Analysis of balance control methods based on inverted pendulum for legged robots

Methods of balance control for a legged robot, the model of which is presented as a two-section inverted pendulum, are considered. The following balance methods for humanoid robots are analysed: the parallel algorithm of the network operator method; the method of natural synergies; the method of fuzzy control, the spherical inverted pendulum mode, a dual length linear inverted pendulum method. The best of these methods will be used in the development of the Russian anthropomorphic robot Antares

Chromosome Abnormalities and Hematopoietic Stem Cell Transplantation in Acute Leukemias

The chapter considers specific treatment options, including allogeneic hematopoietic stem cell transplantation (allo‐HSCT) in acute myeloid leukemia (AML) and acute lymphoblastic leukemia (ALL), in patients with some prognostically proven cytogenetic variants as monosomal ones, complex and hyperdiploid karyotypes, like chromosomal translocations t(v;11)(v;q23), t(3;3)/inv(3); t(8;21), t(9;22), etc. Important prognostic role of additional chromosome abnormalities was shown for the patients with t(8;21) and t(9;22). Hence, it is evident that allo‐HSCT in patients with poor risk cytogenetic variant must be performed as early as possible, i.e., during first complete remission

Field of homogeneous Plane in Quantum Electrodynamics

We study quantum electrodynamics coupled to the matter field on singular background, which we call defect. For defect on the infinite plane we calculated the fermion propagator and mean electromagnetic field. We show that at large distances from the defect plane, the electromagnetic field is constant what is in agreement with the classical results. The quantum corrections determining the field near the plane are calculated in the leading order of perturbation theory.Comment: 16 page

Casimir force on a piston

We consider a massless scalar field obeying Dirichlet boundary conditions on the walls of a two-dimensional L x b rectangular box, divided by a movable partition (piston) into two compartments of dimensions a x b and (L-a) x b. We compute the Casimir force on the piston in the limit L -> infinity. Regardless of the value of a/b, the piston is attracted to the nearest end of the box. Asymptotic expressions for the Casimir force on the piston are derived for a << b and a >> b.Comment: 10 pages, 1 figure. Final version, accepted for publication in Phys. Rev.

DERMATOLOGICAL IMAGE DENOISING USING ADAPTIVE HENLM METHOD

In this paper we propose automatic image denoising method based on Hermite functions (HeNLM). It is an extension of non-local means (NLM) algorithm. Differences between small image blocks (patches) are replaced by differences between feature vectors thus reducing computational complexity. The features are calculated in coordinate system connected with image gradient and are invariant to patch rotation. HeNLM method depends on the parameter that controls filtering strength. To chose automatically this parameter we use a no-reference denoising quality assessment method. It is based on Hessian matrix analysis. We compare the proposed method with full-reference methods using PSNR metrics, SSIM metrics, and its modifications MSSIM and CMSC. Image databases TID, DRIVE, BSD, and a set of dermatological immunofluorescence microscopy images were used for the tests. It was found that more perceptual CMSC and MSSIM metrics give worse correspondence than SSIM and PSNR to the results of information preservation by the non-reference image denoising

Проблема объективации понимания спорного текста в рамках судебной лингвистической экспертизы

Based on the example analysis of a controversial text, the article addresses some linguistic phenomena making it challenging to interpert the texts, such as implicit expression of meaning, the incompleteness of the formal sentence structure, the presence of polysemantic components or linguistic components that require particular semanticizing or cognitive understanding. To precisely understand the controversial text and justify the results of linguistic research, it is necessary to overcome the mentioned factors’ negative influence. The meaning content of the analyzed text is twopronged: part of it has a non-explicit expression and involves a level of presuppositions of the text; therefore, the author of the article projected this content plan onto the communicative structure of the text using a description method based on the theory of rhetorical structures. As a result, an implicit content plan of the controversial text and the interpretation of its main controversial semantic components are presented. The analysis actualized several problematic issues related to the objectification of understanding a controversial text, which so far cannot be explicitly resolved. It is primarily the problem of the acceptability of the use of implicit information in a forensic perspective and the problem of eliminating the variability of the semantic understanding of controversial texts, the content of which is not explicit enough.На примере анализа спорного текста рассмотрен ряд языковых явлений, затрудняющих интерпретацию текстов, таких как имплицитность выражения смысла, неполнота формальной (лексико-грамматической) структуры высказывания, наличие в тексте многозначных языковых единиц или языковых единиц, требующих специального семантизирующего или когнитивного понимания. Для однозначного понимания спорного текста и обоснования результатов лингвистического исследования требуется преодоление негативного влияния обозначенных факторов. Смысловое содержание анализируемого текста является двуплановым: часть его имеет неэксплицитное выражение и задействует уровень пресуппозиций текста, в связи с чем автор статьи проецирует план содержания на коммуникативную структуру текста с использованием описания, основанного на теории риторических структур. В результате представлен имплицитный план содержания спорного текста и интерпретированы его основные спорные смысловые компоненты. Проведенный анализ актуализировал несколько проблемных вопросов, связанных с объективизацией понимания спорного текста, которые пока не могут быть разрешены однозначно. Это в первую очередь проблема приемлемости использования имплицитной информации в криминалистической перспективе и проблема устранения вариативности смыслового понимания спорных текстов, содержание которых недостаточно эксплицитно

Short wavelength electromagnetic propagation in magnetized quantum plasmas

The quantum electrodynamical (QED) short wavelength correction on plasma wave propagation for a non-relativistic quantum plasma is investigated. A general dispersion relation for a thermal multi-component quantum plasma is derived. It is found that the classical dispersion relation for any wave mode can be modified to include quantum and short wavelength QED effects by simple substitutions of the thermal velocity and the plasma frequency. Furthermore, the dispersion relation has been modified to include QED effects of strong magnetic fields. It is found that strong magnetic fields together with the short wavelength QED correction will induce dispersion both in vacuum and in otherwise non-dispersive plasma modes. Applications to laboratory and astrophysical systems are discussed.Comment: 13 pages, 2 figure

On the motion of a heavy rigid body in an ideal fluid with circulation

Chaplygin's equations describing the planar motion of a rigid body in an unbounded volume of an ideal fluid involved in a circular flow around the body are considered. Hamiltonian structures, new integrable cases, and partial solutions are revealed, and their stability is examined. The problems of non-integrability of the equations of motion because of a chaotic behavior of the system are discussed.Comment: 25 pages, 4 figure

Axion braneworld cosmology

We study axion cosmology in a 5D Universe, in the case of flat and warped extra dimension. The comparison between theoretical predictions and observations constrains the 5D axion decay constant and the 5D Planck mass, which has to be taken into account in building 5D axion models. The framework developed in this paper can be readily applied to other bulk fields in brane universes.Comment: uses revtex

Casimir interaction of two plates inside a cylinder

The new exact formulas for the attractive Casimir force acting on each of the two identical perfectly conducting plates moving freely inside an infinite perfectly conducting cylinder with the same cross section are derived at zero and finite temperatures by making use of the zeta function technique. The long and short distance behaviour of the plates' free energy is investigated.Comment: 14 pages, 1 figure, latex2