Vision based motion control for a humanoid head

This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely. The kinematic and dynamic properties of the head are analyzed and modeled using screw theory. The motion control algorithm is designed to receive, as an input, the output of a vision processing algorithm and to exploit the redundancy of the system for the realization of the movements. This algorithm is designed to enable the head to focus on and to follow a target, showing human-like motions. The performance of the control algorithm has been tested in a simulated environment and, then, experimentally applied to the real humanoid head

Motion control of the Twente humanoid head

In this work, we present the design and the realization of the motion control algorithm implemented in the Twente hu- manoid head, a seven degrees of freedom (dof) robotic sys- tem. The aim of the project is to have a humanoid head that can serve as a research platform for human-machine interac- tion purposes. The head should not only be able to percieve its environment and track objects, but also be able to move in a human-like way, i.e. to reproduce the motions of human beings and to mime the human expressions

Modeling and design of energy efficient variable stiffness actuators

In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy efficient variable stiffness actuators. Based on new insights gained from this approach, a novel conceptual actuator is presented. Simulations show that the apparent output stiffness of this actuator can be dynamically changed in an energy efficient way

"Low-state" Black Hole Accretion in Nearby Galaxies

I summarize the main observational properties of low-luminosity AGNs in nearby galaxies to argue that they are the high-mass analogs of black hole X-ray binaries in the "low/hard" state. The principal characteristics of low-state AGNs can be accommodated with a scenario in which the central engine is comprised of three components: an optically thick, geometrically accretion disk with a truncated inner radius, a radiatively inefficient flow, and a compact jet.Comment: 8 pages. To appear in From X-ray Binaries to Quasars: Black Hole Accretion on All Mass Scales, ed. T. J. Maccarone, R. P. Fender, and L. C. Ho (Dordrecht: Kluwer

Port-Hamiltonian modeling for soft-finger manipulation

In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach

The Twente humanoid head

This video shows the results of the project on the mechatronic development of the Twente humanoid head. The mechanical structure consists of a neck with four degrees of freedom (DOFs) and two eyes (a stereo pair system) which tilt on a common axis and rotate sideways freely providing a three more DOFs. The motion control algorithm is designed to receive, as an input, the output of a biological-inspired vision processing algorithm and to exploit the redundancy of the joints for the realization of the movements. The expressions of the humanoid head are implemented by projecting light from the internal part of the translucent plastic cover

Assessing individual differences in genome-wide gene expression in human whole blood: reliability over four hours and stability over 10 months.

Studying the causes and correlates of natural variation in gene expression in healthy populations assumes that individual differences in gene expression can be reliably and stably assessed across time. However, this is yet to be established. We examined 4-hour test-retest reliability and 10 month test-retest stability of individual differences in gene expression in ten 12-year-old children. Blood was collected on four occasions: 10 a.m. and 2 p.m. on Day 1 and 10 months later at 10 a.m. and 2 p.m. Total RNA was hybridized to Affymetrix-U133 plus 2.0 arrays. For each probeset, the correlation across individuals between 10 a.m. and 2 p.m. on Day 1 estimates test-retest reliability. We identified 3,414 variable and abundantly expressed probesets whose 4-hour test-retest reliability exceeded .70, a conventionally accepted level of reliability, which we had 80% power to detect. Of the 3,414 reliable probesets, 1,752 were also significantly reliable 10 months later. We assessed the long-term stability of individual differences in gene expression by correlating the average expression level for each probe-set across the two 4-hour assessments on Day 1 with the average level of each probe-set across the two 4-hour assessments 10 months later. 1,291 (73.7%) of the 1,752 probe-sets that reliably detected individual differences across 4 hours on two occasions, 10 months apart, also stably detected individual differences across 10 months. Heritability, as estimated from the MZ twin intraclass correlations, is twice as high for the 1,752 reliable probesets versus all present probesets on the array (0.68 vs 0.34), and is even higher (0.76) for the 1,291 reliable probesets that are also stable across 10 months. The 1,291 probesets that reliably detect individual differences from a single peripheral blood collection and stably detect individual differences over 10 months are promising targets for research on the causes (e.g., eQTLs) and correlates (e.g., psychopathology) of individual differences in gene expression

Cryopreservation of Byrsonima intermedia embryos followed by room temperature thawing

Byrsonima intermedia is a shrub from the Brazilian Cerrado with medicinal properties. The storage of biological material at ultra-low temperatures (-196°C) is termed cryopreservation and represents a promising technique for preserving plant diversity. Thawing is a crucial step that follows cryopreservation. The aim of this work was to cryopreserve B. intermedia zygotic embryos and subsequently thaw them at room temperature in a solution rich in sucrose. The embryos were decontaminated and desiccated in a laminar airflow hood for 0-4 hours prior to plunging into liquid nitrogen. The embryo moisture content (% MC) during dehydration was assessed. Cryopreserved embryos were thawed in a solution rich in sucrose at room temperature, inoculated in a germination medium and maintained in a growth chamber. After 30 days, the embryo germination was evaluated. No significant differences were observed between the different embryo dehydration times, where they were dehydrated for at least one hour. Embryos with a MC between 34.3 and 20.3% were germinated after cryopreservation. In the absence of dehydration, all embryos died following cryopreservation. We conclude that B. intermedia zygotic embryos can be successfully cryopreserved and thawed at room temperature after at least one hour of dehydration in a laminar airflow bench

Computing special values of partial zeta functions

We discuss computation of the special values of partial zeta functions associated to totally real number fields. The main tool is the \emph{Eisenstein cocycle} $\Psi$, a group cocycle for $GL_{n} (\Z )$; the special values are computed as periods of $\Psi$, and are expressed in terms of generalized Dedekind sums. We conclude with some numerical examples for cubic and quartic fields of small discriminant.Comment: 10 p

Sobre los ortoneises de Traguntia-Juzbado (Salamanca) y su significación tectónica

En esta nota se indica la existencia de una banda de ortoneises de dirección SW-NE. Se consideran como originados en una línea tectónica de esa dirección que afecta a los granitos del W salmantino así como a algunas formaciones de metamorfismo de contacto de este granito. Los ortoneises se siguen con relativa facilidad desde Juzbago hasta pasado Traguntia.Desde aquí y hacia el SW no se localiza de forma tan clara, aunque el cambio de dirección que parecen presentar algunas formaciones entre Olmedo y Ahigal de los Aceiteros pudieran indicar que se continúa hasta la frontera portuguesa cuando menos