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

An effective spin model on the honeycomb lattice for the description of magnetic properties in two-dimensional Fe3_3GeTe2_2

Fe$_3$GeTe$_2$ attracts significant attention due to technological perspectives of realizing room temperature ferromagnetism in two-dimensional materials. Here we show that due to structural peculiarities of the Fe$_3$GeTe$_2$ monolayer, short distance between the neighboring iron atoms induces a strong exchange coupling. This strong coupling allows us to consider them as an effective cluster with a magnetic moment $\sim$5 $\mu_B$, giving rise to a simplified spin model on a bipartite honeycomb lattice with the reduced number of long-range interactions. The simplified model perfectly reproduces the results of the conventional spin model, but allows for a more tractable description of the magnetic properties of Fe$_3$GeTe$_2$, which is important, e.g., for large-scale simulations. Also, we discuss the role of biaxial strain in the stabilization of ferromagnetic ordering in Fe$_3$GeTe$_2$.Comment: 7 pages, 7 figure

USING THE MODERN THEORY OF MAGNETIC SUSCEPTIBILITY APPROACH TO DESCRIBE THE LOW-DIMENSIONAL MATERIALS: TWO-DIMENSIONAL ANTIMONY

Antimonene is a recently discovered two-dimensional material with high environmental stability and great electronic properties. We report on a computational study of magnetic response of antimonene focusing on the effect of gate voltage, playing an important role due to the structure of material.This work was supported by the Russian Science Foundation Grant № 21-12-00338

Presence of an in situ component is associated with reduced biological aggressiveness of size-matched invasive breast cancer

Background:The metastatic propensity of invasive ductal carcinoma (IDC) of the breast correlates with axillary node involvement and with expression of the proliferation antigen Ki-67, whereas ductal carcinoma in situ (DCIS) is non-metastasising. To clarify whether concomitant DCIS affects IDC prognosis, we compared Ki-67 expression and node status of size-matched IDC subgroups either with DCIS (IDC-DCIS) or without DCIS (pure IDC).Methods:We analysed data from 1355 breast cancer patients. End points were defined by the association of IDC (with or without DCIS) with grade, nodal status, Ki-67, and ER/HER2.Results: Size-matched IDC-DCIS was more likely than pure IDC to be screen detected (P0.03), to occur in pre-menopausal women (P0.002), and to be either ER-positive (P0.002) or HER2-positive (P0.0005), but less likely to be treated with breast-conserving surgery (P0.004). Grade and Ki-67 were lower in IDC-DCIS than in pure IDC (P0.02), and declined as the DCIS enlarged (P0.01). Node involvement and lymphovascular invasion in IDC-DCIS increased with the size ratio of IDC to DCIS (P0.01). A 60-month cancer-specific survival favoured IDC-DCIS over size-matched pure IDC (97.4 vs 96.0%).Conclusion:IDC co-existing with DCIS is characterised by lower proliferation and metastatic potential than size-matched pure IDC, especially if the ratio of DCIS to IDC size is high. We submit that IDC-DCIS is biologically distinct from pure IDC, and propose an incremental molecular pathogenesis of IDC-DCIS evolution involving an intermediate DCIS precursor that remains dependent for replication on upstream mitogens. © 2010 Cancer Research UK All rights reserved.published_or_final_versio

Atypical ductal hyperplasia is a multipotent precursor of breast carcinoma

The current model for breast cancer progression proposes independent “low‐grade (LG) like” and “high‐grade (HG) like” pathways but lacks a known precursor to HG cancer. We applied low coverage whole genome sequencing to atypical ductal hyperplasia (ADH) with and without carcinoma to shed light on breast cancer progression. 14/20 isolated ADH cases harboured at least one copy number alteration (CNA), but had fewer aberrations than LG or HG ductal carcinoma in situ (DCIS). ADH carried more HG‐like CNA than LG DCIS (eg. 8q gain). Correspondingly, 64% (7/11) of ADH cases with synchronous HG carcinoma were clonally related, similar to LG carcinoma (67%, 6/9). This study represents a significant shift in our understanding of breast cancer progression, with ADH as a common precursor lesion to the independent “low‐grade like” and “high‐grade like” pathways. These data suggest that ADH can be a precursor of HG breast cancer and that LG and HG carcinomas can evolve from a similar ancestor lesion. We propose that although LG DCIS may be committed to a LG molecular pathway, ADH may remain multipotent, progressing to either LG or HG carcinoma. This multipotent nature suggests that some ADH could be more clinically significant than LG DCIS, requiring biomarkers for personalising management

