ZMP support areas for multi-contact mobility under frictional constraints

We propose a method for checking and enforcing multi-contact stability based on the Zero-tilting Moment Point (ZMP). The key to our development is the generalization of ZMP support areas to take into account (a) frictional constraints and (b) multiple non-coplanar contacts. We introduce and investigate two kinds of ZMP support areas. First, we characterize and provide a fast geometric construction for the support area generated by valid contact forces, with no other constraint on the robot motion. We call this set the full support area. Next, we consider the control of humanoid robots using the Linear Pendulum Mode (LPM). We observe that the constraints stemming from the LPM induce a shrinking of the support area, even for walking on horizontal floors. We propose an algorithm to compute the new area, which we call pendular support area. We show that, in the LPM, having the ZMP in the pendular support area is a necessary and sufficient condition for contact stability. Based on these developments, we implement a whole-body controller and generate feasible multi-contact motions where an HRP-4 humanoid locomotes in challenging multi-contact scenarios.Comment: 14 pages, 10 figure

The potential of trading activity income to fund third sector organisations operating in deprived areas

In the United Kingdom, as in other countries, Third Sector Organisations (TSOs) have been drawn towards income sources associated with trading activities (Teasdale, 2010), but many remain reliant on grant funding to support such activities (Chell, 2007). Using a multivariate analysis approach and data from the National Survey of Charities and Social Enterprises (NSCSE), it is found that trading activities are used relatively commonly in deprived areas. These organisations are also more likely to attempt to access public sector funds. This suggests policy-makers need to consider the impact of funding cuts on TSOs in the most deprived areas as TSOs are unlikely achieve their objectives without continuing support

Tap and Reposition Youth (TRY): Providing Social Support Savings and Microcredit Opportunities for Young Women in Areas with High HIV Prevalence

This document describes providing social support savings and microcredit opportunities for young women in areas with high HIV prevelence. Tap and Reposition Youth (TRY) was a multiphase microfinance initiative which aimed to reduce adolescents' vulnerabilities to adverse social and reproductive health outcomes, including HIV infection, by improving their livelihoods options. The project was launched in low-income and slum areas of Nairobi, Kenya, where rates of HIV infection are high and where young women are disproportionately affected. TRY targeted out-of-school adolescent girls and young women aged 16-22. Through continual review and modification, the TRY microfinance model evolved from a limited savings and credit model, to one that expanded upon social support, such as friendship and mentorship

Circumferential pressure probe

A probe for measuring circumferential pressure inside a body cavity is disclosed. In the preferred embodiment, a urodynamic pressure measurement probe for evaluating human urinary sphincter function is disclosed. Along the length of the probe are disposed a multiplicity of deformable wall sensors which typically comprise support tube sections with flexible side wall areas. These are arranged along the length of the probe in two areas, one just proximal to the tip for the sensing of fluid pressure inside the bladder, and five in the sensing section which is positioned within the urethra at the point at which the urinary sphincter constricts to control the flow of urine. The remainder of the length of the probe comprises multiple rigid support tube sections interspersed with flexible support tube sections in the form of bellows to provide flexibility

The redefinition of Europe's Less Favoured Areas

The support scheme for farming in less-favoured areas, established by the European Union in 1975, marked a major change in the nature of the Common Agricultural Policy (CAP) by introducing for the first time regional categories. It also represented the initiation of direct annual payments to farmers, an approach which was to expand greatly in the 1990s and thereafter. Over a long period it had remained the only significant structural measure of agricultural policy with a territorial dimension. Only recent policy reforms changed this situation: commodity market support was gradually decreased and, on the other hand, the environmental implications of policy measures were increasingly emphasised. Discussions on the interrelations of the Less-Favoured Areas (LFA) scheme with Agri-Environmental Measures (AEM) and other elements of the Rural Development Programmes (RDP) have been intensified as the political and financial weight of the programmes gained in importance. This paper focuses on the objectives and relevance of the LFA support scheme, its application in the EU and the main elements of the debate for the redefinition of LFA support. From the very beginning, LFA policy was conceived as a structural policy aimed at the prevention of land abandonment, to preserve the farming population in these areas and maintain cultural landscapes. In this regard, the instrument was one of the first measures to address environmentally beneficial farming systems, and thus reveals high coincidence with High Nature Value (HNV) farming systems. The three types of LFA, mountain areas, other LFAs and areas affected by specific handicaps take account of the range of geographical differences in the production difficulties of EU agriculture. The increased focus on environmental aims resulted in a discussion of the ‘intermediate’ areas, the category of other LFAs. It has been proposed that the socio-economic criterion in determining these areas should be dropped, but the aim to maintain land management in marginal areas would be kept. Meanwhile, the decision on the redefinition of the LFAs has been postponed (to 2010). Nevertheless the issue will keep a central role in policy discussions of the future Rural Development Programmes.Less-Favoured Areas; Common Agricultural Policy; rural development; mountain areas

Supporting young people: an evaluation of recent reforms to youth support services in 11 local areas [+ handout]

This survey examines the progress made in 11 local authority areas in developing new arrangements to integrate the work of various youth support agencies. An accompanying handout is included

Domain and user knowledge in a web-based courseware engineering course, knowlegde-based software engineering.

AIMS is a knowledge-based system for learning and teaching support within the context of distance education. It is aimed not only at enhancing learner's conceptual knowledge in a specific subject area but also at providing knowledge verification tools for the teacher. The system can be used to aid learning and teaching in different subject areas and to provide user-oriented support in searching courserelated information, concept teaching and learning, and conceptual and task-oriented domain structuring

Anatomy of word and sentence meaning

Reading and listening involve complex psychological processes that recruit many brain areas. The anatomy of processing English words has been studied by a variety of imaging methods. Although there is widespread agreement on the general anatomical areas involved in comprehending words, there are still disputes about the computations that go on in these areas. Examination of the time relations (circuitry) among these anatomical areas can aid in under-standing their computations. In this paper we concentrate on tasks which involve obtaining the meaning of a word in isolation or in relation to a sentence. Our current data support a finding in the literature that frontal semantic areas are active well before posterior areas. We use the subject’s attention to amplify relevant brain areas involved either in semantic classification or in judging the relation of the word to a sentence in order to test the hypothesis that frontal areas are concerned with lexical semantics while posterior areas are more involved in comprehension of propositions that involve several words