Natural ZMP trajectories for biped robot reference generation

The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model (LIPM) and Zero Moment Point (ZMP) Criterion based approaches in stable walking reference generation are reported. In these methods, generally, the ZMP reference during a stepping motion is kept fixed in the middle of the supporting foot sole. This kind of reference generation lacks naturalness, in that, the ZMP in the human walk does not stay fixed, but it moves forward under the supporting foot. This paper proposes a reference generation algorithm based on the LIPM and moving support foot ZMP references. The application of Fourier series approximation simplifies the solution and it generates a smooth ZMP reference. A simple inverse kinematics based joint space controller is used for the tests of the developed reference trajectory through full-dynamics 3D simulation. A 12 DOF biped robot model is used in the simulations. Simulation studies suggest that the moving ZMP references are more energy efficient than the ones with fixed ZMP under the supporting foot. The results are promising for implementations

TURKISH PRE-SERVICE EFL TEACHERS’ PERCEPTIONS OF CREATIVITY

Creativity is considered one of the key 21st century skills and has received an increasing amount of attention in the field of education. How teachers perceive creativity has a significant impact on their pedagogical practices to stimulate student creativity in the classroom. The present exploratory study, based on a qualitative approach, aimed to investigate pre-service English teachers’ perceptions of creativity. Analysis of data coming from a semi-structured focus-group interview with eight pre-service teachers revealed their perception of creativity as being different and unique, having extraordinary ideas and being able to produce original outcomes. The participants posited that creativity was innate to some extent and environmental factors such as family environment, cultural background and school education contributed to its development later in life. They suggested using open-ended, communicative, and collaborative tasks in English classrooms to foster student creativity. As prospective teachers, they perceived themselves creative to some extent, but felt unprepared to teach creativity. Finally, they all agreed on the facilitative role of teacher education in helping PTs teach creatively and develop an understanding of teaching creativity. 

Biped robot reference generation with natural ZMP trajectories

Humanoid robotics attracted the attention of many researchers in the past 35 years. The motivation for research is the suitability of the biped structure for tasks in human environments. The control of humanoid robots is challenging due to its complex dynamics. Walking reference trajectory generation is a key problem. A criterion used for the reference generation is that the reference trajectory should be suitable to be followed by the robot with its natural dynamics and minimal control intervention. Reference generation techniques with the so-called Linear Inverted Pendulum Model (LIPM) are based on this idea. The Zero Moment Point (ZMP) Criterion is widely employed in the stability analysis of biped robot walk. Improved LIPM based reference generation methods obtained by applying the ZMP Criterion are also reported. In these methods, the ZMP during a stepping motion is kept fixed in the middle of the supporting foot sole, which lacks naturalness. In fact, the ZMP in the human walk does not stay fixed, but it moves under the supporting foot. This thesis proposes a LIPM based reference generation algorithm that uses ZMP references which have double support phase and are also natural since moving ZMP references for single support phase are used. The application of Fourier series approximation simplifies the solution and it generates a smooth ZMP reference. Trajectory and force control methods for locomotion are devised and applied too. The developed techniques are tested through simulation with a 12-DOF biped robot model. The results obtained are promising for implementations

Senkronize bilateral üst üriner sistem ürotelyal karsinomu olgu sunumu]

Synchronous bilateral upper urinary tract urothelial cancer (UTUC) is a very rare form of urothelial cancer. In patients with high-risk unilateral UTUC, radical nephroureterectomy (RNU) is the gold standard treatment. However, there is no consensus on the treatment for synchronous bilateral UTUC. Evaluation of the patient and the tumor is recommended. Bilateral nephron-sparing surgery (NSS) was performed on a 53-year-old patient who presented with high-risk synchronous bilateral UTUC, and the outcome was reported

