8 research outputs found

    Robust execution of bipedal walking tasks from biomechanical principles

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    Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006.Includes bibliographical references (p. 348-352).Effective use of robots in unstructured environments requires that they have sufficient autonomy and agility to execute task-level commands successfully. A challenging example of such a robot is a bipedal walking machine. Such a robot should be able to walk to a particular location within a particular time, while observing foot placement constraints, and avoiding a fall, if this is physically possible. Although stable walking machines have been built, the problem of task-level control, where the tasks have stringent state-space and temporal requirements, and where significant disturbances may occur, has not been studied extensively. This thesis addresses this problem through three objectives. The first is to devise a plan specification where task requirements are expressed in a qualitative form that provides for execution flexibility. The second is to develop a task-level executive that accepts such a plan, and outputs a sequence of control actions that result in successful plan execution. The third is to provide this executive with disturbance handling ability. Development of such an executive is challenging because the biped is highly nonlinear and has limited actuation due to its limited base of support. We address these challenges with three key innovations.(cont.) To address the nonlinearity, we develop a dynamic virtual model controller to linearize the biped, and thus, provide an abstracted biped that is easier to control. The controller is model-based, but uses a sliding control technique to compensate for model inaccuracy. To address the under-actuation, our system generates flow tubes, which define valid operating regions in the abstracted biped. The flow tubes represent sets of state trajectories that take into account dynamic limitations due to under-actuation, and also satisfy plan requirements. The executive keeps trajectories in the flow tubes by adjusting a small number of control parameters for key state variables in the abstracted biped, such as center of mass. Additionally, our system uses a novel strategy that employs angular momentum to enhance translational controllability of the system's center of mass. We evaluate our approach using a high-fidelity biped simulation. Tests include walking with foot-placement constraints, kicking a soccer ball, and disturbance recovery.by Andreas G. Hofmann.Ph.D

    Self-medication of migraine and tension-type headache: summary of the evidence-based recommendations of the Deutsche Migräne und Kopfschmerzgesellschaft (DMKG), the Deutsche Gesellschaft für Neurologie (DGN), the Österreichische Kopfschmerzgesellschaft (ÖKSG) and the Schweizerische Kopfwehgesellschaft (SKG)

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    The current evidence-based guideline on self-medication in migraine and tension-type headache of the German, Austrian and Swiss headache societies and the German Society of Neurology is addressed to physicians engaged in primary care as well as pharmacists and patients. The guideline is especially concerned with the description of the methodology used, the selection process of the literature used and which evidence the recommendations are based upon. The following recommendations about self-medication in migraine attacks can be made: The efficacy of the fixed-dose combination of acetaminophen, acetylsalicylic acid and caffeine and the monotherapies with ibuprofen or naratriptan or acetaminophen or phenazone are scientifically proven and recommended as first-line therapy. None of the substances used in self-medication in migraine prophylaxis can be seen as effective. Concerning the self-medication in tension-type headache, the following therapies can be recommended as first-line therapy: the fixed-dose combination of acetaminophen, acetylsalicylic acid and caffeine as well as the fixed combination of acetaminophen and caffeine as well as the monotherapies with ibuprofen or acetylsalicylic acid or diclofenac. The four scientific societies hope that this guideline will help to improve the treatment of headaches which largely is initiated by the patients themselves without any consultation with their physicians

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    Mémoire du sol, espace des hommes

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    Search for Scalar Diphoton Resonances in the Mass Range 6560065-600 GeV with the ATLAS Detector in pppp Collision Data at s\sqrt{s} = 8 TeVTeV

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    A search for scalar particles decaying via narrow resonances into two photons in the mass range 65–600 GeV is performed using 20.3fb120.3\text{}\text{}{\mathrm{fb}}^{-1} of s=8TeV\sqrt{s}=8\text{}\text{}\mathrm{TeV} pppp collision data collected with the ATLAS detector at the Large Hadron Collider. The recently discovered Higgs boson is treated as a background. No significant evidence for an additional signal is observed. The results are presented as limits at the 95% confidence level on the production cross section of a scalar boson times branching ratio into two photons, in a fiducial volume where the reconstruction efficiency is approximately independent of the event topology. The upper limits set extend over a considerably wider mass range than previous searches
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