Human-like Walking with Compliant Legs

This work presents a novel approach to robotic bipedal walking. Based on the bipedal spring-mass model, which is known to closely describe human-like walking behavior, a robot has been designed that approaches the ideal model as closely as possible. The compliance of the springs is controllable by means of variable stiffness actuators. The controllable stiffness allows the gait to be stabilized against external disturbances

Heritability of daytime cortisol levels in children

INTRODUCTION Cortisol is a steroid hormone secreted by the outer cortex of the adrenal gland. Its secretion is stimulated by ACTH (adrenocorticotrophic hormone), produced in the pituitary in response to corticotropin-releasing hormone (CRH), a product from neurons in the paraventricular nucleus of the hypothalamus.After its release, the major part of cortisol binds to the plasma proteins corticosteroid binding globulin (CBG, or transcortin) and albumin, which prevents the hormone from penetrating the membranes of their target cells. About 3--5% of the total cortisol is the unbound, biologically active fraction. This active fraction has permissive, suppressive, stimulatory, and preparative action effects in the realms of cardiovascular function, fluid volume and hemorrhage, immunity and inflammation, metabolism, neurobiology, and reproductive physiology (Sapolsky, Romero, and Munck, 2000). Although cortisol is mainly known for its pivotal role in generating an adequate response to phy

Sensitive Limits on the Water Abundance in Cold Low Mass Molecular Cores

We present SWAS observations of water vapor in two cold star-less clouds, B68 and Core D in rho Ophiuchus. Sensitive non-detections of the 1(10)-1(01) transition of o-H2O are reported for each source. Both molecular cores have been previously examined by detailed observations that have characterized the physical structure. Using these rather well defined physical properties and a Monte-Carlo radiation transfer model we have removed one of the largest uncertainties from the abundance calculation and set the lowest water abundance limit to date in cold low-mass molecular cores. These limits are < 3 x 10^{-8} (relative to H2) and < 8 x 10^{-9} in B68 and rho Oph D, respectively. Such low abundances confirm the general lack of ortho-water vapor in cold (T < 20 K) cores. Provided that the ortho/para ratio of water is not near zero, these limits are well below theoretical predictions and appear to support the suggestion that most of the water in dense low-mass cores is frozen onto the surfaces of cold dust grains.Comment: 12 pages, 3 figures, accepted by Astrophysical Journal Letter

Genetic correlation of exercise with heart rate and respiratory sinus arrhythmia

Purpose: A twin design was used to test whether the association between exercise behavior and heart rate and the association between exercise behavior and respiratory sinus arrhythmia (RSA) derive from a common genetic factor. Methods: Data were available from 157 adolescent (aged 13-22) and 208 middle-aged twin pairs (aged 35-62), divided into five sex by zygosity groups (male and female monozygotic twin pairs, and dizygotic twin pairs of same or opposite sex). Exercise behavior was assessed as the average weekly METs spent on sports activities or other vigorous activities in leisure time (sportMETS) in the last 3 months. RSA and heart period (HP) were assessed in the time domain from the combined ECG and respiration signals. Results: Heritability estimates were 16% and 29% for RSA, 64% and 68% for HP, and 79% and 41% for sportMETS in young and middle-aged twins, respectively. A significant association was found between RSA and sportMETS (0.17) in the adolescent twins that derived entirely from a common genetic factor. No association was found between sportMETS and RSA in the older twins. A significant association was found between HP and sportMETS in both adolescent (0.35) and middle-aged (0.18) twins. A large contribution of common genetic factors to these associations was found amounting to 84% and 88% in the young and middle-aged twins, respectively. Conclusions: Although the results of this study do not preclude causal effects of exercise on RSA and heart rate, they show that the association between exercise and these cardiovascular risk factors largely derives from a common genetic factor

Current Star Formation in the Ophiuchus and Perseus Molecular Clouds: Constraints and Comparisons from Unbiased Submillimeter and Mid-Infrared Surveys. II

We present a census of the population of deeply embedded young stellar objects (YSOs) in the Ophiuchus molecular cloud complex based on a combination of Spitzer Space Telescope mid-infrared data from the "Cores to Disks" (c2d) legacy team and JCMT/SCUBA submillimeter maps from the COMPLETE team. We have applied a method developed for identifying embedded protostars in Perseus to these datasets and in this way construct a relatively unbiased sample of 27 candidate embedded protostars with envelopes more massive than our sensitivity limit (about 0.1 M_sun). Embedded YSOs are found in 35% of the SCUBA cores - less than in Perseus (58%). On the other hand the mid-infrared sources in Ophiuchus have less red mid-infrared colors, possibly indicating that they are less embedded. We apply a nearest neighbor surface density algorithm to define the substructure in each of the clouds and calculate characteristic numbers for each subregion - including masses, star formation efficiencies, fraction of embedded sources etc. Generally the main clusters in Ophiuchus and Perseus (L1688, NGC1333 and IC348) are found to have higher star formation efficiencies than small groups such as B1, L1455 and L1448, which on the other hand are completely dominated by deeply embedded protostars. We discuss possible explanations for the differences between the regions in Perseus and Ophiuchus, such as different evolutionary timescales for the YSOs or differences, e.g., in the accretion in the two clouds.Comment: Accepted for publication in ApJ (56 pages, 13 figures; abstract abridged). Version with full-resolution figures available at http://www.astro.uni-bonn.de/~jes/paper120.pd

The CO Molecular Outflows of IRAS 16293-2422 Probed by the Submillimeter Array

We have mapped the proto-binary source IRAS 16293-2422 in CO 2-1, 13CO 2-1, and CO 3-2 with the Submillimeter Array (SMA). The maps with resolution of 1".5-5" reveal a single small scale (~3000 AU) bipolar molecular outflow along the east-west direction. We found that the blueshifted emission of this small scale outflow mainly extends to the east and the redshifted emission to the west from the position of IRAS 16293A. A comparison with the morphology of the large scale outflows previously observed by single-dish telescopes at millimeter wavelengths suggests that the small scale outflow may be the inner part of the large scale (~15000 AU) E-W outflow. On the other hand, there is no clear counterpart of the large scale NE-SW outflow in our SMA maps. Comparing analytical models to the data suggests that the morphology and kinematics of the small scale outflow can be explained by a wide-angle wind with an inclination angle of ~30-40 degrees with respect to the plane of the sky. The high resolution CO maps show that there are two compact, bright spots in the blueshifted velocity range. An LVG analysis shows that the one located 1" to the east of source A is extremely dense, n(H_2)~10^7 cm^-3, and warm, T_kin >55 K. The other one located 1" southeast of source B has a higher temperature of T_kin >65 K but slightly lower density of n(H_2)~10^6 cm^-3. It is likely that these bright spots are associated with the hot core-like emission observed toward IRAS 16293. Since both two bright spots are blueshifted from the systemic velocity and are offset from the protostellar positions, they are likely formed by shocks.Comment: 27 pages, 8 figures, accepted for publication in ApJ, minor typos correcte