1,505 research outputs found
Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass
The TUlip robot was created to participate in the teensize league of Robocup. The TUlip robot is a bipedal robot intended for dynamic walking. It has six degrees of freedom for each leg: three for the hip, one for the knee and two for the ankle. This paper elaborates on the algorithm for the sideways control during gait. The algorithm uses the extrapolated center of mass (XcoM) to achieve limit cycle stability. The algorithm is tested in simulation using a linear inverted pendulum and, then, experimentally applied to the TUlip robot. The result is an adaptive behavior of the TUlip robot, promising for future application to legged robot stability
Future narratives for two locations in the Barents region
What does the future look like from the perspective of municipalities in various locations in the Barents region? What climatic, social and environmental challenges might there be, and how might local people respond?
This report documents the results from two workshops held in Kirovsk and BodΓΈ in 2015, addressing above questions. These workshops are part of a series of four workshops across the Barents region with the aim to build visions of different local futures in the Barents region under different climatic and socio-economic contexts. All workshops use the same methodology and research question, and connect local change to global scenarios.
A secondary aim of this report is to offer a description of and reflection on the methods employed as a basis for further development of the approach. The method follows a bottom-up, participatory scenario building approach, and is based on identifying local drivers of change which are of especial importance or uncertainty in the region. These locally important drivers are then evaluated in the form of narratives in context of four different global scenarios of alternative futures of societal development, known as the shared socioeconomic pathways (SSPs). The entire exercise, from driver identification to narrative development, involves a mixture of local actors together with researchers, using knowledge and understanding from both communities.
The resulting narratives highlight locally important issues different from pan-Arctic evaluations of future change. They also show that local development is perceived as closely linked to global processes, such as changes related to climate, but especially socio-economic factors such as demography, resource markets or politics
A dynamical system approach to higher order gravity
The dynamical system approach has recently acquired great importance in the
investigation on higher order theories of gravity. In this talk I review the
main results and I give brief comments on the perspectives for further
developments.Comment: 6 pages, 1 figure, 2 tables, talk given at IRGAC 2006, July 200
A fiber-optic strain measurement and quench localization system for use in superconducting accelerator dipole magnets
A novel fiber-optic measurement system for superconducting accelerator magnets is described. The principal component is an extrinsic Fabry-Perot interferometer to determine localized strain and stress in coil windings. The system can be used either as a sensitive relative strain measurement system or as an absolute strain detector. Combined, one can monitor the mechanical behaviour of the magnet system over time during construction, long time storage and operation. The sensing mechanism is described, together with various tests in laboratory environments. The test results of a multichannel test matrix to be incorporated first in the dummy coils and then in the final version of a 13 T Nb/sub 3/Sn accelerator dipole magnet are presented. Finally, the possible use of this system as a quench localization system is proposed
ΠΠ΅ΠΊΠ°ΡΡΡΠ²Π΅Π½Π½ΡΠΉ Π°Π½Π°ΡΠΈΠ»Π°ΠΊΡΠΈΡΠ΅ΡΠΊΠΈΠΉ ΠΈ ΠΏΡΠ΅Π²Π΄ΠΎΠ°Π»Π»Π΅ΡΠ³ΠΈΡΠ΅ΡΠΊΠΈΠΉ ΡΠΎΠΊ: ΠΏΠ°ΡΠΎΠ³Π΅Π½Π΅Π·, ΠΊΠ»ΠΈΠ½ΠΈΠΊΠ°, Π΄ΠΈΡΡΠ΅ΡΠ΅Π½ΡΠΈΠ°Π»ΡΠ½Π°Ρ Π΄ΠΈΠ°Π³Π½ΠΎΡΡΠΈΠΊΠ°, ΠΏΠΎΠ΄Ρ ΠΎΠ΄Ρ ΠΊ ΡΠ΅ΡΠ°ΠΏΠΈΠΈ
