consider e.g., maximum relative to minimum are such that the reference point from which the maximum is measured is itself a random quantity. We analytically calculate the limiting distributions for independent and identically distributed random variables, and use these as a reference point for correlated cases. The distributions are different from that of the maximum itself i.e., a Weibull distribution, reflecting the fact that the distribution of the reference point either dominates over or convolves with the distribution of the maximum. The functional form of the limiting distributions is unaffected by correlations, although the convergence is slower. We show that our findings can be directly generalized to a wide class of stochastic processes. We also analyze return interval distributions, and compare them to recent conjectures of their functional form

Late-Time Optical and UV Spectra of SN 1979C and SN 1980K

A low-dispersion Keck I spectrum of SN 1980K taken in August 1995 (t = 14.8 yr after explosion) and a November 1997 MDM spectrum (t = 17.0 yr) show broad 5500 km s^{-1} emission lines of H\alpha, [O I] 6300,6364 A, and [O II] 7319,7330 A. Weaker but similarly broad lines detected include [Fe II] 7155 A, [S II] 4068,4072 A, and a blend of [Fe II] lines at 5050--5400 A. The presence of strong [S II] 4068,4072 A emission but a lack of [S II] 6716,6731 A emission suggests electron densities of 10^{5-6} cm^{-3}. From the 1997 spectra, we estimate an H\alpha flux of 1.3 \pm 0.2 \times 10^{-15} erg cm^{-2} s^{-1} indicating a 25% decline from 1987--1992 levels during the period 1994 to 1997, possibly related to a reported decrease in its nonthermal radio emission.Comment: 21 pages, 8 figures, submitted to the Astronomical Journa

Effect of significant data loss on identifying electric signals that precede rupture by detrended fluctuation analysis in natural time

Electric field variations that appear before rupture have been recently studied by employing the detrended fluctuation analysis (DFA) as a scaling method to quantify long-range temporal correlations. These studies revealed that seismic electric signals (SES) activities exhibit a scale invariant feature with an exponent $\alpha_{DFA} \approx 1$ over all scales investigated (around five orders of magnitude). Here, we study what happens upon significant data loss, which is a question of primary practical importance, and show that the DFA applied to the natural time representation of the remaining data still reveals for SES activities an exponent close to 1.0, which markedly exceeds the exponent found in artificial (man-made) noises. This, in combination with natural time analysis, enables the identification of a SES activity with probability 75% even after a significant (70%) data loss. The probability increases to 90% or larger for 50% data loss.Comment: 12 Pages, 11 Figure

A structural evaluation of the tungsten isotopes via thermal neutron capture

Total radiative thermal neutron-capture $\gamma$-ray cross sections for the $^{182,183,184,186}$W isotopes were measured using guided neutron beams from the Budapest Research Reactor to induce prompt and delayed $\gamma$ rays from elemental and isotopically-enriched tungsten targets. These cross sections were determined from the sum of measured $\gamma$-ray cross sections feeding the ground state from low-lying levels below a cutoff energy, E$_{\rm crit}$, where the level scheme is completely known, and continuum $\gamma$ rays from levels above E$_{\rm crit}$, calculated using the Monte Carlo statistical-decay code DICEBOX. The new cross sections determined in this work for the tungsten nuclides are: $\sigma_{0}(^{182}{\rm W}) = 20.5(14)$ b and $\sigma_{11/2^{+}}(^{183}{\rm W}^{m}, 5.2 {\rm s}) = 0.177(18)$ b; $\sigma_{0}(^{183}{\rm W}) = 9.37(38)$ b and $\sigma_{5^{-}}(^{184}{\rm W}^{m}, 8.33 \mu{\rm s}) = 0.0247(55)$ b; $\sigma_{0}(^{184}{\rm W}) = 1.43(10)$ b and $\sigma_{11/2^{+}}(^{185}{\rm W}^{m}, 1.67 {\rm min}) = 0.0062(16)$ b; and, $\sigma_{0}(^{186}{\rm W}) = 33.33(62)$ b and $\sigma_{9/2^{+}}(^{187}{\rm W}^{m}, 1.38 \mu{\rm s}) = 0.400(16)$ b. These results are consistent with earlier measurements in the literature. The $^{186}$W cross section was also independently confirmed from an activation measurement, following the decay of $^{187}$W, yielding values for $\sigma_{0}(^{186}{\rm W})$ that are consistent with our prompt $\gamma$-ray measurement. The cross-section measurements were found to be insensitive to choice of level density or photon strength model, and only weakly dependent on E$_{\rm crit}$. Total radiative-capture widths calculated with DICEBOX showed much greater model dependence, however, the recommended values could be reproduced with selected model choices. The decay schemes for all tungsten isotopes were improved in these analyses.Comment: 25 pages, 15 figures, 15 table

Assessing the impact of COVID-19 measures on COPD management and patients: A simulation-based decision support tool for COPD services in the UK

© 2022 The Author(s) or their employer(s). Published by BMJ. This is an open access article under the CC BY-NC-ND licence, https://creativecommons.org/licenses/by-nc-nd/4.0/Objectives To develop a computer-based decision support tool (DST) for key decision makers to safely explore the impact on chronic obstructive pulmonary disease (COPD) care of service changes driven by restrictions to prevent the spread of COVID-19.  Design The DST is powered by discrete event simulation which captures the entire patient pathway. To estimate the number of COPD admissions under different scenario settings, a regression model was developed and embedded into the tool. The tool can generate a wide range of patient-related and service-related outputs. Thus, the likely impact of possible changes (eg, COVID-19 restrictions and pandemic scenarios) on patients with COPD and care can be estimated.  Setting COPD services (including outpatient and inpatient departments) at a major provider in central London.  Results Four different scenarios (reflecting the UK government's Plan A, Plan B and Plan C in addition to a benchmark scenario) were run for 1 year. 856, 616 and 484 face-to-face appointments (among 1226 clinic visits) are expected in Plans A, B and C, respectively. Clinic visit quality in Plan A is found to be marginally better than in Plans B and C. Under coronavirus restrictions, lung function tests decreased more than 80% in Plan C as compared with Plan A. Fewer COPD exacerbation-related admissions were seen (284.1 Plan C vs 395.1 in the benchmark) associated with stricter restrictions. Although the results indicate that fewer quality-adjusted life years (in terms of COPD management) would be lost during more severe restrictions, the wider impact on physical and mental health must also be established.  Conclusions This DST will enable COPD services to examine how the latest developments in care delivery and management might impact their service during and beyond the COVID-19 pandemic, and in the event of future pandemics.Peer reviewe