Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints

In this paper, we propose a solution to compute full-dynamic motions for a humanoid robot, accounting for various kinds of constraints such as dynamic balance or joint limits. As a first step, we propose a unification of task-based control schemes, in inverse kinematics or inverse dynamics. Based on this unification, we generalize the cascade of quadratic programs that were developed for inverse kinematics only. Then, we apply the solution to generate, in simulation, wholebody motions for a humanoid robot in unilateral contact with the ground, while ensuring the dynamic balance on a non horizontal surface

A search for starlight reflected from HD 75289b

We have used a Doppler tomographic analysis to conduct a deep search for the starlight reflected from the planetary companion to HD 75289. In four nights on VLT(UT2)/UVES in 2003 January, we obtained 684 high-resolution echelle spectra with a total integration time of 26 h. We establish an upper limit on the geometric albedo of the planet p < 0.12 (to the 99.9 per cent significance level) at the most probable orbital inclination i≃ 60°, assuming a grey albedo, a Venus-like phase function and a planetary radius Rp= 1.6 RJup. We are able to rule out some combinations of the predicted planetary radius and atmospheric albedo models with high, reflective cloud deck

Assessment of Polymer Atmospheric Correction Algorithm for Hyperspectral Remote Sensing Imagery over Coastal Waters

Spaceborne imaging spectroscopy, also called hyperspectral remote sensing, has shown huge potential to improve current water colour retrievals and, thereby, the monitoring of inland and coastal water ecosystems. However, the quality of water colour retrievals strongly depends on successful removal of the atmospheric/surface contributions to the radiance measured by satellite sensors. Atmospheric correction (AC) algorithms are specially designed to handle these effects, but are challenged by the hundreds of narrow spectral bands obtained by hyperspectral sensors. In this paper, we investigate the performance of Polymer AC for hyperspectral remote sensing over coastal waters. Polymer is, in nature, a hyperspectral algorithm that has been mostly applied to multispectral satellite data to date. Polymer was applied to data from the Hyperspectral Imager for the Coastal Ocean (HICO), validated against in situ multispectral (AERONET-OC) and hyperspectral radiometric measurements, and its performance was compared against that of the hyperspectral version of NASA’s standard AC algorithm, L2gen. The match-up analysis demonstrated very good performance of Polymer in the green spectral region. The mean absolute percentage difference across all the visible bands varied between 16% (green spectral region) and 66% (red spectral region). Compared with L2gen, Polymer remote sensing reflectances presented lower uncertainties, greater data coverage, and higher spectral similarity to in situ measurements. These results demonstrate the potential of Polymer to perform AC on hyperspectral satellite data over coastal waters, thus supporting its application in current and future hyperspectral satellite missions

A GPU-based Correlator X-engine Implemented on the CHIME Pathfinder

We present the design and implementation of a custom GPU-based compute cluster that provides the correlation X-engine of the CHIME Pathfinder radio telescope. It is among the largest such systems in operation, correlating 32,896 baselines (256 inputs) over 400MHz of radio bandwidth. Making heavy use of consumer-grade parts and a custom software stack, the system was developed at a small fraction of the cost of comparable installations. Unlike existing GPU backends, this system is built around OpenCL kernels running on consumer-level AMD GPUs, taking advantage of low-cost hardware and leveraging packed integer operations to double algorithmic efficiency. The system achieves the required 105TOPS in a 10kW power envelope, making it among the most power-efficient X-engines in use today.Comment: 6 pages, 5 figures. Accepted by IEEE ASAP 201

Development and assessment of herpes simplex virus type 1 (HSV-1) amplicon vectors with sensory neuron-selective promoters

Background: Neurogenic detrusor overactivity (NDO) is a severe pathological condition characterized by involuntary detrusor contractions leading to urine leakage. This condition is frequent after spinal cord injury (SCI). Gene therapy for NDO requires the development of vectors that express therapeutic transgenes driven by sensory neuron-specific promoters. The aim of this study was to develop and assess tools for the characterization of sensory neuron-specific promoters in dorsal root ganglia (DRG) neurons after transduction with herpes simplex virus type 1 (HSV-1)-based amplicon defective vectors. Methods: The HSV-1 vector genome encoded two independent transcription cassettes: one expressed firefly luciferase (FLuc) driven by different promoters’ candidates (rTRPV1, rASIC3, rCGRP, or hCGRP), and the other expressed a reporter gene driven by an invariable promoter. The strength and selectivity of promoters was assessed in organotypic cultures of explanted adult DRG, or sympathetic and parasympathetic ganglia from control and SCI rats. Results: The rCGRP promoter induced selective expression in the DRG of normal rats. The rTRPV-1 promoter, which did not display selective activity in control rats, induced selective expression in DRG explanted from SCI rats. Conclusions: This study provides a methodology to assess sensory neuron-specific promoters, opening new perspectives for future gene therapy for ND