ΠΡΠ΅Π΄ΡΡΠ°Π²Π»Π΅Π½Ρ ΠΎΡΠΎΠ±Π΅Π½Π½ΠΎΡΡΠΈ ΠΏΠ°ΡΠΎΠ³Π΅Π½Π΅Π·Π° Π°Π½Π°ΡΠΈΠ»Π°ΠΊΡΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ ΠΈ ΠΏΡΠ΅Π²Π΄ΠΎΠ°Π»Π»Π΅ΡΠ³ΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ ΡΠΎΠΊΠ°, ΠΎΠ±ΡΡΠ»ΠΎΠ²Π»Π΅Π½Π½ΠΎΠ³ΠΎ Π»Π΅ΠΊΠ°ΡΡΡΠ²Π΅Π½Π½ΡΠΌΠΈ ΡΡΠ΅Π΄ΡΡΠ²Π°ΠΌΠΈ, ΡΡ
ΠΎΠ΄ΡΡΠ²Π° ΠΈ ΡΠ°Π·Π»ΠΈΡΠΈΡ Π² ΠΊΠ»ΠΈΠ½ΠΈΡΠ΅ΡΠΊΠΎΠΌ ΠΈΡ
ΡΠ΅ΡΠ΅Π½ΠΈΠΈ, ΡΡΠ±ΡΠ΅ΠΊΡΠΈΠ²Π½ΡΠ΅ ΠΈ ΠΎΠ±ΡΠ΅ΠΊΡΠΈΠ²Π½ΡΠ΅ ΠΏΡΠΈΠ·Π½Π°ΠΊΠΈ Π΄ΠΈΡΡΠ΅ΡΠ΅Π½ΡΠΈΠ°Π»ΡΠ½ΠΎΠΉ Π΄ΠΈΠ°Π³Π½ΠΎΡΡΠΈΠΊΠΈ, ΠΏΠΎΠ΄Ρ
ΠΎΠ΄Ρ ΠΊ ΡΠ΅ΡΠ°ΠΏΠΈΠΈ.The peculiarities of the pathogenesis of anaphylactic and pseudoallergic shock caused by medications, similarity and differences of the clinical course, subjective and objective signs of differential diagnosis, approaches to therapy are presented
Anisotropic interactions of a single spin and dark-spin spectroscopy in diamond
The nitrogen-vacancy (N-V) center in diamond is a promising atomic-scale
system for solid-state quantum information processing. Its spin-dependent
photoluminescence has enabled sensitive measurements on single N-V centers,
such as: electron spin resonance, Rabi oscillations, single-shot spin readout
and two-qubit operations with a nearby 13C nuclear spin. Furthermore, room
temperature spin coherence times as long as 58 microseconds have been reported
for N-V center ensembles. Here, we have developed an angle-resolved
magneto-photoluminescence microscopy apparatus to investigate the anisotropic
electron spin interactions of single N-V centers at room temperature. We
observe negative peaks in the photoluminescence as a function of both magnetic
field magnitude and angle that are explained by coherent spin precession and
anisotropic relaxation at spin level anti-crossings. In addition, precise field
alignment unmasks the resonant coupling to neighboring dark nitrogen spins that
are not otherwise detected by photoluminescence. The latter results demonstrate
a means of investigating small numbers of dark spins via a single bright spin
under ambient conditions.Comment: 13 pages, 4 figure
Local Surface Density of the Galactic Disk from a 3-D Stellar Velocity Sample
We have re-estimated the surface density of the Galactic disk in the solar
neighborhood within 0.4 kpc of the Sun using parallaxes and proper
motions of a kinematically and spatially unbiased sample of 1476 old bright red
giant stars from the Hipparcos catalog with measured radial velocities from
Barbier-Brossat & Figon (2000). We determine the vertical distribution of the
red giants as well as the vertical velocity dispersion of the sample, (14.4
0.26 km/sec), and combine these to derive the surface density of
gravitating matter in the Galactic disk as a function of the galactic
coordinate . The surface density of the disk increases from 10.5 0.5
/ pc within 50 pc to 42 6 / pc
within 350 pc. The estimated volume density of the galactic disk within
50 pc is about 0.1 / pc which is close to the volume
density estimates of the observed baryonic matter in the solar neighborhood.Comment: 24 pages, 15 figures, AJ in pres
Corrigendum: The quest for EEG power band correlation with ICA derived fMRI resting state networks
Contains fulltext :
136233.pdf (publisher's version ) (Open Access)[This corrects the article on p. 315 in vol. 7, PMID: 23805098.].2 p
Electrochemistry of potentially bioreductive alkylating quinones : Part 1. Electrochemical properties of relatively simple quinones, as model compounds of mitomycin- and aziridinylquinone-type antitumour agents
The influence of methyl-, hydroxy and amino substituents on the electrochemical behaviour of simple 1,4-naphtho-and 1,4-benzoquinones, model compounds of many quinoid antitumour agents, in aqueous media was studied. Significant changes in electrochemical behaviour were observed, potentially the result of a change in the electron density of the quinone moiety, pre- or post-protonation of substituents, hydrogen bond formation, tautomerization reactions and steric interactions between the quinone moiety and substituents. The information obtained was of benefit in the elucidation of the reduction mechanisms of quinoid antitumour agents such as aziridnylquinones and mitomycins
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