Acceleration-level control of the CyberCarpet

The CyberCarpet is an actuated platform that allows unconstrained locomotion of a walking user for VR exploration. The platform has two actuating devices (linear and angular) and the motion control problem is dual to that of nonholonomic wheeled mobile robots. The main control objective is to keep the walker close to the platform center. We first recall global kinematic control schemes developed at the velocity level, i.e., with the linear and angular velocities of the platform as input commands. Then, we use backstepping techniques and the theory of cascaded systems to move the design to control laws at the acceleration level. Acceleration control is more suitable to take into account the limitations imposed to the platform motion by the actuation system and/or the physiological bounds on the human walker. In particular, the availability of platform accelerations allows the analytical computation of the apparent accelerations felt by the user

Active crustal extension and strain accumulation from GPS data in the Molise region (central-southern Apennines, Italy)

In this paper, we report new GPS measurements which indicate active NE-SW extension and strain accumulation in the Molise region (Apennines, Italy). The GPS observations were collected during campaigns on benchmarks of the dense IGM95 network (average distance 20 km), spanning a maximum observation interval of 13 years, and have been integrated with measurements from the available permanent GPS sites. Considering the differential motion of the GPS sites, located on the Tyrrhenian and Adriatic coasts, we can evaluate a 4-5 mm/yr extension accommodated across this part of the Apennines. The velocity field exhibits clusters of sites with homogeneous velocity vectors, outlining two main divergence areas, both characterized by the largest velocity gradients: one near Venafro and the other near Isernia where two primary active faults and several historical earthquakes have been documented. These results suggest that an active extension in this part of the Apennines can be currently distributed between the two faults systems associated with the largest earthquakes of this region

Coseismic and post-seismic slip of the 2009 L'Aquila (central Italy) MW 6.3 earthquake and implications for seismic potential along the Campotosto fault from joint inversion of high-precision levelling, InSAR and GPS data

After the April 6th 2009 MW 6.3 (ML 5.9) L'Aquila earthquake (central Italy), we re-measured more than 100 km of high-precision levelling lines in the epicentral area. The joint inversion of the levelling measurements with InSAR and GPS measurements, allowed us to derive new coseismic and post-seismic slip distributions and to de- scribe, with high resolution details on surface displacements, the activation and the slip distribution of a second- ary fault during the aftershock sequence that struck the Campotosto area (major event MW 5.2). Coseismic slip on the Paganica fault occurred on one main asperity, while the afterslip distribution shows a more complex pattern, occurring on three main patches, including both slips on the shallow portions and on the deeper parts of the rup- ture plane. The comparison between coseismic and post-seismic slip distributions strongly suggests that afterslip was triggered at the edges of the coseismic asperity. The activation of a segment of the Campotosto fault during the aftershock sequence, with a good correlation between the estimated slipping area, moment release and distribution of aftershocks, raises the opportunity to discuss the local seismic hazard following the occurrence of the 2009 L'Aquila mainshock. The Campotosto fault appears capable of generating earthquakes as large as his- torical events in the region (M N 6.5) or as small as the ones associated with the 2009 sequence. In the case that the Campotosto fault is accumulating a significant portion of the current interseismic deformation, the 2009 MW N 5 events will have released only a small amount of the accumulated elastic strain, and then a significant hazard still remains in the area. Continuing geodetic monitoring and a densification of the GPS networks in the region are therefore needed to estimate the tectonic loading across the different recognized active fault systems in this part of the Apennines.Published168-1852T. Tettonica attivaJCR Journalrestricte

Coseismic and initial postseismic slip of the 2009 Mw 6.3 l’Aquila earthquake, Italy, from GPS measurements

Here we report the preliminary results of GPS data inversions for coseismic and initial afterslip distributions of the Mw 6.3 2009 April 6 L’Aquila earthquake. Coseismic displacements of continuous and survey-style GPS sites, show that the earthquake ruptured a planar SW-dipping normal fault with ∼0.6 m average slip and an estimated moment of 3.9 × 1018 Nm. Geodetic data agree with the seismological and geological information pointing out the Paganica fault, as the causative structure of the main shock. The position of the hypocentre relative to the coseismic slip distribution supports the seismological evidence of southeastward rupture directivity. These results also point out that the main coseismic asperity probably ended downdip of the Paganica village at a depth of few kilometres in agreement with the small (1–10 cm) observed surface breaks. Time-dependent post-seismic displacements have been modelled with an exponential function. The average value of the estimated characteristic times for near-field sites in the hanging-wall of the fault is 23.9 ± 5.4 d. The comparison between coseismic slip and post-seismic displacements for the first 60 d after the main shock, shows that afterslip occurred at the edges of the main coseismic asperity with a maximum estimated slip of ∼25 cm and an equivalent seismic moment of 6.5 × 1017 Nm. The activation of the Paganica fault, spatially intermediate between the previously recognized main active fault systems, suggests that strain accumulation in the central Apennines may be simultaneously active on distinct parallel fault systems.Published1539–15461.1. TTC - Monitoraggio sismico del territorio nazionale1.9. Rete GPS nazionaleJCR Journalrestricte