Комплексная медицинская реабилитация больных острой пневмонией и место физиотерапии в ней

Cumulating literature data and own studies the authors define the role of physical methods in complex rehabilitation treatment of patients with acute pneumonia. These methods choice is based on the clinical pathogenetical analysis of process course evolution, its syndromologic characterics. Physiotherapeutic methods supplement and potentiate ethyotropic treatment. During the bacterial agression phase, the positive action on the infiltration forming syndrome is provided by aerosol inhalational sanation of bronchi. The antiinflammatory treatment as well UHF, inductoheating, microwaves, peloid therapy, laser radiation are nessesary for the later resolve of the infiltrate. During the morphologic recovery and the reconvalescence stage, the antiinflammatory physiotherapy continues. The bronchial obstruction syndrome persistention is the cause for ultrasonic therapy, euphilline phonophoresis, and ozokerit application use. The astcnic vegetatic impairments syndrome in reconvalescents is the cause for halvanic collar, electric sleep, electric analgesia, and hydrotherapy use. The out-patient’s clinic (the department of rehabilitational therapy) is the main place of rehabilitation of reconvalescents with acute pneumonia. The lingering and complicated course of acute pneumonia causes the necessity of sanatorial rehabilitation both in local and cimatic sanatoriums with later dispanserization during the year.Авторы статьи, обобщив литературные данные и собственный опыт, определяют место, занимаемое физическими методами в комплексном восстановительном лечении больных острой пневмонией. Выбор этих методов основывается на клинико-патогенетическом анализе эволюции течения процесса, его синдромологических характеристик. Методы физиотерапии дополняют и потенцирую этиотропное лечение. В фазе бактериальной агрессии положительное влияние на синдром формирования инфильтрата оказывает аэрозольно-ингаляционная санация бронхов. Для последующего рассасывания инфильтрата требуется противовоспалительная терапия (УВЧ, инлуктотермия, микроволны, пелоидотерапия, лазерное облучение). В ходе морфологического восстановления, в фазе реконвалесценции, продолжается противовоспалительная физиотерапия. Персистенция синдрома бронхиальной обструкции — показание для применения ультразвуковой терапии, фонофореза эуфиллина, аппликаций озокерита. Синдром астеновегетативных нарушений у реконвалеснентов — показание для гальванического воротника, электросна и электроаналгезии, водолечения. Основным местом реабилитации реконвалеснентов острой пневмонии является поликлиника (отделение восстановительной терапии). Затяжное и осложненное течение острой пневмонии создает показание к санаторной реабилитации как на местных, так и на климатических курортах с последующей диспансеризацией в течение года

Open data from the third observing run of LIGO, Virgo, KAGRA and GEO

The global network of gravitational-wave observatories now includes five detectors, namely LIGO Hanford, LIGO Livingston, Virgo, KAGRA, and GEO 600. These detectors collected data during their third observing run, O3, composed of three phases: O3a starting in April of 2019 and lasting six months, O3b starting in November of 2019 and lasting five months, and O3GK starting in April of 2020 and lasting 2 weeks. In this paper we describe these data and various other science products that can be freely accessed through the Gravitational Wave Open Science Center at https://gwosc.org. The main dataset, consisting of the gravitational-wave strain time series that contains the astrophysical signals, is released together with supporting data useful for their analysis and documentation, tutorials, as well as analysis software packages.Comment: 27 pages, 3 figure