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

Draft Genome Sequence of Frankia sp. Strain CcI6, a Salt-Tolerant Nitrogen-Fixing Actinobacterium Isolated from the Root Nodule of Casuarina cunninghamiana

Members of the actinomycete genus Frankia form a nitrogen-fixing symbiosis with 8 different families of actinorhizal plants. We report a 5.57-Mbp draft genome sequence for Frankia sp. strain CcI6, a salt-tolerant nitrogen-fixing actinobacterium isolated from root nodules of Casurina cunninghamiana grown in Egyptian soils

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

Harvest Rates and Efforts of Avid Quail Hunters in East Central Mississippi

Six avid quail hunters had an average daily harvest rate of 6.39 (4.97-8.55) and average seasonal harvest of 298 (116-530); they averaged 47 (28-60) hunts or days afield per year for a period of 2-10 years. The avid hunters averaged three to four hunts per week, and the hunts lasted three to four hours. Two hunters often had hunting guests, and the total season harvest by guests averaged 117 (63-211) with one hunter and 121 (56-178) with the other hunter. A seventh avid quail hunter usually had quests, with an average hunting party of 2.45; they harvested an average of 449 (388-510) quail per year over a two year period. Quail harvested per hour of effort ranged from 0.95 to 2.2 . Harvest rates and efforts of avid quail hunters were much greater than those of average quail hunters depicted in hunter mail questionnaire surveys

Stochastic Opinion Formation in Scale-Free Networks

The dynamics of opinion formation in large groups of people is a complex non-linear phenomenon whose investigation is just at the beginning. Both collective behaviour and personal view play an important role in this mechanism. In the present work we mimic the dynamics of opinion formation of a group of agents, represented by two state $\pm 1$, as a stochastic response of each of them to the opinion of his/her neighbours in the social network and to feedback from the average opinion of the whole. In the light of recent studies, a scale-free Barab\'asi-Albert network has been selected to simulate the topology of the interactions. A turbulent-like dynamics, characterized by an intermittent behaviour, is observed for a certain range of the model parameters. The problem of uncertainty in decision taking is also addressed both from a topological point of view, using random and targeted removal of agents from the network, and by implementing a three state model, where the third state, zero, is related to the information available to each agent. Finally, the results of the model are tested against the best known network of social interactions: the stock market. A time series of daily closures of the Dow Jones index has been used as an indicator of the possible applicability of our model in the financial context. Good qualitative agreement is found.Comment: 24 pages and 13 figures, Physical Review E, in pres

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

Draft Genome Sequence of Frankia sp. Strain Thr, a Nitrogen-Fixing Actinobacterium Isolated from the Root Nodules of Casuarina cunninghamiana Grown in Egypt

Nitrogen-fixing actinobacteria of the genus Frankia are symbionts of woody dicotyledonous plants termed actinorhizal plants. We report here a 5.3-Mbp draft genome sequence for Frankia sp. stain Thr, a nitrogen-fixing actinobacterium isolated from root nodules of Casuarina cunninghamiana collected in Egypt