10 Hz GPS seismology for moderate magnitude earthquakes: the case of the Mw 6.3 L’Aquila (Central Italy) event

The 2009 April 6th Mw 6.3 L'Aquila destructive earthquake was successfully recorded by closely spaced 10-Hz and 1-Hz recording GPS receivers and strong motion accelerometers located above or close to the 50° dipping activated fault. We retrieved both static and dynamic displacements from Very High-Rate GPS (VHRGPS) recordings by using Precise Point Positioning kinematic analysis. We compared the GPS positions time series with the closest displacement time series obtained by doubly-integrating strong motion data, first, to assess the GPS capability to detect the first seismic arrivals (P waves) and, secondly, to evaluate the accelerometers capability to detect co-seismic offsets up to ~45 s after the earthquake occurrence. By comparing seismic and VHRGPS frequency contents, we inferred that GPS sampling rates greater than 2.5 Hz (i.e. 5 or 10 Hz) are required in the near-field of moderate magnitude events to provide “alias-free” solutions of coseismic dynamic displacements. Finally, we assessed the consistency of the dynamic VHRGPS results as a constraint on the kinematic rupture history of the mainshock. These results suggested that the high-rate sampling GPS sites in the near field can be as useful as strong motion station for earthquake source studies

Geodetic model of the 2016 Central Italy earthquake sequence inferred from InSAR and GPS data

We investigate a large geodetic data set of interferometric synthetic aperture radar (InSAR)and GPS measurements to determine the source parameters for the three main shocks of the 2016Central Italy earthquake sequence on 24 August and 26 and 30 October (Mw6.1, 5.9, and 6.5,respectively). Our preferred model is consistent with the activation of four main coseismic asperitiesbelonging to the SW dipping normal fault system associated with the Mount Gorzano-Mount Vettore-Mount Bove alignment. Additional slip, equivalent to aMw~ 6.1–6.2 earthquake, on a secondary (1) NEdipping antithetic fault and/or (2) on a WNW dipping low-angle fault in the hanging wall of the mainsystem is required to better reproduce the complex deformation pattern associated with the greatestseismic event (theMw6.5 earthquake). The recognition of ancillary faults involved in the sequencesuggests a complex interaction in the activated crustal volume between the main normal faults and thesecondary structures and a partitioning of strain releas

A core outcome set for pre‐eclampsia research: an international consensus development study

Objective To develop a core outcome set for pre‐eclampsia. Design Consensus development study. Setting International. Population Two hundred and eight‐one healthcare professionals, 41 researchers and 110 patients, representing 56 countries, participated. Methods Modified Delphi method and Modified Nominal Group Technique. Results A long‐list of 116 potential core outcomes was developed by combining the outcomes reported in 79 pre‐eclampsia trials with those derived from thematic analysis of 30 in‐depth interviews of women with lived experience of pre‐eclampsia. Forty‐seven consensus outcomes were identified from the Delphi process following which 14 maternal and eight offspring core outcomes were agreed at the consensus development meeting. Maternal core outcomes: death, eclampsia, stroke, cortical blindness, retinal detachment, pulmonary oedema, acute kidney injury, liver haematoma or rupture, abruption, postpartum haemorrhage, raised liver enzymes, low platelets, admission to intensive care required, and intubation and ventilation. Offspring core outcomes: stillbirth, gestational age at delivery, birthweight, small‐for‐gestational‐age, neonatal mortality, seizures, admission to neonatal unit required and respiratory support. Conclusions The core outcome set for pre‐eclampsia should underpin future randomised trials and systematic reviews. Such implementation should ensure that future research holds the necessary reach and relevance to inform clinical practice, enhance women's care and improve the outcomes of pregnant women and their babies