Calibrating CHIME, A New Radio Interferometer to Probe Dark Energy

The Canadian Hydrogen Intensity Mapping Experiment (CHIME) is a transit interferometer currently being built at the Dominion Radio Astrophysical Observatory (DRAO) in Penticton, BC, Canada. We will use CHIME to map neutral hydrogen in the frequency range 400 -- 800\,MHz over half of the sky, producing a measurement of baryon acoustic oscillations (BAO) at redshifts between 0.8 -- 2.5 to probe dark energy. We have deployed a pathfinder version of CHIME that will yield constraints on the BAO power spectrum and provide a test-bed for our calibration scheme. I will discuss the CHIME calibration requirements and describe instrumentation we are developing to meet these requirements

Limits on the ultra-bright Fast Radio Burst population from the CHIME Pathfinder

We present results from a new incoherent-beam Fast Radio Burst (FRB) search on the Canadian Hydrogen Intensity Mapping Experiment (CHIME) Pathfinder. Its large instantaneous field of view (FoV) and relative thermal insensitivity allow us to probe the ultra-bright tail of the FRB distribution, and to test a recent claim that this distribution's slope, $\alpha\equiv-\frac{\partial \log N}{\partial \log S}$, is quite small. A 256-input incoherent beamformer was deployed on the CHIME Pathfinder for this purpose. If the FRB distribution were described by a single power-law with $\alpha=0.7$, we would expect an FRB detection every few days, making this the fastest survey on sky at present. We collected 1268 hours of data, amounting to one of the largest exposures of any FRB survey, with over 2.4\,$\times$\,10$^5$\,deg$^2$\,hrs. Having seen no bursts, we have constrained the rate of extremely bright events to $<\!13$\,sky$^{-1}$\,day$^{-1}$ above $\sim$\,220$\sqrt{(\tau/\rm ms)}$ Jy\,ms for $\tau$ between 1.3 and 100\,ms, at 400--800\,MHz. The non-detection also allows us to rule out $\alpha\lesssim0.9$ with 95$\%$ confidence, after marginalizing over uncertainties in the GBT rate at 700--900\,MHz, though we show that for a cosmological population and a large dynamic range in flux density, $\alpha$ is brightness-dependent. Since FRBs now extend to large enough distances that non-Euclidean effects are significant, there is still expected to be a dearth of faint events and relative excess of bright events. Nevertheless we have constrained the allowed number of ultra-intense FRBs. While this does not have significant implications for deeper, large-FoV surveys like full CHIME and APERTIF, it does have important consequences for other wide-field, small dish experiments

Hillslope response to sprinkling and natural rainfall using velocity and celerity estimates in a slate-bedrock catchment

Subsurface flow is often recognized as a dominant runoff generation process. However, observing subsurface properties, and understanding how they control flow pathways, remains challenging. This paper investigates how surface slope and bedrock cleavage control subsurface flow pathways in a slate bedrock headwater catchment in Luxembourg, characterised by a double-peak streamflow response. We use a range of experimental techniques, including field observations of soil and bedrock characteristics, and a sprinkling experiment at a site located 40 m upslope from the stream channel. The sprinkling experiment uses Br- as a tracer, which is measured at a well downslope from the plot and at various locations along the stream, together with well and stream hydrometric responses. The sprinkling experiment is used to estimate velocities and celerities, which in turn are used to infer flow pathways. Our results indicate that the single or first peak of double-peak events is rainfall-driven (controlled by rainfall) while the second peak is storage-driven (controlled by storage). The comparison between velocity and celerity estimates suggests a fast flowpath component connecting the hillslope to the stream, but velocity information was too scarce to fully support such a hypothesis. In addition, different estimates of celerities suggest a seasonal influence of both rainfall intensity rate and residual water storage on the celerity responses at the hillslope scale. At the catchment outlet, the estimated of the total mass of Br- recovered in the stream was about 2.5% of the application. Further downstream, the estimate mass of Br- was about 4.0% of the application. This demonstrates that flowpaths do not appear to align with the slope gradient. In contrast, they appear to follow the strike of the bedrock cleavage. Our results have expanded our understanding of the importance of the subsurface, in particular the underlying bedrock systems, and the importance of cleavage orientation, as well as topography, in controlling subsurface flow direction in this catchment

Convergent consequences of parthenogenesis on stick insect genomes

International audienceThe shift from sexual reproduction to parthenogenesis has occurred repeatedly in animals, but how the loss of sex affects genome evolution remains poorly understood. We generated reference genomes for five independently evolved parthenogenetic species in the stick insect genus Timema and their closest sexual relatives. Using these references and population genomic data, we show that parthenogenesis results in an extreme reduction of heterozygosity and often leads to genetically uniform populations. We also find evidence for less effective positive selection in parthenogenetic species, suggesting that sex is ubiquitous in natural populations because it facilitates fast rates of adaptation. Parthenogenetic species did not show increased transposable element (TE) accumulation, likely because there is little TE activity in the genus. By using replicated sexual-parthenogenetic comparisons, our study reveals how the absence of sex affects genome evolution in natural populations, providing empirical support for the negative consequences of parthenogenesis as predicted by theory