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 Bodø 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

Лекарственный анафилактический и псевдоаллергический шок: патогенез, клиника, дифференциальная диагностика, подходы к терапии

Представлены особенности патогенеза анафилактического и псевдоаллергического шока, обусловленного лекарственными средствами, сходства и различия в клиническом их течении, субъективные и объективные признаки дифференциальной диагностики, подходы к терапии.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 $\pm$ 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 $\pm$ 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 $z$. The surface density of the disk increases from 10.5 $\pm$ 0.5 $M_{\odot}$ / pc$^2$ within $\pm$ 50 pc to 42 $\pm$ 6 $M_{\odot}$ / pc$^2$ within $\pm$ 350 pc. The estimated volume density of the galactic disk within $\pm$ 50 pc is about 0.1 $M_{\odot}$ / pc$^3$ 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