A physical model suggests that hip-localized balance sense in birds improves state estimation in perching: implications for bipedal robots

In addition to a vestibular system, birds uniquely have a balance-sensing organ within the pelvis, called the lumbosacral organ (LSO). The LSO is well developed in terrestrial birds, possibly to facilitate balance control in perching and terrestrial locomotion. No previous studies have quantified the functional benefits of the LSO for balance. We suggest two main benefits of hip-localized balance sense: reduced sensorimotor delay and improved estimation of foot-ground acceleration. We used system identification to test the hypothesis that hip-localized balance sense improves estimates of foot acceleration compared to a head-localized sense, due to closer proximity to the feet. We built a physical model of a standing guinea fowl perched on a platform, and used 3D accelerometers at the hip and head to replicate balance sense by the LSO and vestibular systems. The horizontal platform was attached to the end effector of a 6 DOF robotic arm, allowing us to apply perturbations to the platform analogous to motions of a compliant branch. We also compared state estimation between models with low and high neck stiffness. Cross-correlations revealed that foot-to-hip sensing delays were shorter than foot-to-head, as expected. We used multi-variable output error state-space (MOESP) system identification to estimate foot-ground acceleration as a function of hip- and head-localized sensing, individually and combined. Hip-localized sensors alone provided the best state estimates, which were not improved when fused with head-localized sensors. However, estimates from head-localized sensors improved with higher neck stiffness. Our findings support the hypothesis that hip-localized balance sense improves the speed and accuracy of foot state estimation compared to head-localized sense. The findings also suggest a role of neck muscles for active sensing for balance control: increased neck stiffness through muscle co-contraction can improve the utility of vestibular signals. Our engineering approach provides, to our knowledge, the first quantitative evidence for functional benefits of the LSO balance sense in birds. The findings support notions of control modularity in birds, with preferential vestibular sense for head stability and gaze, and LSO for body balance control,respectively. The findings also suggest advantages for distributed and active sensing for agile locomotion in compliant bipedal robots

Why The Free Speech Protection Act Of 2009 Serves As A Necessary Judicial Restraint Against Foreign Libel Judgments

Throughout the world the phrase freedom of expression has many different meanings

Ontology-Based Data Access and Integration

An ontology-based data integration (OBDI) system is an information management system consisting of three components: an ontology, a set of data sources, and the mapping between the two. The ontology is a conceptual, formal description of the domain of interest to a given organization (or a community of users), expressed in terms of relevant concepts, attributes of concepts, relationships between concepts, and logical assertions characterizing the domain knowledge. The data sources are the repositories accessible by the organization where data concerning the domain are stored. In the general case, such repositories are numerous, heterogeneous, each one managed and maintained independently from the others. The mapping is a precise specification of the correspondence between the data contained in the data sources and the elements of the ontology. The main purpose of an OBDI system is to allow information consumers to query the data using the elements in the ontology as predicates. In the special case where the organization manages a single data source, the term ontology-based data access (ODBA) system is used

Manipulating the Quantum State of an Electrical Circuit

We have designed and operated a superconducting tunnel junction circuit that behaves as a two-level atom: the ``quantronium''. An arbitrary evolution of its quantum state can be programmed with a series of microwave pulses, and a projective measurement of the state can be performed by a pulsed readout sub-circuit. The measured quality factor of quantum coherence Qphi=25000 is sufficiently high that a solid-state quantum processor based on this type of circuit can be envisioned.Comment: 4 figures include

On the succinctness of query rewriting over shallow ontologies

We investigate the succinctness problem for conjunctive query rewritings over OWL2QL ontologies of depth 1 and 2 by means of hypergraph programs computing Boolean functions. Both positive and negative results are obtained. We show that, over ontologies of depth 1, conjunctive queries have polynomial-size nonrecursive datalog rewritings; tree-shaped queries have polynomial positive existential rewritings; however, in the worst case, positive existential rewritings can be superpolynomial. Over ontologies of depth 2, positive existential and nonrecursive datalog rewritings of conjunctive queries can suffer an exponential blowup, while first-order rewritings can be superpolynomial unless NP �is included in P/poly. We also analyse rewritings of tree-shaped queries over arbitrary ontologies and note that query entailment for such queries is fixed-parameter tractable

Singularidad centro-foco en R3

En este articulo se estudian las singularidades de campos vectoriales X en el origen de R3 (con coordenadas (x1, x2, x3)) tales que DX(0) = - bx2 --+ bx1 --+ AX3 --. ax1 ax2 . ax3 b, A f O. La conducta de estas singularidades corresponde alcentrojoco en R3 con un eje hiperbólico. El conjunto de gérmenes de tales campos vectoriales es un conjunto estratificado, cuyas estratas son conjuntos localmente cerrados y de codimensión creciente en el espacio de gérmenes de singularidades en R3. Además estas singularidades son localmente C° estables y se bifurcan a n-parámetros colapsando n-cilindros concéntricos invariantes, es decir. una bifurcación de Hopf cilindrar generalizada