TURKISH PRE-SERVICE EFL TEACHERS’ PERCEPTIONS OF CREATIVITY

Creativity is considered one of the key 21st century skills and has received an increasing amount of attention in the field of education. How teachers perceive creativity has a significant impact on their pedagogical practices to stimulate student creativity in the classroom. The present exploratory study, based on a qualitative approach, aimed to investigate pre-service English teachers’ perceptions of creativity. Analysis of data coming from a semi-structured focus-group interview with eight pre-service teachers revealed their perception of creativity as being different and unique, having extraordinary ideas and being able to produce original outcomes. The participants posited that creativity was innate to some extent and environmental factors such as family environment, cultural background and school education contributed to its development later in life. They suggested using open-ended, communicative, and collaborative tasks in English classrooms to foster student creativity. As prospective teachers, they perceived themselves creative to some extent, but felt unprepared to teach creativity. Finally, they all agreed on the facilitative role of teacher education in helping PTs teach creatively and develop an understanding of teaching creativity

First detection of heat shock protein 60 and 70 in the serum of early pregnant bitches

Heat shock proteins (HSPs) belong to a group of cellular stress proteins. Heat shock protein 10 immunoregulates and promotes growth during early gestation in humans, while HSP70 is considered to regulate autophagy and apoptosis during pregnancy and parturition. Both HSPs are detectable in the serum and placentas of early pregnant women and considered to contribute to the establishment of pregnancy. Within this pilot study we aimed (1) to assess whether HSPs 10, 60 and 70 are measurable in the serum of healthy early pregnant and non-pregnant bitches, and (2) to explore whether measurable differences between groups indicate pregnancy. Blood was collected from 31 bitches on days 7, 14 and 21 after mating. At 21 days post mating, all bitches were examined for pregnancy by ultrasonography; 23 were pregnant, and the eight non-pregnant bitches served as controls. Pregnant bitches had normal parturitions and gave birth to healthy puppies. The serum concentrations of HSPs 10, 60 and 70 were measured by electrophoresis and western blot. Serum HSP10 was not detectable. Average serum HSP70 concentration was significantly (d7, P = 0.030; d14, P = 0.023; d21, P = 0.030) lower in pregnant animals at all days investigated, while serum HSP60 was significantly lower at day 21 of gestation (P = 0.024) when compared to the controls. HSP 60 and HSP70 concentrations correlated positively (d7, r = +0.386, P = 0.021; d14, r = 0.450, P = 0.008; d21, r = +0.472, P = 0.006). We conclude that in pregnant bitches, serum concentrations of HSP60 and HSP70 are significantly decreased between days 7 and 21 of gestation, in comparison to non-pregnant bitches in early dioestrus, raising the question about intrauterine functions during the peri-implantation period

New Alien Mediterranean Biodiversity Records (August 2022)

In this Collective Article on alien and cryptogenic diversity in the Mediterranean Sea we report a total of 19 species belonging to nine Phyla and coming from nine countries. Several of these records concern fish species, and of particular interest are the first records of: Terapon puta for Italian waters; Pteragopus trispilus from Malta; Plotosus lineatus from Cyprus; and the northernmost Mediterranean record of Lagocephalus sceleratus. The northernmost Mediterranean record was also reported for the sea urchin Diadema setosum. The portunid crab Thalamita poissonii was recorded for the first time in Libya. The copepod Pseudodiaptomus marinus was recorded for the first time in the Marmara Sea. The polychaete Branchiomma luctuosum was recorded for the first time from the Mediterranean coast of France. The alien anemone Diadumene lineata was recorded for the first time from Slovenia. The macroalgae Sargassum furcatum was recorded for the first time from Italy. The new Mediterranean records here reported help tracing abundance and distribution of alien and cryptic species in the Mediterranean Sea

Measurement of t(t)over-bar normalised multi-differential cross sections in pp collisions at root s=13 TeV, and simultaneous determination of the strong coupling strength, top quark pole mass, and parton distribution functions

Peer reviewe

An embedding technique to determine ττ backgrounds in proton-proton collision data

An embedding technique is presented to estimate standard model tau tau backgrounds from data with minimal simulation input. In the data, the muons are removed from reconstructed mu mu events and replaced with simulated tau leptons with the same kinematic properties. In this way, a set of hybrid events is obtained that does not rely on simulation except for the decay of the tau leptons. The challenges in describing the underlying event or the production of associated jets in the simulation are avoided. The technique described in this paper was developed for CMS. Its validation and the inherent uncertainties are also discussed. The demonstration of the performance of the technique is based on a sample of proton-proton collisions collected by CMS in 2017 at root s = 13 TeV corresponding to an integrated luminosity of 41.5 fb(-1).Peer reviewe