Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion

Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in underactuated bipedal robots. Two fundamental tools are introduced, virtual constraints and hybrid zero dynamics. Virtual constraints are relations on the state variables of a mechanical model that are imposed through a time-invariant feedback controller. One of their roles is to synchronize the robot's joints to an internal gait phasing variable. A second role is to induce a low dimensional system, the zero dynamics, that captures the underactuated aspects of a robot's model, without any approximations. To enhance intuition, the relation between physical constraints and virtual constraints is first established. From here, the hybrid zero dynamics of an underactuated bipedal model is developed, and its fundamental role in the design of asymptotically stable walking motions is established. The chapter includes numerous references to robots on which the highlighted techniques have been implemented.Comment: 17 pages, 4 figures, bookchapte

The effect of cocaine on gastric mucosal PGE2, LTC4 and ulcerations

The association between cocaine use and acute gastroduodenal perforation is known. The effect of cocaine and stress on gastric mucosal ulceration and the levels of prostaglandin E2 (PGE2) and leukotriene C4 (LTC4) was studied in 40 Sprague–Dawley rats. Controls received intraperitoneal (i.p.) saline, ten received i.p. cocaine (35 mg/kg), ten were stressed by the cold restraint method, and ten had i.p. cocaine and stress. Cocaine alone did not induce ulceration, but decreased PGE2 levels. Stress alone caused ulceration, but was not associated with a change in either PGE2 or LTC4 levels. When combined with stress, however, cocaine caused a three-fold increase in ulceration and a significant increase in PGE2 and LTC4 levels. Stress may predispose the cocaine addict to loss of gastroduodenal mucosal integrity, which is related to an imbalance of PGE2 and LTC4 synthesis

Zitterbewegung of electrons and holes in III-V semiconductor quantum wells

The notion of zitterbewegung is a long-standing prediction of relativistic quantum mechanics. Here we extend earlier theoretical studies on this phenomenon for the case of III-V zinc-blende semiconductors which exhibit particularly strong spin-orbit coupling. This property makes nanostructures made of these materials very favorable systems for possible experimental observations of zitterbewegung. Our investigations include electrons in n-doped quantum wells under the influence of both Rashba and Dresselhaus spin-orbit interaction, and also the two-dimensional hole gas. Moreover, we give a detailed anaysis of electron zitterbewegung in quantum wires which appear to be particularly suited for experimentally observing this effect.Comment: 10 pages, 3 figures include

Absorbing boundary conditions for the Westervelt equation

The focus of this work is on the construction of a family of nonlinear absorbing boundary conditions for the Westervelt equation in one and two space dimensions. The principal ingredient used in the design of such conditions is pseudo-differential calculus. This approach enables to develop high order boundary conditions in a consistent way which are typically more accurate than their low order analogs. Under the hypothesis of small initial data, we establish local well-posedness for the Westervelt equation with the absorbing boundary conditions. The performed numerical experiments illustrate the efficiency of the proposed boundary conditions for different regimes of wave propagation

A quantum point contact for neutral atoms

We show that the conductance of neutral atoms through a tightly confining waveguide constriction is quantized in units of lambda_dB^2/pi, where lambda_dB is the de Broglie wavelength of the incident atoms. Such a constriction forms the atom analogue of an electron quantum point contact and is an example of quantum transport of neutral atoms in an aperiodic system. We present a practical constriction geometry that can be realized using a microfabricated magnetic waveguide, and discuss how a pair of such constrictions can be used to study the quantum statistics of weakly interacting gases in small traps.Comment: 5 pages with 3 figures. To appear in Phys. Rev. Let

Defining and controlling double quantum dots in single-walled carbon nanotubes

We report the experimental realization of double quantum dots in single-walled carbon nanotubes. The device consists of a nanotube with source and drain contact, and three additional top-gate electrodes in between. We show that, by energizing these top-gates, it is possible to locally gate a nanotube, to create a barrier, or to tune the chemical potential of a part of the nanotube. At low temperatures we find (for three different devices) that in certain ranges of top-gate voltages our device acts as a double quantum dot, evidenced by the typical honeycomb charge stability pattern.Comment: 9 pages, 3 figure

Nucleation and condensational growth to CCN sizes during a sustained pristine biogenic SOA event in a forested mountain valley

The Whistler Aerosol and Cloud Study (WACS 2010), included intensive measurements of trace gases and particles at two sites on Whistler Mountain. Between 6–11 July 2010 there was a sustained high-pressure system over the region with cloud-free conditions and the highest temperatures of the study. During this period, the organic aerosol concentrations rose from <1 μg m<sup>−3</sup> to ∼6 μg m<sup>−3</sup>. Precursor gas and aerosol composition measurements show that these organics were almost entirely of secondary biogenic nature. Throughout 6–11 July, the anthropogenic influence was minimal with sulfate concentrations <0.2 μg m<sup>−3</sup> and SO<sub>2</sub> mixing ratios ≈ 0.05–0.1 ppbv. Thus, this case provides excellent conditions to probe the role of biogenic secondary organic aerosol in aerosol microphysics. Although SO<sub>2</sub> mixing ratios were relatively low, box-model simulations show that nucleation and growth may be modeled accurately if <i>J</i><sub>nuc</sub> = 3 × 10<sup>−7</sup>[H<sub>2</sub>SO<sub>4</sub>] and the organics are treated as effectively non-volatile. Due to the low condensation sink and the fast condensation rate of organics, the nucleated particles grew rapidly (2–5 nm h<sup>−1</sup>) with a 10–25% probability of growing to CCN sizes (100 nm) in the first two days as opposed to being scavenged by coagulation with larger particles. The nucleated particles were observed to grow to ∼200 nm after three days. Comparisons of size-distribution with CCN data show that particle hygroscopicity (κ) was ∼0.1 for particles larger 150 nm, but for smaller particles near 100 nm the κ value decreased near midway through the period from 0.17 to less than 0.06. In this environment of little anthropogenic influence and low SO<sub>2</sub>, the rapid growth rates of the regionally nucleated particles – due to condensation of biogenic SOA – results in an unusually high efficiency of conversion of the nucleated particles to CCN. Consequently, despite the low SO<sub>2</sub>, nucleation/growth appear to be the dominant source of particle number

Three-dimensional micro-electromagnet traps for neutral and charged particles

Three-dimensional (3D) micro-electromagnets were developed to control particle motion in magnetic field landscapes in vacuum near a chip. Multiple layers of micron-scale conductors separated by transparent insulators create particle containers with deep, symmetric and time-dependent potentials, suitable for integration in quantum circuits. Single and coupled multiple 3D traps, integrated 3D traps with a mirror, 3D guides for neutral particles with spin, and traps for electrons in vacuum are described.Comment: 15 pages, 1 table, 3 figures, Accepted for publication in Phys. Rev.